Loader work link translation lift control method, device, and system

Abstract

This invention discloses a method, device, and system for controlling the translational lifting of a loader's working linkage. The method includes: calculating the theoretical extreme values ​​of the boom angle relative to the chassis and the rocker arm angle relative to the boom based on the theoretical structural parameters of the loader's working device; acquiring the actual extreme values ​​of the boom angle relative to the chassis and the rocker arm angle relative to the boom; acquiring the measured bucket angle and the ground clearance of the boom lower hinge pin under extreme postures, and calculating the boom angle relative to the chassis and the rocker arm angle relative to the boom; correcting the angles under any posture based on the actual and theoretical extreme values ​​of the boom angle relative to the chassis and the rocker arm angle relative to the boom, using the calculated boom angle relative to the chassis and rocker arm angle relative to the boom; and controlling the dump cylinder and / or boom cylinder based on the corrected angles. This invention improves the control efficiency and quality of the loader without significantly increasing the number of sensors.

Description

Technical Field

[0001] This invention belongs to the field of loader control technology, specifically relating to a loader working link translational lifting control method, device and system. Background Technology

[0002] As a typical linkage mechanism, the motion characteristics of a loader's working device mainly depend on the structural dimensions of its components. Due to unavoidable machining errors during manufacturing, there are deviations between the actual structural dimensions of the components and the theoretical design values, resulting in poor control of the translational lifting function and requiring a significant amount of time to debug the control algorithm parameters.

[0003] Existing technologies that correct controller parameters through parameter identification can effectively improve control performance. However, this method increases the number of sensors required. In addition to the existing boom angle sensor and arm angle sensor, additional bucket angle sensor, boom cylinder displacement sensor, and tipper cylinder displacement sensor need to be installed on the vehicle, which undoubtedly increases costs. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a method, device, and system for controlling the translational lifting of the loader's working link, which can improve the control efficiency and quality of the translational lifting of the loader's working link without significantly increasing the number of sensors.

[0005] To achieve the above-mentioned technical objectives and effects, the present invention is implemented through the following technical solution:

[0006] In a first aspect, the present invention provides a method for controlling the translational lifting of a loader's working linkage, comprising:

[0007] Based on the theoretical structural parameters of the loader's working device, the theoretical extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom were calculated.

[0008] Obtain the actual extreme value of the boom angle relative to the frame collected by the first angle sensor, and the actual extreme value of the rocker arm angle relative to the boom collected by the second angle sensor;

[0009] Obtain the measured bucket angle and boom lower hinge pin ground clearance under the extreme posture, and calculate the boom angle relative to the frame and rocker arm angle relative to the boom under the extreme posture based on the theoretical structural parameters of the loader working device.

[0010] Based on the actual extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom, the theoretical extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom are calculated. The boom angle relative to the frame and the rocker arm angle relative to the boom are calculated under the extreme attitude. The boom angle relative to the frame and the rocker arm angle relative to the boom are then corrected for any attitude.

[0011] Using the modified boom-to-frame angle and rocker arm-to-boom angle in any posture as inputs, and combined with the corresponding control algorithm, the tipping cylinder and / or boom cylinder are controlled.

[0012] In conjunction with the first aspect, optionally, the step of acquiring the measured bucket angle and boom lower hinge pin ground clearance under the extreme posture, and calculating the boom angle relative to the frame and the rocker arm angle relative to the boom under the extreme posture based on the theoretical structural parameters of the loader working device, includes:

[0013] Select an orientation that allows the boom angle relative to the frame and the rocker arm angle relative to the boom to reach their extreme values ​​simultaneously.

[0014] Record the bucket angle and the height of the boom lower hinge pin off the ground in the current posture;

[0015] Based on the obtained bucket angle and the height of the lower boom hinge pin off the ground, the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom under this extreme posture are calculated according to the inverse kinematics algorithm of the mechanism.

[0016] In conjunction with the first aspect, optionally, the step of calculating the theoretical extreme values ​​of the boom-to-frame angle and the rocker arm-to-boom angle based on the actual extreme values ​​of the boom-to-frame angle and the rocker arm-to-boom angle obtained from the actual extreme values ​​of the boom-to-frame angle and the rocker arm-to-boom angle, and calculating the boom-to-frame angle and the rocker arm-to-boom angle under the extreme attitudes, and correcting the boom-to-frame angle and the rocker arm-to-boom angle under any attitude, includes:

[0017] Based on the actual extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom, the theoretical extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom are calculated, and the correction coefficient 1 and the second coefficient 2 are calculated.

[0018] The first angle difference is obtained by subtracting the actual extreme value of the boom relative to the frame angle or rocker arm relative to the boom angle under any current posture from the actual extreme value of the boom relative to the frame angle or rocker arm relative to the boom angle. The first angle difference is then multiplied by a correction factor 1 or a correction factor 2 to obtain the second angle difference.

[0019] Add the second angle difference to the calculated boom-to-frame angle or rocker-to-boom angle in the extreme posture to obtain the corrected boom-to-frame angle and rocker-to-boom angle in any posture.

[0020] In conjunction with the first aspect, optionally, the calculation formulas for the correction coefficient 1 and the second coefficient 2 are as follows:

[0021] ;

[0022] ;

[0023] in, , These are the theoretical maximum and minimum values ​​of the boom angle relative to the chassis, respectively. , These are the theoretical maximum and minimum values ​​of the rocker arm angle relative to the boom, respectively. , These represent the maximum and minimum measured angles of the boom relative to the frame. , These are the maximum and minimum values ​​of the measured rocker arm angle relative to the boom, respectively.

[0024] In conjunction with the first aspect, optionally, the calculation formulas for the modified boom angle relative to the frame and rocker arm angle relative to the boom in any posture are as follows:

[0025]

[0026]

[0027] in, This refers to the corrected boom angle relative to the chassis in any orientation. This is the corrected rocker arm angle relative to the boom. The angle of the boom relative to the frame under the calculated extreme attitude is... The angle of the rocker arm relative to the boom is calculated under the extreme attitude. The angle of the boom relative to the frame is measured under any given orientation. The angle of the rocker arm relative to the boom is measured in any orientation.

[0028] In conjunction with the first aspect, optionally, the step of controlling the tipping cylinder and / or the boom cylinder, using the corrected boom-to-frame angle and rocker arm-to-boom angle in any posture as inputs and combining them with a corresponding control algorithm, includes:

[0029] Acquire the target bucket angle, control threshold, and corrected current attitude angles of the boom relative to the chassis and the rocker arm relative to the boom.

[0030] Calculate the target value of the boom angle relative to the boom based on the target bucket angle and the corrected boom angle relative to the chassis.

[0031] The control error is obtained by subtracting the calculated target value of the rocker arm angle relative to the boom from the obtained corrected test value of the rocker arm angle relative to the boom and taking the absolute value.

[0032] Based on the control error and control threshold, the control of the tipping cylinder and / or boom cylinder is completed.

[0033] In conjunction with the first aspect, optionally, the step of controlling the tipping cylinder and / or boom cylinder based on the control error and control threshold includes:

[0034] The control error is compared with the control threshold. If the error is greater than the control threshold, the control quantity is calculated based on the PID control algorithm or the linear quadratic optimal control algorithm, and the opening of the multi-way valve is adjusted to control the extension and retraction of the tipping cylinder and / or the boom cylinder.

[0035] Secondly, the present invention provides a loader working link translational lifting control device, comprising:

[0036] An angle acquisition module is used to acquire the actual extreme value of the boom angle relative to the frame collected by the first angle sensor, and the actual extreme value of the rocker arm angle relative to the boom collected by the second angle sensor.

[0037] The first calculation module is used to calculate the theoretical extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom based on the theoretical structural parameters of the loader's working device.

[0038] The second calculation module is used to obtain the bucket angle and the height of the lower boom hinge pin off the ground under the measured extreme posture, and to calculate the boom angle relative to the frame and the rocker arm angle relative to the boom under the extreme posture based on the theoretical structural parameters of the loader working device.

[0039] The third calculation module is used to calculate the theoretical extreme values ​​of the boom relative to the frame angle and the rocker arm relative to the boom angle based on the actual extreme values ​​of the boom relative to the frame angle and the actual extreme values ​​of the rocker arm relative to the boom angle obtained, as well as the calculated boom relative to the frame angle and rocker arm relative to the boom angle under extreme attitudes, and to correct the boom relative to the frame angle and rocker arm relative to the boom angle under any attitude.

[0040] The control module is used to control the tipping cylinder and / or boom cylinder by taking the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in the corrected arbitrary posture as inputs, and combining them with the corresponding control algorithm.

[0041] Thirdly, the present invention provides a loader working link translational lifting control system, including a storage medium and a processor;

[0042] The storage medium is used to store instructions;

[0043] The processor is configured to operate according to the instructions to perform the method according to any one of the first aspects.

[0044] Fourthly, the present invention provides a loader working link translational lifting control system, comprising:

[0045] The first angle sensor and the second angle sensor are used to collect the rotation angles of the boom relative to the frame and the rocker arm relative to the boom, respectively.

[0046] A level is used to collect the angle of the bucket.

[0047] A rangefinder is used to collect the height of the lower hinge pin of the boom from the ground.

[0048] The controller includes a kinematics calculation module connected to the angle sensor, the level, and the rangefinder, and configured to perform the method described in any one of the first aspects.

[0049] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0050] In this invention, based on the theoretical structural parameters of the loader's working device, the theoretical extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom are calculated. The actual extreme value of the boom angle relative to the frame is obtained using a first angle sensor; the actual extreme value of the rocker arm angle relative to the boom is obtained using a second angle sensor. The bucket angle and the ground clearance of the lower boom hinge pin are measured under extreme postures, and the boom angle relative to the frame and the rocker arm angle relative to the boom are calculated under these postures based on the theoretical structural parameters of the loader's working device. Based on the obtained actual extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom, the theoretical extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom are calculated, and the boom angle relative to the frame and the rocker arm angle relative to the boom under extreme postures are used to correct the boom angle relative to the frame and the rocker arm angle relative to the boom under any posture. The corrected boom angle relative to the frame and the rocker arm angle relative to the boom are used in the loader's working linkage translation lifting function to improve control performance and greatly enhance the actual vehicle control efficiency and effectiveness. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0052] Figure 1 This is a schematic diagram of a loader working link translational lifting control device according to an embodiment of the present invention;

[0053] Figure 2 This is a schematic diagram of the loader working link translational lifting control algorithm flow according to an embodiment of the present invention.

[0054] Figure 3 This is a schematic diagram of a loader working device according to an embodiment of the present invention. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0056] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0057] Example 1

[0058] This invention provides a method for controlling the translational lifting of a loader's working link, comprising the following steps:

[0059] (1) Based on the theoretical structural parameters of the loader working device, calculate the theoretical extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom.

[0060] (2) Obtain the actual extreme value of the boom angle relative to the frame collected by the first angle sensor, and the actual extreme value of the rocker arm angle relative to the boom collected by the second angle sensor;

[0061] (3) Obtain the bucket angle and the height of the lower hinge pin of the boom from the ground under the measured extreme posture, and calculate the boom angle relative to the frame and the rocker arm angle relative to the boom under the extreme posture according to the theoretical structural parameters of the loader working device.

[0062] (4) Based on the actual extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom, the theoretical extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom are calculated, and the boom angle relative to the frame and the rocker arm angle relative to the boom are calculated under the extreme attitude. The boom angle relative to the frame and the rocker arm angle relative to the boom are corrected under any attitude.

[0063] (5) Using the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in any modified posture as input, and combining the corresponding control algorithm, control the tipping cylinder and / or the boom cylinder.

[0064] In one specific embodiment of the present invention, the step of obtaining the measured bucket angle and boom lower hinge pin ground clearance under the extreme posture, and calculating the boom angle relative to the frame and the rocker arm angle relative to the boom under the extreme posture according to the theoretical structural parameters of the loader working device, includes:

[0065] Select an orientation that allows the boom angle relative to the frame and the rocker arm angle relative to the boom to reach their extreme values ​​simultaneously.

[0066] Record the bucket angle and the height of the boom lower hinge pin off the ground in the current posture;

[0067] Based on the obtained bucket angle and the height of the lower boom hinge pin off the ground, the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom under this extreme posture are calculated according to the inverse kinematics algorithm of the mechanism.

[0068] In one specific embodiment of the present invention, the step of correcting the boom-to-frame angle and rocker-to-boom angle under any posture based on the obtained actual extreme values ​​of the boom-to-frame angle and rocker-to-boom angle, and the calculated theoretical extreme values ​​of the boom-to-frame angle and rocker-to-boom angle under extreme postures, includes:

[0069] Based on the actual extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom, the theoretical extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom are calculated, and the correction coefficient 1 and the second coefficient 2 are calculated.

[0070] The first angle difference is obtained by subtracting the actual extreme value of the boom relative to the frame angle or rocker arm relative to the boom angle under any current posture from the actual extreme value of the boom relative to the frame angle or rocker arm relative to the boom angle. The first angle difference is then multiplied by a correction factor 1 or a correction factor 2 to obtain the second angle difference.

[0071] Add the second angle difference to the calculated boom-to-frame angle or rocker-to-boom angle in the extreme posture to obtain the corrected boom-to-frame angle and rocker-to-boom angle in any posture.

[0072] Specifically, the formulas for calculating the correction coefficient 1 and the second coefficient 2 are as follows:

[0073] ;

[0074] ;

[0075] in, , These are the theoretical maximum and minimum values ​​of the boom angle relative to the chassis, respectively. , These are the theoretical maximum and minimum values ​​of the rocker arm angle relative to the boom, respectively. , These represent the maximum and minimum measured angles of the boom relative to the frame. , These are the maximum and minimum values ​​of the measured rocker arm angle relative to the boom, respectively.

[0076] The formulas for calculating the angles of the boom relative to the frame and the rocker arm relative to the boom in any corrected posture are as follows:

[0077]

[0078]

[0079] in, This refers to the corrected boom angle relative to the chassis in any orientation. This is the corrected rocker arm angle relative to the boom. The angle of the boom relative to the frame under the calculated extreme attitude is... The angle of the rocker arm relative to the boom is calculated under the extreme attitude. The angle of the boom relative to the frame is measured under any given orientation. The angle of the rocker arm relative to the boom is measured in any orientation.

[0080] In one specific embodiment of the present invention, such as Figure 2 As shown, the step of controlling the tipping cylinder and / or boom cylinder, using the corrected boom-to-frame angle and rocker arm-to-boom angle in any posture as inputs and combining them with a corresponding control algorithm, includes:

[0081] Acquire the target bucket angle, control threshold, and corrected current attitude angles of the boom relative to the chassis and the rocker arm relative to the boom.

[0082] Calculate the target value of the boom angle relative to the boom based on the target bucket angle and the corrected boom angle relative to the chassis.

[0083] The control error is obtained by subtracting the calculated target value of the rocker arm angle relative to the boom from the obtained corrected test value of the rocker arm angle relative to the boom and taking the absolute value.

[0084] Based on the control error and control threshold, the control of the tipping cylinder and / or boom cylinder is completed.

[0085] In one specific embodiment of the present invention, the step of controlling the tipping cylinder and / or boom cylinder based on the control error and control threshold includes:

[0086] The control error is compared with the control threshold. If the error is greater than the control threshold, the control quantity is calculated based on the PID control algorithm or the linear quadratic optimal control algorithm, and the opening of the multi-way valve is adjusted to control the extension and retraction of the tipping cylinder and / or the boom cylinder.

[0087] The following describes in detail the loader working link translational lifting control method in an embodiment of the present invention with reference to a specific implementation method.

[0088] A schematic diagram of the loader's working device is shown below. Figure 3 As shown, AB is the bucket, BC is the tie rod, CDE is the rocker arm, ADIF is the boom, GHI is the chassis, EG is the tipping cylinder, FH is the boom cylinder, AJ is a line segment parallel to the bottom plate of the bucket, and KI is a line segment parallel to the horizontal plane.

[0089] The loader working link translational lifting control method includes the following steps:

[0090] Step (1): Calculate the theoretical maximum angle of the boom relative to the chassis based on the theoretical structural parameters of the loader's working device. Minimum value The theoretical maximum value of the rocker arm angle relative to the boom. Minimum value .

[0091] Step (two): Manipulate the control handle to continuously adjust the attitude of the loader's working device. Record the changes in the boom angle relative to the frame and the rocker arm angle relative to the boom throughout the process using the first and second angle sensors. Then, process the test data to obtain the maximum value of the boom angle relative to the frame. and minimum value Maximum value of rocker arm angle relative to boom and minimum value .

[0092] Step (3): Install the level on the main cutter plate of the bucket, and operate the control handle to adjust the working device posture to dig and collect the bucket. Use the level to measure the bucket angle α. bucket Measure the height h of the lower hinge pin of the boom from the ground using a rangefinder. A Based on the theoretical structural dimensions of the boom and rocker arm, and using the inverse kinematics algorithm, the angle of the boom relative to the frame in the ultimate posture (i.e., this posture) is calculated. Angle between rocker arm and boom .

[0093] Step (iv) calculates the corrected boom-to-frame angle ∠KIA and rocker arm-to-boom angle ∠ADC in any posture, specifically:

[0094]

[0095]

[0096] Step (5), follow as follows Figure 2 The control algorithm flowchart shown uses the modified boom-to-frame angle ∠KIA and rocker arm-to-boom angle ∠ADC in any posture as inputs. Combined with the corresponding control algorithm, it controls the dump cylinder and / or boom cylinder to achieve the translational lifting of the loader's working link.

[0097] Example 2

[0098] Based on the same inventive concept as Embodiment 1, this embodiment of the invention provides a loader working link translational lifting control device, such as... Figure 1 As shown, it includes:

[0099] An angle acquisition module is used to acquire the actual extreme value of the boom angle relative to the frame collected by the first angle sensor, and the actual extreme value of the rocker arm angle relative to the boom collected by the second angle sensor.

[0100] The first calculation module is used to calculate the theoretical extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom based on the theoretical structural parameters of the loader's working device.

[0101] The second calculation module is used to obtain the bucket angle and the height of the lower boom hinge pin off the ground under the measured extreme posture, and to calculate the boom angle relative to the frame and the rocker arm angle relative to the boom under the extreme posture based on the theoretical structural parameters of the loader working device.

[0102] The third calculation module is used to calculate the theoretical extreme values ​​of the boom relative to the frame angle and the rocker arm relative to the boom angle based on the actual extreme values ​​of the boom relative to the frame angle and the actual extreme values ​​of the rocker arm relative to the boom angle obtained, as well as the calculated boom relative to the frame angle and rocker arm relative to the boom angle under extreme attitudes, and to correct the boom relative to the frame angle and rocker arm relative to the boom angle under any attitude.

[0103] The control module is used to control the tipping cylinder and / or boom cylinder by taking the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in the corrected arbitrary posture as inputs, and combining them with the corresponding control algorithm.

[0104] The rest are the same as in Example 1.

[0105] Example 3

[0106] Based on the same inventive concept as in Embodiment 1, this embodiment of the invention provides a loader working link translational lifting control system, including a storage medium and a processor;

[0107] The storage medium is used to store instructions;

[0108] The processor is configured to operate according to the instructions to execute the method according to any one of Embodiment 1.

[0109] Example 4

[0110] This invention provides a loader working link translational lifting control system, comprising:

[0111] The first angle sensor and the second angle sensor are used to collect the rotation angles of the boom relative to the frame and the rocker arm relative to the boom, respectively.

[0112] A level is used to collect the angle of the bucket.

[0113] A rangefinder is used to collect the height of the lower hinge pin of the boom from the ground.

[0114] The controller includes a kinematics calculation module, which is connected to the angle sensor, the level and the rangefinder respectively, and is configured to perform the method described in any one of Embodiment 1.

[0115] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0116] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0117] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0118] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0119] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

[0120] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A method for controlling the translational lifting of a loader's working linkage, characterized in that, include: Based on the theoretical structural parameters of the loader's working device, the theoretical extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom were calculated. Obtain the actual extreme value of the boom angle relative to the frame collected by the first angle sensor, and the actual extreme value of the rocker arm angle relative to the boom collected by the second angle sensor; The method involves acquiring the measured bucket angle and boom lower hinge pin ground clearance under extreme postures, and calculating the boom angle relative to the chassis and the rocker arm angle relative to the boom under these extreme postures based on the theoretical structural parameters of the loader's working device. Based on the actual extreme values ​​of the boom angle relative to the chassis and the rocker arm angle relative to the boom, the method calculates the theoretical extreme values ​​of the boom angle relative to the chassis and the rocker arm angle relative to the boom. Finally, it corrects the boom angle relative to the chassis and the rocker arm angle relative to the boom under any posture. Based on the actual extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom, the theoretical extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom are calculated, and the correction coefficient 1 and the second coefficient 2 are calculated. The first angle difference is obtained by subtracting the actual extreme value of the boom relative to the frame angle or rocker arm relative to the boom angle under any current posture from the actual extreme value of the boom relative to the frame angle or rocker arm relative to the boom angle. The first angle difference is then multiplied by a correction factor 1 or a correction factor 2 to obtain the second angle difference. Add the second angle difference to the calculated boom-to-frame angle or rocker-to-boom angle in the extreme posture to obtain the corrected boom-to-frame angle and rocker-to-boom angle in any posture. Using the modified boom-to-frame angle and rocker arm-to-boom angle in any posture as inputs, and combined with the corresponding control algorithm, the tipping cylinder and / or boom cylinder are controlled.

2. The method for controlling the translational lifting of a loader's working linkage according to claim 1, characterized in that: The process involves acquiring the measured bucket angle and boom lower hinge pin ground clearance under the extreme posture, and calculating the boom angle relative to the frame and the rocker arm angle relative to the boom under the extreme posture based on the theoretical structural parameters of the loader's working device. Select an orientation that allows the boom angle relative to the frame and the rocker arm angle relative to the boom to reach their extreme values ​​simultaneously. Record the bucket angle and the height of the boom lower hinge pin off the ground in the current posture; Based on the obtained bucket angle and the height of the lower boom hinge pin off the ground, the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom under this extreme posture are calculated according to the inverse kinematics algorithm of the mechanism.

3. The method for controlling the translational lifting of a loader's working linkage according to claim 1, characterized in that: The formulas for calculating the correction coefficient 1 and the second coefficient 2 are as follows: Among them, ∠KIA max ∠KIA min These represent the theoretical maximum and minimum angles of the boom relative to the frame, respectively; ∠ADC max ∠ADC min θ represents the theoretical maximum and minimum angles of the rocker arm relative to the boom, respectively. lift,max θ lift,min θ represents the maximum and minimum measured angles of the boom relative to the frame. tilt,max θ tilt,min These are the maximum and minimum values ​​of the measured rocker arm angle relative to the boom, respectively.

4. The method for controlling the translational lifting of a loader's working linkage according to claim 3, characterized in that: The formulas for calculating the angles of the boom relative to the frame and the rocker arm relative to the boom in any corrected posture are as follows: Where ∠KIA is the corrected boom angle relative to the frame in any posture, ∠ADC is the corrected rocker arm angle relative to the boom, and ∠KIA cal Let θ be the calculated boom angle relative to the chassis in the extreme attitude, ∠ADC be the calculated rocker arm angle relative to the boom in the extreme attitude, and θ be the rocker arm angle relative to the boom in the extreme attitude. lift θ is the angle of the boom relative to the frame in any measured orientation. tilt The angle of the rocker arm relative to the boom is measured in any orientation.

5. The method for controlling the translational lifting of a loader's working linkage according to claim 1, characterized in that: The step of controlling the tipper cylinder and / or boom cylinder, using the corrected boom-to-frame angle and rocker arm-to-boom angle in any posture as inputs and combining them with a corresponding control algorithm, includes: Acquire the target bucket angle, control threshold, and corrected current attitude angles of the boom relative to the chassis and the rocker arm relative to the boom. Calculate the target value of the boom angle relative to the boom based on the target bucket angle and the corrected boom angle relative to the chassis. The control error is obtained by subtracting the calculated target value of the rocker arm angle relative to the boom from the obtained corrected test value of the rocker arm angle relative to the boom and taking the absolute value. Based on the control error and control threshold, the control of the tipping cylinder and / or boom cylinder is completed.

6. The method for controlling the translational lifting of a loader's working linkage according to claim 5, characterized in that: The control of the tipping cylinder and / or boom cylinder based on the control error and control threshold includes: The control error is compared with the control threshold. If the error is greater than the control threshold, the control quantity is calculated based on the PID control algorithm or the linear quadratic optimal control algorithm, and the opening of the multi-way valve is adjusted to control the extension and retraction of the tipping cylinder and / or the boom cylinder.

7. A loader working link translational lifting control device, characterized in that, include: An angle acquisition module is used to acquire the actual extreme value of the boom angle relative to the frame collected by the first angle sensor, and the actual extreme value of the rocker arm angle relative to the boom collected by the second angle sensor. The first calculation module is used to calculate the theoretical extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom based on the theoretical structural parameters of the loader's working device. The second calculation module is used to obtain the bucket angle and the height of the lower boom hinge pin off the ground under the measured extreme posture, and to calculate the boom angle relative to the frame and the rocker arm angle relative to the boom under the extreme posture based on the theoretical structural parameters of the loader working device. The third calculation module is used to calculate the theoretical extreme values ​​of the boom-to-frame angle and the rocker arm-to-boom angle based on the actual extreme values ​​of the boom-to-frame angle and the rocker arm-to-boom angle obtained from the actual extreme values ​​of the boom-to-frame angle and the rocker arm-to-boom angle, and to correct the boom-to-frame angle and the rocker arm-to-boom angle under any attitude, based on the calculated extreme values ​​of the boom-to-frame angle and the rocker arm-to-boom angle. This includes: Based on the actual extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom, the theoretical extreme values ​​of the boom angle relative to the frame and the rocker arm angle relative to the boom are calculated, and the correction coefficient 1 and the second coefficient 2 are calculated. The first angle difference is obtained by subtracting the actual extreme value of the boom relative to the frame angle or rocker arm relative to the boom angle under any current posture from the actual extreme value of the boom relative to the frame angle or rocker arm relative to the boom angle. The first angle difference is then multiplied by a correction factor 1 or a correction factor 2 to obtain the second angle difference. Add the second angle difference to the calculated boom-to-frame angle or rocker-to-boom angle in the extreme posture to obtain the corrected boom-to-frame angle and rocker-to-boom angle in any posture. The control module is used to control the tipping cylinder and / or boom cylinder by taking the angle of the boom relative to the frame and the angle of the rocker arm relative to the boom in the corrected arbitrary posture as inputs, and combining them with the corresponding control algorithm.

8. A loader working link translational lifting control system, characterized in that, Including storage media and processor; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the method according to any one of claims 1-6.

9. A loader working link translational lifting control system, characterized in that, include: The first angle sensor and the second angle sensor are used to collect the rotation angles of the boom relative to the frame and the rocker arm relative to the boom, respectively. A level is used to collect the angle of the bucket. A rangefinder is used to collect the height of the lower hinge pin of the boom from the ground. The controller includes a kinematics calculation module connected to the angle sensor, the level, and the rangefinder, and configured to perform the method of any one of claims 1-6.

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