Parallel lifting high-precision control system and algorithm for improving working efficiency of loader

Abstract

The invention relates to the field of intelligent control of loaders, and particularly discloses a parallel lifting high-precision control system and algorithm for improving the working efficiency of a loader, and the parallel lifting high-precision control method comprises the following steps: firstly, monitoring the angle of a boom in real time by using an angle sensor to obtain an analog quantity angle value; arranging and calculating the analog quantity angle value by using a controller so as to obtain an actually required height or length value; based on the calibration tool, soft calibration is conducted on the lowest point and the highest point of the machine through the operation platform, and horizontal state data of the movable arm are recorded; then comparing and correcting the actually required height or length value and the horizontal state data of the movable arm by using a PI (Proportional Integral) algorithm so as to generate a control instruction; and finally, on the basis of the generated control instruction, a working device of the vehicle is horizontally adjusted. The position of the movable arm bucket can be accurately controlled through software, so that the working efficiency of the machine is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent control of loaders, and more specifically, to a parallel lifting high-precision control system and algorithm for improving the working efficiency of loaders. Background Art

[0002] In recent years, as the market continues to improve the level of intelligence of loader vehicles, customers' demand for control comfort and intelligent functions of these devices is also growing. Traditionally, manufacturers usually use a six-link mechanism to design the working device of the loader to achieve its parallel lifting function. However, this mechanism has some limitations: the working device needs to be replaced frequently, the operation process is cumbersome, and its accuracy may gradually decrease with the extension of use time.

[0003] In order to overcome these problems, the present invention proposes a parallel lifting high-precision control system and algorithm for improving the working efficiency of the loader. Summary of the invention

[0004] In order to solve the above technical problems, the present application is proposed. The embodiment of the present application provides a parallel lifting high-precision control system and algorithm for improving the working efficiency of the loader, which uses a controller to convert the current signal of the angle sensor into a digital signal to obtain the actual required height or length value, and relies on external auxiliary tools to record the horizontal position of the machine through a soft calibration method, and then compares and corrects it through a PID algorithm, so that the boom always remains in a horizontal state during the lifting process.

[0005] Specifically, according to one aspect of the present application, a parallel lift high precision control system for improving the working efficiency of a loader is provided, which includes:

[0006] A sensor data acquisition module, used to use an angle sensor to monitor the boom angle in real time to obtain an analog angle value, wherein the analog angle value is a current value of 4-20mA output by the angle sensor;

[0007] A data processing module, used to use a controller to sort and calculate the analog angle value to obtain the height or length value actually required;

[0008] a soft calibration module, for performing soft calibration on the lowest point and the highest point of the machine through the operating platform based on the calibration tool, and recording the horizontal state data of the boom, and storing the data in the controller;

[0009] A data correction module, used for comparing and correcting the height or length value actually required and the horizontal state data of the boom using a PID algorithm to generate a control instruction;

[0010] The execution module is used to adjust the level of the working device of the vehicle based on the generated control instruction.

[0011] Optionally, the data processing module includes: H=(AB) / (C*k)*(Dset*k), C=Emax-B; wherein H represents the actual required height or length value, A represents the real-time sampling value of the boom, B represents the boom calibration relative to the 0 point, C represents the difference between the maximum and minimum values ​​of the boom, Dset represents the boom lifting height setting value, Emax represents the maximum value of the boom, and k represents the proportional coefficient.

[0012] Optionally, the calibration tool is a gyroscope.

[0013] Optionally, the data correction module includes:

[0014] E:=E+(SetPoint-MeasPoint-E) / RC;Control:=Control+(E-E1)*P+E*I / 100+(E-2*E1+E2)*D;wherein, E represents error, SetPoint represents set point, MeasPoint represents measurement point, RC represents constant factor, P represents proportional gain, I represents integral gain, D represents differential gain, E1 represents the previous error value, and E2 represents the previous two error values.

[0015] Optionally, the parallel lifting high-precision control system for improving the working efficiency of the loader also includes: a controller: an algorithm control terminal, including a shell, connectors, IO ports, a main chip, and an acquisition chip module, which is used to collect, organize, calculate and judge sensor data, organize and store soft-calibrated data, and call stored data; an angle sensor: used to monitor the angles of the loader's boom and bucket in real time, and provide analog angle values; an operating platform: including a display and a button panel, which is used to perform soft calibration through manual operation, implement soft calibration behavior, and confirm the soft calibration results through the button panel.

[0016] Optionally, the operator can view system status, set parameters, and confirm soft calibration results through the operating platform.

[0017] Optionally, the controller and the operating platform perform real-time data interaction via a CAN bus or an acquisition port, and the response time is within 10 ms.

[0018] Specifically, according to another aspect of the present application, a parallel lifting high-precision control method for improving the working efficiency of a loader is provided, which is characterized by comprising:

[0019] Use an angle sensor to monitor the arm angle in real time to obtain an analog angle value, wherein the analog angle value is a current value of 4-20mA output by the angle sensor;

[0020] Using a controller to sort and calculate the analog angle value to obtain the height or length value actually required;

[0021] Based on the calibration tool, the lowest point and the highest point of the machine are soft-calibrated through the operating platform, and the horizontal state data of the boom are recorded, and the data are stored in the controller;

[0022] Using a PID algorithm to compare and correct the actual required height or length value and the horizontal state data of the boom to generate a control instruction;

[0023] Based on the generated control command, the working device of the vehicle is adjusted horizontally.

[0024] Compared with the prior art, the present application provides a parallel lifting high-precision control system and algorithm for improving the working efficiency of the loader. By introducing advanced sensor technology, soft calibration method and PID control algorithm, it significantly improves the intelligence level of the loader, which not only improves the working efficiency and precision, but also enhances the flexibility and maintainability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0026] Figure 1 A schematic diagram of a parallel lift high-precision control system for improving the working efficiency of a loader according to an embodiment of the present application is illustrated.

[0027] Figure 2 The diagram illustrates a block diagram of a parallel lift high-precision control system for improving the working efficiency of a loader according to an embodiment of the present application.

[0028] Figure 3 A flow chart of a parallel lift heightening precision control method for improving the working efficiency of a loader according to an embodiment of the present application is illustrated. DETAILED DESCRIPTION

[0029] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0030] Embodiment 1:

[0031] Figure 1 The figure shows a schematic diagram of a parallel lift high precision control system for improving the working efficiency of a loader according to an embodiment of the present application. Figure 1 As shown, the parallel lifting high-precision control system 10 for improving the working efficiency of the loader includes: a sensor data acquisition module 100, which is used to use an angle sensor to monitor the boom angle in real time to obtain an analog angle value, wherein the analog angle value is the current value 4-20mA output by the angle sensor; a data processing module 200, which is used to use a controller to organize and calculate the analog angle value to obtain the actual required height or length value; a soft calibration module 300, which is used to perform soft calibration on the lowest point and the highest point of the machine through the operating platform based on the calibration tool, and record the horizontal state data of the boom, and store these data in the controller; a data correction module 400, which is used to use a PID algorithm to compare and correct the actual required height or length value and the horizontal state data of the boom to generate a control instruction; an execution module 500, which is used to adjust the working device of the vehicle horizontally based on the generated control instruction.

[0032] In an embodiment of the present application, the sensor data acquisition module 100 is used to use an angle sensor to monitor the boom angle in real time to obtain an analog angle value, wherein the analog angle value is the current value 4-20mA output by the angle sensor. It should be understood that the angle sensor can monitor the angle changes of the boom in real time and convert these changes into electrical signal outputs, usually in the form of current values ​​(i.e., analog angle values). This analog angle value can directly reflect the real-time position and posture of the boom, which helps the working device of the loader to move in an expected manner. Therefore, the angle sensor is first used to collect the boom angle of the loader in real time.

[0033] In an embodiment of the present application, the data processing module 200 is used to use a controller to sort and calculate the analog angle value to obtain the height or length value actually required. Considering that the analog angle value provided by the angle sensor is a current value, it is difficult to intuitively understand the height or length actually required by the machine, and the controller can sort and calculate these analog signals after receiving them to convert them into actual physical quantities, which provides a reliable data basis for subsequent parallel lifting control tasks. Therefore, in order to better realize the subsequent precise control tasks of the loader working device, the controller is used to sort and calculate the analog angle value provided by the angle sensor to obtain the height or length value actually required.

[0034] Specifically, the data processing module 200 includes:

[0035] H=(AB) / (C*k)*(Dset*k), C=Emax-B; wherein, H represents the actual required height or length value, A represents the real-time sampling value of the boom, B represents the boom calibration relative to the 0 point, C represents the difference between the maximum and minimum values ​​of the boom, Dset represents the setting value of the boom lifting height, Emax represents the maximum value of the boom, and k represents the proportional coefficient.

[0036] In the embodiment of the present application, the soft calibration module 300 is used to perform soft calibration on the lowest and highest points of the machine through the operating platform based on the calibration tool, and record the horizontal state data of the boom, and store these data in the controller. It should be understood that soft calibration is a method of compensating for hardware errors through software adjustment, which can be performed without physical calibration equipment, thereby improving efficiency and reducing downtime. And the operating platform provides a user-friendly interface, so that the operator can easily perform calibration operations, and can also monitor the calibration process and results in real time. Based on this, using the calibration tool and performing soft calibration through the operating platform enables the system to accurately adjust the lowest and highest points of the machine to ensure that the angle and position of the boom meet the working requirements at these extreme positions. This helps to improve the accuracy and efficiency of the operation. Therefore, in order to ensure that the system can accurately identify and respond to the physical position and posture under actual working conditions, the lowest and highest points of the machine are further calibrated through the operating platform based on the calibration tool. At the same time, the horizontal state data of the boom is recorded and stored in the controller for real-time access and processing.

[0037] Specifically, the soft calibration module 300 uses a gyroscope as a calibration tool, and the specific calibration process is: install the gyroscope on the bucket of the vehicle, lift the boom to the highest point, manually level the bucket so that it is horizontal with the ground, then press the confirmation button, record the data at this time, and slowly lower the boom. During the descent, the bucket is always in a horizontal state and descends, and the data is recorded and stored in an array.

[0038] In an embodiment of the present application, the data correction module 400 is used to use a PID algorithm to compare and correct the height or length value of the actual requirement and the horizontal state data of the boom to generate a control instruction. It should be understood that considering the data correction can ensure that the system is dynamically adjusted according to real-time data to meet specific height or length requirements. Based on this, the PID algorithm is further used to compare and correct the height or length value of the actual requirement and the horizontal state data of the boom. Among them, the PID algorithm can make real-time adjustments to the deviation of the system, quickly respond to the deviation through the proportional link, eliminate the steady-state error through the integral link, and predict the deviation trend and reduce overshoot through the differential link. The combination of these three functions enables the PID algorithm to adapt to a variety of control requirements and achieve precise control of complex systems. In this way, it helps to ensure precise control of the boom and improve work efficiency.

[0039] Specifically, the data correction module 400 includes:

[0040] E:=E+(SetPoi nt-MeasPoi nt-E) / RC;

[0041] Control l:=Contro l+(E-E1)*P+E*I / 100+(E-2*E1+E2)*D;

[0042] Among them, E represents error, SetPoint represents set point, MeasPoint represents measurement point, RC represents constant factor, P represents proportional gain, I represents integral gain, D represents differential gain, E1 represents the previous error value, and E2 represents the previous two error values.

[0043] In the embodiment of the present application, the execution module 500 is used to adjust the working device of the vehicle horizontally based on the generated control instruction. It should be understood that the execution instruction is a key link in the entire control system. It converts the calculated and corrected data into mechanical actions to ensure that the working device of the loader can accurately and smoothly perform the expected task. Therefore, in order to better realize the intelligent and automated control of the parallel lifting of the loader, the working device of the vehicle is further adjusted horizontally based on the generated control instruction.

[0044] Figure 2The diagram shows a block diagram of a parallel lift high precision control system for improving the working efficiency of a loader according to an embodiment of the present application. Figure 2 As shown, the parallel lifting high-precision control system 10 for improving the working efficiency of the loader also includes a controller 11, an angle sensor 12 and an operating platform 13. Among them, the controller 11 is an algorithm control terminal, including a shell, a connector, an IO port, a main chip, and an acquisition chip module, which is used to collect, organize, calculate and judge sensor data, organize and store data after soft calibration, and call the stored data; the angle sensor 12 is used to monitor the angle of the loader boom and bucket in real time and provide analog angle values; the operating platform 13 includes a display and a key panel, which is used to perform soft calibration through manual operation, implement soft calibration behavior, and confirm the soft calibration results through the key panel.

[0045] In particular, the operator can view the system status, set parameters and confirm the soft calibration results through the operation platform.

[0046] In particular, the controller and the operating platform perform real-time data interaction via a CAN bus or an acquisition port, and the response time is within 10 ms.

[0047] In summary, the parallel lifting high-precision control system for improving the working efficiency of the loader according to the embodiment of the present application is explained, which includes: first, using an angle sensor to monitor the boom angle in real time to obtain an analog angle value; then using a controller to sort and calculate the analog angle value to obtain the actual required height or length value; then based on the calibration tool, the lowest point and the highest point of the machine are soft-calibrated through the operating platform and the horizontal state data of the boom is recorded; then the PID algorithm is used to compare and correct the actual required height or length value and the horizontal state data of the boom to generate a control instruction; finally, based on the generated control instruction, the working device of the vehicle is adjusted horizontally. The present invention can accurately control the boom bucket position through software, thereby improving the working efficiency of the machine.

[0048] As described above, the parallel lifting and raising precision control system 10 for improving the working efficiency of the loader according to the embodiment of the present application can be implemented in various wireless terminals, such as a server for improving the working efficiency of the loader. In one example, the parallel lifting and raising precision control system 10 for improving the working efficiency of the loader according to the embodiment of the present application can be integrated into the wireless terminal as a software module and / or a hardware module. For example, the parallel lifting and raising precision control system 10 for improving the working efficiency of the loader can be a software module in the operating system of the wireless terminal, or it can be an application developed for the wireless terminal; of course, the parallel lifting and raising precision control system 10 for improving the working efficiency of the loader can also be one of the many hardware modules of the wireless terminal.

[0049] Alternatively, in another example, the parallel lifting and increasing precision control system 10 for improving the working efficiency of the loader and the wireless terminal may also be separate devices, and the parallel lifting and increasing precision control system 10 for improving the working efficiency of the loader may be connected to the wireless terminal via a wired and / or wireless network and transmit interactive information in accordance with an agreed data format.

[0050] Embodiment 2:

[0051] Figure 3 The figure shows a flow chart of a parallel lift height accuracy control method for improving the working efficiency of a loader according to an embodiment of the present application. Figure 3 As shown, the parallel lifting height accuracy control method for improving the working efficiency of the loader includes: S1, using an angle sensor to monitor the boom angle in real time to obtain an analog angle value, wherein the analog angle value is the current value 4-20mA output by the angle sensor; S2, using a controller to organize and calculate the analog angle value to obtain the actual required height or length value; S3, based on the calibration tool, the lowest point and the highest point of the machine are soft-calibrated through the operating platform, and the horizontal state data of the boom are recorded, and these data are stored in the controller; S4, using a PID algorithm to compare and correct the actual required height or length value and the horizontal state data of the boom to generate a control instruction; S5, based on the generated control instruction, the working device of the vehicle is horizontally adjusted.

[0052] Here, those skilled in the art can understand that the specific functions and operations of each step in the above-mentioned parallel lifting high precision control method for improving the working efficiency of the loader have been referred to above. Figure 1 The parallel lift height-precision control system 10 for improving the working efficiency of the loader has been described in detail, and therefore, its repeated description will be omitted.

[0053] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit of the technical solution of the present invention.

Claims

1. A parallel lifting high-precision control system for improving the working efficiency of a loader, characterized in that: include: A sensor data acquisition module, used to use an angle sensor to monitor the boom angle in real time to obtain an analog angle value, wherein the analog angle value is a current value of 4-20mA output by the angle sensor; A data processing module, used to use a controller to sort and calculate the analog angle value to obtain the height or length value actually required; a soft calibration module, for performing soft calibration on the lowest point and the highest point of the machine through the operating platform based on the calibration tool, and recording the horizontal state data of the boom, and storing the data in the controller; A data correction module, used for comparing and correcting the height or length value actually required and the horizontal state data of the boom using a PID algorithm to generate a control instruction; The execution module is used to adjust the level of the working device of the vehicle based on the generated control instruction.

2. The parallel lifting high-precision control system for improving the working efficiency of a loader according to claim 1 is characterized in that: The data processing module comprises: H=(AB) / (C*k)*(Dset*k), C=Emax-B; Among them, H represents the actual required height or length value, A represents the real-time sampling value of the boom, B represents the boom calibration relative to the 0 point, C represents the difference between the maximum and minimum values ​​of the boom, Dset represents the boom lifting height setting value, Emax represents the maximum value of the boom, and k represents the proportional coefficient.

3. The parallel lifting high-precision control system for improving the working efficiency of a loader according to claim 2, characterized in that: The calibration tool is a gyroscope.

4. The parallel lifting high-precision control system for improving the working efficiency of a loader according to claim 3 is characterized in that: The data correction module comprises: E:=E+(SetPoint-MeasPoint-E) / RC; Control:=Control+(E-E1)*P+E*I / 100+(E-2*E1+E2)*D; Among them, E represents error, SetPoint represents set point, MeasPoint represents measurement point, RC represents constant factor, P represents proportional gain, I represents integral gain, D represents differential gain, E1 represents the previous error value, and E2 represents the previous two error values.

5. The parallel lifting high-precision control system for improving the working efficiency of a loader according to claim 1, characterized in that: Also includes: Controller: Algorithm control terminal, including housing, connectors, IO ports, main chip, acquisition chip module, used to collect, organize, calculate and judge sensor data, organize and store data after soft calibration, and call stored data; Angle sensor: used to monitor the angle of the loader boom and bucket in real time and provide analog angle values; Operation platform: includes a display and a key panel, which are used to perform soft calibration through manual operation, implement soft calibration behavior, and confirm soft calibration results through the key panel.

6. The parallel lifting high-precision control system for improving the working efficiency of a loader according to claim 5, characterized in that: The operator can view the system status, set parameters and confirm the soft calibration results through the operation platform.

7. The parallel lifting high-precision control system for improving the working efficiency of a loader according to claim 5, characterized in that: The controller and the operating platform perform real-time data interaction via the CAN bus or acquisition port, and the response time is within 10ms.

8. A parallel lifting high-precision control method for improving the working efficiency of a loader, characterized in that: include: Use an angle sensor to monitor the arm angle in real time to obtain an analog angle value, wherein the analog angle value is a current value of 4-20mA output by the angle sensor; Using a controller to sort and calculate the analog angle value to obtain the height or length value actually required; Based on the calibration tool, the lowest point and the highest point of the machine are soft-calibrated through the operating platform, and the horizontal state data of the boom are recorded, and the data are stored in the controller; Using a PID algorithm to compare and correct the actual required height or length value and the horizontal state data of the boom to generate a control instruction; Based on the generated control command, the working device of the vehicle is adjusted horizontally.

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