Loader bucket posture control method and device, electronic equipment and loader

Abstract

This application relates to the field of construction machinery technology, and addresses the technical problem of the urgent need for a method to efficiently and accurately adjust the attitude of a loader bucket with minimal resource usage. This application determines the linkage angle of the loader bucket through a preset bucket angle mapping relationship, and adjusts the linkage angle to keep the loader bucket level. The entire method relies on the preset bucket angle mapping relationship without requiring algorithmic calculations, enabling efficient and accurate leveling of the loader bucket with minimal resource usage.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a method, device, electronic equipment, and loader for controlling the attitude of a loader bucket. Background Technology

[0002] Loaders are important pieces of construction machinery in engineering operations. During construction, one of the key functions of a loader is to use its bucket to transport materials within the construction site.

[0003] During material transport, road conditions may change, such as traversing uphill or downhill sections. When the bucket is fully loaded, the bucket angle needs to be adjusted promptly to keep the bucket level (i.e., the bucket opening, bucket teeth, and the upper edge of the bucket's rear end plate are all level) to prevent material spillage. In existing technologies, the loader operator can adjust the bucket manually based on experience, or the bucket can be automatically adjusted using data collected from multiple sensors and a preset algorithm.

[0004] However, manually adjusting the bucket by the driver requires a high level of experience and is prone to errors, while algorithmic bucket adjustment requires complex algorithms and consumes significant resources. Therefore, there is an urgent need for a method that can efficiently and accurately adjust the loader bucket attitude while using fewer resources. Summary of the Invention

[0005] In view of this, the embodiments of this application aim to provide a method for controlling the attitude of a loader bucket, so as to solve the technical problem in the prior art that there is an urgent need for a method that can efficiently and accurately adjust the attitude of a loader bucket with less resource consumption.

[0006] In a first aspect, embodiments of this application provide a method for controlling the attitude of a loader bucket, including:

[0007] When the height of the loader bucket is equal to the preset bucket height, a reference tilt angle is obtained, which describes the degree of tilt of the loader relative to the horizontal plane;

[0008] The preset bucket angle mapping relationship is used to find the preset link angle corresponding to the reference angle. The preset link angle describes the angle of the link connected to the loader bucket when the loader is working. The preset bucket angle mapping relationship reflects the correspondence between the set formed by the reference angle and the set formed by the preset link angle.

[0009] Adjust and maintain the tilt angle of the connecting rod in the loader equal to the preset connecting rod tilt angle so that the loader bucket is in a horizontal position.

[0010] Optionally, the method for obtaining the preset bucket angle mapping relationship includes:

[0011] Adjust the height of the loader bucket to be equal to the preset bucket height;

[0012] Adjust the tilt of the loader relative to the horizontal plane and record the adjusted reference tilt angle as the reference tilt angle in the preset bucket angle mapping relationship;

[0013] For each reference tilt angle recorded in the preset bucket angle mapping relationship, perform the following steps:

[0014] Adjust the loader bucket to a horizontal position and record the linkage tilt angle in the horizontal position as the preset linkage tilt angle in the preset bucket angle mapping relationship.

[0015] Optionally, obtaining the reference tilt angle includes:

[0016] The tilt angle data obtained by the tilt angle sensor is used as the reference tilt angle. The tilt angle sensor is installed in the loader.

[0017] Optionally, before obtaining the reference tilt angle when the height of the loader bucket is equal to the preset bucket height, the method further includes:

[0018] The loader receives a bucket leveling command, which instructs the loader bucket to be adjusted and kept in a horizontal position. The bucket leveling command is triggered by activating the corresponding function switch on the loader.

[0019] Optionally, before obtaining the reference tilt angle when the height of the loader bucket is equal to the preset bucket height, the method further includes:

[0020] Receives a bucket height adjustment command, which is triggered by activating the corresponding function switch on the loader;

[0021] Based on the bucket height adjustment command, the boom of the loader bucket is adjusted and maintained so that the height of the loader bucket is equal to the preset bucket height.

[0022] Optionally, after adjusting and maintaining the tilt angle of the connecting rod in the loader equal to the preset connecting rod tilt angle, the method further includes:

[0023] When an adjustment command for the loader bucket attitude is received, control of the loader bucket boom and linkage is stopped, and the adjustment command is executed.

[0024] Secondly, embodiments of this application provide a control device for the attitude of a loader bucket, comprising:

[0025] The acquisition unit is used to acquire a reference tilt angle when the height of the loader bucket is equal to a preset bucket height. The reference tilt angle describes the degree of tilt of the loader relative to the horizontal plane.

[0026] The lookup unit is used to find a preset link tilt angle corresponding to the reference tilt angle in a preset bucket angle mapping relationship. The preset link tilt angle describes the angle of the link connected to the loader bucket when the loader is working. The preset bucket angle mapping relationship reflects the correspondence between the set formed by the reference tilt angle and the set formed by the preset link tilt angle.

[0027] An adjustment unit is used to adjust and maintain the tilt angle of the connecting rod in the loader equal to the preset connecting rod tilt angle, so that the loader bucket is in a horizontal position.

[0028] Thirdly, embodiments of this application provide an electronic device, including a memory and a processor;

[0029] The memory is connected to the processor and is used to store programs and preset bucket angle mapping relationships;

[0030] The processor is used to implement the loader bucket attitude control method as described in the first aspect by running a program in the memory.

[0031] Optionally, the electronic device further includes:

[0032] A tilt sensor, which is installed in the loader, is used to obtain a reference tilt angle;

[0033] A control command transmission interface is provided for transmitting adjustment commands to the connecting rod.

[0034] Fourthly, embodiments of this application provide a loader, characterized in that it includes a controller;

[0035] The controller is used to execute the loader bucket attitude control method as described in the first aspect.

[0036] This application provides a method for controlling the attitude of a loader bucket. The method determines the linkage angle of the loader bucket through a preset bucket angle mapping relationship, and adjusts the linkage angle to keep the loader bucket level. The entire method relies on the preset bucket angle mapping relationship without requiring algorithmic calculations, enabling efficient and accurate leveling of the loader bucket with minimal resource consumption. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0038] Figure 1 A schematic diagram illustrating the working principle of a loader bucket provided in an embodiment of this application.

[0039] Figure 2 This is a flowchart illustrating a method for controlling the attitude of a loader bucket, as provided in an embodiment of this application.

[0040] Figure 3 This is a schematic diagram of the structure of a loader bucket attitude control device provided in an embodiment of this application.

[0041] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0042] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0043] This application is used to control the attitude of a loader bucket. For the principle of controlling a loader bucket, please refer to [reference needed]. Figure 1 101 is the rocker arm, 102 is the connecting rod, and 103 is the boom. The rocker arm is connected to the connecting rod and is affected by it. Adjusting the connecting rod can affect the rocker arm. Together, they control the bucket tilt angle, also known as the bucket attitude. The boom can control the bucket height by raising and lowering it. When describing the bucket height, the loader itself is generally used as the reference frame. The bucket height can be understood as "the distance between the bucket and the horizontal plane where the bottom of the loader's tires are located".

[0044] The first embodiment of this application provides a method for controlling the attitude of a loader bucket, such as... Figure 2 As shown, the method may include the following steps:

[0045] Step 201: When the height of the loader bucket is equal to the preset bucket height, obtain the reference tilt angle, which describes the degree of tilt of the loader relative to the horizontal plane.

[0046] The attitude of the loader bucket is affected by the attitude of the loader body. Therefore, the attitude of the loader body needs to be determined first.

[0047] The influence of the loader body on the loader bucket includes two aspects. First, the height of the loader bucket. This method is applied when the loader bucket height is equal to the preset bucket height, so this aspect can be ignored. Second, the angle of the loader body itself. Since this method is mainly applied to situations where all the loader's tires are in normal contact with the ground and it can travel smoothly, the influence on the loader body angle when the loader is traveling smoothly mainly comes from changes in the angle of the road surface. Therefore, it can be considered that only the degree of tilt of the loader relative to the horizontal plane, i.e., the reference tilt angle, is needed to determine the attitude of the loader body.

[0048] It is particularly important to note that this application does not limit the number of preset bucket height values, as long as it is not less than 1. That is, it is sufficient to ensure that at least one of these values ​​can be used to implement this method at a certain bucket height.

[0049] The reference tilt angle can be obtained in various ways, such as by a level instrument built into the loader, or by observation devices outside the loader, such as cameras or drones, based on images, or by calculating by detecting changes in the loader's center of gravity.

[0050] Step 202: Find the preset link tilt angle corresponding to the reference tilt angle in the preset bucket angle mapping relationship. The preset link tilt angle describes the angle of the link connected to the loader bucket when the loader is working. The preset bucket angle mapping relationship reflects the correspondence between the set formed by the reference tilt angle and the set formed by the preset link tilt angle.

[0051] In the previous step, the impact of the loader body on the loader bucket was identified and quantified. In this step, it is necessary to find corresponding solutions based on the quantified influencing factors. The method proposed in this application is to find the corresponding preset linkage tilt angle through pre-existing work, namely, the pre-obtained bucket angle mapping relationship, to achieve loader bucket leveling under this road condition.

[0052] Specifically, the preset bucket angle mapping relationship is obtained in advance. When the loader is at a certain reference tilt angle, the corresponding relationship can be achieved by adjusting the linkage tilt angle to the expected preset linkage tilt angle so that the loader bucket is in a horizontal state.

[0053] It should be noted that since the number of preset bucket heights is not fixed, and the preset bucket height also affects the bucket posture, the preset bucket angle mapping relationship is also not fixed. Generally, the preset bucket height and preset bucket angle mapping relationship are in one-to-one correspondence, that is, each preset bucket height will have a corresponding preset bucket angle mapping relationship.

[0054] It should be noted that after this method is started, it will continuously loop and repeat steps 101-103 until a stop command is received. Therefore, when the reference tilt angle changes, the changed reference tilt angle can be obtained in a timely manner, and the tilt angle of the connecting rod can be adjusted accordingly to ensure that the loader bucket remains in a horizontal position.

[0055] Step 203: Adjust and maintain the tilt angle of the connecting rod in the loader equal to the preset connecting rod tilt angle so that the loader bucket is in a horizontal position.

[0056] After obtaining the preset link tilt angle, adjust the actual tilt angle of the link in the loader to make it equal to the preset link tilt angle. At this time, it is equivalent to replicating the state of the loader in the reference tilt angle in the preset bucket angle mapping relationship. Therefore, under the premise that the loader structure has not changed, the loader bucket should also present the state of replicating the preset bucket angle mapping relationship, that is, the loader bucket attitude is horizontal.

[0057] The second embodiment of this application further specifies the control method of loader bucket posture in the first embodiment in a more detailed and specific way. Some or all of the technical features in the second embodiment can be combined with or replaced by the first embodiment, either individually or in combination, to obtain more feasible control methods of loader bucket posture.

[0058] The method for controlling the attitude of the loader bucket in the second embodiment of this application is described in detail below:

[0059] Optionally, the method for obtaining the preset bucket angle mapping relationship includes: adjusting the height of the loader bucket to be equal to the preset bucket height; adjusting the tilt of the loader relative to the horizontal plane and recording the adjusted reference tilt angle as the reference tilt angle in the preset bucket angle mapping relationship; for each reference tilt angle recorded in the preset bucket angle mapping relationship, performing the following steps: adjusting the attitude of the loader bucket to a horizontal state and recording the linkage tilt angle in the horizontal state of the bucket as the preset linkage tilt angle in the preset bucket angle mapping relationship.

[0060] A mapping relationship includes at least three elements: set A, set B, and a description of the correspondence from set A to set B.

[0061] This embodiment provides a method for establishing a preset bucket angle mapping relationship. In this embodiment, set A is a set of multiple reference tilt angles at a preset bucket height. In actual acquisition, the tilt degree of the loader relative to the horizontal plane can be adjusted to expand the richness of the set. Set B is the linkage tilt angle of the loader bucket in a horizontal state. In order to establish the correspondence between the two sets, in actual acquisition, for each element in set A, i.e., each reference tilt angle, the linkage tilt angle that makes the loader bucket in a horizontal posture under that reference tilt angle can be found, and that linkage tilt angle is taken as the preset linkage tilt angle in set B corresponding to that reference tilt angle.

[0062] Of course, the preset bucket angle mapping relationship established by the above method is a discrete mapping relationship. This embodiment can also establish a continuous preset bucket angle mapping relationship by continuously expanding the number of corresponding elements between the two sets and by fitting and analyzing them mathematically, so as to make up for the problem in the above discrete mapping relationship that the preset link tilt angle cannot be found if the reference tilt angle is not located in the set.

[0063] Optionally, obtaining the reference tilt angle includes: obtaining tilt angle data acquired by a tilt angle sensor, and using the tilt angle data as the reference tilt angle, wherein the tilt angle sensor is installed in the loader.

[0064] This embodiment provides a method for obtaining a reference tilt angle. The reference tilt angle is obtained by installing a tilt sensor in the loader.

[0065] Specifically, the tilt sensor can be installed on the floor of the loader's cab or on the roof of the loader. After the tilt sensor is leveled, it will continuously report the real-time tilt angle of the loader during its operation.

[0066] Optionally, before obtaining the reference tilt angle when the height of the loader bucket is equal to the preset bucket height, the method further includes: receiving a bucket leveling command, which instructs the loader bucket to be adjusted and kept in a horizontal state, and the bucket leveling command is triggered by activating the corresponding function switch on the loader.

[0067] This embodiment provides a quick way to start the method, namely, by equipping the loader with a corresponding function switch to quickly start the method.

[0068] Specifically, one function switch could be a trigger button added to the loader's operating handle. When the loader is loading materials, the loader operator can press this button to automatically execute the method and adjust the loader bucket to a level position.

[0069] Optionally, before obtaining the reference tilt angle when the height of the loader bucket is equal to the preset bucket height, the method further includes: receiving a bucket height adjustment command, which is triggered by activating a corresponding function switch on the loader; and adjusting and maintaining the boom of the loader bucket based on the bucket height adjustment command so that the height of the loader bucket is equal to the preset bucket height.

[0070] This embodiment provides a measure to enable the loader to quickly enter the prerequisite state for applying this method, namely, by activating it by installing a corresponding function switch on the loader.

[0071] Specifically, one type of function switch could be a trigger button added to the loader's operating handle. After the loader has started loading materials, the loader operator can press this button to automatically adjust the loader's boom so that the height of the loader's bucket is equal to the preset bucket height.

[0072] Optionally, after adjusting and maintaining the tilt angle of the connecting rod in the loader equal to the preset connecting rod tilt angle, the method further includes: when receiving an adjustment command for the attitude of the loader bucket, stopping the control of the boom and connecting rod of the loader bucket, and executing the adjustment command.

[0073] It should be understood that both the first and second embodiments include the function of "maintaining a horizontal state," such as "adjusting and maintaining the tilt angle of the connecting rod in the loader equal to the preset connecting rod tilt angle." This is because the connecting rod tilt angle may change due to gravity or bumps, requiring corresponding adjustments to ensure that the connecting rod tilt angle is always equal to the preset connecting rod tilt angle, thereby ensuring that the loader bucket can always remain horizontal.

[0074] However, the above steps will fix the loader bucket boom and connecting rod at a certain angle, making them impossible to adjust. This embodiment proposes a method to quickly exit this state. Specifically, when the loader arrives at the unloading location, the loader operator will operate the control handle to issue an adjustment command to the loader bucket. Therefore, when the command to adjust the loader bucket posture is received, the execution of this method is canceled to ensure that the loader completes the unloading operation.

[0075] Accordingly, the third embodiment of this application also provides a control device for the attitude of a loader bucket, such as... Figure 3 As shown, the device includes:

[0076] The acquisition unit 301 is used to acquire a reference tilt angle when the height of the loader bucket is equal to the preset bucket height. The reference tilt angle describes the degree of tilt of the loader relative to the horizontal plane.

[0077] The lookup unit 302 is used to look up a preset link tilt angle corresponding to the reference tilt angle in a preset bucket angle mapping relationship. The preset link tilt angle describes the angle of the link connected to the loader bucket when the loader is working. The preset bucket angle mapping relationship reflects the correspondence between the set formed by the reference tilt angle and the set formed by the preset link tilt angle.

[0078] The adjustment unit 303 is used to adjust and maintain the tilt angle of the connecting rod in the loader equal to the preset connecting rod tilt angle so that the loader bucket is in a horizontal position.

[0079] Optionally, the method for obtaining the preset bucket angle mapping relationship includes:

[0080] Adjust the height of the loader bucket to be equal to the preset bucket height;

[0081] Adjust the tilt of the loader relative to the horizontal plane, and record the reference tilt angle after adjustment as the reference tilt angle in the preset bucket angle mapping relationship;

[0082] For each reference tilt angle recorded in the preset bucket angle mapping relationship, perform the following steps:

[0083] Adjust the loader bucket to a horizontal position and record the adjusted linkage angle as the preset linkage angle in the preset bucket angle mapping relationship.

[0084] Optionally, obtaining the reference tilt angle includes:

[0085] The tilt angle data obtained from the tilt sensor is used as the reference tilt angle. The tilt sensor is installed in the loader.

[0086] Optionally, before obtaining the reference tilt angle when the height of the loader bucket is equal to the preset bucket height, the method further includes:

[0087] The loader receives a bucket leveling command, which instructs the loader to adjust and maintain the bucket in a level position. The bucket leveling command is triggered by activating the corresponding function switch on the loader.

[0088] Optionally, before obtaining the reference tilt angle when the height of the loader bucket is equal to the preset bucket height, the method further includes:

[0089] The loader receives a bucket height adjustment command, which is triggered by activating the corresponding function switch on the loader.

[0090] Based on the bucket height adjustment command, adjust and maintain the boom of the loader bucket so that the height of the loader bucket is equal to the preset bucket height.

[0091] Optionally, after adjusting and maintaining the tilt angle of the connecting rod in the loader equal to the preset connecting rod tilt angle, the method further includes:

[0092] When a command to adjust the attitude of the loader bucket is received, control of the loader bucket boom and linkage is stopped so that the loader bucket boom and linkage are no longer held at the angle that keeps the loader bucket in a horizontal position.

[0093] The loader bucket attitude control device provided in this embodiment belongs to the same concept as the loader bucket attitude control method provided in the above embodiments of this application. It can execute the loader bucket attitude control method provided in any of the above embodiments of this application and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in this embodiment can be found in the specific processing content of the loader bucket attitude control method provided in the above embodiments of this application, and will not be repeated here.

[0094] The functions implemented by the acquisition unit 301, the search unit 302 and the adjustment unit 303 can be implemented by the same or different processors, and this application embodiment does not limit them.

[0095] It should be understood that the units in the above device can be implemented by a processor calling software. For example, the device includes a processor connected to a memory containing instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of each unit in the device. The processor can be a general-purpose processor, such as a CPU or microprocessor, and the memory can be internal or external to the device. Alternatively, the units in the device can be implemented as hardware circuits. By designing the hardware circuits, some or all of the unit functions can be implemented. The hardware circuits can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units are implemented by designing the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a PLD, such as an FPGA, which can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files to implement the functions of some or all of the above units. All units in the above device can be implemented entirely by a processor calling software, entirely by hardware circuits, or partially by a processor calling software with the remaining parts implemented by hardware circuits.

[0096] In this application embodiment, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a CPU, microprocessor, GPU, or DSP. In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented as an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement the functions of some or all of the above units. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, or DPU.

[0097] As can be seen, each unit in the above device can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0098] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a System-on-Chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the device. The at least one processor may be of different types, such as CPU and FPGA, CPU and artificial intelligence processor, CPU and GPU, etc.

[0099] Another embodiment of this application also provides an electronic device, see [link to relevant documentation] Figure 4 As shown, the device includes:

[0100] Memory 400 and processor 410;

[0101] The memory 400 is connected to the processor 410 and is used to store programs;

[0102] The processor 410 is used to implement the loader bucket attitude control method disclosed in any of the above embodiments by running the program stored in the memory 400.

[0103] Optionally, the electronic device further includes: a tilt sensor, which is installed in the loader to obtain a reference tilt angle; and a control command transmission interface for transmitting adjustment commands to the linkage.

[0104] This embodiment provides an electronic device that can be an external control device for the loader bucket attitude, including an external tilt sensor for acquiring a reference tilt angle. The tilt sensor can be connected to the electronic device via wireless or wired communication. The electronic device also includes a control command transmission interface for connecting to the loader controller.

[0105] For loaders that do not have an automatic leveling function for the loader bucket posture, by installing a tilt sensor on the loader and leveling it, and then connecting the loader bucket posture control device to the loader controller through a control command transmission interface, the loader can also realize the loader bucket posture control method in this embodiment.

[0106] Specifically, the aforementioned electronic device may also include: a bus, a communication interface 420, an input device 430, and an output device 440.

[0107] The processor 410, memory 400, communication interface 420, input device 430, and output device 440 are interconnected via a bus. Among them:

[0108] A bus can include a pathway for transmitting information between various components of a computer system.

[0109] The processor 410 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program of the present invention. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0110] Processor 410 may include a main processor, as well as a baseband chip, modem, etc.

[0111] The memory 400 stores a program that executes the technical solution of this invention, and may also store an operating system and other key business functions. Specifically, the program may include program code, which includes computer operation instructions. More specifically, the memory 400 may include read-only memory (ROM), other types of static storage devices capable of storing static information and instructions, random access memory (RAM), other types of dynamic storage devices capable of storing information and instructions, disk storage, flash memory, etc.

[0112] Input device 430 may include a device for receiving user input data and information, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer, or gravity sensor.

[0113] Output device 440 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0114] The communication interface 420 may include a device that uses any transceiver to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0115] The processor 410 executes the program stored in the memory 200 and calls other devices, which can be used to implement each step of any of the loader bucket posture control methods provided in the above embodiments of this application.

[0116] Another embodiment of this application also provides a loader, including a controller;

[0117] The controller is used to execute any of the loader bucket posture control methods provided in the above embodiments of this application.

[0118] The loader controller provided in this embodiment has a built-in control module and program for implementing the control method for the loader bucket posture in this application, so that the loader bucket posture control can be realized without the need for additional equipment.

[0119] The loader provided in this embodiment belongs to the same concept as the loader bucket posture control method provided in the above embodiments of this application. It can execute the loader bucket posture control method provided in any of the above embodiments of this application and has the corresponding functional modules and beneficial effects. Technical details not described in detail in this embodiment can be found in the specific processing content of the loader bucket posture control method provided in the above embodiments of this application, and will not be repeated here.

[0120] For the foregoing method embodiments, in order to simplify the description, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0121] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For apparatus embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0122] The steps in the methods of the various embodiments of this application can be adjusted, merged, or deleted in order according to actual needs, and the technical features described in each embodiment can be replaced or combined.

[0123] The modules and sub-modules in the various embodiments of the present application's devices and terminals can be merged, divided, and deleted according to actual needs.

[0124] It should be understood that the disclosed terminals, devices, and methods can be implemented in other ways, given the several embodiments provided in this application. For example, the terminal embodiments described above are merely illustrative. For instance, the division of modules or sub-modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple sub-modules or modules may be combined or integrated into another module, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0125] The modules or submodules described as separate components may or may not be physically separate. The components that constitute a module or submodule may or may not be physical modules or submodules; that is, they may be located in one place or distributed across multiple network modules or submodules. Some or all of the modules or submodules can be selected to achieve the purpose of this embodiment's solution, depending on actual needs.

[0126] Furthermore, the functional modules or sub-modules in the various embodiments of this application can be integrated into one processing module, or each module or sub-module can exist physically separately, or two or more modules or sub-modules can be integrated into one module. The integrated modules or sub-modules described above can be implemented in hardware or in the form of software functional modules or sub-modules.

[0127] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0128] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software unit executed by a processor, or a combination of both. The software unit can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0129] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0130] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling the attitude of a loader bucket, characterized in that, include: When the height of the loader bucket is equal to the preset bucket height, a reference tilt angle is obtained, which describes the degree of tilt of the loader relative to the horizontal plane; The preset bucket angle mapping relationship is used to find the preset link angle corresponding to the reference angle. The preset link angle describes the angle of the link connected to the loader bucket when the loader is working. The preset bucket angle mapping relationship reflects the correspondence between the set formed by the reference angle and the set formed by the preset link angle. Adjust and maintain the tilt angle of the connecting rod in the loader equal to the preset connecting rod tilt angle so that the loader bucket is in a horizontal position; The method for obtaining the preset bucket angle mapping relationship includes: Adjust the height of the loader bucket to be equal to the preset bucket height; Adjust the tilt of the loader relative to the horizontal plane and record the adjusted reference tilt angle as the reference tilt angle in the preset bucket angle mapping relationship; For each reference tilt angle recorded in the preset bucket angle mapping relationship, perform the following steps: Adjust the loader bucket to a horizontal position and record the linkage tilt angle in the horizontal position as the preset linkage tilt angle in the preset bucket angle mapping relationship.

2. The method according to claim 1, characterized in that, The process of obtaining the reference tilt angle includes: The tilt angle data obtained by the tilt angle sensor is used as the reference tilt angle. The tilt angle sensor is installed in the loader.

3. The method according to claim 1, characterized in that, Before obtaining the reference tilt angle when the height of the loader bucket is equal to the preset bucket height, the process also includes: The loader receives a bucket leveling command, which instructs the loader bucket to be adjusted and kept in a horizontal position. The bucket leveling command is triggered by activating the corresponding function switch on the loader.

4. The method according to claim 1, characterized in that, Before obtaining the reference tilt angle when the height of the loader bucket is equal to the preset bucket height, the process also includes: Receives a bucket height adjustment command, which is triggered by activating the corresponding function switch on the loader; Based on the bucket height adjustment command, the boom of the loader bucket is adjusted and maintained so that the height of the loader bucket is equal to the preset bucket height.

5. The method according to claim 4, characterized in that, After adjusting and maintaining the tilt angle of the connecting rod in the loader equal to the preset connecting rod tilt angle, the method further includes: When an adjustment command for the loader bucket attitude is received, control of the loader bucket boom and linkage is stopped, and the adjustment command is executed.

6. A control device for the attitude of a loader bucket, implementing the control method for the attitude of a loader bucket as described in claim 1, characterized in that, include: The acquisition unit is used to acquire a reference tilt angle when the height of the loader bucket is equal to a preset bucket height. The reference tilt angle describes the degree of tilt of the loader relative to the horizontal plane. The lookup unit is used to find a preset link tilt angle corresponding to the reference tilt angle in a preset bucket angle mapping relationship. The preset link tilt angle describes the angle of the link connected to the loader bucket when the loader is working. The preset bucket angle mapping relationship reflects the correspondence between the set formed by the reference tilt angle and the set formed by the preset link tilt angle. An adjustment unit is used to adjust and maintain the tilt angle of the connecting rod in the loader equal to the preset connecting rod tilt angle, so that the loader bucket is in a horizontal position.

7. An electronic device, characterized in that, Including memory and processor; The memory is connected to the processor and is used to store programs and preset bucket angle mapping relationships; The processor is used to implement the loader bucket attitude control method as described in any one of claims 1 to 5 by running the program in the memory.

8. The electronic device according to claim 7, characterized in that, The electronic device further includes: A tilt sensor, which is installed in the loader, is used to obtain a reference tilt angle; A control command transmission interface is provided for transmitting adjustment commands to the connecting rod.

9. A loader, characterized in that, Including the controller; The controller is used to execute the control method for the attitude of the loader bucket as described in any one of claims 1 to 5.

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