Loader bucket swing anti-deviation control method, device and equipment and medium

Abstract

The invention discloses a loader bucket swing anti-deviation control method, device and equipment and a medium. The method comprises the following steps: when a control handle alternately swings in two swinging directions, recording a first limit swinging amplitude of the control handle in a first swinging direction in real time; the real-time swing amplitude of the control handle in the second swing direction is collected in real time, and the real-time swing amplitude is compared with the first limit swing amplitude; according to the data difference between the real-time swing amplitude and the first limit swing amplitude, detecting whether an anti-offset control condition is met or not; if yes, the output current of the bucket action proportional valve is adjusted according to the matched current adjusting strategy in the process that the control handle continues to deviate from the second swing amplitude in the second swing direction. According to the technical scheme provided by the embodiment of the invention, the deflection of the bucket caused by overlarge swing amplitude on one side is avoided, and the operation completion quality is improved on the premise of not influencing the overall operation of a driver in combination with the actual operation requirements.

Description

Technical Field

[0001] The present invention relates to the field of mechanical control technology, and in particular to a loader bucket swing anti-deviation control method, device, equipment and medium. Background Art

[0002] When the loader is loading or unloading, if the truck compartment is high or full, the driver sometimes needs to operate the joystick to control the bucket to swing up and down to throw the materials in the bucket down. The control of the bucket swinging up and down is achieved by operating the joystick to swing left and right or back and forth quickly. When the joystick swings left and right or back and forth, the controller controls the action current of the bucket collection action solenoid valve and the bucket release action solenoid valve according to the swing angle of the joystick to control the bucket action.

[0003] Due to the operating method, when the manual control handle moves quickly left and right or forward and backward, it is difficult to keep the swing amplitude of the control handle consistent in two directions. This can easily cause the proportional valve action current in one direction of the bucket to be greater than the proportional valve action current in another direction, resulting in an obvious offset in one direction. In order to improve this unbalanced operation, an effective anti-offset control method is urgently needed to solve this problem. Summary of the invention

[0004] In view of this, the present invention provides a loader bucket swing anti-deviation control method, device, equipment and medium, which solves the problem of inconsistent swing amplitudes of the loader bucket in two directions during rapid swinging.

[0005] In a first aspect, an embodiment of the present invention provides a loader bucket swing anti-deviation control method, the method comprising:

[0006] When the control handle swings alternately in two swing directions, the first limit swing amplitude reached by the control handle in the first swing direction is recorded in real time; wherein each swing of the control handle passes through the return point;

[0007] collecting the real-time swing amplitude of the control handle in the second swing direction in real time, and comparing the real-time swing amplitude with the first limit swing amplitude;

[0008] Detecting whether the anti-drift control condition is met according to the data difference between the real-time swing amplitude and the first limit swing amplitude;

[0009] If so, when the control handle continues to deviate from the second swing amplitude having the same value as the first limit swing amplitude along the second swing direction, the output current of the bucket action proportional valve is regulated according to the current regulation strategy matching the type of the data difference.

[0010] In a second aspect, an embodiment of the present invention further provides a loader bucket swing anti-deviation control device, the device comprising:

[0011] A swing amplitude recording module is used to record in real time the first limit swing amplitude reached by the control handle in the first swing direction when the control handle swings alternately in two swing directions; wherein each swing of the control handle passes through a return point;

[0012] A swing amplitude comparison module is used to collect the real-time swing amplitude of the control handle in the second swing direction in real time, and compare the real-time swing amplitude with the first limit swing amplitude;

[0013] A control condition judgment module, used to detect whether the anti-drift control condition is met according to the data difference between the real-time swing amplitude and the first limit swing amplitude;

[0014] The output current regulating module is used to regulate the output current of the bucket action proportional valve according to the current regulating strategy matching the type of the data difference when the control handle continues to deviate from the second swing amplitude that is the same as the first limit swing amplitude value along the second swing direction.

[0015] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute a loader bucket swing anti-deviation control method described in any embodiment of the present invention.

[0019] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a loader bucket swing anti-deviation control method described in any embodiment of the present invention when executed.

[0020] The technical solution of the embodiment of the present invention takes the return point as the starting point, collects the swing angles of the control handle on both sides of the return point in real time, and compares the real-time swing amplitude on the other side of the return point with the first limit swing amplitude determined in advance, and launches anti-drift control when the real-time swing amplitude is greater than the first limit swing amplitude. At the same time, in the process of anti-drift control, two anti-drift control strategies are given according to the size of the difference value, which not only avoids the bucket deviation caused by the excessive swing amplitude on one side to the greatest extent, but also combines the actual operation requirements, and uses anti-drift control to improve the quality of work completion without affecting the overall operation of the driver.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 is a flow chart of a loader bucket swing anti-deviation control method provided according to the first embodiment of the present invention;

[0024] Figure 2 is a flow chart of another loader bucket swing anti-deviation control method provided according to the second embodiment of the present invention;

[0025] Figure 3 is a structural schematic diagram of a loader bucket swing anti-deviating control device provided according to Embodiment 3 of the present invention;

[0026] Figure 4 The present invention is a schematic diagram of the structure of an electronic device for implementing a loader bucket swing anti-deviation control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Embodiment 1

[0030] Figure 1 This is a flow chart of a loader bucket swing anti-deviation control method provided in the first embodiment of the present invention. This embodiment is applicable to the situation where the swing amplitude of the loader bucket in two directions is inconsistent during the swing process, resulting in unbalanced operation. The method can be executed by a loader bucket swing anti-deviation control device, which can be implemented in the form of hardware and / or software, and can be configured on a loader product for realizing electric proportional control. Figure 1 As shown, the method includes:

[0031] S110. When the control handle swings alternately in two swing directions, a first limit swing amplitude reached by the control handle in the first swing direction is recorded in real time; wherein each swing of the control handle passes through a return point.

[0032] When the loader bucket performs construction operations such as loading and unloading materials, it dumps the materials by swinging forward and backward or left and right. This operation is completed by the driver operating the control handle forward and backward or left and right. Normally, the movement direction of the control handle is consistent with the swing direction of the loader bucket in the same space. Among them, the return point is the natural static position of the control handle when there is no operation. When the construction operation starts, the control handle swings along a certain swing direction starting from the return point. The initial swing direction can be recorded as the first swing direction, and the farthest position from the return point along the initial swing direction is called the first limit swing amplitude. Each swing of the control handle must go through the process from one side of the return point to the return point, and then from the return point to the other side of the return point.

[0033] Optionally, real-time recording of a first limit swing amplitude reached by the control handle in a first swing direction includes:

[0034] Whenever the control handle swings from the return point along the first swing direction, start collecting the swing amplitude of the control handle in the first swing direction in real time;

[0035] When it is determined that the swing amplitude collected at a later moment is smaller than the swing amplitude collected at a previous moment, the swing amplitude collected at the previous moment is determined as a first limit swing amplitude in the first swing direction.

[0036] The swing amplitude of the control handle when it is at the return point is 0. When the operation task is started, the control handle first swings from the return point along a preset initial swing direction (which can be the first swing direction). At this time, the swing amplitude of the control handle continues to increase. When it is found that the swing amplitude collected in real time decreases at a certain moment, it means that the control handle has reached the limit position in the first swing direction and is about to start swinging in the direction close to the return point. By obtaining the swing amplitude at the moment before this moment, the farthest distance of the control handle in the set swing direction can be determined, that is, the first limit swing amplitude. The closer the control handle is to the return point, the smaller the swing amplitude of the control handle.

[0037] S120: Collect the real-time swing amplitude of the control handle in the second swing direction in real time, and compare the real-time swing amplitude with the first limit swing amplitude.

[0038] It can be seen from the above embodiments that the order in which the control handle determines the extreme swing amplitudes on two sides is as follows: first, the control handle swings from the return point along the initial swing direction, and when it reaches a certain extreme position, it starts to swing in the direction opposite to the initial swing direction. During this swinging process, the swing amplitude of the control handle first decreases and then increases, that is, it returns from the certain extreme position to the return point, and then leaves the return point and continues to swing in the direction opposite to the initial swing direction until it reaches another extreme position.

[0039] It can be seen that the second swing direction is the opposite direction of the first swing direction. At the same time, the real-time swing amplitude refers to the swing amplitude after swinging along the second swing direction and passing the return point.

[0040] S130: Detect whether an anti-deviation control condition is met based on a data difference between the real-time swing amplitude and the first limit swing amplitude.

[0041] The data difference is the difference between the angle of the control handle relative to the return point at the first extreme swing amplitude and the angle of the control handle relative to the return point at the real-time swing amplitude.

[0042] S140. If yes, then when the control handle continues to deviate from the second swing amplitude that is the same as the first limit swing amplitude value along the second swing direction, the output current of the bucket action proportional valve is regulated according to the current regulation strategy that matches the type of the data difference.

[0043] In the embodiment of the present invention, the first limit swing amplitude of the control handle is first determined. To determine whether the anti-drift control conditions are met, the value of the first limit swing amplitude is used as a reference, and whether anti-drift control should be intervened is determined based on the actual swing amplitude.

[0044] Specifically, after the control handle reaches the first limit swing amplitude along the first swing direction, it will swing in the direction opposite to the first swing direction, that is, the second swing direction. While swinging along the first swing direction and reaching the return point, the swing amplitude is reduced from the first limit swing amplitude to 0. When it continues to swing to the side opposite to the first swing amplitude after passing the return point, the swing amplitude collected at this time is called the real-time swing amplitude. The real-time swing amplitude gradually increases from 0. If the real-time swing amplitude reaches the same value as the first limit swing amplitude, if the swing direction of the control handle has not changed, it means that the real-time swing direction will continue to increase at the next moment. At this time, the bucket is controlled according to the corresponding adjustment method selected according to the size of the difference value.

[0045] Further, after the output current of the bucket action proportional valve is regulated according to the current regulation strategy matching the type of the data difference, the method may further include:

[0046] When it is determined that the control handle starts to swing toward the return point along the first swing direction, the return swing amplitude of the control handle is collected in real time, and the current value corresponding to the maximum return swing amplitude is used as the starting point, and the current value of the bucket proportional valve is output according to the preset proportional relationship under the first standard current regulation strategy.

[0047] When it is detected that the real-time swing amplitude of the control handle on the side opposite to the first limit swing amplitude no longer increases and the swing direction of the control handle becomes the first swing direction, it means that the control handle has actively moved toward the return point. At this time, anti-drift control is no longer required. At this time, the adjustment strategy of the proportional valve output current is automatically changed.

[0048] The first standard current regulation strategy refers to the current output by the bucket action proportional valve according to the normal operation rules when anti-deviation control is not performed, and the normal operation rules describe a certain linear relationship between the output current and the swing amplitude, which can be specifically expressed as the output current decreases according to a preset ratio as the swing amplitude decreases. The return-to-center swing amplitude refers to the swing amplitude in the process of the swing direction changing to the first swing direction and continuously approaching the return point after the real-time swing amplitude of the control handle reaches the peak value, and the maximum return-to-center swing amplitude is equal to the peak value of the real-time swing amplitude. Therefore, the current value corresponding to the maximum return-to-center swing amplitude can be obtained by obtaining the current value corresponding to the moment when the real-time swing amplitude reaches the peak value. The return-to-center swing amplitude value continues to decrease. When the control handle returns to the return point, the return-to-center swing amplitude becomes 0. In the process of the continuous change of the return-to-center swing amplitude, the output current of the bucket action proportional valve changes by following the change of the return-to-center swing amplitude according to the preset proportional relationship.

[0049] Optionally, after detecting whether the anti-deviation control condition is met according to the data difference between the real-time swing amplitude and the first limit swing amplitude, the method may further include:

[0050] If not, when the control handle swings along the second swing direction to the fourth swing amplitude, the amplitude value of the fourth swing amplitude is recorded and used as the first limit swing amplitude of the next swing;

[0051] A second current value under a fourth swing amplitude is obtained, and taking the second current value as a starting point, a current value of the bucket proportional valve is output according to a preset proportional relationship under a second standard current regulation strategy.

[0052] In an embodiment of the present invention, failure to meet the anti-deviation control condition means that the real-time swing amplitude of the control handle reaches the limit and is still smaller than the first limit swing amplitude. At this time, the movement of the control handle in the second swing direction stops, and at the next moment, it starts to move along the first swing direction to the return point. The swing amplitude at which the real-time swing amplitude reaches the limit when the anti-deviation control condition is not met is called the fourth swing amplitude.

[0053] When the control handle reaches the fourth swing amplitude, it will swing along the first swing direction with the position at the fourth swing amplitude as the starting point. The second standard current regulation strategy defined here is the same as the first standard current regulation strategy mentioned above, but because the specific linear relationship between the current and the swing amplitude used is different, this distinction is made in the name.

[0054] At the same time, when the fourth swing amplitude value is used as the first limit amplitude value for the next swing, the fourth swing amplitude value can be used as a reference to judge whether anti-drift control needs to be intervened for the real-time swing amplitude of the control handle after it swings along the first swing amplitude and passes the return point. This enables the bucket to adjust the current swing amplitude according to the previous swing amplitude in each swing, thereby realizing the automation of the entire adjustment process.

[0055] In the embodiment of the present invention, the return point is taken as the starting point, and the swing angles of the control handle on both sides of the return point are respectively collected in real time. The real-time swing amplitude on the other side of the return point is compared with the first limit swing amplitude determined in advance, and anti-drift control is carried out when the real-time swing amplitude is greater than the first limit swing amplitude. At the same time, in the process of anti-drift control, two anti-drift control strategies are given according to the size of the difference value, which not only avoids the bucket deviation caused by the excessive swing amplitude on one side to the greatest extent, but also combines the actual operation requirements, and uses anti-drift control to improve the quality of the work without affecting the overall operation of the driver.

[0056] Embodiment 2

[0057] Figure 2 This is a flow chart of another loader bucket swing anti-deviation control method provided in the second embodiment of the present invention. This embodiment is refined based on the first embodiment, such as Figure 2 As shown, the method includes:

[0058] S210, when the control handle swings alternately in two swing directions, recording in real time a first limit swing amplitude reached by the control handle in the first swing direction; wherein each swing of the control handle passes through a return point.

[0059] S220: Collect the real-time swing amplitude of the control handle in the second swing direction in real time, and compare the real-time swing amplitude with the first limit swing amplitude.

[0060] S230: If it is determined that the real-time swing amplitude is greater than the first limit swing amplitude, it is determined that the anti-deviation control condition is met.

[0061] In an embodiment of the present invention, when the loader bucket performs rapid reciprocating swings, under the premise that the first limit swing amplitude has been determined, if the real-time swing amplitude of the bucket exceeds the first limit swing amplitude, it is necessary to control the increasing real-time swing amplitude, that is, the current state of the bucket satisfies the anti-deviation control condition.

[0062] S240: Calculate an amplitude difference value obtained by subtracting the first limit swing amplitude from the real-time swing amplitude.

[0063] S250: If the amplitude difference value is less than a preset threshold value, obtain a first current value of the bucket action proportional valve when the control handle is under the second swing amplitude.

[0064] The preset threshold is used to describe the degree of difference in the amplitude difference values ​​being solved. When the amplitude difference value is less than the preset threshold, it means that the degree of difference in the swing amplitudes of the two is small. Since the second swing amplitude refers to the swing amplitude value of the control handle when the real-time swing amplitude value reaches the same limit swing amplitude as the first limit swing amplitude, the first current value refers to the current value of the corresponding action proportional valve under the second swing amplitude.

[0065] S260. When the control handle continues to deviate from the second swing amplitude along the second swing direction, the bucket action proportional valve is controlled to maintain the first current value for output.

[0066] Since the real-time swing amplitude of the control handle increases in real time, within the range where the amplitude difference value is less than the preset threshold, in order to prevent the bucket from deflecting, the output current of the action proportional valve cannot be allowed to continue to increase with the increase of the real-time swing amplitude. Therefore, the current value is obtained when the real-time swing amplitude is equal to the first limit swing amplitude, and the current is continuously output according to the rated value, thereby avoiding a greater degree of deviation caused by the continuous increase in the output current.

[0067] Optionally, in the process of the control handle continuing to deviate from the second swing amplitude that is the same as the first limit swing amplitude value along the second swing direction, the output current of the bucket action proportional valve is adjusted according to the current regulation strategy matching the type of the data difference, which may also include:

[0068] Calculate the amplitude difference value obtained by subtracting the first limit swing amplitude from the real-time swing amplitude;

[0069] If the amplitude difference value is greater than a preset threshold, obtaining a first current value of the bucket action proportional valve when the control handle is at a second swing amplitude;

[0070] When the control handle continues to deviate from the second swing amplitude in the second swing direction, the output current of the bucket action proportional valve is gradually increased according to a preset first slope with the first current value as the starting point until the control handle reaches the third swing amplitude.

[0071] Similarly, when the amplitude difference value is greater than the preset threshold, it means that the difference between the two extreme swing amplitudes is large. At this time, the driver's operating intention is identified. When a large degree of deviation occurs, it is mostly necessary to complete certain specific actions. At this time, the rated current value is no longer output to control the swing amplitude of the bucket. Therefore, the control of the loader bucket at this time is: on the basis of the first current value output by the action proportional valve, a new first slope describing the proportional relationship between the swing amplitude and the output current is used to increase the output current of the action proportional valve, that is, as the real-time swing amplitude of the control handle exceeds the second swing amplitude and increases to the third swing amplitude, an additional continuously increasing current value is added to it to assist the driver in completing this offset action.

[0072] The technical solution of the embodiment of the present invention, through the refinement of the overall solution, makes a detailed explanation on how to select the corresponding current regulation strategy according to the amplitude difference value. Specifically, the real-time swing angle of the control handle is divided into two states: the second swing amplitude and the third swing amplitude. In the interval [first limit swing amplitude, second swing amplitude), the rated current value is output to suppress the slight deviation of the bucket; in the interval [second swing amplitude, third swing amplitude), an additional part of the current is increased according to a certain slope on the basis of the rated current value. The two current regulation strategies perform different swing control on the bucket from different angles of actual operation. While effectively eliminating the deviation of the bucket caused by the asymmetric swing amplitude of the control handle, the operator's operating intention is judged according to the swing amplitude to improve the controllability of the equipment.

[0073] Embodiment 4

[0074] Figure 3 This is a schematic diagram of the structure of a loader bucket swing anti-deviation control device provided in the fourth embodiment of the present invention. Figure 3 As shown, the device comprises:

[0075] The swing amplitude recording module 310 is used to record in real time the first limit swing amplitude reached by the control handle in the first swing direction when the control handle swings alternately in two swing directions; wherein each swing of the control handle passes through the return point;

[0076] The swing amplitude comparison module 320 is used to collect the real-time swing amplitude of the control handle in the second swing direction in real time, and compare the real-time swing amplitude with the first limit swing amplitude;

[0077] A control condition judgment module 330, used to detect whether the anti-drift control condition is met according to the data difference between the real-time swing amplitude and the first limit swing amplitude;

[0078] The output current regulating module 40 is used to regulate the output current of the bucket action proportional valve according to the current regulating strategy matching the type of the data difference when the control handle continues to deviate from the second swing amplitude with the same value as the first limit swing amplitude along the second swing direction.

[0079] The technical solution of the embodiment of the present invention takes the return point as the starting point, collects the swing angles of the control handle on both sides of the return point in real time, and compares the real-time swing amplitude on the other side of the return point with the first limit swing amplitude determined in advance, and launches anti-drift control when the real-time swing amplitude is greater than the first limit swing amplitude. At the same time, in the process of anti-drift control, two anti-drift control strategies are given according to the size of the difference value, which not only avoids the bucket deviation caused by the excessive swing amplitude on one side to the greatest extent, but also combines the actual operation requirements, and uses anti-drift control to improve the quality of work completion without affecting the overall operation of the driver.

[0080] Based on the above embodiments, the control condition determination module 330 may include:

[0081] The control condition determination unit is used to determine that the anti-deviation control condition is satisfied if it is determined that the real-time swing amplitude is greater than the first limit swing amplitude.

[0082] Based on the above embodiments, the output current regulation module 340 may include:

[0083] A first amplitude difference value calculation unit, used for calculating an amplitude difference value obtained by subtracting a first limit swing amplitude from a real-time swing amplitude;

[0084] A first amplitude difference value comparison unit is used to obtain a first current value of the bucket action proportional valve of the control handle under a second swing amplitude if the amplitude difference value is less than a preset threshold value;

[0085] The first control unit is used to control the bucket action proportional valve to maintain the first current value for output when the control handle continues to deviate from the second swing amplitude along the second swing direction.

[0086] Based on the above embodiments, the output current regulating module 340 may further include:

[0087] A second amplitude difference value calculation unit, used for calculating an amplitude difference value obtained by subtracting the first limit swing amplitude from the real-time swing amplitude;

[0088] A second amplitude difference value comparison unit is used to obtain a first current value of the bucket action proportional valve of the control handle under a second swing amplitude if the amplitude difference value is greater than a preset threshold;

[0089] The second control unit is used to gradually increase the output current of the bucket action proportional valve according to a preset first slope starting from the first current value when the control handle continues to deviate from the second swing amplitude along the second swing direction, until the control handle reaches a third swing amplitude.

[0090] Based on the above embodiments, the swing amplitude recording module 310 includes:

[0091] A real-time swing amplitude collection unit, used for starting to collect the swing amplitude of the control handle in the first swing direction in real time whenever the control handle swings from the return point along the first swing direction;

[0092] The limit swing amplitude determining unit is used to determine the swing amplitude collected at the next moment as the first limit swing amplitude in the first swing direction when it is determined that the swing amplitude collected at the next moment is smaller than the swing amplitude collected at the previous moment.

[0093] On the basis of the above embodiments, it also includes an anti-deviation control exit unit, which is used to adjust the output current of the bucket action proportional valve according to a current regulation strategy that matches the type of the data difference, and when it is determined that the control handle starts to swing toward the return point along the first swing direction, collect the return swing amplitude of the control handle in real time, and use the current value corresponding to the maximum return swing amplitude as the starting point to output the current value of the bucket proportional valve according to the preset proportional relationship under the first standard current regulation strategy.

[0094] On the basis of the above embodiments, it further includes a non-anti-deviation control unit, which is specifically used to detect whether the anti-deviation control condition is met according to the data difference between the real-time swing amplitude and the first limit swing amplitude, and if not, when the control handle swings along the second swing direction to the fourth swing amplitude, record the amplitude value of the fourth swing amplitude and use it as the first limit swing amplitude of the next swing;

[0095] A second current value under a fourth swing amplitude is obtained, and taking the second current value as a starting point, a current value of the bucket proportional valve is output according to a preset proportional relationship under a second standard current regulation strategy.

[0096] A loader bucket swing anti-deviation control device provided in an embodiment of the present invention can execute a loader bucket swing anti-deviation control method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method.

[0097] Embodiment 4

[0098] Figure 4A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0099] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0100] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0101] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a loader bucket swing anti-deviation control method.

[0102] That is, when the control handle swings alternately in two swing directions, the first limit swing amplitude reached by the control handle in the first swing direction is recorded in real time; wherein each swing of the control handle passes through the return point;

[0103] collecting the real-time swing amplitude of the control handle in the second swing direction in real time, and comparing the real-time swing amplitude with the first limit swing amplitude;

[0104] Detecting whether the anti-drift control condition is met according to the data difference between the real-time swing amplitude and the first limit swing amplitude;

[0105] If so, when the control handle continues to deviate from the second swing amplitude having the same value as the first limit swing amplitude along the second swing direction, the output current of the bucket action proportional valve is regulated according to the current regulation strategy matching the type of the data difference.

[0106] In some embodiments, a loader bucket swing anti-deviation control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the loader bucket swing anti-deviation control method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute a loader bucket swing anti-deviation control method in any other appropriate manner (for example, by means of firmware).

[0107] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0108] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0109] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0110] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0111] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0112] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0113] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0114] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A loader bucket swing anti-deviation control method, characterized in that: include: When the control handle swings alternately in two swing directions, the first limit swing amplitude reached by the control handle in the first swing direction is recorded in real time; wherein each swing of the control handle passes through the return point; collecting the real-time swing amplitude of the control handle in the second swing direction in real time, and comparing the real-time swing amplitude with the first limit swing amplitude; Detecting whether the anti-drift control condition is met according to the data difference between the real-time swing amplitude and the first limit swing amplitude; If so, when the control handle continues to deviate from the second swing amplitude having the same value as the first limit swing amplitude along the second swing direction, the output current of the bucket action proportional valve is regulated according to the current regulation strategy matching the type of the data difference.

2. The method according to claim 1, characterized in that: According to the data difference between the real-time swing amplitude and the first limit swing amplitude, whether the anti-drift control condition is met is detected, including: If it is determined that the real-time swing amplitude is greater than the first limit swing amplitude, it is determined that the anti-deviation control condition is satisfied.

3. The method according to claim 2, characterized in that When the control handle continues to deviate from the second swing amplitude having the same value as the first limit swing amplitude along the second swing direction, the output current of the bucket action proportional valve is regulated according to the current regulation strategy matching the type of the data difference, including: Calculate the amplitude difference value obtained by subtracting the first limit swing amplitude from the real-time swing amplitude; If the amplitude difference value is less than a preset threshold, obtaining a first current value of the bucket action proportional valve of the control handle under the second swing amplitude; When the control handle continues to deviate from the second swing amplitude along the second swing direction, the bucket action proportional valve is controlled to maintain the first current value for output.

4. The method according to claim 2, characterized in that: When the control handle continues to deviate from the first real-time swing amplitude that is the same as the first limit swing amplitude value along the second swing direction, the output current of the bucket action proportional valve is adjusted according to the current regulation strategy matching the type of the data difference, including: Calculate the amplitude difference value obtained by subtracting the first limit swing amplitude from the real-time swing amplitude; If the amplitude difference value is greater than a preset threshold, obtaining a first current value of the bucket action proportional valve when the control handle is at a second limit swing amplitude; When the control handle continues to deviate from the second swing amplitude along the second swing direction, the output current of the bucket action proportional valve is gradually increased according to a preset first slope with the first current value as the starting point until the control handle reaches the third swing amplitude.

5. The method according to claim 1, characterized in that The first limit swing amplitude of the control handle in the first swing direction is recorded in real time, including: Whenever the control handle swings from the return point along the first swing direction, start collecting the swing amplitude of the control handle in the first swing direction in real time; When it is determined that the swing amplitude collected at a later moment is smaller than the swing amplitude collected at a previous moment, the swing amplitude collected at the previous moment is determined as a first limit swing amplitude in the first swing direction.

6. The method according to any one of claims 1 to 5, characterized in that: After the output current of the bucket action proportional valve is adjusted according to the current adjustment strategy matching the type of the data difference, the method further includes: When it is determined that the control handle starts to swing toward the return point along the first swing direction, the return swing amplitude of the control handle is collected in real time, and the current value corresponding to the maximum return swing amplitude is used as the starting point, and the current value of the bucket proportional valve is output according to the preset proportional relationship under the first standard current regulation strategy.

7. The method according to claim 1, characterized in that After detecting whether the anti-deviation control condition is met according to the data difference between the real-time swing amplitude and the first limit swing amplitude, the method further includes: If not, when the control handle swings along the second swing direction to the fourth swing amplitude, the amplitude value of the fourth swing amplitude is recorded and used as the first limit swing amplitude of the next swing; A second current value under a fourth swing amplitude is obtained, and taking the second current value as a starting point, a current value of the bucket proportional valve is output according to a preset proportional relationship under a second standard current regulation strategy.

8. A loader bucket swing anti-deviating control device, characterized in that: include: A swing amplitude recording module is used to record in real time the first limit swing amplitude reached by the control handle in the first swing direction when the control handle swings alternately in two swing directions; wherein each swing of the control handle passes through a return point; A swing amplitude comparison module is used to collect the real-time swing amplitude of the control handle in the second swing direction in real time, and compare the real-time swing amplitude with the first limit swing amplitude; A control condition judgment module, used to detect whether the anti-drift control condition is met according to the data difference between the real-time swing amplitude and the first limit swing amplitude; The output current regulating module is used to regulate the output current of the bucket action proportional valve according to the current regulating strategy matching the type of the data difference when the control handle continues to deviate from the second swing amplitude that is the same as the first limit swing amplitude value along the second swing direction.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute a loader bucket swing anti-deviation control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a loader bucket swing anti-deviation control method according to any one of claims 1 to 7 when executed.

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