Attitude control method for working device of loading machine and related device

Abstract

The invention belongs to the technical field of loaders, and discloses a loader working device attitude control method and related device.According to the loader working device attitude control method, after a driver controls a loader to complete a set action, the expansion and contraction amount of a movable arm oil cylinder and the expansion and contraction amount of a bucket oil cylinder under the current attitude can be obtained; the present invention is capable of recording the attitude of a loader by recording the amount of expansion and contraction of a boom cylinder and the amount of expansion and contraction of a bucket cylinder during the subsequent operation so as to restore the loader to the previous attitude, thereby repeating the set operation, so that when the loader repeats a certain operation, it is possible to reduce the amount of expansion and contraction of the boom cylinder and the amount of expansion and contraction of the bucket cylinder. The motion trails of the movable arm and the bucket can be the same during each operation, and the consistency is good.

Description

Technical Field

[0001] The present invention relates to the technical field of loaders, and in particular to a posture control method of a loader working device and related devices. Background Art

[0002] The loader can use the front bucket to perform ground digging, ground pushing and other operations. The structure of the existing loader is as follows Figure 1-Figure 2 As shown, the front frame 1' of the loader is arranged on the vehicle body 11', and the vehicle body 11' is also equipped with front wheels. The front frame 1' is rotatably connected to a boom 2', and the boom 2' is rotatably connected to a bucket 4'. In addition, a boom cylinder 3' and a bucket cylinder 5' are also arranged. One end of the boom cylinder 3' is connected to the front frame 1', and the other end is connected to the boom 2'. The boom cylinder 3' can be reciprocated to drive the boom 2' to move relative to the front frame 1'. One end of the bucket cylinder 5' is connected to the boom 2', and the other end is connected to the bucket 4'. The bucket cylinder 5' can be reciprocated to drive the bucket 4' to move relative to the boom 2', so that the boom 2' and the bucket 4' are driven to move by the boom cylinder 3' and the bucket cylinder 5' to realize various operations. However, the movement of the boom 2' and the bucket 4' of the loader needs to be manually operated by the driver. When repeating a certain action, the driver needs to repeat the same operation, which will result in different movement trajectories of the boom 2' and the bucket 4' each time, poor consistency, and cause driver fatigue after working for a long time. Summary of the invention

[0003] According to one aspect of the present invention, the present invention provides a loader working device posture control method to solve the problem in the prior art that when a certain specific action is repeated, the driver needs to repeat the same operation, resulting in poor consistency and causing driver fatigue after long-term work.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A loader working device posture control method, implemented by the loader working device, the loader working device posture control method comprising a posture parameter input method and a posture parameter output method;

[0006] The posture parameter input method comprises:

[0007] Make sure that the posture adjustment has been completed;

[0008] Obtain the telescopic amount of the boom cylinder and the telescopic amount of the bucket cylinder in the current posture; the telescopic amount of the boom cylinder in the current posture is the initial telescopic amount of the boom cylinder, and the telescopic amount of the bucket cylinder in the current posture is the initial telescopic amount of the bucket cylinder;

[0009] The posture parameter output method comprises:

[0010] The extension and retraction amount of the boom cylinder is adjusted based on the initial extension and retraction amount of the boom cylinder, and the extension and retraction amount of the bucket cylinder is adjusted based on the initial extension and retraction amount of the bucket cylinder.

[0011] As a preferred solution of the posture control method of the loader working device, the posture parameter input method further includes the following steps after obtaining the telescopic amount of the boom cylinder and the telescopic amount of the bucket cylinder in the current posture:

[0012] Obtain n groups of posture parameters; n=1, 2, 3, ...; wherein the i-th group of posture parameters includes the i-th boom cylinder extension amount, the i-th bucket cylinder extension amount, the i-th target driving direction and the i-th target driving distance, i=1, 2, 3, ..., n;

[0013] Wherein, obtaining the i-th group of posture parameters includes:

[0014] determining that the loader is in a learning mode;

[0015] Determining that the posture adjustment has been completed, and at least one of the extension and retraction amount of the boom cylinder, the extension and retraction amount of the bucket cylinder, and the position of the loader has changed;

[0016] Obtain the telescopic amount of the boom cylinder, the telescopic amount of the bucket cylinder, the driving direction and the driving distance of the loader in the current posture; the i-th boom cylinder telescopic amount is the telescopic amount of the boom cylinder in the current posture, the i-th bucket cylinder telescopic amount is the telescopic amount of the bucket cylinder in the current posture, the i-th target driving direction is the displacement direction of the loader in the current posture; the i-th target driving distance is the displacement of the loader in the current posture;

[0017] The posture parameter output method further includes, after adjusting the telescopic amount of the boom cylinder based on the initial telescopic amount of the boom cylinder, and adjusting the telescopic amount of the bucket cylinder based on the initial telescopic amount of the bucket cylinder:

[0018] The posture of the loader is adjusted based on n groups of posture parameters; wherein adjusting the posture of the loader based on the i-th group of posture parameters comprises:

[0019] Adjust the extension and retraction amount of the boom cylinder based on the extension and retraction amount of the i-th boom cylinder, adjust the extension and retraction amount of the bucket cylinder based on the extension and retraction amount of the i-th bucket cylinder, control the travel direction of the loader based on the i-th target travel direction of the loader, and control the travel distance of the loader based on the i-th target travel distance of the loader; i=1, 2, 3, ..., n.

[0020] As a preferred solution of the loader working device posture control method, obtaining n groups of posture parameters also includes, before obtaining the i-th group of posture parameters:

[0021] Set i=1;

[0022] Obtaining n groups of posture parameters also includes the following steps after obtaining the i-th group of posture parameters:

[0023] Determine whether you need to continue studying;

[0024] If yes, then the value of i is increased by 1, and the i-th group of posture parameters is obtained.

[0025] As a preferred solution of the posture control method of the loader working device, the posture parameter input method also includes synchronously obtaining the telescopic amount of the boom cylinder and the telescopic amount of the bucket cylinder under the current posture:

[0026] Obtaining the angle α between the bottom surface of the bucket and the ground, the height H of the rotation connection point between the bucket and the boom from the ground, and the length L of the rotation connection point between the bucket and the boom from the center of the front wheel of the loader in the current posture;

[0027] Output prompt information, the prompt information including the angle α between the bottom surface of the bucket and the ground, the height H of the rotation connection point between the bucket and the boom from the ground, the length L of the rotation connection point between the bucket and the boom from the center of the front wheel of the loader, the initial extension and retraction amount of the boom cylinder and the initial extension and retraction amount of the bucket cylinder.

[0028] According to another aspect of the present invention, there is provided a loader working device posture control device, which is implemented by the loader working device, and the loader working device posture control device includes a posture parameter input device and a posture parameter output device;

[0029] The posture parameter input device comprises:

[0030] A posture adjustment determination module, used to determine whether the posture adjustment has been completed;

[0031] The current posture extension amount acquisition module is used to obtain the extension amount of the boom cylinder and the extension amount of the bucket cylinder in the current posture; the extension amount of the boom cylinder in the current posture is the initial extension amount of the boom cylinder, and the extension amount of the bucket cylinder in the current posture is the initial extension amount of the bucket cylinder;

[0032] The posture parameter output device comprises:

[0033] The telescopic amount adjustment module is used to adjust the telescopic amount of the boom cylinder based on the initial telescopic amount of the boom cylinder, and to adjust the telescopic amount of the bucket cylinder based on the initial telescopic amount of the bucket cylinder.

[0034] According to another aspect of the present invention, a loader working device is provided for implementing the above-mentioned loader working device posture control method, wherein the loader working device comprises:

[0035] Front frame;

[0036] A movable arm, rotatably connected to the front frame;

[0037] A boom cylinder capable of reciprocating and extending, the boom cylinder having a boom cylinder fixed end rotatably connected to the front frame and a boom cylinder telescopic end capable of reciprocating and extending relative to the boom cylinder fixed end, the boom cylinder telescopic end being rotatably connected to the boom;

[0038] A bucket rotatably connected to the boom;

[0039] The bucket cylinder can reciprocate and extend. The bucket cylinder has a bucket cylinder fixed end rotatably connected to the boom and a bucket cylinder telescopic end that can reciprocate and extend relative to the bucket cylinder fixed end. The bucket cylinder telescopic end is transmission-connected to the bucket.

[0040] As a preferred solution for the loader working device, the telescopic end of the bucket cylinder is rotatably connected to a rocker arm, the middle part of the rocker arm is rotatably connected to a transmission rod, and the transmission rod is rotatably connected to the boom; the end of the rocker arm away from the telescopic end of the bucket cylinder is rotatably connected to a connecting rod, and the end of the connecting rod away from the rocker arm is rotatably connected to the bucket.

[0041] According to another aspect of the present invention, there is provided a loader, comprising the above-mentioned loader working device, the loader further comprising:

[0042] Controller;

[0043] A first displacement sensor is used to obtain a first distance between the end of the telescopic end of the boom cylinder and the fixed end of the boom cylinder, and send the detected first distance to the controller;

[0044] a second displacement sensor, used for acquiring a second distance between the end of the telescopic end of the bucket cylinder and the fixed end of the bucket cylinder, and sending the detected second distance to the controller;

[0045] A memory is used to store one or more programs.

[0046] As a preferred solution of the loader, it also includes a hydraulic pump and an electrically controlled hydraulic valve, the electrically controlled hydraulic valve having an inlet end, a first outlet end and a second outlet end, the inlet end is connected to the output end of the hydraulic pump, the first outlet end is connected to the boom cylinder, and the second outlet end is connected to the bucket cylinder.

[0047] According to another aspect of the present invention, a storage medium is provided, on which a computer program is stored. When the program is executed by a controller, the loader implements the above-mentioned loader working device posture control method.

[0048] The beneficial effects of the present invention are:

[0049] The present invention provides a method and device for controlling the posture of a loader working device, a loader working device, a loader and a storage medium. The method for controlling the posture of a loader working device is implemented by the loader working device. The method for controlling the posture of a loader working device includes a posture parameter input method and a posture parameter output method; in the posture parameter input method, it is determined that the posture adjustment has been completed, and the above posture adjustment can be completed by the driver's operation, and the loader can complete a set action in this posture, such as digging under the ground, leveling the ground, shoveling and retracting the bucket, shoveling and lifting, high-position unloading or other actions; the telescopic amount of the boom cylinder and the telescopic amount of the bucket cylinder in the current posture are obtained; the telescopic amount of the boom cylinder in the current posture is the initial telescopic amount of the boom cylinder, and the telescopic amount of the bucket cylinder in the current posture is the initial telescopic amount of the bucket cylinder, so that the telescopic amount of the boom cylinder and the telescopic amount of the bucket cylinder in the current posture are recorded. The posture parameter output method includes adjusting the telescopic amount of the boom cylinder based on the initial telescopic amount of the boom cylinder, and adjusting the telescopic amount of the bucket cylinder based on the initial telescopic amount of the bucket cylinder, so as to restore the telescopic amount of the boom cylinder and the telescopic amount of the bucket cylinder to the state when recording, so as to restore the loader to the previous posture, thereby repeating the set action. The loader working device posture control method can record the posture of the loader after the driver controls the loader to complete a set action, and can restore it to the above posture in subsequent operations to repeat a certain set action. When repeating a certain action, the movement trajectory of the boom and the bucket can be the same during each operation, and the consistency is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a structural schematic diagram of a loader in the prior art;

[0051] Figure 2 It is a partial structural schematic diagram of a loader in the prior art;

[0052] Figure 3 is a schematic structural diagram of a loader working device according to an embodiment of the present invention;

[0053] Figure 4 is a schematic structural diagram of a boom cylinder in an embodiment of the present invention;

[0054] Figure 5 is a schematic structural diagram of a bucket cylinder in an embodiment of the present invention;

[0055] Figure 6is a schematic structural diagram of a loader in an embodiment of the present invention when performing a ground digging action;

[0056] Figure 7 It is a schematic structural diagram of a loader in an embodiment of the present invention when performing a ground leveling action;

[0057] Figure 8 It is a structural schematic diagram of the loader in the embodiment of the present invention when performing the action of shoveling materials and collecting the bucket;

[0058] Fig. 9 is a schematic structural diagram of a loader in an embodiment of the present invention when performing a shoveling and lifting action;

[0059] Fig.10 It is a structural schematic diagram of the loader in the embodiment of the present invention when performing a high-position unloading action;

[0060] Fig.11 is a schematic diagram of the structure of the loader in the embodiment of the present invention when performing other actions;

[0061] Fig.12 The process of the posture parameter input method in the embodiment of the present invention is Figure 1 ;

[0062] Fig.13 The process of the posture parameter input method in the embodiment of the present invention is Figure 2 ;

[0063] Fig.14 The process of the posture parameter input method in the embodiment of the present invention is Figure 3 ;

[0064] Fig.15 is a flow chart of a method for outputting posture parameters in an embodiment of the present invention;

[0065] Fig.16 The process of the posture parameter input method in the embodiment of the present invention is Figure 4 ;

[0066] Fig.17 is a schematic structural diagram of a posture parameter input device in an embodiment of the present invention;

[0067] Fig.18 It is a structural schematic diagram of a loader in an embodiment of the present invention.

[0068] In the figure:

[0069] 1', front frame; 11', vehicle body; 2', boom; 3', boom cylinder; 4', bucket; 5', bucket cylinder;

[0070] 1. Front frame; 11. Vehicle body; 12. Front wheel;

[0071] 2. Boom;

[0072] 3. Boom cylinder; 31. Boom cylinder fixed end; 32. Boom cylinder telescopic end;

[0073] 4. Bucket;

[0074] 5. Bucket cylinder; 51. Bucket cylinder fixed end; 52. Bucket cylinder telescopic end;

[0075] 6. The first displacement sensor;

[0076] 7. Second displacement sensor;

[0077] 8. Rocker arm; 81. Transmission rod;

[0078] 9. Connecting rod;

[0079] 20. Controller; 21. Memory; 22. Hydraulic pump; 23. Electronically controlled hydraulic valve; 24. Manual control panel;

[0080] 30. Attitude parameter input device; 31. Attitude adjustment determination module; 32. Current attitude extension amount acquisition module. DETAILED DESCRIPTION

[0081] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0082] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0083] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0084] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0085] Embodiment 1

[0086] This embodiment provides a loader working device, which is used to implement a loader working device posture control method. Figure 3-Figure 5 The working device of the loader includes a front frame 1, a boom 2, a boom cylinder 3, a bucket 4 and a bucket cylinder 5. The boom 2 is rotatably connected to the front frame 1; the boom cylinder 3 can reciprocate and extend. The boom cylinder 3 has a boom cylinder fixed end 31 rotatably connected to the front frame 1 and a boom cylinder telescopic end 32 that can reciprocate and extend relative to the boom cylinder fixed end 31. The boom cylinder telescopic end 32 is rotatably connected to the boom 2, so that the boom 2 can be driven to move relative to the front frame 1 through the boom cylinder 3. The bucket 4 is rotatably connected to the boom 2; the bucket cylinder 5 can reciprocate and extend. The bucket cylinder 5 has a bucket cylinder fixed end 51 rotatably connected to the boom 2 and a bucket cylinder telescopic end 52 that can reciprocate and extend relative to the bucket cylinder fixed end 51. The bucket cylinder telescopic end 52 is transmission-connected to the bucket 4, so that the bucket 4 can be driven to move relative to the boom 2 through the bucket cylinder 5 to realize various operations of the loader.

[0087] Continue to refer to Figure 3-Figure 5 The telescopic end 52 of the bucket cylinder is rotatably connected to the rocker arm 8, and the middle part of the rocker arm 8 is rotatably connected to the transmission rod 81, and the transmission rod 81 is rotatably connected to the boom 2; the end of the rocker arm 8 away from the telescopic end 52 of the bucket cylinder is rotatably connected to the connecting rod 9, and the end of the connecting rod 9 away from the rocker arm 8 is rotatably connected to the bucket 4, thereby realizing the transmission connection between the telescopic end 52 of the bucket cylinder and the bucket 4.

[0088] Continue to refer to Figure 3-Figure 5 There are two booms 2, and the rocker arm 8, the transmission rod 81 and the connecting rod 9 are all arranged between the two booms 2, which can make the movement of the boom 2 more stable. In addition, the two booms 2 can also provide certain protection for the rocker arm 8, the transmission rod 81 and the connecting rod 9.

[0089] Optionally, the front frame 1 of the loader working device is mounted on the vehicle body 11 , and the vehicle body 11 is also mounted with front wheels 12 .

[0090] It is understandable that the movement of the loader's boom 2 and bucket 4 involves changes in three parameters. Figure 8 For example, the size of the angle α between the bucket 4 and the ground is specifically related to the extension and contraction amount of the bucket cylinder 5, the distance H between the position of the connection point between the bucket 4 and the boom 2 and the ground is related to the extension and contraction amount of the boom cylinder 3, and the distance between the position of the connection point between the bucket 4 and the boom 2 and the center of the front wheel 12 is related to the extension and contraction amount of the boom cylinder 3. In other words, as long as the extension and contraction amount of the boom cylinder 3 and the bucket cylinder 5 are controlled, the loader working device can be controlled to achieve different postures.

[0091] Embodiment 2

[0092] The front frame of the existing loader is arranged on the vehicle body, and the vehicle body is also equipped with front wheels. The front frame is rotatably connected to a boom, and the boom is rotatably connected to a bucket. In addition, a boom cylinder and a bucket cylinder are also arranged. One end of the boom cylinder is connected to the front frame, and the other end is connected to the boom. The boom cylinder can reciprocate to drive the boom to move relative to the front frame. One end of the bucket cylinder is connected to the boom, and the other end is connected to the bucket. The bucket cylinder can reciprocate to drive the bucket to move relative to the boom, thereby driving the boom and the bucket to move through the boom cylinder and the bucket cylinder to achieve various operations. However, the movement of the boom and the bucket of the loader needs to be manually operated by the driver. When repeating a certain specific action, the driver needs to repeat the same operation, which will result in different movement trajectories of the boom and the bucket each time the operation is performed, and the consistency is poor, and the driver will become fatigued after working for a long time.

[0093] In this regard, this embodiment provides a loader working device posture control method to solve the problem in the prior art that when a certain specific action is repeated, the driver needs to repeat the same operation, resulting in poor consistency and causing driver fatigue after long-term work. It can be used in the field of loader technology.

[0094] The loader working device posture control method can be executed by a loader working device posture control device, which can be implemented by software and / or hardware and integrated in the loader. The loader working device posture control method includes a posture parameter input method and a posture parameter output method.

[0095] Reference Fig.12 ,The posture parameter input method includes the following steps.

[0096] S100: Determine that posture adjustment has been completed.

[0097] The above posture adjustment can be completed by the driver's operation, and the loader can complete a set action in this posture, such as digging in the ground, leveling the ground, shoveling materials and collecting the bucket, shoveling materials and lifting them, high-position unloading or other actions.

[0098] Optionally, the above-mentioned setting action is digging under the ground, at which time the positions of the various components of the loader are as follows: Figure 6 shown.

[0099] Optionally, the above setting action is to flatten the ground, at which time the positions of the various components of the loader are as follows: Figure 7 shown.

[0100] Optionally, the above setting action is to shovel the material and close the bucket. At this time, the positions of the various components of the loader are as follows: Figure 8 shown.

[0101] Optionally, the above-mentioned setting action is shoveling and lifting, at which time the positions of the various components of the loader are as follows: Fig. 9 shown.

[0102] Optionally, the above setting action is high-position unloading, at which time the positions of the various components of the loader are as follows: Fig.10 shown.

[0103] Optionally, the above setting action is other actions, specifically any intermediate action in the above actions, at which the positions of the various components of the loader are as follows: Fig.11 shown.

[0104] In step S100, after the driver completes the operation of the boom cylinder and the bucket cylinder, he can press the first action record button on the manual control panel to send a first action record instruction to the controller. After receiving the first action record instruction, the controller confirms that the posture adjustment has been completed.

[0105] S110: Obtain the extension and retraction amount of the boom cylinder and the bucket cylinder in the current posture; the extension and retraction amount of the boom cylinder in the current posture is the initial extension and retraction amount of the boom cylinder, and the extension and retraction amount of the bucket cylinder in the current posture is the initial extension and retraction amount of the bucket cylinder.

[0106] Through this step, the extension and retraction amounts of the boom cylinder and the bucket cylinder in the current posture can be recorded.

[0107] The posture parameter output method includes the following steps.

[0108] S300: adjusting the extension and retraction amount of the boom cylinder based on the initial extension and retraction amount of the boom cylinder, and adjusting the extension and retraction amount of the bucket cylinder based on the initial extension and retraction amount of the bucket cylinder.

[0109] This step can restore the extension and retraction amount of the boom cylinder and the bucket cylinder to the state when recording, so that the loader can be restored to its previous posture, thereby repeating the ground digging, ground leveling, shoveling material and bucket collection, shoveling material lifting, high-position unloading or other actions.

[0110] The loader working device posture control method can record the posture of the loader after the driver controls the loader to complete a set action, and can restore to the above posture in subsequent operations to repeatedly complete a certain set action. When repeating a certain action, the movement trajectory of the boom and the bucket can be made the same during each operation, and the consistency is good.

[0111] Embodiment 3

[0112] This embodiment provides another method for controlling the posture of a loader working device, which is embodied on the basis of the method for controlling the posture of a loader working device in the second embodiment.

[0113] The method for controlling the posture of a loader working device includes a posture parameter input method and a posture parameter output method.

[0114] Reference Figure 13-14 ,The posture parameter input method includes the following steps.

[0115] S100: Determine that posture adjustment has been completed.

[0116] S110: Obtain the extension and retraction amount of the boom cylinder and the bucket cylinder in the current posture; the extension and retraction amount of the boom cylinder in the current posture is the initial extension and retraction amount of the boom cylinder, and the extension and retraction amount of the bucket cylinder in the current posture is the initial extension and retraction amount of the bucket cylinder.

[0117] S200: Obtain n groups of posture parameters.

[0118] n=1, 2, 3, ...; wherein the i-th group of posture parameters includes the i-th boom cylinder extension and retraction amount, the i-th bucket cylinder extension and retraction amount, the i-th target driving direction and the i-th target driving distance, i=1, 2, 3, ..., n.

[0119] On the basis of obtaining the initial extension and retraction amount of the boom cylinder and the bucket cylinder, n groups of posture parameters are obtained so that the initial extension and retraction amount of the boom cylinder, the initial extension and retraction amount of the bucket cylinder and the n groups of posture parameters constitute a series of continuous actions of the loader.

[0120] Specifically, step S200 includes step S201 to step S230.

[0121] S201: Set i=1.

[0122] S210: Obtain the i-th group of posture parameters.

[0123] Step S210 includes steps S2101 to S2103.

[0124] S2101: Determine that the loader is in a learning mode.

[0125] Specifically, the driver may press a learning mode button on the manual control panel to send a learning instruction to the controller, and after receiving the learning instruction, the controller confirms that the loader is in the learning mode.

[0126] S2102: Determine that the posture adjustment has been completed, and at least one of the extension and retraction amount of the boom cylinder, the extension and retraction amount of the bucket cylinder, and the position of the loader has changed.

[0127] The extension and retraction of the boom cylinder, the extension and retraction of the bucket cylinder and the position of the loader are operated by the driver, specifically controlling the extension and retraction of the boom cylinder or the bucket cylinder, or controlling the loader to move forward or backward a certain distance.

[0128] After the driver completes the operation of the boom cylinder and the bucket cylinder, he can press the second action record button on the manual control panel to send a second action record instruction to the controller. After receiving the second action record instruction, the controller confirms that the posture adjustment has been completed.

[0129] S2103: Obtain the extension and retraction amount of the boom cylinder, the extension and retraction amount of the bucket cylinder, the driving direction and driving distance of the loader in the current posture; the i-th boom cylinder extension and retraction amount is the extension and retraction amount of the boom cylinder in the current posture, the i-th bucket cylinder extension and retraction amount is the extension and retraction amount of the bucket cylinder in the current posture, the i-th target driving direction is the displacement direction of the loader in the current posture; the i-th target driving distance is the displacement of the loader in the current posture.

[0130] Through this step, the extension and retraction amount of the boom cylinder, the extension and retraction amount of the bucket cylinder, and the displacement direction and displacement amount of the loader in the current posture can be recorded.

[0131] S220: Determine whether to continue learning.

[0132] If yes, execute step S230; if no, terminate the execution of the posture parameter input method.

[0133] Specifically, a preset number of postures to be learned may be set in advance. If the value of i is less than the preset number, it is determined that learning is still required; if the value of i is already equal to the preset number, it is determined that learning is no longer required.

[0134] In addition, it can also be judged based on the driver's operation. Specifically, after obtaining the i-th group of posture parameters, if the driver presses the stop learning button on the manual control panel, thereby sending a stop learning instruction to the controller, the controller determines that learning is no longer necessary after receiving the stop learning instruction; if the driver does not press the stop learning button, or presses the learning mode button, it is determined that learning still needs to continue.

[0135] S230: The value of i is increased by 1, and the process returns to step S210.

[0136] Through the above steps, n groups of posture parameters can be obtained.

[0137] Reference Fig.15 ,The attitude parameter output method includes the following steps.

[0138] S300: adjusting the extension and retraction amount of the boom cylinder based on the initial extension and retraction amount of the boom cylinder, and adjusting the extension and retraction amount of the bucket cylinder based on the initial extension and retraction amount of the bucket cylinder.

[0139] S400: Adjusting the posture of the loader based on n groups of posture parameters.

[0140] Wherein, adjusting the posture of the loader based on the i-th group of posture parameters includes:

[0141] Adjust the extension and retraction amount of the boom cylinder based on the extension and retraction amount of the i-th boom cylinder, adjust the extension and retraction amount of the bucket cylinder based on the extension and retraction amount of the i-th bucket cylinder, control the driving direction of the loader based on the i-th target driving direction of the loader, and control the driving distance of the loader based on the i-th target driving distance of the loader; i=1, 2, 3, ..., n.

[0142] Specifically, step S400 includes the following steps.

[0143] The extension and retraction amount of the boom cylinder is adjusted based on the extension and retraction amount of the first boom cylinder, the extension and retraction amount of the bucket cylinder is adjusted based on the extension and retraction amount of the first bucket cylinder, the travel direction of the loader is controlled based on the first target travel direction of the loader, and the travel distance of the loader is controlled based on the first target travel distance of the loader.

[0144] The extension and retraction amount of the boom cylinder is adjusted based on the extension and retraction amount of the second boom cylinder, the extension and retraction amount of the bucket cylinder is adjusted based on the extension and retraction amount of the second bucket cylinder, the travel direction of the loader is controlled based on the second target travel direction of the loader, and the travel distance of the loader is controlled based on the second target travel distance of the loader.

[0145] …

[0146] The extension and retraction amount of the boom cylinder is adjusted based on the extension and retraction amount of the nth boom cylinder, the extension and retraction amount of the bucket cylinder is adjusted based on the extension and retraction amount of the nth bucket cylinder, the travel direction of the loader is controlled based on the nth target travel direction of the loader, and the travel distance of the loader is controlled based on the nth target travel distance of the loader.

[0147] Through step S400, n groups of posture parameters can be adjusted in sequence, so that the loader can perform a series of actions, such as controlling the loader to automatically perform the following actions: Figure 6-Figure 11 The series of actions shown.

[0148] Optionally, refer to Fig.16In this embodiment, the posture parameter input method also includes the following steps which are executed synchronously with step S1002.

[0149] S500: Obtain the angle α between the bottom of the bucket and the ground, the height H of the rotation connection point between the bucket and the boom from the ground, and the length L of the rotation connection point between the bucket and the boom from the center of the front wheel of the loader in the current posture.

[0150] S600: Output prompt information, including the angle α between the bottom surface of the bucket and the ground, the height H of the rotating connection point between the bucket and the boom from the ground, the length L of the rotating connection point between the bucket and the boom from the center of the front wheel of the loader, the initial extension and retraction amount of the boom cylinder, and the initial extension and retraction amount of the bucket cylinder.

[0151] Since the movement of the loader's boom and bucket involves changes in three parameters, namely the angle α between the bottom of the bucket and the ground, the height H of the rotating connection point between the bucket and the boom from the ground, and the length L of the rotating connection point between the bucket and the boom from the center of the loader's front wheel, the above parameters can be matched one-to-one with the initial extension and retraction amount of the boom cylinder and the initial extension and retraction amount of the bucket cylinder, which can prompt the driver with relevant information and facilitate later maintenance.

[0152] Embodiment 4

[0153] This embodiment provides a loader working device posture control device, which is used to execute the loader working device posture control method in the above embodiment.

[0154] The loader working device posture control device includes a posture parameter input device 30 and a posture parameter output device. The structure of the posture parameter input device 30 is as follows: Fig.17 As shown, the posture parameter input device 30 includes a posture adjustment determination module 31 and a current posture extension amount acquisition module 32. The posture adjustment determination module 31 is used to determine whether the posture adjustment has been completed. The current posture extension amount acquisition module 32 is used to obtain the extension amount of the boom cylinder and the extension amount of the bucket cylinder in the current posture; the extension amount of the boom cylinder in the current posture is the initial extension amount of the boom cylinder, and the extension amount of the bucket cylinder in the current posture is the initial extension amount of the bucket cylinder. The posture parameter output device includes an extension amount adjustment module, which is used to adjust the extension amount of the boom cylinder based on the initial extension amount of the boom cylinder, and adjust the extension amount of the bucket cylinder based on the initial extension amount of the bucket cylinder.

[0155] The loader working device posture control device provided in this embodiment determines that the posture adjustment has been completed through the posture adjustment determination module 31, obtains the extension and retraction amount of the boom cylinder and the extension and retraction amount of the bucket cylinder in the current posture through the current posture extension and retraction amount acquisition module 32, and adjusts the extension and retraction amount of the boom cylinder based on the initial extension and retraction amount of the boom cylinder through the extension and retraction amount adjustment module, and adjusts the extension and retraction amount of the bucket cylinder based on the initial extension and retraction amount of the bucket cylinder. Therefore, after the driver controls the loader to complete a set action, the posture of the loader can be recorded, and it can be restored to the above posture in subsequent operations to repeat a certain set action. When a certain action is repeated, the movement trajectory of the boom and the bucket can be made the same in each operation, and the consistency is good.

[0156] Embodiment 5

[0157] Reference Figure 3-Figure 5 as well as Fig.18 This embodiment provides a loader, including the loader working device in the above embodiment.

[0158] Reference Fig.18 The loader further includes a controller 20, a first displacement sensor 6, a second displacement sensor 7 and a memory 21, wherein the first displacement sensor 6, the second displacement sensor 7 and the memory 21 are all in communication with the controller 20. The first displacement sensor 6 is used to obtain a first distance between the end of the telescopic end 32 of the boom cylinder and the fixed end 31 of the boom cylinder, and send the detected first distance to the controller 20; the second displacement sensor 7 is used to obtain a second distance between the end of the telescopic end 52 of the bucket cylinder and the fixed end 51 of the bucket cylinder, and send the detected second distance to the controller 20;

[0159] The memory 21 is a computer-readable storage medium that can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the loader working device posture control method in the embodiment of the present invention. The controller 20 executes various functional applications and data processing of the loader by running the software programs, instructions and modules stored in the memory 21, that is, the loader working device posture control method in the above embodiment is realized.

[0160] The memory 21 mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function; the data storage area can store data created according to the use of the terminal, etc. In addition, the memory 21 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some examples, the memory 21 may further include a memory 21 remotely arranged relative to the controller 20, and these remote memories can be connected to the loader via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0161] The loader provided in the fifth embodiment of the present invention and the loader working device posture control method provided in the above embodiment belong to the same inventive concept. The technical details not described in detail in this embodiment can be referred to the above embodiment, and this embodiment has the same beneficial effect as executing the loader working device posture control method.

[0162] Continue to refer to Figure 3-Figure 5 as well as Fig.18 The loader further includes a hydraulic pump 22 and an electronically controlled hydraulic valve 23. The electronically controlled hydraulic valve 23 has an inlet end, a first outlet end, and a second outlet end. The inlet end is connected to the output end of the hydraulic pump 22, the first outlet end is connected to the boom cylinder 3, and the second outlet end is connected to the bucket cylinder 5. The hydraulic pump 22 and the electronically controlled hydraulic valve 23 are both connected to the controller 20 for communication, and the electronically controlled hydraulic valve 23 can be a solenoid valve. With such a configuration, the hydraulic pump 22 and the electronically controlled hydraulic valve 23 can be controlled by the controller 20 to control the reciprocating extension and contraction of the boom cylinder 3 and the bucket cylinder 5.

[0163] Optionally, the loader further includes a manual control panel 24, which is provided with a first action record button, a learning mode button, a second action record button, and a stop learning button, and the first action record button, the learning mode button, the second action record button, and the stop learning button are all connected to the controller 20. The driver can control the loader through the buttons on the manual control panel 24.

[0164] Specifically, after completing the operation of the boom cylinder 3 and the bucket cylinder 5, the driver can press the first action record button on the manual control panel 24 to send the first action record instruction to the controller 20. After receiving the first action record instruction, the controller 20 confirms that the posture adjustment has been completed. When the loader needs to enter the learning mode, the driver can press the learning mode button on the manual control panel 24 to send the learning instruction to the controller 20. After receiving the learning instruction, the controller 20 confirms that the loader is in the learning mode. After the driver completes the operation of the boom cylinder 3 and the bucket cylinder 5, the driver can press the second action record button on the manual control panel 24 to send the second action record instruction to the controller 20. After receiving the second action record instruction, the controller 20 confirms that the posture adjustment has been completed. When the loader no longer needs to continue learning, the driver can press the stop learning button on the manual control panel 24 to send the stop learning instruction to the controller 20. After receiving the stop learning instruction, the controller 20 determines that it is no longer necessary to continue learning.

[0165] Embodiment 6

[0166] This embodiment provides a storage medium on which a computer program is stored. When the program is executed by a controller, the loader implements the loader working device posture control method as described in the above embodiment of the present invention.

[0167] Of course, the storage medium containing computer executable instructions provided by the embodiment of the present invention, whose computer executable instructions are not limited to the operations in the loader working device posture control method as described above, can also execute related operations in the loader working device posture control device provided by the embodiment of the present invention, and have corresponding functions and beneficial effects.

[0168] Through the above description of the implementation methods, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a robot, a personal computer, a server, or a network device, etc.) to execute the loader working device posture control method described in each embodiment of the present invention.

[0169] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A method for controlling the posture of a loader working device, implemented by a loader working device, characterized in that: The loader working device posture control method includes a posture parameter input method and a posture parameter output method; The posture parameter input method comprises: Make sure that the posture adjustment has been completed; Obtain the telescopic amount of the boom cylinder and the telescopic amount of the bucket cylinder in the current posture; the telescopic amount of the boom cylinder in the current posture is the initial telescopic amount of the boom cylinder, and the telescopic amount of the bucket cylinder in the current posture is the initial telescopic amount of the bucket cylinder; The posture parameter output method comprises: The extension and retraction amount of the boom cylinder is adjusted based on the initial extension and retraction amount of the boom cylinder, and the extension and retraction amount of the bucket cylinder is adjusted based on the initial extension and retraction amount of the bucket cylinder.

2. The method for controlling the posture of a loader working device according to claim 1, characterized in that: The posture parameter input method further includes the following steps after obtaining the telescopic amount of the boom cylinder and the telescopic amount of the bucket cylinder in the current posture: Obtain n groups of posture parameters; n=1, 2, 3, ...; wherein the i-th group of posture parameters includes the i-th boom cylinder extension amount, the i-th bucket cylinder extension amount, the i-th target driving direction and the i-th target driving distance, i=1, 2, 3, ..., n; Wherein, obtaining the i-th group of posture parameters includes: determining that the loader is in a learning mode; Determining that the posture adjustment has been completed, and at least one of the extension and retraction amount of the boom cylinder, the extension and retraction amount of the bucket cylinder, and the position of the loader has changed; Obtain the telescopic amount of the boom cylinder, the telescopic amount of the bucket cylinder, the driving direction and the driving distance of the loader in the current posture; the i-th boom cylinder telescopic amount is the telescopic amount of the boom cylinder in the current posture, the i-th bucket cylinder telescopic amount is the telescopic amount of the bucket cylinder in the current posture, the i-th target driving direction is the displacement direction of the loader in the current posture; the i-th target driving distance is the displacement of the loader in the current posture; The posture parameter output method further includes, after adjusting the telescopic amount of the boom cylinder based on the initial telescopic amount of the boom cylinder, and adjusting the telescopic amount of the bucket cylinder based on the initial telescopic amount of the bucket cylinder: The posture of the loader is adjusted based on n groups of posture parameters; wherein adjusting the posture of the loader based on the i-th group of posture parameters comprises: Adjust the extension and retraction amount of the boom cylinder based on the extension and retraction amount of the i-th boom cylinder, adjust the extension and retraction amount of the bucket cylinder based on the extension and retraction amount of the i-th bucket cylinder, control the travel direction of the loader based on the i-th target travel direction of the loader, and control the travel distance of the loader based on the i-th target travel distance of the loader; i=1, 2, 3, ..., n.

3. The method for controlling the posture of a loader working device according to claim 2, characterized in that: Obtaining n groups of posture parameters also includes the following steps before obtaining the i-th group of posture parameters: Set i=1; Obtaining n groups of posture parameters also includes the following steps after obtaining the i-th group of posture parameters: Determine whether you need to continue studying; If yes, then the value of i is increased by 1, and the i-th group of posture parameters is obtained.

4. The method for controlling the posture of a loader working device according to any one of claims 1 to 3, characterized in that: The posture parameter input method also includes synchronously obtaining the telescopic amount of the boom cylinder and the telescopic amount of the bucket cylinder in the current posture: Obtaining the angle α between the bottom surface of the bucket and the ground, the height H of the rotation connection point between the bucket and the boom from the ground, and the length L of the rotation connection point between the bucket and the boom from the center of the front wheel of the loader in the current posture; Output prompt information, the prompt information including the angle α between the bottom surface of the bucket and the ground, the height H of the rotation connection point between the bucket and the boom from the ground, the length L of the rotation connection point between the bucket and the boom from the center of the front wheel of the loader, the initial extension and retraction amount of the boom cylinder and the initial extension and retraction amount of the bucket cylinder.

5. A loader working device posture control device, implemented by the loader working device, characterized in that: The loader working device posture control device comprises a posture parameter input device and a posture parameter output device; The posture parameter input device comprises: A posture adjustment determination module, used to determine whether the posture adjustment has been completed; The current posture extension amount acquisition module is used to obtain the extension amount of the boom cylinder and the extension amount of the bucket cylinder in the current posture; the extension amount of the boom cylinder in the current posture is the initial extension amount of the boom cylinder, and the extension amount of the bucket cylinder in the current posture is the initial extension amount of the bucket cylinder; The posture parameter output device comprises: The telescopic amount adjustment module is used to adjust the telescopic amount of the boom cylinder based on the initial telescopic amount of the boom cylinder, and to adjust the telescopic amount of the bucket cylinder based on the initial telescopic amount of the bucket cylinder.

6. Loader working device, characterized in that: Used to implement the posture control method of a loader working device according to any one of claims 1 to 4, the loader working device comprising: Front frame; A movable arm, rotatably connected to the front frame; A boom cylinder capable of reciprocating and extending, the boom cylinder having a boom cylinder fixed end rotatably connected to the front frame and a boom cylinder telescopic end capable of reciprocating and extending relative to the boom cylinder fixed end, the boom cylinder telescopic end being rotatably connected to the boom; A bucket rotatably connected to the boom; The bucket cylinder can reciprocate and extend. The bucket cylinder has a bucket cylinder fixed end rotatably connected to the boom and a bucket cylinder telescopic end that can reciprocate and extend relative to the bucket cylinder fixed end. The bucket cylinder telescopic end is transmission-connected to the bucket.

7. The loader working device according to claim 6, characterized in that: The telescopic end of the bucket cylinder is rotatably connected to a rocker arm, the middle part of the rocker arm is rotatably connected to a transmission rod, and the transmission rod is rotatably connected to the movable arm; the end of the rocker arm away from the telescopic end of the bucket cylinder is rotatably connected to a connecting rod, and the end of the connecting rod away from the rocker arm is rotatably connected to the bucket.

8. A loader, comprising a loader working device according to claim 6 or 7, characterized in that: The loader also includes: Controller; A first displacement sensor is used to obtain a first distance between the end of the telescopic end of the boom cylinder and the fixed end of the boom cylinder, and send the detected first distance to the controller; a second displacement sensor, used for acquiring a second distance between the end of the telescopic end of the bucket cylinder and the fixed end of the bucket cylinder, and sending the detected second distance to the controller; A memory is used to store one or more programs.

9. The loader according to claim 8, characterized in that: It also includes a hydraulic pump and an electrically controlled hydraulic valve, wherein the electrically controlled hydraulic valve has an inlet end, a first outlet end and a second outlet end, wherein the inlet end is connected to the output end of the hydraulic pump, the first outlet end is connected to the boom cylinder, and the second outlet end is connected to the bucket cylinder.

10. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by the controller, the loader implements the loader working device posture control method as described in any one of claims 1-4.

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