Unloading auxiliary method and system for mixing station loader

Abstract

The present invention discloses a method and system for assisting unloading of a mixing plant loader. The unloading assistance system includes a position information device and an angle sensor; the position information device is mounted on top of the loader's cab; the angle sensor is mounted at the midpoint of the hinged connection between the front and rear bodies of the loader. The front body is provided with a boom, the free end of which is connected to a bucket, the front width of which is smaller than the width of the front of the mixing plant hopper. The output of the position information device and the output of the angle sensor are both communicatively connected to a control unit, which is communicatively connected to a hydraulic motor and a steering solenoid valve. The hydraulic motor and steering solenoid valve are connected to an external steering hydraulic circuit of the loader. This invention can improve the accuracy of loader unloading.

Description

Technical Field

[0001] The invention relates to a method and system for assisting unloading of a loader at a mixing station, and belongs to the technical field of engineering machinery control. Background Art

[0002] With the country's demand for high-end and intelligent equipment manufacturing, the intelligent and unmanned operation of construction machinery has become a development trend and consensus in the industry.

[0003] The mixing station has the characteristics of a single working scene and repeated shoveling-loading-transporting-unloading. Therefore, unmanned loaders can greatly reduce the workload.

[0004] Due to the loader's unique articulated structure and hydraulic steering system, there are certain deviations during the "transportation" phase, which in turn has a certain impact on the "unloading" phase. Furthermore, during unloading, the loader must find the exact unloading position to prevent it from colliding with the hopper or spilling material outside. Therefore, improving the accuracy of this "unloading" phase is of great significance to the realization of unmanned loader operations in mixing plant conditions. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an auxiliary unloading method and system for a loader at a mixing station, which can improve the accuracy of the loader's unloading.

[0006] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0007] In one aspect, the present invention provides a discharging auxiliary system for a mixing station loader, comprising a position information device and an angle sensor;

[0008] The position information device is installed on the top of the loader's cab;

[0009] The angle sensor is installed at the midpoint of the hinge between the front and rear bodies of the loader. The front body is provided with a boom, the free end of which is connected to a bucket. The width of the front side of the bucket is smaller than the width of the front side of the hopper opening of the mixing station.

[0010] The output end of the position information device and the output end of the angle sensor are both communicatively connected to the control unit, and the control unit is communicatively connected to the hydraulic motor and the steering solenoid valve;

[0011] The hydraulic motor and the steering solenoid valve are both connected to an external steering hydraulic circuit of the loader.

[0012] Furthermore, the location information device includes a laser radar.

[0013] Furthermore, the steering solenoid valve includes a left steering solenoid valve and a right steering solenoid valve.

[0014] Furthermore, the hopper opening of the hopper is rectangular or square.

[0015] In another aspect, the present invention provides a method for assisting unloading of a loader at a mixing station, comprising:

[0016] Get the current heading angle and steering angle of the loader;

[0017] Obtain the coordinates of the midpoint of the hinge between the front and rear bodies;

[0018] Get the coordinates of the hopper mouth;

[0019] Determining a current heading angle of a front body of the loader according to a current heading angle of the loader and a current steering angle of the loader;

[0020] Determine the coordinates of the front side of the bucket based on the coordinates of the midpoint of the articulation, the current heading angle of the front vehicle body, the distance between the midpoint of the articulation and the midpoint of the front side of the bucket, and the width of the front side of the bucket;

[0021] According to the coordinates of the hopper opening and the coordinates of the front side of the bucket, determine the distance between the front side of the bucket and the hopper opening;

[0022] The heading angle of the front vehicle body is adjusted according to the distance between the front side of the bucket and the hopper opening.

[0023] Furthermore, the current heading angle of the loader is the angle between the actual forward route of the loader and the east direction.

[0024] Furthermore, the current steering angle of the loader is the supplementary angle of the current angle between the front vehicle body and the rear vehicle body.

[0025] Furthermore, the current heading angle of the front body of the loader is the difference between the current heading angle of the loader and the current steering angle of the loader.

[0026] Furthermore, the coordinates of the front side of the bucket include the coordinates of the left end of the front side of the bucket and the coordinates of the right end of the front side of the bucket.

[0027] Furthermore, determining the coordinates of the front side of the bucket according to the coordinates of the midpoint of the articulation, the current heading angle of the front vehicle body, the distance between the midpoint of the articulation and the midpoint of the front side of the bucket, and the width of the front side of the bucket includes:

[0028] Based on inverse trigonometric functions and trigonometric functions, the coordinates of the left end of the front side of the bucket and the coordinates of the right end of the front side of the bucket are determined according to the coordinates of the midpoint of the articulation, the current heading angle of the front vehicle body, the distance between the midpoint of the articulation and the midpoint of the front side of the bucket, and the width of the front side of the bucket.

[0029] Furthermore, the coordinates of the hopper mouth include the coordinates of the four end corners of the hopper mouth, wherein the horizontal coordinates of the coordinates of the two end corners on the left side of the hopper mouth are equal, the horizontal coordinates of the coordinates of the two end corners on the right side of the hopper mouth are equal, the vertical coordinates of the coordinates of the two end corners on the front side of the hopper mouth are equal, and the vertical coordinates of the coordinates of the two end corners on the rear side of the hopper mouth are equal.

[0030] Furthermore, the distance between the front side of the bucket and the hopper opening includes: the horizontal distance between the left end of the front side of the bucket and the left side of the hopper opening, the horizontal distance between the right end of the front side of the bucket and the right side of the hopper opening, and the longitudinal distance between the front side of the hopper opening and the front side of the bucket.

[0031] Furthermore, the adjusting the heading angle of the front vehicle body according to the distance between the front side of the bucket and the hopper opening includes:

[0032] In response to the longitudinal distance between the front side of the hopper opening and the front side of the bucket being less than a first preset value, the heading angle is set to a negative value of the current heading angle.

[0033] Furthermore, the adjusting the heading angle of the front vehicle body according to the distance between the front side of the bucket and the hopper opening includes:

[0034] In response to the longitudinal distance between the rear side of the hopper opening and the front side of the bucket being greater than or equal to a first preset value, the horizontal distance between the left end of the front side of the bucket and the left side of the hopper opening being less than or equal to a second preset value, and the horizontal distance between the right side of the hopper opening and the right end of the front side of the bucket being greater than or equal to a third preset value, the heading angle is made the current heading angle.

[0035] Furthermore, the adjusting the heading angle of the front vehicle body according to the distance between the front side of the bucket and the hopper opening includes:

[0036] In response to the longitudinal distance between the rear side of the hopper opening and the front side of the bucket being greater than or equal to a first preset value, and the horizontal distance between the left end of the front side of the bucket and the left side of the hopper opening being greater than a second preset value, the angle at which the front vehicle body turns right is determined based on the multiple relationship between the horizontal distance between the left end of the front side of the bucket and the left side of the hopper opening and the standard deviation of the steering horizontal coordinate to adjust the heading angle.

[0037] Furthermore, the adjusting the heading angle of the front vehicle body according to the distance between the front side of the bucket and the hopper opening includes:

[0038] In response to the longitudinal distance between the rear side of the hopper opening and the front side of the bucket being greater than or equal to a first preset value, and the horizontal distance between the right side of the hopper opening and the right end of the front side of the bucket being less than a third preset value, the angle at which the front vehicle body is turned left is determined based on the multiple relationship between the horizontal distance between the right side of the hopper opening and the right end of the front side of the bucket and the standard deviation of the steering horizontal coordinate to adjust the heading angle.

[0039] Furthermore, the steering horizontal coordinate standard deviation is: under the condition of a fixed hydraulic motor at 900 r / min, when the angle of the vehicle body turning left or right before calibration is 1°, the absolute value of the horizontal coordinate change of the left or right end of the bucket front side.

[0040] Furthermore, the first preset value is greater than or equal to 0.

[0041] Furthermore, the second preset value is greater than or equal to 0.

[0042] Furthermore, the third preset value is greater than or equal to 0.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] The present invention sets up an unloading auxiliary system, which can determine whether the loader is in a suitable unloading position based on the loader's position information, current heading angle and current steering angle. If not, the loader's forward route can be adjusted by controlling the left steering solenoid valve, right steering solenoid valve and hydraulic motor so that the loader reaches a position suitable for unloading.

[0045] The present invention designs an unloading assistance method based on the unique articulated structure and hydraulic steering system of the loader. Through the current heading angle of the loader, the current steering angle of the loader, the position information and the structural parameters of the loader, the heading angle of the front vehicle body can be adjusted to make the loader travel to a suitable unloading position for unloading, thereby avoiding the situation where the loader or bucket hits the hopper or unloads the material outside the hopper. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 Shown is a schematic structural diagram of an embodiment of a loader in the prior art;

[0047] Figure 2 Shown is a schematic structural diagram of an embodiment of a hopper and a loader of the present invention;

[0048] Figure 3 FIG2 is a schematic structural diagram of an embodiment of a discharging auxiliary system of a mixing station loader according to the present invention;

[0049] Figure 4 Shown is a schematic structural diagram of an embodiment of a loader of the present invention;

[0050] Figure 5 Shown is a schematic structural diagram of an embodiment of a hopper port of the present invention;

[0051] Figure 6 Shown is a schematic structural diagram of an embodiment of a loader of the present invention;

[0052] Figure 7 Shown is a flow chart of an embodiment of the unloading auxiliary method of a mixing station loader of the present invention;

[0053] Figure 8 Shown is a schematic diagram of an embodiment of a steering hydraulic circuit for a loader in the prior art;

[0054] In the figure: 1, articulated midpoint, 2, front vehicle body, 3, bucket, 4, rear vehicle body, 5, boom, 6, cab top, 7, hopper opening, 8, loader, 31, front side of bucket, 71, front side of hopper opening, 72, rear side of hopper opening, 73, left side of hopper opening, 74, right side of hopper opening, E, left end of front side of bucket, F, right end of front side of bucket, K, L, I and J are the four end corners of the hopper opening. DETAILED DESCRIPTION

[0055] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0056] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0057] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0058] Example 1

[0059] This embodiment introduces an auxiliary unloading system for a loader in a mixing station.

[0060] The unloading auxiliary system of this embodiment includes a position information device and an angle sensor. Figure 3 .

[0061] The position information device is installed on the cab roof 6 of the loader 8 .

[0062] When applied, the location information device includes a lidar, which is used to create a high-precision map and obtain the location information of the loader.

[0063] In actual application, a map coordinate system is constructed on the high-precision map. The origin of the map coordinate system is the point cloud of the first frame of the lidar when the high-precision map is established, and the east direction is defined as the positive X direction, and the north direction is defined as the positive Y direction.

[0064] In this embodiment, the angle sensor is installed at the hinge midpoint 1 where the front body 2 and the rear body 4 of the loader are hinged.

[0065] When applied, the angle sensor is used to obtain the current steering angle of the loader.

[0066] In this embodiment, a boom 5 is provided on the front vehicle body 2, and the free end of the boom 5 is connected to the bucket. Figure 1 .

[0067] In this embodiment, the width of the front side 31 of the bucket is smaller than the width of the front side 71 of the hopper opening of the mixing station.

[0068] When used, the hopper opening 7 of the hopper is rectangular or square.

[0069] In actual application, before the loader is started, the side of the hopper opening that is farthest from the bucket front side 31 is the hopper opening rear side 72 .

[0070] In this embodiment, the output end of the position information device and the output end of the angle sensor are both connected to the control unit, the control unit is connected to the hydraulic motor and the steering solenoid valve, and the hydraulic motor and the steering solenoid valve are both connected to the external loader steering hydraulic circuit. Figure 8 .

[0071] When in use, the hydraulic motor drives the steering pump connected to the loader's steering hydraulic circuit; the steering solenoid valve is connected to the flow amplification valve of the loader's steering hydraulic circuit, the flow amplification valve is connected to the steering cylinder, and the cylinder body and lever head of the steering cylinder are respectively installed on the front body 2 and the rear body 4.

[0072] In actual application, the steering solenoid valve includes a left steering solenoid valve and a right steering solenoid valve.

[0073] In actual application, the control unit determines whether to open the left steering solenoid valve and / or the right steering solenoid valve and whether to start the hydraulic motor based on the acquired position information device and the signal output by the angle sensor to adjust the heading angle of the loader's front body so that the loader reaches a position suitable for unloading.

[0074] The present invention sets up an unloading auxiliary system, which can determine whether the loader is in a suitable unloading position based on the loader's position information, current heading angle and current steering angle. If not, the loader's front body heading angle can be adjusted by controlling the left steering solenoid valve, right steering solenoid valve and hydraulic motor to make the loader reach a position suitable for unloading.

[0075] The unloading auxiliary system of the present invention is adapted to an unmanned electric loader, and can improve the automation level of the unmanned electric loader and the accuracy during automatic unloading.

[0076] Example 2

[0077] Based on Example 1, this example introduces an auxiliary unloading method for a mixing station loader.

[0078] The auxiliary unloading method of this embodiment includes: Figure 7 :

[0079] Obtain the current heading angle and the current steering angle of the loader 8;

[0080] Obtain the coordinates of the hinge midpoint 1 where the front body 2 and the rear body 4 are hinged;

[0081] Get the coordinates of the hopper opening 7 of the hopper;

[0082] Determine the current heading angle of the loader front body 2 according to the current heading angle of the loader 8 and the current steering angle of the loader;

[0083] Determine the coordinates of the bucket front side 31 based on the coordinates of the articulation midpoint 1, the current heading angle of the front vehicle body 2, the distance between the articulation midpoint 1 and the midpoint of the bucket front side 31, and the width of the bucket front side 31;

[0084] Determine the distance between the bucket front side 31 and the hopper opening 7 based on the coordinates of the hopper opening 7 and the coordinates of the bucket front side 31;

[0085] The heading angle of the front vehicle body is regulated according to the distance between the front side 31 of the bucket and the hopper opening 7 .

[0086] The present invention designs an unloading assistance method based on the unique articulated structure and hydraulic steering system of the loader. Through the current heading angle of the loader, the current steering angle of the loader, the position information and the structural parameters of the loader, the front body heading angle of the front body can be adjusted to enable the loader to reach a suitable unloading position for unloading, thereby avoiding the situation where the loader or bucket hits the hopper or the material is unloaded outside the hopper.

[0087] Example 3

[0088] Based on Example 1 or 2, this example introduces in detail a method for assisting unloading of a loader at a mixing station.

[0089] The unloading auxiliary method of this embodiment includes:

[0090] S1 obtains the current heading angle of the loader 8 and the current steering angle of the loader, and determines the current heading angle of the loader front body 2 according to the current heading angle of the loader 8 and the current steering angle of the loader.

[0091] Among them, the current heading angle of the loader is the angle between the actual forward route of the loader 8 and the due east direction; the current steering angle of the loader is the supplementary angle of the current angle between the front body 2 and the rear body 4; the current heading angle of the front body of the loader is the difference between the current heading angle of the loader and the current steering angle of the loader, refer to Figure 4 .

[0092] S2 obtains the coordinates of the hinge midpoint 1 where the front body 2 and the rear body 4 are hinged, and determines the coordinates of the bucket front side 31 based on the coordinates of the hinge midpoint 1, the current heading angle of the front body 2, the distance between the hinge midpoint 1 and the midpoint of the bucket front side 31, and the width of the bucket front side 31.

[0093] The coordinates of the bucket front side 31 include the coordinates of the left end of the bucket front side and the coordinates of the right end of the bucket front side. Figure 2 .

[0094] When applied, determining the coordinates of the bucket front side 31 includes:

[0095] Based on inverse trigonometric functions and trigonometric functions, the coordinates of the left end E of the bucket front side and the right end F of the bucket front side are determined according to the coordinates of the midpoint of the articulation, the current heading angle of the front vehicle body, the distance between the midpoint of the articulation 1 and the midpoint of the bucket front side 31, and the width of the bucket front side.

[0096] S3 acquires the coordinates of the hopper opening 7 of the hopper, and determines the distance between the bucket front side 31 and the hopper opening 7 based on the coordinates of the hopper opening 7 and the coordinates of the bucket front side 31 .

[0097] When applying, refer to Figure 2 The coordinates of the hopper mouth 7 include the coordinates of the four end corners K, L, I and J of the hopper mouth, among which the horizontal coordinates of the coordinates of the two end corners 73 on the left side of the hopper mouth are equal, the horizontal coordinates of the coordinates of the two end corners 74 on the right side of the hopper mouth are equal, the vertical coordinates of the coordinates of the two end corners 71 on the front side of the hopper mouth are equal, and the vertical coordinates of the coordinates of the two end corners 72 on the rear side of the hopper mouth are equal.

[0098] In actual application, the distance between the front side 31 of the bucket and the hopper opening 7 includes: the horizontal distance between the left end E of the front side 31 of the bucket and the left side 73 of the hopper opening, the horizontal distance between the right end F of the front side 31 of the bucket and the right side 74 of the hopper opening, and the longitudinal distance between the rear side 71 of the hopper opening and the front side 31 of the bucket.

[0099] S4 adjusts the heading angle of the front vehicle body 2 according to the distance between the bucket front side 31 and the hopper opening 7 .

[0100] In this embodiment, the heading angle of the front vehicle body 2 is adjusted according to the distance between the bucket front side 31 and the hopper opening 7, specifically including:

[0101] In step S41 , in response to the longitudinal distance between the hopper opening rear side 72 and the bucket front side 31 being less than a first preset value, the heading angle is set to a negative value of the current heading angle, wherein the first preset value is greater than or equal to 0.

[0102] S42 sets the heading angle to the current heading angle in response to the longitudinal distance between the hopper opening rear side 72 and the bucket front side 31 being greater than or equal to a first preset value, the horizontal distance between the left end of the bucket front side 31 and the hopper opening left side 73 being less than or equal to a second preset value, and the horizontal distance between the hopper opening right side 74 and the right end of the bucket front side 31 being greater than or equal to a third preset value. The second preset value is greater than or equal to 0, and the third preset value is greater than or equal to 0.

[0103] S43 responds to the fact that the longitudinal distance between the rear side 72 of the hopper opening and the front side 31 of the bucket is greater than or equal to the first preset value, and the horizontal distance between the left end of the front side 31 of the bucket and the left side 73 of the hopper opening is greater than the second preset value. According to the multiple relationship between the horizontal distance between the left end of the front side 31 of the bucket and the left side 73 of the hopper opening and the standard deviation of the steering horizontal coordinate, the angle of the front vehicle body 2 to turn right is determined to adjust the heading angle.

[0104] S44 responds to the fact that the longitudinal distance between the rear side 72 of the hopper opening and the front side 31 of the bucket is greater than or equal to the first preset value, and the horizontal distance between the right side 74 of the hopper opening and the right end of the front side 31 of the bucket is less than the third preset value. According to the multiple relationship between the horizontal distance between the right side 74 of the hopper opening and the right end of the front side 31 of the bucket and the standard deviation of the steering horizontal coordinate, the angle for turning the front vehicle body 2 to the left is determined to adjust the heading angle.

[0105] When applied, the steering horizontal coordinate standard deviation is: under the condition of a fixed hydraulic motor of 900 r / min, when the front body 2 turns left or right at an angle of 1°, the absolute value of the horizontal coordinate change of the left and / or right end of the bucket front side 31 is calibrated.

[0106] Example 4

[0107] Based on any one of Examples 1-3, this embodiment introduces in detail a discharging assistance method based on a discharging assistance system of a mixing station loader.

[0108] The unloading assist system of this embodiment utilizes a position information device, an angle sensor, a left and right steering solenoid valve, a hydraulic motor, and a control unit. These components are connected to a host control system via a CAN bus, allowing the host control system to obtain information about the loader's position and angle, as well as the hydraulic motor's speed. Based on these signals, the host control system generates control commands and outputs them to the control unit, or vehicle controller. The vehicle controller receives these control commands, generates corresponding execution signals, and sends these execution signals to the hydraulic motor, left and right steering solenoid valves.

[0109] When in use, the control unit is communicated with the hydraulic motor, the left steering solenoid valve and the right steering solenoid valve respectively.

[0110] In addition, the angle sensor is installed at the midpoint of the hinge between the front body and the rear frame of the loader; the position information device is a laser radar, which is fixed on the top of the cab; the left steering solenoid valve and the right steering solenoid valve on the loader's steering hydraulic circuit are installed under the front body, and the hydraulic motor is installed on the lower right side of the cab.

[0111] In actual application, the steering hydraulic circuit of the loader includes a hydraulic oil tank, a hydraulic motor, a steering pump, a steering solenoid valve, a flow amplification valve, a pilot valve, a pilot oil source valve and a steering cylinder. Figure 8 Among them, the pilot oil source valve is connected to the steering solenoid valve.

[0112] The steering solenoid valve of this embodiment includes a left steering solenoid valve and a right steering solenoid valve. The right steering solenoid valve is connected to the R port of the flow amplification valve, and the left steering solenoid valve is connected to the L port of the flow amplification valve.

[0113] The unloading auxiliary method of this embodiment includes the following steps:

[0114] First, obtain the current heading angle δ of the loader 8, the current steering angle γ of the loader, the coordinate Q of the hinge midpoint 1 where the front body 2 and the rear body 4 are hinged, and the coordinates of the hopper opening 7 of the hopper;

[0115] Next, the current heading angle θ1 of the front body 2 of the loader is determined according to the current heading angle of the loader 8 and the current steering angle of the loader: θ1 = δ-γ, referring to Figure 4 .

[0116] Then, the coordinates of the bucket front side 31 are determined according to the coordinate Q of the hinge midpoint 1 , the current heading angle θ1 of the front vehicle body 2 , the length OA from the bucket front center point to the hinge midpoint, and the width EF of the bucket front side 31 .

[0117] When applying, refer to Figure 6 , accurately obtain the specific coordinates C(x C ,y C), based on trigonometric functions, the coordinates Q(x) of the articulated midpoint are determined according to the distance QC between the position information device and the articulated midpoint and the current heading angle δ of the loader 8. Q ,y Q ):

[0118] x Q =x C +QC*cos(δ);

[0119] y Q =y C +QC*sin(δ).

[0120] In actual application, refer to Figure 6 The coordinates of the bucket front side 31 include the coordinates E(x E ,y E ) and the coordinates F(x F ,y F ):

[0121] x E =x Q +QE*cos(θ1+α);

[0122] y E =y Q +QE*sin(θ1+α);

[0123] x F =x Q +QF*cos(θ1-α);

[0124] y F =y Q +QF*sin(θ1-α);

[0125] α=arc tan(0.5*EF / QA);

[0126]

[0127] Next, the distance between the bucket front side 31 and the hopper opening 7 is determined based on the coordinates of the hopper opening 7 of the hopper and the coordinates of the bucket front side 31 .

[0128] When applying, refer to Figure 5 The coordinates of the hopper mouth 7 include the coordinates of the four corners K, L, I and J of the hopper mouth: K(x K ,y K )、L(x L ,y L )、I(x I ,y I ) and J(x J ,y J ). Where xK =x I ;x L =x J ;y K =y L ;y I =y J .

[0129] In actual application, the distance between the front side 31 of the bucket and the hopper opening 7 includes: the horizontal distance between the left end E of the front side 31 of the bucket and the left side 73 of the hopper opening, the horizontal distance between the right end F of the front side 31 of the bucket and the right side 74 of the hopper opening, and the longitudinal distance between the rear side 72 of the hopper opening and the front side 31 of the bucket.

[0130] Finally, the heading angle of the front vehicle body 2 is adjusted according to the distance between the front side 31 of the bucket and the hopper opening 7 .

[0131] Specifically include:

[0132] In response to the longitudinal distance between the hopper opening rear side 72 and the bucket front side 31 being smaller than the first preset value, the heading angle is set to a negative value of the current heading angle in step S41.

[0133] When applied, y L with y F or y K with y E The difference is less than the first preset value, indicating that the loader 8 has passed the hopper and needs to reverse or turn around. Wherein, the first preset value is greater than or equal to 0 and is less than the width of the left side of the hopper opening or the right side of the hopper opening.

[0134] S42 sets the heading angle to the current heading angle in response to the longitudinal distance between the hopper opening rear side 72 and the bucket front side 31 being greater than or equal to a first preset value, the horizontal distance between the left end of the bucket front side 31 and the hopper opening left side 73 being less than or equal to a second preset value, and the horizontal distance between the hopper opening right side 74 and the right end of the bucket front side 31 being greater than or equal to a third preset value. The second preset value is greater than or equal to 0, and the third preset value is greater than or equal to 0.

[0135] When applied, y L with y F or y K with y E The difference is greater than or equal to the first preset value, x E with x I The difference between is less than or equal to the second preset value, and x J with x F The difference is greater than or equal to the third preset value. At this time, the front side 31 of the bucket is approximately aligned with the front side of the hopper mouth. At this time, the hydraulic motor does not provide steering hydraulic power for the steering pump, and the left steering solenoid valve and the right steering solenoid valve are both closed.

[0136] Those skilled in the art start the components of the loader 8 and drive the bucket to unload the material, so as to accurately unload the material into the hopper and avoid spilling.

[0137] S43 responds to the fact that the longitudinal distance between the rear side 72 of the hopper opening and the front side 31 of the bucket is greater than or equal to the first preset value, and the horizontal distance between the left end of the front side 31 of the bucket and the left side 73 of the hopper opening is greater than the second preset value. According to the multiple relationship between the horizontal distance between the left end of the front side 31 of the bucket and the left side 73 of the hopper opening and the standard deviation of the steering horizontal coordinate, the angle of the front vehicle body 2 to turn right is determined to adjust the heading angle of the front vehicle body.

[0138] When applied, y L with y F or y K with y E The difference between E with x I The difference is greater than the second preset value. At this time, the front side 31 of the bucket is located in the front left of the front side of the hopper opening. It is necessary to adjust the heading angle by adjusting the angle of the front vehicle body 2 to turn right so that the front side 31 of the bucket is approximately aligned with the front side of the hopper opening.

[0139] In practice, the standard deviation of the steering horizontal coordinate is calculated as follows: The absolute value of the change in the horizontal coordinate at the left and / or right ends of the bucket front side 31 when the front body 2 is calibrated to turn left or right by 1°, with the hydraulic motor running at 900 r / min. The degree of rightward rotation of the front body 2 can be determined based on the multiple relationship between the horizontal distance and the standard deviation of the steering horizontal coordinate.

[0140] At this time, the left steering solenoid valve is closed, the right steering solenoid valve is opened, and the hydraulic motor is in the working state of 900r / min, providing steering hydraulic power for the steering pump. The steering hydraulic oil drives the steering cylinder through the R port of the flow amplification valve, and the steering cylinder drives the front vehicle body 2 to turn right.

[0141] S44 responds to the fact that the longitudinal distance between the rear side 72 of the hopper opening and the front side 31 of the bucket is greater than or equal to the first preset value, and the horizontal distance between the right side 74 of the hopper opening and the right end of the front side 31 of the bucket is less than the third preset value. According to the multiple relationship between the horizontal distance between the right side 74 of the hopper opening and the right end of the front side 31 of the bucket and the standard deviation of the steering horizontal coordinate, the angle for turning the front vehicle body 2 to the left is determined to adjust the heading angle.

[0142] When applied, y L with y F and / or y K with y E The difference between J with x FThe difference is less than the third preset value. At this time, the front side 31 of the bucket is located in the front right of the front side of the hopper opening. It is necessary to adjust the heading angle of the front body by adjusting the angle of the front body 2 to the left so that the front side 31 of the bucket is approximately aligned with the front side of the hopper opening.

[0143] At this time, the right steering solenoid valve is closed, the left steering solenoid valve is opened, and the hydraulic motor is in the working state of 900r / min, providing steering hydraulic power for the steering pump. The steering hydraulic oil drives the steering cylinder through the L port of the flow amplification valve, and the steering cylinder drives the front vehicle body 2 to turn left.

[0144] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0145] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0146] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0147] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1The steps for the function specified in one or more boxes.

[0148] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which are all protected by the present invention.

Claims

1. A method for assisting unloading of a loader at a mixing station, characterized in that: include: Get the current heading angle of the loader (8) and the current steering angle of the loader; Obtain the coordinates of the hinge midpoint (1) where the front vehicle body (2) and the rear vehicle body (4) are hinged; Get the coordinates of the hopper opening (7) of the hopper; Determining the current heading angle of the loader front body (2) based on the current heading angle of the loader (8) and the current steering angle of the loader; Determining the coordinates of the bucket front side (31) based on the coordinates of the articulation midpoint (1), the current heading angle of the front vehicle body (2), the distance between the articulation midpoint (1) and the midpoint of the bucket front side (31), and the width of the bucket front side (31); Determine the distance between the front side (31) of the bucket and the hopper opening (7) based on the coordinates of the hopper opening (7) and the coordinates of the front side (31) of the bucket; Adjusting the heading angle of the front vehicle body according to the distance between the front side of the bucket (31) and the hopper opening (7); The distance between the front side of the bucket (31) and the hopper opening (7) includes: a horizontal distance between the left end of the front side of the bucket (31) and the left side (73) of the hopper opening, a horizontal distance between the right end of the front side of the bucket (31) and the right side (74) of the hopper opening, and a longitudinal distance between the rear side (72) of the hopper opening and the front side of the bucket (31); The method of regulating the heading angle of the front vehicle body (2) according to the distance between the front side of the bucket (31) and the hopper opening (7) includes: In response to the longitudinal distance between the rear side (72) of the hopper opening and the front side (31) of the bucket being less than a first preset value, the heading angle is set to a negative value of the current heading angle; and / or, in response to the longitudinal distance between the rear side (72) of the hopper opening and the front side (31) of the bucket being greater than or equal to a first preset value, the horizontal distance between the left end of the front side (31) of the bucket and the left side (73) of the hopper opening being less than or equal to a second preset value, and the horizontal distance between the right side (74) of the hopper opening and the right end of the front side (31) of the bucket being greater than or equal to a third preset value, the heading angle is set to the current heading angle; and / or, in response to the longitudinal distance between the rear side (72) of the hopper opening and the front side (31) of the bucket being greater than or equal to a first preset value, and the horizontal distance between the left end of the front side (31) of the bucket and the left side (73) of the hopper opening being greater than a second preset value, determining the angle of the front vehicle body (2) to turn right based on the multiple relationship between the horizontal distance between the left end of the front side (31) of the bucket and the left side (73) of the hopper opening and the standard deviation of the steering horizontal coordinate, so as to adjust the heading angle; And / or, in response to the longitudinal distance between the rear side (72) of the hopper opening and the front side (31) of the bucket being greater than or equal to a first preset value, and the horizontal distance between the right side (74) of the hopper opening and the right end of the front side (31) of the bucket being less than a third preset value, the angle for turning the front vehicle body (2) to the left is determined based on the multiple relationship between the horizontal distance between the right side (74) of the hopper opening and the right end of the front side (31) of the bucket and the standard deviation of the steering horizontal coordinate, so as to adjust the heading angle.

2. The unloading auxiliary method of a mixing station loader according to claim 1, characterized in that: The current heading angle of the loader is the angle between the actual forward route of the loader (8) and the due east direction; And / or, the current steering angle of the loader is the supplementary angle of the current angle between the front vehicle body (2) and the rear vehicle body (4); And / or, the current heading angle of the front body of the loader is the difference between the current heading angle of the loader and the current steering angle of the loader.

3. The unloading auxiliary method of a mixing station loader according to claim 1, characterized in that: The coordinates of the front side of the bucket (31) include the coordinates of the left end of the front side of the bucket and the coordinates of the right end of the front side of the bucket; And / or, the determining of the coordinates of the front side (31) of the bucket according to the coordinates of the midpoint of the articulation, the current heading angle of the front vehicle body, the distance between the midpoint of the articulation (1) and the midpoint of the front side (31) of the bucket, and the width of the front side of the bucket comprises: Based on inverse trigonometric functions and trigonometric functions, the coordinates of the left end of the bucket front side and the coordinates of the right end of the bucket front side are determined according to the coordinates of the articulation midpoint, the current heading angle of the front vehicle body, the distance between the articulation midpoint (1) and the midpoint of the bucket front side (31), and the width of the bucket front side.

4. The unloading auxiliary method for a mixing station loader according to claim 1, characterized in that: The coordinates of the hopper mouth (7) include the coordinates of the four end corners of the hopper mouth, wherein the horizontal coordinates of the coordinates of the two end corners on the left side (73) of the hopper mouth are equal, the horizontal coordinates of the coordinates of the two end corners on the right side (74) of the hopper mouth are equal, the vertical coordinates of the coordinates of the two end corners on the front side (71) of the hopper mouth are equal, and the vertical coordinates of the coordinates of the two end corners on the rear side (72) of the hopper mouth are equal.

5. The unloading auxiliary method for a mixing station loader according to claim 1, characterized in that: The steering horizontal coordinate standard deviation is: under the condition of a fixed hydraulic motor of 900 r / min, when the angle of the calibrated front vehicle body (2) turning left or right is 1°, the absolute value of the horizontal coordinate change of the left end and / or right end of the bucket front side (31) is.

6. The unloading auxiliary method for a mixing station loader according to claim 1, characterized in that: The first preset value is greater than or equal to 0; And / or, the second preset value is greater than or equal to 0; And / or, the third preset value is greater than or equal to 0.

7. A discharging auxiliary system for a mixing station loader, characterized in that: Executing the method according to any one of claims 1 to 6, comprising a position information device and an angle sensor; The position information device is mounted on the top (6) of the cab of the loader (8); The angle sensor is installed at the hinge midpoint (1) of the front body (2) and the rear body (4) of the loader, and a movable arm (5) is provided on the front body (2). The free end of the movable arm (5) is connected to the bucket, and the width of the front side (31) of the bucket is smaller than the width of the front side (71) of the hopper opening of the mixing station; The output end of the position information device and the output end of the angle sensor are both communicatively connected to the control unit, and the control unit is communicatively connected to the hydraulic motor and the steering solenoid valve; The hydraulic motor and the steering solenoid valve are both connected to an external steering hydraulic circuit of the loader.

8. The unloading auxiliary system of the mixing plant loader according to claim 7, characterized in that: The position information device includes a laser radar; And / or, the steering solenoid valve includes a left steering solenoid valve and a right steering solenoid valve; And / or, the hopper opening (7) of the hopper is rectangular or square.

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