Loader shoveling and loading cooperative energy self-adaptive control method based on operation stage identification

Abstract

The invention relates to the technical field of energy conservation of loader shoveling systems, and discloses a loader shoveling cooperative energy self-adaptive control method based on operation stage identification, which comprises the following steps: step 1, a signal acquisition module acquires whole vehicle state information data of a loader through a CAN (Controller Area Network) bus and a sensor; 2, the hydraulic control module judges the working stage of the current loader; and 3, the hydraulic control module completes self-adaptive matching of the operation mode and the operation stage through the electro-hydraulic proportional execution module based on identification of the operation stage of the loader, and actions of the movable arm and the bucket are autonomously achieved. On-line identification of the operation stage can be completed, and after identification of the operation stage is completed, the hydraulic control module automatically matches the corresponding operation mode and controls the movable arm and the bucket to autonomously execute corresponding actions.

Description

Technical Field

[0001] The present invention relates to the technical field of energy-saving of loader shoveling systems, and in particular to a loader shoveling collaborative energy adaptive control method based on operation phase identification. Background Art

[0002] As a multi-purpose self-propelled engineering machinery, the main purpose of the loader is to complete the shoveling, transportation, and unloading of various materials. However, under the influence of state variables such as drastic changes in load and variable working objects, the power utilization rate of the loader power unit is often low. At the same time, the loader's shoveling operation process has the characteristics of clear operation phase cycles and different loads in different operation phases. A single power unit working mode can no longer meet the current major needs of energy conservation and emission reduction. In addition, the complicated operation tasks increase the operating intensity of the driver, and the energy-saving characteristics of the loader's shoveling operation often depend on the driver's experience and operating willingness, which is not conducive to the improvement of the loader's energy-saving characteristics. Therefore, in order to improve the energy-saving characteristics of the loader and significantly reduce the driver's operating intensity, it is particularly important to carry out automatic operation and energy adaptive control of the working device for different operation stages of the loader's shoveling. Summary of the invention

[0003] In order to solve the problems raised in the above technical background, the present invention proposes a loader shoveling collaborative energy adaptive control method based on operation stage identification. Based on the loader vehicle status signal collected by the sensor and the controller, the current operation stage is identified, and the corresponding operation mode is automatically matched to control the boom and bucket to autonomously complete the corresponding action.

[0004] The loader shoveling collaborative energy adaptive control method based on operation stage identification, the control system used includes: a signal acquisition module, a hydraulic control module and an electro-hydraulic proportional execution module This is mainly achieved through the following steps: Step 1: The signal acquisition module collects the vehicle status information data of the loader through the CAN bus and sensors; Step 2: The hydraulic control module determines the current operation stage of the loader; Step 3: The hydraulic control module recognizes the loader's operating phase and performs adaptive matching of the operating mode and operating phase based on the electro-hydraulic proportional execution module, and autonomously realizes the movement of the boom and bucket; Furthermore, the vehicle status information data of the loader collected by the signal acquisition module through the CAN bus and the sensor in step 1 includes: vehicle speed, gear position, actual output torque, boom cylinder pressure, actual required torque, boom angle, bucket angle, loading truck height, engine speed data information; and the collected vehicle status information data of the loader is transmitted to the hydraulic control module for judging the current operation stage; The signal acquisition module collects status information and operation information of the engine controller, gearbox controller, boom cylinder pressure sensor, accelerator pedal sensor, boom angle sensor, bucket angle sensor, and height radar. It collects the current actual engine output torque information and engine speed information in the engine controller, collects vehicle speed information and gear information in the gearbox controller, collects and outputs current torque demand information from the accelerator pedal sensor, collects and outputs boom angle and bucket angle information from the boom angle sensor and bucket angle sensor, collects the loading truck height through the height radar, and collects boom cylinder pressure information through the boom cylinder pressure sensor; Furthermore, the operation phases of the loader in step 2 are divided into 6 operation phases, namely, V1 driving toward the material phase, V2 shoveling phase, V3 fully loaded returning to the starting point phase, V4 boom fully loaded lifting phase, V5 unloading phase, and V6 leveling phase. After completing the operation phase identification, the hydraulic control module matches the corresponding operation mode, and the boom and bucket autonomously complete the corresponding actions through the electro-hydraulic proportional control module. Based on the current status information, the hydraulic control module makes the following judgments on the loader operation stage: when the loader vehicle gear is in the second forward gear and the speed is 7~12km / h, and the pressure in the boom cylinder is less than 0.5MPa, it is judged to be in the V1 driving towards the material stage; when the loader gear is in the first forward gear and the speed is not more than 7km / h, and the boom angle is less than 20°, it is judged to be in the V2 shoveling stage; if the gear information is the second reverse gear and the speed is 7~12km / h, it is judged to be in a fully loaded state, that is, V3 fully loaded return to starting point stage; if the current gear information is forward second gear, the vehicle speed is 7~12km / h, and the pressure in the boom cylinder is greater than 0.5MPa, it is judged to be in V4 boom fully loaded lifting stage; if the current vehicle is in neutral gear, the vehicle speed is 0, and the boom angle is greater than 85°, it is judged to be in V5 unloading stage; if the current vehicle is in reverse second gear, the vehicle speed is 7~12km / h, and the pressure in the boom cylinder is less than 0.5MPa, it is judged to be currently unloaded, that is, in V6 leveling stage; Furthermore, the operation modes include bucket leveling operation mode, shoveling and drag reduction operation mode, boom lifting operation mode and bucket unloading operation mode. The bucket leveling operation mode matches the V1 and V6 stages, the shoveling and drag reduction operation mode matches the V2 stage, the boom lifting operation mode matches the V4 operation stage, and the bucket unloading operation mode matches the V6 stage.

[0005] If it is in the V1 driving towards the material stage, the hydraulic control module selects the bucket leveling operation mode, automatically adjusts the angle of the boom and the bucket, so that the bucket is parallel to the ground when placed on the ground; if the current loader is in the V2 shoveling stage, the shoveling drag reduction operation mode is selected, and the boom can automatically adjust its posture according to the change of the operating resistance to achieve drag reduction shoveling; if the current engineering machinery vehicle is in the V3 fully loaded return to the starting point stage, the hydraulic control module chooses to maintain the current operation mode; if it is in the V4 boom fully loaded lifting stage, the boom lifting operation mode is selected, and the hydraulic control module automatically lifts the boom to the unloading height according to the height of the loading truck; if it is in the V5 unloading stage, the hydraulic control module selects the bucket unloading operation mode after the boom is lifted to the unloading height, and controls the bucket to flip to achieve material unloading; if it is currently in the V6 leveling stage, the hydraulic control module selects the bucket leveling operation mode, controls the boom to descend and level the bucket, so that the bucket is parallel to the ground when placed on the ground, and restarts the next shoveling cycle.

[0006] Furthermore, the bucket leveling operation mode includes leveling the bucket during the process of lowering the boom so that the lower plate of the bucket is parallel to the ground when placed on the ground; the shoveling and drag reduction operation mode includes autonomously adjusting the boom posture according to the torque difference signal to reduce the insertion resistance of the shoveled material; the boom lifting operation mode includes autonomously lifting the boom to the unloading height based on the height measurement data of the loading truck; the bucket unloading operation mode specifically includes flipping the bucket until the material is completely unloaded.

[0007] The beneficial effects of the present invention are: 1. The present invention provides a loader shoveling collaborative energy adaptive control strategy based on operation stage identification, which can complete the online identification of the operation stage.

[0008] 2. The present invention provides a loader shoveling and loading collaborative energy adaptive control strategy based on operation stage identification. After completing the operation stage identification, the hydraulic control module automatically matches the corresponding operation mode and controls the boom and bucket to autonomously perform corresponding actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a schematic diagram of the control system composition of the present invention; Figure 2 It is a schematic diagram of the control method steps of the present invention; Figure 3 This is a flow chart of signal acquisition module acquisition in the present invention; Figure 4 This is a schematic diagram for judging the operation stage of the present invention; Figure 5 It is a schematic diagram of the operation mode matching of the electro-hydraulic proportional actuator of the present invention; Figure 6 It is a schematic diagram of the boom and bucket motion control flow of the present invention. DETAILED DESCRIPTION

[0010] like Figure 1 As shown, the present invention provides a method for adaptive control of loader shoveling collaborative energy based on operation stage identification. The control system specifically includes: a signal acquisition module, a hydraulic control module, and an electro-hydraulic proportional execution module. The signal acquisition module acquires the loader status signal and transmits it to the hydraulic control module. The hydraulic control module completes online identification of the current operation stage based on the acquired signal and matches the corresponding operation mode. Finally, the electro-hydraulic proportional execution module completes autonomous collaborative control of the boom and bucket.

[0011] like Figure 2 As shown, based on the above-mentioned loader shoveling collaborative energy adaptive control method based on operation stage identification, the control method will be described in detail below: Step 1: If Figure 3 As shown, the signal acquisition module collects vehicle status information and operation data through the CAN bus. The specific method is as follows: The signal acquisition module collects the engine output torque and current speed data through the engine controller; collects the current vehicle gear information and current vehicle speed through the transmission controller; obtains the current cylinder pressure data through the pressure sensor in the boom cylinder; obtains the driver's actual required torque from the accelerator pedal sensor; reads the boom and bucket angle data from the boom angle sensor and bucket angle sensor respectively; reads the height of the loading truck from the height measuring radar located on the top of the vehicle. The above sensor and controller data are read in real time by the signal acquisition module during operation and transmitted to the hydraulic control module.

[0012] Step 2: If Figure 4 As shown, based on the data collected by the signal acquisition module, the operation stage is identified online in the hydraulic controller to determine the current operation stage of the loader. The specific method is as follows: The V-type operation process of the loader can be divided into six operation stages: V1 driving towards the material stage, V2 shoveling stage, V3 fully loaded returning to the starting point stage, V4 fully loaded boom lifting stage, V5 unloading stage, and V6 leveling stage.

[0013] If the signal acquisition module identifies that the current vehicle gear is in the second forward gear and the vehicle speed is 7-12 km / h, and the pressure in the boom cylinder is less than 0.5 MPa, the hydraulic controller determines that the current vehicle is unloaded and is in the V1 stage of driving towards materials; If the signal acquisition module identifies that the current gear of the construction machinery vehicle is in the first forward gear and the speed is not more than 7km / h, and the boom angle is less than 20°, the hydraulic control module determines that the current vehicle is in the V2 shoveling stage; If the signal acquisition module identifies that the current gear position is the second reverse gear and the vehicle speed is 7-12 km / h, the hydraulic control module determines that the vehicle is currently fully loaded and is in the V3 fully loaded return to the starting point stage; If the signal acquisition module recognizes that the current gear information is the second forward gear, the vehicle speed is 7~12km / h, and the pressure in the boom cylinder is greater than 0.5MPa, the hydraulic control module determines that the current vehicle is fully loaded and is in the V4 boom full load lifting stage.

[0014] If the current signal acquisition module identifies that the current vehicle is in neutral, the vehicle speed is 0, and the boom angle is greater than 85°, the hydraulic control module determines that the current vehicle is in the V5 unloading stage; If the signal acquisition module determines that the current vehicle is in the second reverse gear, the speed is 7~12km / h, and the pressure in the boom cylinder is less than 0.5MPa, the hydraulic control module determines that the current vehicle is in an unloaded state and is in the V6 leveling stage.

[0015] Step 3: If Figure 5 As shown, based on the identification result of the current operation stage of the loader, the hydraulic control module automatically matches different operation modes, and controls the boom and bucket to autonomously perform corresponding actions through the electro-hydraulic proportional execution module.

[0016] If the current construction machinery vehicle is in the V1 driving towards the material stage, based on the boom angle and bucket angle data collected by the boom and bucket angle sensors, the hydraulic control module selects the bucket leveling operation mode and automatically adjusts the boom and bucket angles to the bucket. Specifically, the hydraulic controller presets the boom angle θ when the bucket is leveled. 1 Bucket angle θ 2 , the θ 1 With θ 2 The setting is obtained through multiple experimental measurements. When the vehicle is in the bucket leveling working mode, the hydraulic control module compares the current vehicle boom and bucket angle data with the preset values, and controls the electro-hydraulic proportional module to control the boom and bucket steering actions accordingly.

[0017] like Figure 6 As shown, the boom and bucket control method is specifically as follows: based on the judgment result of the current operation mode, the hydraulic control module outputs a current signal to the electromagnetic proportional valve and converts it into a pilot pressure signal, controls the valve core to open different openings, and allows the oil to flow into the boom cylinder and the bucket cylinder, thereby realizing autonomous movement of the bucket and the boom. At the same time, the boom angle sensor and the bucket angle sensor feed back the boom and bucket angles to the hydraulic control module in real time.

[0018] If the current construction machinery vehicle is in the V2 shoveling stage, the hydraulic control module selects the shoveling drag reduction operation mode based on the engine output torque and the actual required torque data, and performs automatic shoveling drag reduction action. Specifically: if the actual required torque is greater than the actual output torque of the engine, the hydraulic control module determines that the resistance of the current vehicle when shoveling materials is too large, resulting in slippage between the wheels and the ground, and it is necessary to perform shoveling drag reduction operations; based on the judgment result, the pilot pressure is output through the electro-hydraulic proportional module to control the boom posture adjustment to reduce the bucket insertion resistance. If the actual required torque is not greater than the actual output torque of the engine, there is no need to perform drag reduction operations when the current vehicle is shoveling, and the vehicle continues to maintain the current shoveling state and continue shoveling operations. When the boom angle is >20°, this function cannot be triggered.

[0019] If the current construction machinery vehicle is in the V3 fully loaded return to the starting point stage, the hydraulic control module chooses to maintain the current operation mode, and the electro-hydraulic proportional execution module maintains the current boom posture.

[0020] If the current construction machinery vehicle is in the V4 boom fully loaded lifting stage, the hydraulic control module will select the boom lifting operation mode according to the height of the loading truck. Specifically: based on the judgment result of the current vehicle operation stage, the hydraulic control module turns on the height measuring radar located on the top of the vehicle to measure the height of the loading truck, and the electro-hydraulic proportional execution module outputs the maximum pilot pressure according to the measurement result, so that the boom is quickly lifted to the height of the loading truck.

[0021] If the current construction machinery vehicle is in the V5 unloading stage, the hydraulic control module selects the bucket unloading operation mode after the boom is lifted to the unloading height. Specifically, the electro-hydraulic proportional execution module automatically outputs the pilot pressure to quickly flip the bucket to complete the material unloading. At the same time, during the unloading operation, the signal acquisition module collects the pressure in the cylinder in real time through the boom cylinder pressure sensor. When the cylinder pressure is less than 0.5MPa, the hydraulic control module determines that the current unloading operation is completed and enters the next stage of operation.

[0022] After the material unloading is completed in the previous stage, the electro-hydraulic proportional execution module will first output the pilot pressure in the reverse direction to make the bucket flip upward quickly to prevent the bucket from hitting the loading truck when the loader reverses and causing a safety accident.

[0023] If the loader is in the V6 leveling stage, the hydraulic control module selects the bucket leveling operation mode, controls the boom to descend and level the bucket, and restarts the next shoveling cycle. The specific control method is the same as the bucket leveling process in the V1 driving towards material stage.

Claims

1. A method for adaptive control of shoveling and loading collaborative energy of a loader based on operation phase identification, characterized in that: The control system used comprises: a signal acquisition module, a hydraulic control module and an electro-hydraulic proportional execution module; and comprises the following steps: Step 1: The signal acquisition module collects the vehicle status information data of the loader through the CAN bus and sensors; Step 2: The hydraulic control module determines the current operation stage of the loader; Step 3: Based on the identification of the loader's operating phase, the hydraulic control module completes the adaptive matching of the operating mode and the operating phase through the electro-hydraulic proportional execution module, and autonomously realizes the movement of the boom and bucket.

2. The method for adaptive control of loader shoveling collaborative energy based on operation phase identification according to claim 1 is characterized in that: In step 1, the signal acquisition module collects the vehicle status information data of the loader through the CAN bus and sensors, including: vehicle speed, gear position, actual output torque, boom cylinder pressure, actual required torque, boom angle, bucket angle, loading truck height, engine speed data information; and transmits the collected vehicle status information data of the loader to the hydraulic control module for determining the current operation stage.

3. The method for adaptive control of loader shoveling and loading collaborative energy based on operation phase identification according to claim 2 is characterized in that: In step 2, the loader's operating stages are divided into six operating stages: V1 driving towards the material stage, V2 shoveling stage, V3 fully loaded returning to the starting point stage, V4 boom fully loaded lifting stage, V5 unloading stage, and V6 leveling stage. After completing the operating stage identification, the hydraulic control module matches the corresponding operating mode, and through the electro-hydraulic proportional execution module, the boom and bucket can autonomously complete the corresponding actions.

4. The method for adaptive control of loader shoveling and loading collaborative energy based on operation phase identification according to claim 3 is characterized in that: The operation modes include bucket leveling operation mode, shoveling and drag reduction operation mode, boom lifting operation mode and bucket unloading operation mode. The bucket leveling operation mode matches the V1 and V6 stages, the shoveling and drag reduction operation mode matches the V2 stage, the boom lifting operation mode matches the V4 operation stage, and the bucket unloading operation mode matches the V6 stage.

5. The method for adaptive control of loader shoveling collaborative energy based on operation phase identification according to claim 4 is characterized in that: The bucket leveling operation mode includes leveling the bucket during the process of lowering the boom so that the bottom plate of the bucket is parallel to the ground when placed on the ground; the shoveling and drag reduction operation mode includes autonomously adjusting the boom posture according to the torque difference signal to reduce the insertion resistance of the shoveled material; the boom lifting operation mode includes autonomously lifting the boom to the unloading height based on the height measurement data of the loading truck; the bucket unloading operation mode specifically includes flipping the bucket until the material is completely unloaded.

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