Constant speed discharge control method and system, shovel control method and system, loader

Abstract

This invention discloses a uniform unloading control method and system, a bucket control method and system, and a loader. The invention controls the speed of the bucket tilting based on the difference between the target angular velocity and the real-time bucket angular velocity, as well as the rate of change of the bucket angular velocity difference, so that the loader tilts the bucket at a uniform speed, thereby effectively avoiding the problems of excessively fast bucket movement speed in the second half of unloading, poor maneuverability, and large stopping impact.

Description

Technical Field

[0001] This invention relates to a uniform unloading control method and system, a bucket control method and system, and a loader, belonging to the field of loader technology. Background Technology

[0002] Loaders are earthmoving machines widely used in construction projects such as highways, railways, buildings, hydropower, ports, and mines. During the unloading process of the tipper bucket, the operator controls the handle to remain unchanged for a period of time (from the start to the end of unloading). That is, the direction and opening of the tipper bucket, as indicated by the handle signal, remain unchanged. As the bucket tilts, under the influence of the material's gravity, the latter half of the bucket's movement during unloading becomes too fast, resulting in poor maneuverability and a large impact when stopping. Summary of the Invention

[0003] This invention provides a uniform unloading control method and system, and a bucket control method and system, which solves the problems disclosed in the background art.

[0004] According to one aspect of this disclosure, a method for controlling uniform unloading is provided, comprising:

[0005] Step 1: If the operation signals issued by the handle are consistent within the preset time period up to time t, the bucket angular velocity at time t is taken as the target angular velocity; where the handle is the handle in the loader that controls the movement of the bucket, and the operation signals are consistent, meaning that the operation signals all represent the tipping bucket and the tipping bucket opening is consistent and greater than the threshold.

[0006] Step 2: If the operation signal issued by the handle at time t1 is consistent with the operation signal issued by the handle at time t, based on the difference between the target angular velocity and the bucket angular velocity at time t1, and the rate of change of the difference in bucket angular velocity, the fuzzy PID method is used to obtain the control signal for the uniformly tilting bucket at time t1. The bucket is controlled by the control signal, t1 = t1 + 1. Step 2 is repeated until the operation signal issued by the handle at time t1 is inconsistent with the operation signal issued by the handle at time t. Initially, time t1 is the next time after time t.

[0007] In some embodiments of this disclosure, in the fuzzy PID method, the difference between the target angular velocity and the bucket angular velocity at time t1, and the rate of change of the difference in bucket angular velocity are input into fuzzy control, and the output of fuzzy control is used to control the control parameters of the PID system.

[0008] In some embodiments of this disclosure, the bucket angular velocity is obtained based on the angle signal during bucket movement within a preset time period, including: calculating the rate of change of the bucket angle based on the angle signal during bucket movement within the preset time period; and calculating the bucket angular velocity based on the rate of change of the bucket angle.

[0009] According to another aspect of this disclosure, a uniform unloading control system is provided, comprising:

[0010] The target angular velocity module, if the operation signals issued by the handle are consistent within a preset time period up to time t, will take the bucket angular velocity at time t as the target angular velocity; where the handle is the handle in the loader that controls the movement of the bucket, and consistent operation signals mean that the operation signals all represent the tipping bucket and the tipping bucket opening is consistent and greater than the threshold.

[0011] The fuzzy PID module, if the operation signal issued by the handle at time t1 is consistent with the operation signal issued by the handle at time t, uses the fuzzy PID method to obtain the control signal for the uniformly tilting bucket at time t1 based on the difference between the target angular velocity and the bucket angular velocity at time t1, and the rate of change of the difference in bucket angular velocity. The control signal is then used to control the bucket, t1 = t1 + 1. The process in the fuzzy PID module is repeated until the operation signal issued by the handle at time t1 is inconsistent with the operation signal issued by the handle at time t. Initially, time t1 is the next time after time t.

[0012] According to another aspect of this disclosure, a bucket control method is provided, including the above-described uniform unloading control method; further comprising:

[0013] If the operation signal is a signal representing a non-tipping bucket, a signal representing a tipping bucket whose duration is less than the preset time period, or the operation signal issued by the handle changes after the constant speed tipping bucket has been controlled for a period of time, the control signal for controlling the bucket is obtained based on the opening degree in the operation signal issued by the handle, and the bucket is controlled by the control signal.

[0014] If the operation signal is a signal representing the tipper bucket, and the opening degree in the operation signal is not greater than the threshold, the bucket will not move.

[0015] According to another aspect of this disclosure, a bucket control system is provided, comprising:

[0016] The first control module uses the above-mentioned uniform unloading control method to control the bucket.

[0017] The second control module obtains the control signal for the bucket based on the opening degree in the operation signal issued by the handle if the operation signal is a signal representing a non-tipping bucket, the duration of a consistent signal representing a tipping bucket is less than the duration of a preset time period, or the operation signal issued by the handle changes after controlling the tipping bucket at a constant speed for a period of time. The control signal is then used to control the bucket.

[0018] The third control module controls the bucket not to move if the operation signal is a signal representing the tipping bucket and the opening degree in the operation signal is not greater than the threshold.

[0019] According to another aspect of this disclosure, a bucket control device is provided, including a controller and a first angle sensor;

[0020] The first angle sensor is used to collect angle signals during bucket movement;

[0021] The controller is used to control the bucket using a uniform unloading control method or a bucket control method.

[0022] In some embodiments of this disclosure, a first angle sensor is mounted at the connection between the loading boom and the rocker arm.

[0023] According to another aspect of this disclosure, a loader is provided, including the aforementioned bucket control device.

[0024] The beneficial effects achieved by the present invention are as follows: The present invention controls the speed of the bucket tipping based on the difference between the target angular velocity and the real-time bucket angular velocity, as well as the rate of change of the difference in bucket angular velocity, so that the loader tipps the bucket at a uniform speed, thereby effectively avoiding the problems of excessive speed of the bucket in the second half of the unloading process, poor maneuverability, and large impact when stopping. Attached Figure Description

[0025] Figure 1 The flowchart is for the uniform unloading control method;

[0026] Figure 2 This is a block diagram of a uniform speed unloading control system;

[0027] Figure 3 The flowchart shows the bucket control method.

[0028] Figure 4 This is a block diagram of the bucket control system;

[0029] Figure 5 This is a block diagram of the bucket control device. Detailed Implementation

[0030] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0031] Unless otherwise stated, the relative arrangement, numerical expressions, and values ​​of the components set forth in these embodiments do not limit the scope of this disclosure.

[0032] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0033] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0034] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0035] It should be noted that similar symbols and letters in the following figures represent similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0036] To address the issues of excessively fast bucket movement speed, poor maneuverability, and large stopping impact during unloading, this disclosure proposes a uniform unloading control method and system, and a bucket control method and system, specifically controlling the bucket to unload at a uniform speed during unloading.

[0037] Figure 1 This is a schematic diagram of an embodiment of the uniform unloading control method disclosed herein. Figure 1 The implementation can be executed by the vehicle controller.

[0038] like Figure 1 As shown, in step 1 of the embodiment, if the operation signals issued by the handle are consistent within a preset time period up to time t, the bucket angular velocity at time t is taken as the target angular velocity; wherein, the handle is the handle in the loader that controls the movement of the bucket, and the consistent operation signals mean that the operation signals all represent the tipping bucket and the tipping bucket opening is consistent and greater than a threshold.

[0039] It should be noted that the handle emits operation signals when it is activated. The operation signals include direction signals and opening signals. There are four types of direction signals, which represent raising the bucket, lowering the bucket, retracting the bucket, and tipping the bucket. The opening signal is a specific opening value, ranging from 0 to 100%.

[0040] When the operation signal is detected to be consistent for 100ms, it is considered that unloading speed control is required. The current bucket angular velocity will be used as the target angular velocity, that is, the bucket angular velocity at the time corresponding to 100ms will be used as the target angular velocity.

[0041] In some embodiments, the bucket angular velocity is obtained based on the angle signal of the bucket during movement within a preset time period (i.e., within 100ms), which may specifically include: calculating the rate of change of the bucket angle based on the angle signal of the bucket during movement within the preset time period; and calculating the bucket angular velocity based on the rate of change of the bucket angle.

[0042] It should be noted that the angle signal during bucket movement can be collected by a sensor. That is, the angle signal during bucket movement can be collected in real time by the sensor. Based on the real-time collected angle signal, the rate of change of bucket angle can be obtained, and then the bucket angular velocity can be obtained.

[0043] return Figure 1 In step 2 of the embodiment, if the operation signal issued by the handle at time t1 is consistent with the operation signal issued by the handle at time t, the control signal for controlling the uniform tilting bucket at time t1 is obtained by using the fuzzy PID method based on the difference between the target angular velocity and the bucket angular velocity at time t1, and the rate of change of the difference in bucket angular velocity. The control signal is used to control the bucket, t1 = t1 + 1. Step 2 is repeated until the operation signal issued by the handle at time t1 is inconsistent with the operation signal issued by the handle at time t. Initially, time t1 is the next time after time t.

[0044] It should be noted that once it is determined to perform uniform unloading speed control, the difference between the target angular velocity and the real-time bucket angular velocity, as well as the rate of change of the bucket angular velocity difference, will be calculated. The real-time difference and rate of change will be input into the fuzzy PID method to obtain the real-time control signal. The bucket will be controlled by the control signal to achieve uniform bucket tipping.

[0045] It should be noted that in the fuzzy PID method, the difference between the target angular velocity and the bucket angular velocity at time t1, as well as the rate of change of the difference in bucket angular velocity, are input into the fuzzy control. At the same time, the fuzzy control rules are adjusted, and the output of the fuzzy control is used to control the control parameters of the PID system. The PID system outputs a drive signal to adjust the speed of the tipping bucket, thereby controlling the bucket to tip at a constant speed.

[0046] The above method controls the tipping speed of the bucket based on the difference between the target angular velocity and the real-time bucket angular velocity, as well as the rate of change of the difference in bucket angular velocity, so that the loader tipps the bucket at a uniform speed, thereby effectively avoiding the problems of excessive speed of the bucket in the second half of the unloading process, poor maneuverability, and large impact when stopping.

[0047] Figure 2 This is a schematic diagram of one embodiment of the uniform speed unloading control system disclosed herein. Figure 2 An embodiment is a virtual system that can be loaded and executed by an onboard controller, including a target angular velocity module and a fuzzy PID module.

[0048] The target angular velocity module in the embodiment is configured such that if the operation signals emitted by the handle are consistent within a preset time period up to time t, the bucket angular velocity at time t is taken as the target angular velocity; wherein, the handle is the handle in the loader that controls the movement of the bucket, and the operation signals are consistent, meaning that the operation signals all represent the tipping bucket and the tipping bucket opening is consistent and greater than a threshold.

[0049] The fuzzy PID module in this embodiment is configured such that if the operation signal issued by the handle at time t1 is consistent with the operation signal issued by the handle at time t, the fuzzy PID method is used to obtain the control signal for the uniformly tilting bucket at time t1 based on the difference between the target angular velocity and the bucket angular velocity at time t1, and the rate of change of the difference in bucket angular velocity. The control signal is then used to control the bucket, and the process in the fuzzy PID module is repeated until the operation signal issued by the handle at time t1 is inconsistent with the operation signal issued by the handle at time t. Initially, time t1 is the next time after time t.

[0050] Similar to the above method, this device controls the speed of the bucket tilting based on the difference between the target angular velocity and the real-time bucket angular velocity, as well as the rate of change of the difference in bucket angular velocity, so that the loader tilts the bucket at a uniform speed, thereby effectively avoiding the problems of excessive speed of the bucket in the second half of the unloading process, poor maneuverability, and large impact when stopping.

[0051] Figure 3 This is a schematic diagram of one embodiment of the bucket control method disclosed herein. Figure 3 The implementation can be executed by the vehicle controller, specifically including Figure 1 The uniform unloading control method also includes:

[0052] If the operation signal is a signal representing a non-tipping bucket, the duration of a consistent signal representing a tipping bucket is less than the preset time period, or the operation signal issued by the handle changes after the constant speed tipping bucket has been controlled for a period of time, the control signal for controlling the bucket is obtained based on the opening degree in the operation signal issued by the handle, and the bucket is controlled using the control signal; if the operation signal is a signal representing a tipping bucket, and the opening degree in the operation signal is not greater than the threshold, the bucket is controlled not to move.

[0053] It should be noted that the detailed process of bucket control is as follows:

[0054] 1) Receive operation signals from the handle;

[0055] 2) Determine if the operation signal is a signal representing a non-tipping bucket. If so, obtain the control signal for controlling the bucket based on the opening degree in the operation signal issued by the handle, and use the control signal to control the bucket; otherwise, proceed to 3).

[0056] 3) Determine if the opening degree in the operation signal is not greater than the threshold (generally 5%). If so, control the bucket not to move; otherwise, proceed to 4).

[0057] 4) Determine if the duration of the consistent signal representing the tipper bucket is less than the preset time period, i.e., 100ms. If so, the handle sends an operation signal to obtain the control signal for controlling the bucket, and the control signal is used to control the bucket; otherwise, proceed to step 5).

[0058] 5) Determine if a target angular velocity exists. If it exists, proceed to 6); otherwise, use the current bucket angular velocity as the target angular velocity and proceed to 1).

[0059] 6) Based on the difference between the target angular velocity and the real-time bucket angular velocity, and the rate of change of the bucket angular velocity difference, a fuzzy PID method is used to obtain the control signal for controlling the uniformly tilting bucket. The control signal is then used to control the bucket, and the process is switched to step 1).

[0060] The above-mentioned bucket control method enters the uniform speed unloading control state after the handle action remains unchanged for 100ms. In this state, the bucket is controlled to unload at a uniform speed, thereby effectively avoiding the problems of excessive speed, poor maneuverability, and large impact when stopping the bucket during the second half of the unloading process. In other states, the bucket can be controlled based on the opening degree in the operation signal.

[0061] Figure 4 This is a schematic diagram of one embodiment of the bucket control system disclosed herein. Figure 4 An embodiment is a virtual system that can be loaded and executed by an on-board controller, including a first control module, a second control module, and a third control module.

[0062] The first control module in the embodiment is configured to control the bucket using a uniform unloading control method.

[0063] The second control module of the embodiment is configured to obtain a control signal for controlling the bucket based on the opening degree in the operation signal issued by the handle if the operation signal is a signal representing a non-tipping bucket, the duration of a consistent signal representing a tipping bucket is less than the duration of a preset time period, or the operation signal issued by the handle changes after controlling the tipping bucket at a constant speed for a period of time. The control signal is then used to control the bucket.

[0064] The third control module in the embodiment is configured to control the bucket not to move if the operation signal is a signal representing the tipper bucket and the opening degree in the operation signal is not greater than a threshold.

[0065] Similar to the above method, the device enters the uniform speed unloading control state after the handle action remains unchanged for 100ms. In this state, the bucket is controlled to unload at a uniform speed, thereby effectively avoiding the problems of excessive speed, poor maneuverability, and large impact when stopping the bucket during the second half of the unloading process. In other states, the bucket can be controlled based on the opening degree in the operation signal.

[0066] To adapt to the aforementioned bucket control method and uniform unloading control method, the present invention also discloses a corresponding device. Figure 5 This is a schematic diagram of an embodiment of the bucket control device disclosed herein, which may specifically include a controller and a first angle sensor; wherein, the first angle sensor is used to collect angle signals when the bucket moves; and the controller is used to control the bucket using a bucket control method or a uniform unloading control method.

[0067] Since the angle signal of the bucket is not easy to collect, in some embodiments, the first angle sensor is installed at the connection between the boom and the rocker arm of the loader. The angle signal of the bucket, i.e. the relative angle of the bucket movement, is indirectly collected by collecting the relative angle between the boom and the rocker arm.

[0068] Additionally, in order to monitor the movement of the boom, a second angle sensor is installed in some embodiments. The second angle sensor transmits the collected signal to the controller, which is specifically installed at the connection between the boom and the front frame to obtain the relative angle between the boom and the front frame, thereby obtaining the boom angle signal.

[0069] It should be noted that the controller can be a vehicle-mounted controller, or a separate controller can be used. In addition to connecting to the sensors, the controller also connects to the handle and the electromagnetic proportional control valve. That is, it receives signals from the handle and outputs control signals to the electromagnetic proportional control valve. The controller is connected to the handle, sensors, and electromagnetic proportional control valve via a CAN bus or hardwired connection. The handle is installed on the right handrail in the loader cab.

[0070] The electromagnetic proportional control valve is connected to the multi-way valve of the hydraulic system through hydraulic pipelines. The electromagnetic proportional control valve receives control signals, specifically control current, and controls the pressure changes of the multi-way valve of the hydraulic system, thereby driving the boom to lift, lower, retract, and tip the bucket.

[0071] It should be noted that the electromagnetic proportional control valve can be installed at the connection between the front frame and the hydraulic system pipeline of the whole vehicle. Of course, the electromagnetic proportional control valve can also be an integrated electro-hydraulic system multi-way valve, installed in the front frame of the loader.

[0072] Based on the same technical solution, this disclosure also relates to a loader, including the above-mentioned bucket control device; the loader can realize uniform unloading control, which greatly improves maneuverability and driving comfort.

[0073] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A uniform unloading control method, characterized in that, include: Step 1: If the operation signals issued by the handle are consistent within the preset time period up to time t, the bucket angular velocity at time t is taken as the target angular velocity; where the handle is the handle in the loader that controls the movement of the bucket, and the operation signals are consistent, meaning that the operation signals all represent the tipping bucket and the tipping bucket opening is consistent and greater than the threshold. Step 2: If the operation signal issued by the handle at time t1 is consistent with the operation signal issued by the handle at time t, based on the difference between the target angular velocity and the bucket angular velocity at time t1, and the rate of change of the difference in bucket angular velocity, the fuzzy PID method is used to obtain the control signal for the uniformly tilting bucket at time t1. The bucket is controlled by the control signal, t1 = t1 + 1. Step 2 is repeated until the operation signal issued by the handle at time t1 is inconsistent with the operation signal issued by the handle at time t. Initially, time t1 is the next time after time t; the operation signal issued by the handle at time t1 is inconsistent with the operation signal issued by the handle at time t. The operation signal issued by the handle at time t1 represents the non-tipping bucket, the tipping bucket opening in the operation signal issued by the handle at time t1 is not greater than the threshold, or the change in the operation signal issued by the handle after controlling the uniform tipping bucket for a period of time.

2. The uniform unloading control method according to claim 1, characterized in that, In the fuzzy PID method, the difference between the target angular velocity and the bucket angular velocity at time t1, as well as the rate of change of the difference in bucket angular velocity, are input into the fuzzy control, and the output of the fuzzy control is used to control the control parameters of the PID system.

3. The uniform unloading control method according to claim 1, characterized in that, The bucket angular velocity is obtained based on the angle signal during bucket movement within a preset time period, including: Calculate the rate of change of the bucket angle based on the angle signal during the bucket's movement within a preset time period; Calculate the bucket angular velocity based on the rate of change of the bucket angle.

4. A uniform speed unloading control system, characterized in that, include: The target angular velocity module, if the operation signals issued by the handle are consistent within a preset time period up to time t, will take the bucket angular velocity at time t as the target angular velocity; where the handle is the handle in the loader that controls the movement of the bucket, and consistent operation signals mean that the operation signals all represent the tipping bucket and the tipping bucket opening is consistent and greater than the threshold. The fuzzy PID module, if the operation signal issued by the handle at time t1 is consistent with the operation signal issued by the handle at time t, uses the fuzzy PID method to obtain the control signal for the uniformly tilting bucket at time t1 based on the difference between the target angular velocity and the bucket angular velocity at time t1, and the rate of change of the difference in bucket angular velocity. The control signal is used to control the bucket, t1 = t1 + 1, and the process in the fuzzy PID module is repeated until the operation signal issued by the handle at time t1 is inconsistent with the operation signal issued by the handle at time t. Initially, time t1 is the next time after time t; the operation signal issued by the handle at time t1 is inconsistent with the operation signal issued by the handle at time t. The operation signal issued by the handle at time t1 represents the non-tipping bucket, the tipping bucket opening in the operation signal issued by the handle at time t1 is not greater than the threshold, or the change in the operation signal issued by the handle after controlling the uniform tipping bucket for a period of time.

5. A bucket control method, characterized in that, Includes the method described in any one of claims 1 to 3; Also includes: If the operation signal is a signal representing a non-tipping bucket, a signal representing a tipping bucket whose duration is less than the preset time period, or the operation signal issued by the handle changes after the constant speed tipping bucket has been controlled for a period of time, the control signal for controlling the bucket is obtained based on the opening degree in the operation signal issued by the handle, and the bucket is controlled by the control signal. If the operation signal is a signal representing the tipper bucket, and the opening degree in the operation signal is not greater than the threshold, the bucket will not move.

6. A bucket control system, characterized in that, include: The first control module uses the method described in any one of claims 1 to 3 to control the bucket. The second control module obtains the control signal for the bucket based on the opening degree in the operation signal issued by the handle if the operation signal is a signal representing a non-tipping bucket, the duration of a consistent signal representing a tipping bucket is less than the duration of a preset time period, or the operation signal issued by the handle changes after controlling the tipping bucket at a constant speed for a period of time. The control signal is then used to control the bucket. The third control module controls the bucket not to move if the operation signal is a signal representing the tipping bucket and the opening degree in the operation signal is not greater than the threshold.

7. A bucket control device, characterized in that, Includes the controller and the first angle sensor; The first angle sensor is used to collect angle signals during bucket movement; The controller is used to control the bucket using the method described in any one of claims 1 to 3 or the method described in claim 5.

8. The bucket control device according to claim 7, characterized in that, The first angle sensor is installed at the connection between the loading boom and the rocker arm.

9. A loader, characterized in that, Includes the bucket control device as described in claim 7 or 8.

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