Automatic centering control method, device and system for steering of loading machine

Abstract

The invention discloses a loader steering automatic centering control method, device and system. The loader steering automatic centering control method comprises the steps that a real-time included angle between a front vehicle body and a rear vehicle body is obtained; according to the centering key state signal, the steering handle opening degree and the difference value between the real-time included angle between the front vehicle body and the rear vehicle body and the preset included angle between the front vehicle body and the rear vehicle body, whether the steering automatic centering mode needs to be executed or not is judged; if it is judged that the steering automatic centering mode needs to be executed, the electromagnetic valve needing to act and the electromagnetic valve current are determined according to the difference value between the real-time included angle between the front vehicle body and the rear vehicle body and the preset included angle between the front vehicle body and the rear vehicle body. According to the invention, the steering and returning operation of the remote control loader is simplified, the quick and accurate steering and returning control of the remote control loader in the operation process is realized, and the working efficiency of the remote control loader is obviously improved.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering machinery, and in particular relates to a method, device and system for automatically returning to center when steering a loader. Background Art

[0002] At present, for work scenes that are harmful to the human body, such as high temperature, dust, and high pressure, remote control loaders are gradually favored by customers for their remote control and flexible operation. However, in the actual operation of remote control loaders, drivers face a series of challenges when remotely controlling through vehicle cameras or other video devices. First, before shoveling, in order to ensure the most uniform force at the vehicle articulation and the maximum shoveling full load rate, the driver usually adjusts the front and rear vehicle bodies to a horizontal position before shoveling the material. Since the video content is presented in a two-dimensional plane and lacks the stereoscopic perception effect of three-dimensional space, the remote control driver has difficulty in keeping the front and rear vehicle bodies level. They need to make multiple adjustments by repeatedly operating the steering handle to ensure that the front and rear vehicle bodies of the loader are level. This process is not only time-consuming and labor-intensive, but also reduces work efficiency. Secondly, frequent manual adjustments cause unnecessary wear and damage to the steering system and vehicle articulation points of the loader. Especially in harsh working environments, this wear and damage may be more serious, increasing maintenance costs and downtime. This is an issue that cannot be ignored for remote control loaders that require high precision and high efficiency. Summary of the invention

[0003] In view of the above problems, the present invention proposes a loader steering automatic return to center control method and system, which aims to achieve the leveling of the front and rear bodies of the loader in an automated and intelligent manner, thereby improving operating efficiency, reducing the driver's labor intensity, and extending the service life of the loader.

[0004] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions: In a first aspect, the present invention provides a method for controlling automatic centering of a loader steering, comprising: Obtain the real-time angle between the front vehicle body and the rear vehicle body; Determine whether to execute the automatic steering return mode according to the return button state signal, the steering handle opening, and the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body; If it is determined that the automatic steering return mode needs to be executed, the solenoid valve and the solenoid valve current that need to be activated are determined according to the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body.

[0005] In combination with the first aspect, optionally, when the return-to-center button state signal, the steering handle opening, and the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body simultaneously meet the following conditions, it is determined that the automatic steering return-to-center mode needs to be executed: The return button state signal is at a high level, the steering handle opening is 0, and the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body is not within the preset difference range.

[0006] In combination with the first aspect, optionally, the loader steering automatic return to center control method further includes: When the loader is in the automatic steering return mode, if it is detected that the steering handle opening is not 0, or the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body is within the preset difference range, the automatic steering return mode is released.

[0007] In combination with the first aspect, optionally, the preset angle between the front body and the rear body refers to the angle between the front body and the rear body when the central axes thereof are in a coincident state; and determining the solenoid valve to be actuated according to the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body comprises: When the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body is greater than X, the left steering solenoid valve is actuated; When the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body is less than -X, the right steering solenoid valve is actuated; The difference between the real-time angle between the current vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body is within the range of -X~X, and the left steering solenoid valve and the right steering solenoid valve do not perform any action.

[0008] In combination with the first aspect, optionally, the method for determining the solenoid valve current includes: The solenoid valve current is generated according to the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body, combined with a pre-established angle difference-current curve.

[0009] In combination with the first aspect, optionally, the method for establishing the angle difference-current curve diagram includes: Obtaining the left limit angle and the right limit angle between the front body and the rear body when the loader is at the left and right limit positions, and calculating the left limit difference and the right limit difference between the left limit angle and the right limit angle and the preset angle between the front body and the rear body; Obtain the solenoid valve current upper limit value and the solenoid valve current lower limit value corresponding to the fastest steering speed and the slowest steering speed; Acquire a plurality of different first limit differences and the solenoid valve current corresponding to each first limit difference, wherein each first limit difference is located between X and the left limit angle; Acquire a plurality of different second limit differences and a solenoid valve current corresponding to each second limit difference, wherein the second limit difference is between -X and the right limit angle; Based on the left limit difference, the solenoid valve current upper limit value and the solenoid valve current lower limit value, as well as a plurality of different first limit differences and the solenoid valve current corresponding to each first limit difference, a first angle difference-current curve is fitted; Based on the right limit difference, the solenoid valve current upper limit value and the solenoid valve current lower limit value, as well as a plurality of different second limit differences and the solenoid valve current corresponding to each second limit difference, a second angle difference-current curve is fitted.

[0010] In combination with the first aspect, optionally, the angle between the front body and the rear body is measured by an angle sensor installed at a hinge between the front body and the rear body.

[0011] In a second aspect, the present invention provides a loader steering automatic return to center control device, comprising: A real-time angle acquisition module is used to acquire the real-time angle between the front vehicle body and the rear vehicle body; The automatic steering return mode execution judgment module is used to judge whether the automatic steering return mode needs to be executed according to the return button state signal, the steering handle opening, and the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body; The control module is used to determine the solenoid valve and solenoid valve current that need to be activated according to the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body if it is determined that the automatic steering return mode needs to be executed.

[0012] In a third aspect, the present invention provides a loader steering automatic return-to-center system, comprising: a return-to-center button, an angle sensor, a steering handle, a first controller, a second controller, a left steering solenoid valve, and a right steering solenoid valve; The return button is integrated on the steering handle and is a self-resetting button; The steering handle is installed in the remote cockpit of the loader and is used to control the vehicle to turn left or right; The first controller is electrically connected to the steering handle; The first controller communicates with the second controller via ETH to CAN mode; The left steering solenoid valve and the right steering solenoid valve are installed on the loader and are used to control the loader to turn left or right; The second controller is electrically connected to the left steering solenoid valve and the right steering solenoid valve; The angle sensor is installed at the front and rear vehicle body hinge points and is electrically connected to the second controller; The first controller sends the return-to-center button status signal and the steering handle opening to the second controller; the second controller determines whether it is necessary to execute the automatic steering return-to-center mode based on the return-to-center button status signal, the steering handle opening, and the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body; if it is determined that the automatic steering return-to-center mode needs to be executed, the solenoid valve that needs to be activated and the solenoid valve current are determined based on the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body, and the left steering solenoid valve and the right steering solenoid valve connected thereto are controlled.

[0013] In a fourth aspect, the present invention provides a loader steering automatic return system, comprising a storage medium and a processor; the storage medium is used to store instructions; the processor is used to operate according to the instructions to execute the method according to any one of the first aspects Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a method, device and system for controlling automatic steering return to center of a loader. Automatic steering return to center of the vehicle is completed by detecting the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body, combining the return to center button status signal and the steering handle opening, aiming to achieve the levelness of the front and rear vehicle bodies of the loader in an automated and intelligent manner, thereby improving operating efficiency, reducing the labor intensity of the driver and extending the service life of the loader. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor, among which: Figure 1 A principle block diagram of a loader steering automatic return to center control system provided by an embodiment of the present invention; Figure 2 is a schematic diagram of the angle between the front body and the rear body of the loader provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of ETH to CAN communication provided by an embodiment of the present invention; Figure 4 It is a structural schematic diagram of a steering handle and a return-to-center button provided in an embodiment of the present invention; Figure 5 is a flow chart of entering the automatic return-to-center mode of steering provided by an embodiment of the present invention; Figure 6 This is a flow chart of an exit steering automatic return to center mode provided by an embodiment of the present invention; Figure 7 It is a flow chart for generating an angle difference-current curve diagram provided by an embodiment of the present invention; Figure 8 is a schematic diagram of an angle difference-current curve provided by an embodiment of the present invention; in: 1- Steering handle, 2- Return to center button. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention. Example 1

[0017] An embodiment of the present invention provides a method for controlling automatic centering of a loader steering, comprising the following steps: (1) Obtain the real-time angle between the front vehicle body and the rear vehicle body; (2) judging whether the automatic steering return mode needs to be executed according to the return-to-center button status signal, the steering handle opening, and the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body; (3) If it is determined that the automatic steering return mode needs to be executed, the solenoid valve that needs to be activated and the solenoid valve current are determined based on the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body, so that the loader is adjusted to the state where the center axes of the front body and the rear body are in an overlapping state.

[0018] The automatic return-to-center control method for loader steering in the embodiment of the present invention detects the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body, combines the return-to-center button status signal and the steering handle opening, and completes the automatic return-to-center steering of the vehicle. It aims to achieve the levelness of the front and rear vehicle bodies of the loader in an automated and intelligent manner, thereby improving operating efficiency, reducing the labor intensity of the driver, and extending the service life of the loader.

[0019] In a specific implementation of the embodiment of the present invention, when the return-to-center button state signal, the steering handle opening, and the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body simultaneously meet the following conditions, it is determined that the automatic steering return-to-center mode needs to be executed: The return-to-center button state signal is high level, the steering handle opening is 0, and the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body is not within the preset difference range. In a specific application, by integrating the return-to-center button on the steering handle, when the return-to-center button is pressed, the return-to-center button state signal is a high level signal, which is sent to the first controller by the steering handle.

[0020] In a specific implementation of the embodiment of the present invention, the loader steering automatic return to center control method further includes: When the loader is in the automatic steering return mode, if it is detected that the steering handle opening is not 0, or the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body is within the preset difference range, the automatic steering return mode is released.

[0021] In a specific implementation of the embodiment of the present invention, the preset angle between the front body and the rear body refers to the angle between the front body and the rear body when the central axes thereof are in a coincident state; the solenoid valve to be actuated is determined according to the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body, comprising: When the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body is greater than X, the left steering solenoid valve is actuated; When the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body is less than -X, the right steering solenoid valve is actuated; The difference between the real-time angle between the current vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body is within the range of -X~X, and the left steering solenoid valve and the right steering solenoid valve do not perform any action.

[0022] In a specific implementation of the embodiment of the present invention, the method for determining the solenoid valve current includes: The solenoid valve current is generated according to the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body, combined with a pre-established angle difference-current curve.

[0023] In a specific implementation of the embodiment of the present invention, the method for establishing the angle difference-current curve diagram includes: Obtaining the left limit angle and the right limit angle between the front body and the rear body when the loader is at the left and right limit positions, and calculating the left limit difference and the right limit difference between the left limit angle and the right limit angle and the preset angle between the front body and the rear body; Obtain the solenoid valve current upper limit value and the solenoid valve current lower limit value corresponding to the fastest steering speed and the slowest steering speed; Acquire a plurality of different first limit differences and a solenoid valve current corresponding to each first limit difference, wherein the first limit difference is between X and the left limit angle; Acquire a plurality of different second limit differences and a solenoid valve current corresponding to each second limit difference, wherein the second limit difference is between -X and the right limit angle; Based on the left limit difference, the solenoid valve current upper limit value and the solenoid valve current lower limit value, as well as a plurality of different first limit differences and the solenoid valve current corresponding to each first limit difference, a first angle difference-current curve is fitted; Based on the right limit difference, the solenoid valve current upper limit value and the solenoid valve current lower limit value, as well as a plurality of different second limit differences and the solenoid valve current corresponding to each second limit difference, a second angle difference-current curve is fitted.

[0024] In a specific implementation of the embodiment of the present invention, the angle between the front body and the rear body is measured by an angle sensor installed at the hinge between the front body and the rear body. Example 2

[0025] Based on the same inventive concept as that of Example 1, an automatic centering control device for steering a loader is provided in an embodiment of the present invention, comprising: A real-time angle acquisition module is used to acquire the real-time angle between the front vehicle body and the rear vehicle body; The automatic steering return mode execution judgment module is used to judge whether the automatic steering return mode needs to be executed according to the return button state signal, the steering handle opening, and the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body; The control module is used to determine the solenoid valve and solenoid valve current that need to be activated according to the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body if it is determined that the automatic steering return mode needs to be executed.

[0026] The rest are the same as in Example 1. Example 3

[0027] In an embodiment of the present invention, a loader steering automatic return system is provided. Figure 1 , Figure 3 , Figure 4 As shown, it includes a return button 2, an angle sensor, a steering handle 1, a first controller, a second controller, a left steering solenoid valve and a right steering solenoid valve; The return button 2 is integrated on the steering handle 1 and is a self-resetting button; The steering handle 1 is installed in the remote cockpit of the loader and is used to control the vehicle to turn left and right; The first controller is electrically connected to the steering handle 1; The first controller communicates with the second controller via ETH to CAN mode; The left steering solenoid valve and the right steering solenoid valve are installed on the loader and are used to control the loader to turn left or right; The second vehicle controller is electrically connected to the left steering solenoid valve and the right steering solenoid valve; The angle sensor is installed at the front and rear vehicle body hinge points and is electrically connected to the second controller; The first controller sends the return-to-center button status signal and the steering handle opening to the second controller; the second controller determines whether it is necessary to execute the automatic steering return-to-center mode based on the return-to-center button status signal, the steering handle opening, and the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body; if it is determined that the automatic steering return-to-center mode needs to be executed, the solenoid valve that needs to be activated and the solenoid valve current are determined based on the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body, and the left steering solenoid valve and the right steering solenoid valve connected thereto are controlled.

[0028] The working process of the automatic steering centering system for a loader in an embodiment of the present invention will be described in detail below in conjunction with a specific implementation manner.

[0029] When the central axis of the front vehicle body and the rear vehicle body are in a coincident state (i.e., they are kept horizontal), the angle sensor is used to measure the preset angle α between the front vehicle body and the rear vehicle body (i.e., Figure 7 (a) in which the loader keeps the front and rear bodies level; When the loader is at the left and right extreme positions, the angle sensor is used to measure the left and right extreme angles γ and ζ between the front body and the rear body; Specifically, judging whether to enter the automatic steering return mode is necessary according to the trigger state of the return-to-center button state signal, the steering handle opening, the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body, and the specific steps include: The angle sensor is used to collect the real-time angle β (i.e. Figure 7 The current loader front body real-time angle β is obtained in the formula θ=β-α, and the difference θ between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body is obtained (i.e. Figure 7 The real-time steering angle difference θ in the Figure 2 As shown; When the steering handle 1 is in the middle position, the opening is 0; when the steering handle 1 is at the left limit, the opening is -1000; when the steering handle 1 is at the right limit, the opening is 1000. The return button 2 is integrated on the handle and is a self-reset button. When the return button 2 is pressed, the steering handle 1 sends a high-level signal to the first controller. Figure 4 shown.

[0030] When the return button state signal is high, the steering handle opening is 0 and the difference θ is greater than the set threshold value X or less than -X, the steering automatic return mode is executed, such as Figure 5 As shown; After entering the automatic steering return mode, if the difference θ is less than X and greater than -X, or the steering handle opening is not 0, the automatic steering return mode is exited. Figure 6 shown.

[0031] When the difference θ is greater than X, the left steering solenoid valve is actuated; When the difference θ is less than -X, the right steering solenoid valve is actuated; When the difference θ is within the range of -XX, neither the left steering solenoid valve nor the right steering solenoid valve performs any action; According to the difference θ, the pre-established angle difference-current curve diagram is used to determine the solenoid valve current.

[0032] Among them, Figure 8 As shown, the method for establishing the angle difference-current curve diagram includes: Get the left and right limit angles γ and ζ between the front and rear bodies when the loader is at the left and right limit positions (i.e. Figure 7 The angles γ and ζ of the front body of the loader when it turns to the left and right limits are obtained, and the left and right limit differences A and B between the limit angle and the preset angle between the front body and the rear body are calculated (i.e. Figure 7 The left and right limit differences A and B of the angle when the front vehicle body angle is at the left and right limit positions and when the front and rear vehicle bodies are kept level, where A=γ-α, B=ζ-α; Obtain the solenoid valve current upper limit value and the solenoid valve current lower limit value M and N corresponding to the fastest steering speed and the slowest steering speed; Acquire multiple different first limit differences and the solenoid valve current corresponding to each first limit difference, wherein the first limit difference is between X and the left limit angle; in a specific implementation process, the multiple different first limit differences and the solenoid valve current corresponding to each first limit difference are obtained by actual measurement; Acquire multiple different second limit differences and the solenoid valve current corresponding to each second limit difference, wherein the second limit difference is between -X and the right limit angle; in a specific implementation process, the multiple different second limit differences and the solenoid valve current corresponding to each second limit difference are obtained by actual measurement; Based on the left limit difference, the solenoid valve current upper limit value and the solenoid valve current lower limit value, as well as a plurality of different first limit differences and the solenoid valve current corresponding to each first limit difference, a first angle difference-current curve is fitted. For details, see Figure 8 ; Based on the right limit difference, the solenoid valve current upper limit value and the solenoid valve current lower limit value, as well as a plurality of different second limit differences and the solenoid valve current corresponding to each second limit difference, a second angle difference-current curve is fitted.

[0033] In actual application, the second controller adopts a ramp strategy to output the solenoid valve current to the corresponding steering solenoid valve. The ramp strategy means that when the difference between the solenoid valve current at the current moment and the solenoid valve current at the next moment exceeds the set threshold, in order to prevent instantaneous jumps in the data, the current value is changed from C to D, and the difference from C to D is smoothly transformed in the form of y=kx+b. Example 4

[0034] An embodiment of the present invention provides a loader steering automatic return to center system, including a storage medium and a processor; the storage medium is used to store instructions; the processor is used to operate according to the instructions to execute any method according to Example 1.

[0035] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0036] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0037] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0038] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0039] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

[0040] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A loader steering automatic return to center control method, characterized in that: include: Obtain the real-time angle between the front vehicle body and the rear vehicle body; Determine whether to execute the automatic steering return mode according to the return button state signal, the steering handle opening, and the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body; If it is determined that the automatic steering return mode needs to be executed, the solenoid valve and the solenoid valve current that need to be activated are determined according to the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body.

2. A loader steering automatic return to center control method according to claim 1, characterized in that: When the return-to-center button status signal, the steering handle opening, and the difference between the real-time angle between the front and rear bodies and the preset angle between the front and rear bodies simultaneously meet the following conditions, it is determined that the automatic steering return-to-center mode needs to be executed: The return button state signal is at a high level, the steering handle opening is 0, and the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body is not within the preset difference range.

3. A loader steering automatic return to center control method according to claim 2, characterized in that: The loader steering automatic return to center control method also includes: When the loader is in the automatic steering return mode, if it is detected that the steering handle opening is not 0, or the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body is within the preset difference range, the automatic steering return mode is released.

4. The method for controlling automatic centering of a loader steering according to claim 1, characterized in that: The preset angle between the front body and the rear body refers to the angle between the front body and the rear body when their central axes are in a coincident state; the solenoid valve that needs to be actuated is determined based on the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body, including: When the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body is greater than X, the left steering solenoid valve is actuated; When the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body is less than -X, the right steering solenoid valve is actuated; The difference between the real-time angle between the current vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body is within the range of -X~X, and the left steering solenoid valve and the right steering solenoid valve do not perform any action.

5. A loader steering automatic return to center control method according to claim 4, characterized in that: The method for determining the solenoid valve current includes: The solenoid valve current is generated according to the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body, combined with a pre-established angle difference-current curve.

6. A loader steering automatic return to center control method according to claim 5, characterized in that: The method for establishing the angle difference-current curve diagram includes: Obtaining the left limit angle and the right limit angle between the front body and the rear body when the loader is at the left and right limit positions, and calculating the left limit difference and the right limit difference between the left limit angle and the right limit angle and the preset angle between the front body and the rear body; Obtain the solenoid valve current upper limit value and the solenoid valve current lower limit value corresponding to the fastest steering speed and the slowest steering speed; Acquire a plurality of different first limit differences and the solenoid valve current corresponding to each first limit difference, wherein each first limit difference is located between X and the left limit angle; Acquire a plurality of different second limit differences and a solenoid valve current corresponding to each second limit difference, wherein the second limit difference is between -X and the right limit angle; Based on the left limit difference, the solenoid valve current upper limit value and the solenoid valve current lower limit value, as well as a plurality of different first limit differences and the solenoid valve current corresponding to each first limit difference, a first angle difference-current curve is fitted; Based on the right limit difference, the solenoid valve current upper limit value and the solenoid valve current lower limit value, as well as a plurality of different second limit differences and the solenoid valve current corresponding to each second limit difference, a second angle difference-current curve is fitted.

7. The method for controlling automatic centering of a loader steering according to claim 1, characterized in that: The angle between the front body and the rear body is measured by an angle sensor installed at the hinge between the front body and the rear body.

8. A loader steering automatic return to center control device, characterized in that: include: A real-time angle acquisition module is used to acquire the real-time angle between the front vehicle body and the rear vehicle body; The automatic steering return mode execution judgment module is used to judge whether the automatic steering return mode needs to be executed according to the return button state signal, the steering handle opening, and the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body; The control module is used to determine the solenoid valve and solenoid valve current that need to be activated according to the difference between the real-time angle between the front body and the rear body and the preset angle between the front body and the rear body if it is determined that the automatic steering return mode needs to be executed.

9. A loader steering automatic return system, characterized in that: include: A return-to-center button, an angle sensor, a steering handle, a first controller, a second controller, a left steering solenoid valve, and a right steering solenoid valve; The return button is integrated on the steering handle and is a self-resetting button; The steering handle is installed in the remote cockpit of the loader and is used to control the vehicle to turn left or right; The first controller is electrically connected to the steering handle; The first controller communicates with the second controller via ETH to CAN mode; The left steering solenoid valve and the right steering solenoid valve are installed on the loader and are used to control the loader to turn left or right; The second controller is electrically connected to the left steering solenoid valve and the right steering solenoid valve; The angle sensor is installed at the front and rear vehicle body hinge points and is electrically connected to the second controller; The first controller sends the return-to-center button status signal and the steering handle opening to the second controller; the second controller determines whether it is necessary to execute the automatic steering return-to-center mode based on the return-to-center button status signal, the steering handle opening, and the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body; if it is determined that the automatic steering return-to-center mode needs to be executed, the solenoid valve that needs to be activated and the solenoid valve current are determined based on the difference between the real-time angle between the front vehicle body and the rear vehicle body and the preset angle between the front vehicle body and the rear vehicle body, and the left steering solenoid valve and the right steering solenoid valve connected thereto are controlled.

10. A loader steering automatic return system, characterized in that: The method comprises a storage medium and a processor; the storage medium is used to store instructions; the processor is used to operate according to the instructions to execute the method according to any one of claims 1 to 7.

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