Loader control method and device, loader and storage medium

Abstract

The application relates to the technical field of automatic control, and discloses a loader control method and device, a loader and a storage medium, the method comprising the following steps: acquiring a first attitude angle of a movable arm relative to a horizontal direction and a second attitude angle of a tilting bucket rod relative to the horizontal direction; based on the first attitude angle, the second attitude angle and structural parameters of the loader, obtaining a first joint angle between the movable arm and a hydraulic push rod of a bucket, and a second joint angle between the bucket and the movable arm; and based on the first joint angle and the second joint angle, controlling the movable arm and the bucket. According to the application, the first attitude angle of the movable arm relative to the horizontal direction and the second attitude angle of the tilting bucket rod relative to the horizontal direction are acquired, and the joint angles of the working arm of the loader are calculated in real time according to the structural parameters of the loader, so that the movable arm and the bucket of the loader are controlled.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, specifically to a loader control method, device, loader, and storage medium. Background Technology

[0002] With the development of equipment automation and intelligence, the requirements for unmanned operation of equipment are becoming increasingly stringent. Currently, the unmanned operation of construction machinery in China is only just beginning, and achieving unmanned operation of construction machinery is much more difficult than that of passenger vehicles. As a type of construction machinery, the unmanned operation of loaders includes not only unmanned driving but also unmanned operation of the working devices.

[0003] However, due to the complexity of automated control of the working device, many products on the market do not have automatic loading function and cannot monitor the angle of the loader's mechanical joints in real time to automatically control the loader's bucket and boom. Summary of the Invention

[0004] In view of this, the present invention provides a loader control method, device, loader, and storage medium to solve the problem that related products cannot automatically control the bucket and boom of the loader.

[0005] In a first aspect, the present invention provides a loader control method. The loader includes a boom, a bucket hydraulic push rod, a tilting stick, a bucket connecting rod, a boom connecting rod, and a bucket. A first end of the boom is hinged to a first end of the bucket hydraulic push rod, a second end of the boom is hinged to a first end of the bucket, a second end of the bucket hydraulic push rod is hinged to a first end of the tilting stick, and a second end of the tilting stick is hinged to a second end of the bucket via the bucket connecting rod. One end of the boom connecting rod is fixedly connected to the first end of the boom, and the other end of the boom connecting rod is hinged to a preset hinge point on the tilting stick. The method includes:

[0006] Obtain the first attitude angle of the boom relative to the horizontal direction and the second attitude angle of the tilt stick relative to the horizontal direction;

[0007] Based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, the first joint angle between the boom and the bucket hydraulic push rod, and the second joint angle between the bucket and the boom are obtained.

[0008] The boom and bucket are controlled based on the first joint angle and the second joint angle.

[0009] By acquiring the first attitude angle of the boom relative to the horizontal direction and the second attitude angle of the tilt stick relative to the horizontal direction, and then based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, the joint angle of the loader's boom can be acquired in real time, thereby controlling the loader's boom and bucket.

[0010] In one alternative implementation, the boom and bucket are controlled based on a first joint angle and a second joint angle, including:

[0011] Based on the difference between the first joint angle and the pre-acquired first target joint angle, and the difference between the second joint angle and the pre-acquired second target joint angle, the motion of the boom and the bucket is planned to determine the target motion trajectory corresponding to the boom and the bucket respectively.

[0012] Based on the target motion trajectories corresponding to the boom and bucket respectively, the first control quantity corresponding to the boom hydraulic push rod and the second control quantity corresponding to the bucket hydraulic push rod on the loader are obtained;

[0013] Based on the first and second control variables, the boom and bucket on the loader are controlled to move.

[0014] By measuring the difference between the joint angles of the loading boom and bucket and the target joint angle, the target motion trajectory of the boom and bucket can be obtained. This allows for the acquisition of the corresponding control quantities for the hydraulic push rods of the boom and bucket on the loader, which are then used to control the movement of the loading boom and bucket.

[0015] In one optional implementation, controlling the movement of the boom and bucket on the loader based on a first control variable and a second control variable includes:

[0016] The state of the boom hydraulic cylinder on the loader is adjusted based on the first control quantity, so as to move the boom hydraulic push rod and control the boom movement so that the first joint angle reaches the first target joint angle.

[0017] The state of the bucket hydraulic cylinder on the loader is adjusted based on the second control quantity, so as to move the bucket hydraulic push rod and control the movement of the bucket so that the second joint angle reaches the second target joint angle.

[0018] By adjusting the state of the boom hydraulic cylinder and bucket hydraulic cylinder on the loader according to the first control quantity and the second control quantity, the movement of the boom hydraulic push rod and bucket hydraulic push rod is controlled so that the joint angle of the loader boom and bucket reaches the target joint angle.

[0019] In one alternative implementation, the structural parameters of the loader include the opening angle between the bottom plate and the rear plate of the bucket;

[0020] Based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, the first joint angle between the boom and the bucket hydraulic push rod, and the second joint angle between the bucket and the boom are obtained, including:

[0021] Based on the first attitude angle, the first joint angle is obtained;

[0022] Based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, the first included angle between the rear plate of the bucket and the boom is obtained;

[0023] The second joint angle between the bucket and the boom is obtained based on the first included angle and the opening angle between the bottom plate and the rear plate of the bucket.

[0024] By using the first attitude angle, the second attitude angle, and the structural parameters of the loader, the first joint angle between the boom and the bucket hydraulic push rod, and the second joint angle between the bucket and the boom are obtained, so as to provide guidance for the subsequent motion control of the loader boom and the bucket.

[0025] In one optional implementation, the first joint angle is obtained based on the first attitude angle, including:

[0026] The first joint angle is obtained by summing the pitch angle and the first attitude angle of the ground where the loader is located, which are obtained in advance.

[0027] Therefore, regardless of whether there is a slope on the ground where the loader is located, the joint angle of the loader boom can be obtained based on the attitude angle of the boom relative to the horizontal direction, ensuring that the loader can operate on different ground surfaces.

[0028] In one optional implementation, the structural parameters of the loader also include the first length of a first straight segment with the first end and the second end of the bucket as the two endpoints, the second length of a second straight segment with the first end of the bucket and a preset hinge point as the two endpoints, and the second included angle between the boom and the second straight segment.

[0029] Based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, the first included angle between the rear plate of the bucket and the boom is obtained, including:

[0030] Based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, calculate the third length of the third straight line segment with the second end of the bucket and the preset hinge point as the two endpoints;

[0031] In the spatial triangle formed by the first end of the bucket, the second end of the bucket, and the preset hinge point, the third included angle between the first and second line segments is calculated based on the cosine relationship between the first, second, and third line segments, according to the first, second, and third lengths.

[0032] Calculate the sum of the second and third included angles to obtain the first included angle.

[0033] Based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, the included angle between the rear plate of the bucket and the boom can be calculated to facilitate the subsequent calculation of the joint angle between the bucket and the boom.

[0034] In one optional implementation, the structural parameters of the loader also include the fourth length of the fourth straight segment with the preset hinge point and the second end of the tilting stick as the two endpoints, and the bucket link length corresponding to the bucket link.

[0035] Based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, the third length of the third straight segment with the second end of the bucket and the preset hinge point as its two endpoints is calculated, including:

[0036] Calculate the difference between the second attitude angle and the first attitude angle to obtain the fourth included angle between the fourth straight line segment and the boom;

[0037] Calculate the difference between the fourth included angle and the second included angle to obtain the fifth included angle between the second line segment and the fourth line segment;

[0038] In the spatial triangle formed by the first end of the bucket, the second end of the inclined stick, and the preset hinge point, the fifth length of the fifth straight line segment with the first end of the bucket and the second end of the inclined stick as the two endpoints is calculated according to the second length, the fourth length, and the fifth included angle.

[0039] In the spatial triangle formed by the first end of the bucket, the second end of the inclined stick, and the second end of the bucket, and in the spatial triangle formed by the first end of the bucket, the second end of the inclined stick, and the preset hinge point, the third length of the third straight segment with the second end of the bucket and the preset hinge point as its two endpoints is calculated based on the first length, the second length, the fourth length, the fifth length, and the length of the bucket connecting rod.

[0040] This allows for the calculation of the distance between the second end of the bucket and the preset hinge point based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, facilitating subsequent calculation of the joint angle between the bucket and the boom.

[0041] Secondly, the present invention provides a loader control device. The loader includes a boom, a bucket hydraulic push rod, a tilting stick, a bucket connecting rod, a boom connecting rod, and a bucket. A first end of the boom is hinged to a first end of the bucket hydraulic push rod, a second end of the boom is hinged to a first end of the bucket, a second end of the bucket hydraulic push rod is hinged to a first end of the tilting stick, and a second end of the tilting stick is hinged to a second end of the bucket via the bucket connecting rod. Both the first and second ends of the bucket are located on the rear plate of the bucket. One end of the boom connecting rod is fixedly connected to the first end of the boom, and the other end of the boom connecting rod is hinged to a preset hinge point on the tilting stick. The device includes:

[0042] The acquisition module is used to acquire the first attitude angle of the boom relative to the horizontal direction and the second attitude angle of the tilt stick relative to the horizontal direction;

[0043] The first processing module is used to obtain the first joint angle between the boom and the bucket hydraulic push rod, and the second joint angle between the bucket and the boom, based on the first attitude angle, the second attitude angle and the structural parameters of the loader.

[0044] The second processing module is used to control the boom and bucket based on the first joint angle and the second joint angle.

[0045] Thirdly, the present invention provides a loader comprising a boom, a bucket hydraulic push rod, a tilting stick, a bucket connecting rod, a boom connecting rod, a bucket, and a controller. A first end of the boom is hinged to a first end of the bucket hydraulic push rod, a second end of the boom is hinged to a first end of the bucket, a second end of the bucket hydraulic push rod is hinged to a first end of the tilting stick, and a second end of the tilting stick is hinged to a second end of the bucket via the bucket connecting rod. Both the first and second ends of the bucket are located on the rear plate of the bucket. One end of the boom connecting rod is fixedly connected to the first end of the boom, and the other end of the boom connecting rod is hinged to a preset hinge point on the tilting stick.

[0046] The controller includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the loader control method described in the first aspect or any of its corresponding embodiments.

[0047] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the loader control method of the first aspect or any corresponding embodiment described above. Attached Figure Description

[0048] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0049] Figure 1 This is a schematic diagram of the structure of a loader according to an embodiment of the present invention;

[0050] Figure 2A This is a geometric structural diagram of a loader according to an embodiment of the present invention;

[0051] Figure 2B This is a geometric schematic diagram of another loader according to an embodiment of the present invention;

[0052] Figure 2C This is a geometric schematic diagram of another loader according to an embodiment of the present invention;

[0053] Figure 3 This is a flowchart illustrating a loader control method according to an embodiment of the present invention;

[0054] Figure 4 This is a flowchart illustrating another loader control method according to an embodiment of the present invention;

[0055] Figure 5 This is a structural block diagram of a loader control device according to an embodiment of the present invention;

[0056] Figure 6 This is a schematic diagram of the hardware structure of the controller according to an embodiment of the present invention. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] Currently, the unmanned operation of construction machinery in China is still in its early stages, and achieving unmanned operation of construction machinery is much more difficult than that of passenger vehicles. Unmanned operation of loaders includes unmanned driving and unmanned operation of the working device. Because the automated control of the working device is quite complex, current products on the market do not have automatic operation functions. To achieve unmanned operation of the working device, kinematic modeling of the device is necessary before trajectory planning and control can be performed.

[0059] Therefore, this embodiment of the invention provides a loader control scheme, which controls the boom and bucket of the loader by monitoring the first joint angle between the boom and the bucket hydraulic push rod, and the second joint angle between the bucket and the boom.

[0060] According to embodiments of the present invention, a loader is provided, such as Figure 1 As shown, the loader includes a boom 11, a bucket hydraulic push rod 12, a tilting stick 13, a bucket linkage 14, a boom linkage 15, a bucket 16, and a controller (in... Figure 1(Not shown in the figure), wherein the first end of the boom 11 is hinged to the first end of the bucket hydraulic push rod 12, the second end of the boom 11 is hinged to the first end of the bucket 16, the second end of the bucket hydraulic push rod 12 is hinged to the first end of the tilting stick 13, the second end of the tilting stick 13 is hinged to the second end of the bucket 16 through the bucket connecting rod 14, and both the first end and the second end of the bucket 16 are located on the rear plate of the bucket. In addition, one end of the boom connecting rod 15 is fixedly connected to the first end of the boom 11, and the other end of the boom connecting rod 15 is hinged to a preset hinge point on the tilting stick 13. The specific working principle and working process of the controller can be found in the relevant description of the method embodiment below, and will not be repeated here.

[0061] Specifically, Figure 1 The structure of a loader is abstracted into geometric figures, such as Figure 2A As shown, point G represents the hinge point between the first end of the boom 11 and the first end of the bucket hydraulic push rod 12; point A represents the hinge point between the second end of the boom 11 and the first end of the bucket 16; point H (which can be approximated) represents the hinge point between the second end of the bucket hydraulic push rod 12 and the first end of the tilting stick 13; point C represents the hinge point between the second end of the tilting stick 13 and the first end of the bucket connecting rod 14; point B represents the hinge point between the second end of the bucket connecting rod 14 and the second end of the bucket 16; point D represents a preset hinge point on the tilting stick 13; and the two ends of the boom connecting rod 15 are represented by points G and D, respectively. Furthermore, point P represents the tip of the bucket on the bottom plate, and point K is an intersection point of straight line segments AG and CD.

[0062] It should be noted that, see again Figure 2A As shown, since the length of straight segment AB is the distance between the first and second ends of the bucket, and it only depends on the structural parameters of the bucket, the length of straight segment AB will not change during loader operation. In addition, the straight segments AD, BC, CD, AG, DG, AP, and BP in Figure 2 also have lengths that do not change during loader operation; the lengths of these straight segments can be obtained in advance. However, the lengths of straight segments BD and AC will change with the movement of the boom and bucket.

[0063] When the ground where the loader is located has a slope, Figure 1 The structure of a loader is abstracted into geometric figures, such as Figure 2B As shown. It should be noted that, Figure 2A and Figure 2B middle Parallel to the ground where the loader is located, clockwise is the positive direction of the angle, and counterclockwise is the negative direction.

[0064] Specifically, inertial measurement units (IMUs) are installed at specific locations on the loader to collect the attitude angles of the loader's boom in real time, enabling the controller to calculate the joint angles of the boom and bucket in real time. For example... Figure 2C As shown, IMU1 acquires the boom's attitude angle relative to the horizontal direction, i.e., ∠X0GK, and IMU2 acquires the tilting stick's attitude angle relative to the horizontal direction, i.e., ∠X0HK. It should be noted that the positive direction of IMU1 is parallel to the horizontal direction. The directions are consistent; the positive direction of IMU2 is the same as... They are in the same direction.

[0065] According to an embodiment of the present invention, a loader control method embodiment is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0066] This embodiment provides a loader control method, which can be used for, for example Figure 1 The controller in the loader shown is such as an MCU or microcontroller. Figure 3 This is a flowchart of a loader control method according to an embodiment of the present invention, such as... Figure 3 As shown, the process includes the following steps:

[0067] Step S301: Obtain the first attitude angle of the boom relative to the horizontal direction and the second attitude angle of the tilt stick relative to the horizontal direction.

[0068] Specifically, see again Figure 2A The first attitude angle of the boom relative to the horizontal direction, ∠X0GK, is acquired in real time by IMU1, and the second attitude angle of the tilt stick relative to the horizontal direction, ∠X0HK, is acquired in real time by IMU2. Figure 2B (∠X0FK in the middle).

[0069] Step S302: Based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, the first joint angle between the boom and the bucket hydraulic push rod, and the second joint angle between the bucket and the boom are obtained.

[0070] Specifically, see again Figure 2AThe structural parameters of the loader include the opening angle ∠BAP between the bottom plate and the rear plate of the bucket, the first length |AB| of the first straight segment AB with the first end and the second end of the bucket as the two endpoints, the second length |AD| of the second straight segment AD with the first end of the bucket and the preset hinge point as the two endpoints, the second included angle ∠DAG between the boom and the second straight segment AD, the fourth length |CD| of the fourth straight segment CD with the preset hinge point and the second end of the tilting stick as the two endpoints, the length of the bucket connecting rod corresponding to the bucket connecting rod |BC| (i.e. the length of the straight segment BC), and the lengths of the straight segments AG, DG, AP and BP.

[0071] In some alternative implementations, ∠DAG can be calculated using the following formula:

[0072]

[0073] In some alternative implementations, ∠BAP can be calculated using the following formula:

[0074]

[0075] Step S103: Control the boom and bucket based on the first joint angle and the second joint angle.

[0076] Specifically, see again Figure 2A As shown, the first joint angle between the boom and the bucket hydraulic push rod is ∠HGK, and the second joint angle between the bucket and the boom is ∠PAX1. By calculating the joint angles of the boom and the bucket on the loader in real time, the movement trajectory of the boom and the bucket of the loader can be planned and controlled.

[0077] The loader control method provided in this embodiment obtains the first attitude angle of the boom relative to the horizontal direction and the second attitude angle of the tilt stick relative to the horizontal direction. Then, based on the first attitude angle, the second attitude angle and the structural parameters of the loader, the joint angle of the loader boom is obtained in real time, thereby controlling the loader boom and bucket.

[0078] This embodiment provides a loader control method, which can be used for, for example Figure 1 The controller in the loader shown is such as an MCU or microcontroller. Figure 4 This is a flowchart of a loader control method according to an embodiment of the present invention, such as... Figure 4 As shown, the process includes the following steps:

[0079] Step S401: Obtain the first attitude angle of the boom relative to the horizontal direction and the second attitude angle of the tilt stick relative to the horizontal direction. For details, please refer to [link to relevant documentation]. Figure 3 Step S301 of the illustrated embodiment will not be described again here.

[0080] Step S402: Based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, the first joint angle between the boom and the bucket hydraulic push rod, and the second joint angle between the bucket and the boom are obtained.

[0081] Specifically, step S402 includes:

[0082] Step S4021: Based on the first attitude angle, obtain the first joint angle.

[0083] Specifically, if there is no slope on the ground where the loader is located, please refer again. Figure 2A At this point, ∠X0GK is ∠HGK, and the first attitude angle ∠X0GK is taken as the first joint angle ∠HGK.

[0084] Alternatively, if the ground where the loader is located is sloped, please refer to [the relevant documentation / reference]. Figure 2B At this point, the first joint angle ∠HGK can be obtained by calculating the sum of the pitch angle corresponding to the ground where the loader is located and the first attitude angle ∠X0GK. It should be noted that the pitch angle corresponding to the ground where the loader is located can be obtained by sensors mounted on the loader itself, such as slope and tilt sensors. For details, please refer to the description of the relevant technology, which will not be elaborated here.

[0085] Therefore, regardless of whether there is a slope on the ground where the loader is located, the joint angle of the loader boom can be obtained based on the attitude angle of the boom relative to the horizontal direction, thus ensuring the operation of the loader on different ground surfaces.

[0086] Step S4022: Based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, the first included angle between the rear plate of the bucket and the boom is obtained.

[0087] Specifically, see again Figure 2A The first included angle between the rear plate of the bucket and the boom is ∠BAG.

[0088] In some optional implementations, step S4022 above includes:

[0089] Step a1: Based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, calculate the third length of the third straight segment with the second end of the bucket and the preset hinge point as the two endpoints.

[0090] Specifically, see again Figure 2A Calculate the difference between the second attitude angle ∠X0HK and the first attitude angle ∠X0GK to obtain the fourth included angle ∠DKG between the fourth straight line segment and the boom, i.e., ∠DKG=∠HKG=∠X0HK-∠X0GK.

[0091] Next, by calculating the difference between the fourth included angle ∠DKG and the second included angle ∠DAG, the fifth included angle ∠ADC between the second line segment AD and the fourth line segment CD is obtained, that is, ∠ADC=∠DKG-∠DAG.

[0092] Next, in the spatial triangle △ACD formed by the first end of the bucket, the second end of the inclined stick, and the preset hinge point, the fifth length |AC| of the fifth straight line segment AC with the first end of the bucket and the second end of the inclined stick as its two endpoints is calculated based on the second length |AD|, the fourth length |CD|, and the fifth included angle ∠ADC. The formula for calculating the fifth length |AC| is as follows:

[0093]

[0094] Finally, in the spatial triangle △ABC formed by the first end of the bucket, the second end of the inclined stick, and the second end of the bucket, and the spatial triangle △ACD formed by the first end of the bucket, the second end of the inclined stick, and the preset hinge point, the third length |BD| of the third straight line segment BD with the second end of the bucket and the preset hinge point as its two endpoints is calculated based on the first length |AB|, the second length |AD|, the fourth length |CD|, the fifth length |AC|, and the length of the bucket connecting rod |BC|. The formula for calculating the third length |BD| is as follows:

[0095]

[0096] Where ∠BCD=∠ACD-∠ACB,

[0097] This allows for the calculation of the distance between the second end of the bucket and the preset hinge point based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, facilitating subsequent calculation of the joint angle between the bucket and the boom.

[0098] Step a2: In the spatial triangle △ABD formed by the first end of the bucket, the second end of the bucket, and the preset hinge point, based on the cosine relationship between the first line segment AB, the second line segment AD, and the third line segment BD, and according to the first length |AB|, the second length |AD|, and the third length |BD|, calculate the third included angle ∠BAD between the first line segment AB and the second line segment AD. The formula for calculating the third included angle ∠BAD can be as follows:

[0099]

[0100] Step a3: Calculate the sum of the second included angle ∠DAG and the third included angle ∠BAD to obtain the first included angle ∠BAG.

[0101] Based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, the included angle between the rear plate of the bucket and the boom can be calculated to facilitate the subsequent calculation of the joint angle between the bucket and the boom.

[0102] Step S4023: Based on the first included angle and the opening angle between the bottom plate and the rear plate of the bucket, the second joint angle between the bucket and the boom is obtained.

[0103] Specifically, the second joint angle ∠PAX1 between the bucket and the boom can be obtained according to ∠PAX1=π-∠BAP-∠BAG.

[0104] It should be noted that regardless of whether there is a slope on the ground where the loader is located, the calculation process for the second joint angle can refer to the description in steps S4022 to S4023.

[0105] Step S403: Control the boom and bucket based on the first joint angle and the second joint angle.

[0106] Specifically, step S403 includes:

[0107] Step S4031: Based on the difference between the first joint angle and the pre-acquired first target joint angle, and the difference between the second joint angle and the pre-acquired second target joint angle, the motion of the boom and the bucket is planned to determine the target motion trajectories corresponding to the boom and the bucket respectively.

[0108] Specifically, the first target joint angle refers to the target joint angle between the boom and the bucket hydraulic push rod, and the second target joint angle refers to the target joint angle between the bucket and the boom. These target joint angles can be obtained by analyzing the position coordinates of the loader and the loaded object. Please refer to the description of relevant technologies, which will not be elaborated here.

[0109] Step S4032: Based on the target motion trajectories corresponding to the boom and bucket respectively, obtain the first control quantity corresponding to the boom hydraulic push rod and the second control quantity corresponding to the bucket hydraulic push rod on the loader.

[0110] Specifically, the control quantities corresponding to the boom hydraulic push rod and bucket hydraulic push rod on the loader are obtained according to the target motion trajectories corresponding to the boom and bucket respectively. For specific steps, please refer to the description of relevant technologies, which will not be repeated here.

[0111] Step S4033: Based on the first control quantity and the second control quantity, control the boom and bucket on the loader to move.

[0112] Specifically, the state of the boom hydraulic cylinder on the loader is adjusted based on a first control variable, causing the boom hydraulic push rod to move, thereby controlling the boom movement to achieve a first target joint angle. Similarly, the state of the bucket hydraulic cylinder on the loader is adjusted based on a second control variable, causing the bucket hydraulic push rod to move, thereby controlling the bucket movement to achieve a second target joint angle. Thus, by adjusting the states of the boom and bucket hydraulic cylinders on the loader according to the first and second control variables, the movement of the boom and bucket hydraulic push rods is controlled, thereby ensuring that the joint angles of the loader's boom and bucket reach the target joint angles.

[0113] The loader control method provided in this embodiment obtains a first attitude angle of the boom relative to the horizontal direction and a second attitude angle of the tilt stick relative to the horizontal direction. Then, based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, it obtains the joint angles of the loader boom and bucket in real time. Based on the difference between the joint angles of the loader boom and bucket and the target joint angle, it obtains the target motion trajectory of the boom and bucket, thereby obtaining the control quantities corresponding to the boom hydraulic push rod and the bucket hydraulic push rod on the loader, so as to control the movement of the loader boom and bucket.

[0114] This embodiment also provides a loader control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0115] This embodiment provides a loader control device. The loader includes a boom, a bucket hydraulic push rod, a tilting stick, a bucket connecting rod, a boom connecting rod, and a bucket. A first end of the boom is hinged to a first end of the bucket hydraulic push rod, and a second end of the boom is hinged to a first end of the bucket. A second end of the bucket hydraulic push rod is hinged to a first end of the tilting stick, and a second end of the tilting stick is hinged to a second end of the bucket via the bucket connecting rod. One end of the boom connecting rod is fixedly connected to the first end of the boom, and the other end of the boom connecting rod is hinged to a preset hinge point on the tilting stick. For details of its structure, please refer to [reference needed]. Figure 1 This will not be elaborated upon here. Figure 5 As shown, the loader control device includes:

[0116] The acquisition module 501 is used to acquire the first attitude angle of the boom relative to the horizontal direction and the second attitude angle of the tilt stick relative to the horizontal direction;

[0117] The first processing module 502 is used to obtain the first joint angle between the boom and the bucket hydraulic push rod, and the second joint angle between the bucket and the boom, based on the first attitude angle, the second attitude angle and the structural parameters of the loader.

[0118] The second processing module 503 is used to control the boom and bucket based on the first joint angle and the second joint angle.

[0119] In some alternative implementations, the structural parameters of the loader include the opening angle between the bottom plate and the rear plate of the bucket; the first processing module 502 includes:

[0120] The first processing unit is used to obtain the first joint angle based on the first attitude angle;

[0121] The second processing unit is used to obtain the first included angle between the rear plate of the bucket and the boom based on the first attitude angle, the second attitude angle and the structural parameters of the loader.

[0122] The third processing unit is used to obtain the second joint angle between the bucket and the boom based on the first included angle and the opening angle between the bottom plate and the rear plate of the bucket.

[0123] In some optional implementations, the first processing unit includes:

[0124] The first processing subunit is used to obtain the first joint angle based on the sum of the pitch angle and the first attitude angle of the ground where the loader is located, which are obtained in advance.

[0125] In some optional embodiments, the structural parameters of the loader further include a first length of a first straight segment with the first end and the second end of the bucket as its two endpoints, a second length of a second straight segment with the first end of the bucket and a preset hinge point as its two endpoints, and a second included angle between the boom and the second straight segment; the second processing unit includes:

[0126] The second processing subunit is used to calculate the third length of the third straight line segment with the second end of the bucket and the preset hinge point as the two endpoints based on the first attitude angle, the second attitude angle and the structural parameters of the loader.

[0127] The third processing subunit is used to calculate the third included angle between the first straight line segment and the second straight line segment in the spatial triangle formed by the first end of the bucket, the second end of the bucket and the preset hinge point, based on the cosine relationship between the first straight line segment, the second straight line segment and the third straight line segment, according to the first length, the second length and the third length.

[0128] The fourth processing subunit is used to calculate the sum of the second and third included angles to obtain the first included angle.

[0129] In one optional embodiment, the structural parameters of the loader further include the fourth length of a fourth straight segment with the preset hinge point and the second end of the tilting stick as its two endpoints, and the bucket link length corresponding to the bucket link; the second processing subunit includes:

[0130] The first sub-unit is used to calculate the difference between the second attitude angle and the first attitude angle to obtain the fourth included angle between the fourth straight line segment and the boom.

[0131] The second sub-unit is used to calculate the difference between the fourth included angle and the second included angle, and to obtain the fifth included angle between the second line segment and the fourth line segment;

[0132] The third subunit is used to calculate the fifth length of the fifth straight line segment with the first end of the bucket and the second end of the inclined stick as the two endpoints in the spatial triangle formed by the first end of the bucket, the second end of the inclined stick and the preset hinge point, based on the second length, the fourth length and the fifth included angle.

[0133] The fourth subunit is used to calculate the third length of the third straight segment with the second end of the bucket and the preset hinge point as the two endpoints in the spatial triangle formed by the first end of the bucket, the second end of the inclined stick, and the second end of the bucket, and the spatial triangle formed by the first end of the bucket, the second end of the inclined stick, and the preset hinge point, based on the first length, the second length, the fourth length, the fifth length, and the length of the bucket connecting rod.

[0134] In some alternative implementations, the second processing module 503 includes:

[0135] The fourth processing unit is used to plan the movement of the boom and bucket based on the difference between the first joint angle and the pre-acquired first target joint angle, and the difference between the second joint angle and the pre-acquired second target joint angle, and to determine the target movement trajectories corresponding to the boom and bucket respectively.

[0136] The fifth processing unit is used to obtain the first control quantity corresponding to the boom hydraulic push rod and the second control quantity corresponding to the bucket hydraulic push rod on the loader based on the target motion trajectories corresponding to the boom and the bucket respectively.

[0137] The sixth processing unit is used to control the movement of the boom and bucket on the loader based on the first control quantity and the second control quantity.

[0138] In some optional implementations, the sixth processing unit includes:

[0139] The fifth processing subunit is used to adjust the state of the boom hydraulic cylinder on the loader based on the first control quantity, so as to move the boom hydraulic push rod and control the boom movement to make the first joint angle reach the first target joint angle.

[0140] The sixth processing subunit is used to adjust the state of the bucket hydraulic cylinder on the loader based on the second control quantity, so as to move the bucket hydraulic push rod to control the movement of the bucket so that the second joint angle reaches the second target joint angle.

[0141] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0142] In this embodiment, the loader control device is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0143] This invention also provides a controller having the above-described features. Figure 5 The loader control device shown.

[0144] Please see Figure 6 , Figure 6 This is provided by an optional embodiment of the present invention. Figure 1 The schematic diagram of the loader's controller shown is as follows: Figure 6 As shown, the controller includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise as required. The processors can process instructions executed within the controller, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple controllers can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 6 Take a processor 10 as an example.

[0145] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0146] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0147] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the controller. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the controller via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0148] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0149] The controller also includes a communication interface 30 for communicating with other devices or communication networks.

[0150] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0151] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A loader control method, the loader comprising a boom, a bucket hydraulic push rod, a tilting stick, a bucket connecting rod, a boom connecting rod, and a bucket, wherein a first end of the boom is hinged to a first end of the bucket hydraulic push rod, a second end of the boom is hinged to a first end of the bucket, a second end of the bucket hydraulic push rod is hinged to a first end of the tilting stick, a second end of the tilting stick is hinged to a second end of the bucket via the bucket connecting rod, and both the first and second ends of the bucket are located on the rear plate of the bucket; one end of the boom connecting rod is fixedly connected to the first end of the boom, and the other end of the boom connecting rod is hinged to a preset hinge point on the tilting stick, characterized in that... The method includes: Obtain the first attitude angle of the boom relative to the horizontal direction and the second attitude angle of the tilting stick relative to the horizontal direction; Based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, the first joint angle between the boom and the bucket hydraulic push rod, and the second joint angle between the bucket and the boom are obtained. The boom and the bucket are controlled based on the first joint angle and the second joint angle.

2. The loader control method according to claim 1, characterized in that, The control of the boom and the bucket based on the first joint angle and the second joint angle includes: Based on the difference between the first joint angle and the pre-acquired first target joint angle, and the difference between the second joint angle and the pre-acquired second target joint angle, the movement of the boom and the bucket is planned to determine the target movement trajectories corresponding to the boom and the bucket respectively. Based on the target motion trajectories corresponding to the boom and the bucket respectively, the first control quantity corresponding to the boom hydraulic push rod and the second control quantity corresponding to the bucket hydraulic push rod on the loader are obtained; Based on the first control quantity and the second control quantity, the boom and bucket on the loader are controlled to move.

3. The loader control method according to claim 2, characterized in that, The step of controlling the boom and bucket of the loader to move based on the first control quantity and the second control quantity includes: The state of the boom hydraulic cylinder on the loader is adjusted based on the first control quantity, so that the boom hydraulic push rod moves, thereby controlling the boom movement so that the first joint angle reaches the first target joint angle. The state of the bucket hydraulic cylinder on the loader is adjusted based on the second control quantity, so that the bucket hydraulic push rod moves, thereby controlling the movement of the bucket so that the second joint angle reaches the second target joint angle.

4. The loader control method according to claim 1, characterized in that, The structural parameters of the loader include the opening angle between the bottom plate and the rear plate of the bucket; The method of obtaining the first joint angle between the boom and the bucket hydraulic push rod, and the second joint angle between the bucket and the boom based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, includes: Based on the first attitude angle, the first joint angle is obtained; Based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, the first included angle between the rear plate of the bucket and the boom is obtained; The second joint angle between the bucket and the boom is obtained based on the first included angle and the opening angle between the bottom plate and the rear plate of the bucket.

5. The loader control method according to claim 4, characterized in that, The process of obtaining the first joint angle based on the first attitude angle includes: The first joint angle is obtained by summing the pitch angle of the ground where the loader is located and the first attitude angle, which are obtained in advance.

6. The loader control method according to claim 4 or 5, characterized in that, The structural parameters of the loader also include the first length of a first straight segment with the first end and the second end of the bucket as the two endpoints, the second length of a second straight segment with the first end of the bucket and the preset hinge point as the two endpoints, and the second included angle between the boom and the second straight segment; The method of obtaining the first included angle between the rear plate of the bucket and the boom based on the first attitude angle, the second attitude angle, and the structural parameters of the loader includes: Based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, calculate the third length of the third straight line segment with the second end of the bucket and the preset hinge point as the two endpoints; In the spatial triangle formed by the first end of the bucket, the second end of the bucket, and the preset hinge point, the third included angle between the first line segment and the second line segment is calculated based on the cosine relationship between the first line segment, the second line segment, and the third line segment, according to the first length, the second length, and the third length. The first included angle is obtained by calculating the sum of the second included angle and the third included angle.

7. The loader control method according to claim 6, characterized in that, The structural parameters of the loader also include the fourth length of the fourth straight segment with the preset hinge point and the second end of the tilting stick as the two endpoints, and the bucket link length corresponding to the bucket link; The calculation of the third length of the third straight segment with the second end of the bucket and the preset hinge point as its two endpoints, based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, includes: Calculate the difference between the second attitude angle and the first attitude angle to obtain the fourth included angle between the fourth straight line segment and the boom; Calculate the difference between the fourth included angle and the second included angle to obtain the fifth included angle between the second line segment and the fourth line segment; In the spatial triangle formed by the first end of the bucket, the second end of the inclined stick, and the preset hinge point, the fifth length of the fifth straight line segment with the first end of the bucket and the second end of the inclined stick as its two endpoints is calculated based on the second length, the fourth length, and the fifth included angle. In the spatial triangle formed by the first end of the bucket, the second end of the inclined stick, and the second end of the bucket, and in the spatial triangle formed by the first end of the bucket, the second end of the inclined stick, and the preset hinge point, the third length of the third straight line segment with the second end of the bucket and the preset hinge point as its two endpoints is calculated based on the first length, the second length, the fourth length, the fifth length, and the length of the bucket connecting rod.

8. A loader control device, the loader comprising a boom, a bucket hydraulic push rod, a tilting stick, a bucket connecting rod, a boom connecting rod, and a bucket, wherein a first end of the boom is hinged to a first end of the bucket hydraulic push rod, a second end of the boom is hinged to a first end of the bucket, a second end of the bucket hydraulic push rod is hinged to a first end of the tilting stick, a second end of the tilting stick is hinged to a second end of the bucket via the bucket connecting rod, and both the first end and the second end of the bucket are located on the rear plate of the bucket; one end of the boom connecting rod is fixedly connected to the first end of the boom, and the other end of the boom connecting rod is hinged to a preset hinge point on the tilting stick, characterized in that... The device includes: The acquisition module is used to acquire the first attitude angle of the boom relative to the horizontal direction and the second attitude angle of the tilting stick relative to the horizontal direction; The first processing module is used to obtain, based on the first attitude angle, the second attitude angle and the structural parameters of the loader, the first joint angle between the boom and the bucket hydraulic push rod, and the second joint angle between the bucket and the boom; The second processing module is used to control the boom and the bucket based on the first joint angle and the second joint angle.

9. A loader, characterized in that, The loader includes a boom, a bucket hydraulic push rod, a tilting stick, a bucket connecting rod, a boom connecting rod, a bucket, and a controller. The first end of the boom is hinged to the first end of the bucket hydraulic push rod, and the second end of the boom is hinged to the first end of the bucket. The second end of the bucket hydraulic push rod is hinged to the first end of the tilting stick. The second end of the tilting stick is hinged to the second end of the bucket via the bucket connecting rod. Both the first and second ends of the bucket are located on the rear plate of the bucket. One end of the boom connecting rod is fixedly connected to the first end of the boom, and the other end of the boom connecting rod is hinged to a preset hinge point on the tilting stick. The controller includes a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the loader control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the loader control method according to any one of claims 1 to 7.

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