Butt joint control method, device and equipment for quick change device and accessory and medium

Abstract

The embodiment of the invention discloses a butt joint control method and device for a quick change device and an accessory, equipment and a medium, the butt joint control method and device are applied to a quick change system comprising equipment to be quickly changed, the quick change device and the accessory, the equipment side of the quick change device is connected with a telescopic arm of the equipment to be quickly changed, and a proximity switch is arranged on the accessory side; the method is executed by a controller of equipment to be quickly replaced and comprises the steps that after it is determined that the distance between a quick-change device and an accessory is smaller than or equal to a first preset distance, a telescopic arm is controlled to drive the quick-change device to move in the direction where the accessory is located till the distance between the quick-change device and the accessory is smaller than or equal to a second preset distance threshold value; controlling the telescopic arm to drive the quick-change device to translate towards the accessory, and controlling the telescopic arm to adjust the pose of the quick-change device according to the pressure value of the pressure sensor and the signal value of the proximity switch until the pressure value is greater than or equal to a pressure threshold value and the signal value is a preset signal value, and locking the quick-change device and the accessory. And the docking efficiency and accuracy are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a method, device, equipment and medium for controlling the docking of a quick-change device and an attachment. Background Art

[0002] As mechanical equipment necessary for comprehensive mechanized construction projects, construction machinery is usually equipped with a variety of attachments to meet the needs of multi-functional application scenarios. At present, in order to quickly replace the attachments used by construction machinery, it is usually necessary to use a quick-change device to achieve the connection between the construction machinery and the attachments.

[0003] In the prior art, the quick-change device is usually docked with the attachment manually, and the quick-change device is locked after the quick-change device and the attachment are docked so that the attachment and the quick-change device are fixedly connected, thereby achieving docking between the engineering machinery and the attachment.

[0004] However, manually docking the quick-change device with the attachment will make it difficult to dock the quick-change device with the attachment when the manual vision is poor. Secondly, manually docking the quick-change device with the attachment requires complete reliance on manual labor, resulting in low efficiency in docking the quick-change device with the attachment. Summary of the invention

[0005] The present invention provides a method, device, equipment and medium for controlling the docking of a quick-change device and an accessory, thereby improving the efficiency and accuracy of the docking of the quick-change device and the accessory.

[0006] In a first aspect, an embodiment of the present invention provides a method for controlling the docking of a quick-change device and an attachment, which is applied to a quick-change system, wherein the quick-change system includes a device to be quick-changed, a quick-change device, and an attachment, wherein the device side of the quick-change device is connected to a telescopic arm of the device to be quick-changed; the device to be quick-changed further includes a controller and a pressure sensor, and the pressure sensor is used to obtain a pressure value of the telescopic arm; and at least one proximity switch is arranged on the attachment side of the quick-change device;

[0007] The method is executed by a controller, and includes:

[0008] After determining that the distance between the quick-change device and the attachment is less than or equal to the first preset distance, controlling the telescopic arm to drive the quick-change device to move in the direction of the attachment until the distance between the quick-change device and the attachment is less than or equal to the second preset distance threshold;

[0009] Control the telescopic arm to drive the quick-change device to move horizontally toward the direction of the attachment, and obtain the pressure value of the pressure sensor and the signal value of the proximity switch in real time;

[0010] According to the pressure value of the pressure sensor and the signal value of the proximity switch, the telescopic arm is controlled to adjust the position of the quick-change device until the pressure value of the pressure sensor is greater than or equal to the set pressure threshold and the signal value of each proximity switch is the preset signal value, and the quick-change device and the attachment are locked.

[0011] Optionally, the device to be quick-changed also includes a length sensor, a first angle sensor, a second angle sensor and an image acquisition device, and determines that the distance between the quick-changer and the accessory is less than or equal to a first preset distance, including: determining the telescopic length of the telescopic arm through the length sensor, determining the rotation angle of the telescopic arm through the first angle sensor, and determining the rotation angle of the quick-changer through the second angle sensor; determining the relative position of the quick-changer in the quick-changer coordinate system according to the rotation angle of the quick-changer and the telescopic length and rotation angle of the telescopic arm, and obtaining the relative position of the accessory in the quick-changer coordinate system through the image acquisition device; wherein the quick-changer coordinate system is a coordinate system with the position of the device to be quick-changed as the origin; when it is determined that the distance between the quick-changer and the accessory is greater than the first preset distance threshold according to each relative position, the telescopic arm is controlled to drive the quick-changer to move in the direction of the accessory until the distance between the quick-changer and the accessory is less than or equal to the first preset distance threshold.

[0012] Optionally, the telescopic arm and the quick-change device are controlled to move in the direction of the accessory until the distance between the quick-change device and the accessory is less than or equal to a second preset distance threshold, including: when the distance between the quick-change device and the accessory is less than or equal to a first preset distance threshold, according to the relative positions of the quick-change device and the accessory in the quick-change coordinate system, and the relative distance between the quick-change device and the accessory, determining the set action that the telescopic arm and the quick-change device need to perform; controlling the telescopic arm to drive the quick-change device to perform the set action so that the distance between the quick-change device and the accessory is less than or equal to the second preset distance threshold.

[0013] Optionally, the posture of the quick-change device is adjusted according to the pressure value of the pressure sensor and the signal value of the proximity switch until the pressure value of the pressure sensor is greater than or equal to the set pressure threshold, and the signal value of each proximity switch is a preset signal value, including: judging whether the pressure value of the pressure sensor is greater than or equal to the set pressure threshold; if not, controlling the telescopic arm to drive the quick-change device to move horizontally in the direction of the accessory until the pressure value of the pressure sensor is greater than or equal to the set pressure threshold; if so, when the signal value of each proximity switch is not the preset signal value, controlling the telescopic arm to drive the quick-change device to move horizontally backward a set distance, and stopping the docking control of the quick-change device and the accessory; when the signal value of each proximity switch is not the preset signal value, adjusting the up and down swing angle or the left and right swing angle of the quick-change device until the signal value of each proximity switch is the preset signal value; when the signal value of each proximity switch is the preset signal value, locking the quick-change device and the accessory.

[0014] Optionally, three proximity switches are arranged on the attachment side of the quick-change device, and the connecting line of the three proximity switches forms an inverted right triangle; when the signal value of each proximity switch is not the preset signal value, the up and down swing angle of the quick-change device is adjusted until the signal value of each proximity switch is the preset signal value, including: when only the signal values ​​of the first proximity switch and the second proximity switch are detected to be the preset signal values, the quick-change device is controlled to swing up until the signal value of each proximity switch is detected to be the preset signal value, or the signal values ​​of the first proximity switch and the second proximity switch are also not the preset signal values; when only the signal value of the third proximity switch is detected to be the preset signal value, the quick-change device is controlled to swing down until the signal value of each proximity switch is detected to be the preset signal value, or the signal values ​​of the first proximity switch and the third proximity switch are also not the preset signal values; when the signal values ​​of the first proximity switch and the second proximity switch are also not the preset signal values, or the signal values ​​of the first proximity switch and the third proximity switch are also not the preset signal values, the attachment side of the quick-change device is controlled to be parallel to the docking surface of the attachment, and the quick-change device is controlled to move horizontally toward the direction of the attachment until the signal value of each proximity switch is the preset signal value.

[0015] Optionally, when the signal value of each proximity switch is not the preset signal value, the left and right swing angle of the quick-change device is adjusted until the signal value of each proximity switch is the preset signal value, including: when only the signal values ​​of the first proximity switch and the third proximity switch are detected to be the preset signal values, the quick-change device is controlled to turn toward the direction of the first proximity switch and the third proximity switch until it is detected that the signal value of each proximity switch is the preset signal value, or the signal values ​​of the first proximity switch and the third proximity switch are also not the preset signal values; when only the signal value of the second proximity switch is detected to be the preset signal value, the quick-change device is controlled to turn toward the direction of the second proximity switch until it is detected that the signal value of each proximity switch is the preset signal value, or the signal value of the second proximity switch is also not the preset signal value; when the signal values ​​of the first proximity switch and the third proximity switch are also not the preset signal values, or the signal value of the second proximity switch is also not the preset signal value, the attachment side of the quick-change device is controlled to be parallel to the docking surface of the attachment, and the quick-change device is controlled to move horizontally toward the direction of the attachment until the signal value of each proximity switch is the preset signal value.

[0016] In a second aspect, an embodiment of the present invention further provides a docking control device for a quick-change device and an attachment, which is applied to a quick-change system. The quick-change system includes a device to be quick-changed, a quick-change device and an attachment. The device side of the quick-change device is connected to the telescopic arm of the device to be quick-changed; the device to be quick-changed also includes a controller and a pressure sensor, and the pressure sensor is used to obtain the pressure value of the telescopic arm; the attachment side of the quick-change device is arranged with at least one proximity switch;

[0017] The device is configured in a controller and includes:

[0018] The quick-change approach module is used to control the telescopic arm to drive the quick-change device to move toward the direction of the attachment after determining that the distance between the quick-change device and the attachment is less than or equal to the first preset distance, until the distance between the quick-change device and the attachment is less than or equal to the second preset distance threshold;

[0019] The quick-change translation module is used to control the telescopic arm to drive the quick-change device to move horizontally in the direction of the attachment, and obtain the pressure value of the pressure sensor and the signal value of the proximity switch in real time;

[0020] The quick-change docking module is used to control the telescopic arm to adjust the position of the quick-change device according to the pressure value of the pressure sensor and the signal value of the proximity switch, until the pressure value of the pressure sensor is greater than or equal to the set pressure threshold and the signal value of each proximity switch is the preset signal value, and then the quick-change device and the attachment are locked.

[0021] Optionally, the device to be quickly changed also includes a length sensor, a first angle sensor, a second angle sensor and an image acquisition device; a quick-change approach module is specifically used to: determine the telescopic length of the telescopic arm through the length sensor, determine the rotation angle of the telescopic arm through the first angle sensor, and determine the rotation angle of the quick-change device through the second angle sensor; determine the relative position of the quick-change device in the quick-change coordinate system according to the rotation angle of the quick-change device and the telescopic length and rotation angle of the telescopic arm, and obtain the relative position of the accessory in the quick-change coordinate system through the image acquisition device; wherein the quick-change coordinate system is a coordinate system with the position of the device to be quickly changed as the origin; when it is determined according to each relative position that the distance between the quick-change device and the accessory is greater than a first preset distance threshold, control the telescopic arm to drive the quick-change device to move in the direction of the accessory until the distance between the quick-change device and the accessory is less than or equal to the first preset distance threshold.

[0022] In a third aspect, an embodiment of the present invention further provides a device to be quickly changed, which includes: a telescopic arm, a pressure sensor, and a controller; wherein the controller is used to execute the docking control method of the quick-change device and accessories of any embodiment of the present invention.

[0023] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium storing computer instructions, which are used to enable a processor to implement the docking control method for the quick-change device and accessories provided in any embodiment of the present invention when executed.

[0024] The technical solution provided by the embodiment of the present invention controls the quick-change device to move in the direction of the accessory until the distance between the quick-change device and the accessory is less than or equal to a second preset distance threshold, and then controls the telescopic arm to drive the quick-change device to move horizontally in the direction of the accessory. During the horizontal translation of the quick-change device, the telescopic arm is controlled to adjust the posture of the quick-change device until the pressure value of the pressure sensor is greater than or equal to the set pressure threshold, and the signal value of each proximity switch is the preset signal value, and then the quick-change device and the accessory are locked. This avoids the problem of low docking efficiency and accuracy of the quick-change device and the accessory in the prior art of manually docking the quick-change device and the accessory, and can improve the docking efficiency of the quick-change device and the accessory while achieving accurate docking of the quick-change device and the accessory.

[0025] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 This is a flow chart of a method for controlling the docking of a quick-change device and an attachment according to a first embodiment of the present invention;

[0028] Figure 2 is a flow chart of another method for controlling the docking of a quick-change device and an attachment provided according to a second embodiment of the present invention;

[0029] Figure 3 is a schematic diagram of an arrangement strategy of a docking switch provided according to an embodiment of the present invention;

[0030] Figure 4 is a schematic diagram of a quick-change device and an attachment docking according to an embodiment of the present invention;

[0031] Figure 5 It is a structural schematic diagram of a quick-change device and a docking control device for an attachment provided according to a third embodiment of the present invention;

[0032] Figure 6 It is a schematic diagram of the structure of a device to be quickly replaced provided by the fourth embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] Embodiment 1

[0036] Figure 1 It is a flow chart of a docking control method for a quick-change device and an accessory provided according to an embodiment of the present invention. This embodiment is applicable to the situation where an accessory is docked with a device to be quickly changed through a quick-change device. The method can be executed by a docking control device for the quick-change device and the accessory. The docking control device for the quick-change device and the accessory can be implemented in the form of hardware and / or software. The docking control device for the quick-change device and the accessory can be configured in the device to be quickly changed.

[0037] like Figure 1 As shown, this embodiment discloses a docking control method for a quick-change device and accessories, which is applied to a quick-change system. The quick-change system includes a device to be quickly changed, a quick-change device and accessories. The equipment side of the quick-change device is connected to the telescopic arm of the device to be quickly changed; the device to be quickly changed also includes a controller and a pressure sensor, and the pressure sensor is used to obtain the pressure value of the telescopic arm; at least one proximity switch is arranged on the accessory side of the quick-change device; wherein the device to be quickly changed can be a device that requires the use of accessories to achieve specific functions, such as a telescopic arm forklift and an off-road battery-changing robot.

[0038] The method is executed by a controller and specifically includes the following steps:

[0039] S110. After determining that the distance between the quick-change device and the attachment is less than or equal to a first preset distance, control the telescopic arm to drive the quick-change device to move toward the direction of the attachment until the distance between the quick-change device and the attachment is less than or equal to a second preset distance threshold.

[0040] In this embodiment, the attachment may be an accessory of the equipment to be quickly changed, such as a fork and a bucket.

[0041] In this step, specifically, the distance between the quick-change device and the attachment can be determined based on the relative positions of the quick-change device and the attachment in the quick-change coordinate system. The quick-change coordinate system is a coordinate system with the position of the device to be quick-changed as the origin. Then, when the distance between the quick-change device and the attachment is less than or equal to the first preset distance, the set action that the telescopic arm and the quick-change device need to perform can be determined, and the telescopic arm can be controlled to drive the quick-change device to perform the set action, so that the distance between the quick-change device and the attachment is less than or equal to the second preset distance threshold. The second preset distance threshold is less than the first preset distance threshold.

[0042] S120, controlling the telescopic arm to drive the quick-change device to move horizontally in the direction of the attachment, and obtaining the pressure value of the pressure sensor and the signal value of the proximity switch in real time.

[0043] In this embodiment, the pressure sensor can be used to obtain the pressure of the telescopic arm extension cylinder. The signal value of the proximity switch can be used to reflect whether the distance between the quick-change device and the attachment reaches the set proximity distance, such as 20 mm. In actual application, when the signal value of the proximity switch is a preset signal value, it can be determined that the distance between the quick-change device and the attachment reaches the set proximity distance.

[0044] In this step, specifically, when the telescopic arm is controlled to drive the quick-change device to move horizontally in the direction of the attachment, the pressure value of the pressure sensor and the signal value of the proximity switch can be obtained in real time. Optionally, at least three proximity switches can be arranged on the attachment side of the quick-change device to timely detect whether the attachment side of the quick-change device is parallel to the docking surface of the attachment.

[0045] S130. According to the pressure value of the pressure sensor and the signal value of the proximity switch, the telescopic arm is controlled to adjust the posture of the quick-change device until the pressure value of the pressure sensor is greater than or equal to the set pressure threshold and the signal value of each proximity switch is the preset signal value, and then the quick-change device and the attachment are locked.

[0046] In this step, specifically, it is possible to determine in real time whether the pressure value of the pressure sensor is greater than or equal to the set pressure threshold, and whether the signal value of each proximity switch is the preset signal value. If the pressure value of the pressure sensor is less than the set pressure threshold, it can be considered that the quick-change device has not yet contacted the attachment, and the quick-change device can continue to be controlled to move horizontally in the direction of the attachment.

[0047] If the pressure value of the pressure sensor is greater than or equal to the set pressure threshold, it can be considered that the quick-change device has contacted an object. At this time, the control of the quick-change device to move horizontally in the direction of the attachment can be stopped, and the position of the quick-change device can be adjusted according to the signal value of each proximity switch until the signal value of each proximity switch is the preset signal value, or the control of the quick-change device to connect with the attachment can be stopped.

[0048] For example, when the signal value of any proximity switch is a preset signal value, it can be determined that the object in contact with the quick-change device is an accessory. At this time, the telescopic arm can be controlled to adjust the posture of the quick-change device until the signal value of each proximity switch is the preset signal value. When the signal value of each proximity switch is not the preset signal value, it is determined that the object in contact with the quick-change device is not an accessory. At this time, the telescopic arm can be controlled to drive the quick-change device to move horizontally backward by a set distance, and stop controlling the docking of the quick-change device and the accessory.

[0049] The technical solution of this embodiment is to control the telescopic arm to drive the quick-change device to move toward the direction of the accessory after determining that the distance between the quick-change device and the accessory is less than or equal to the first preset distance, until the distance between the quick-change device and the accessory is less than or equal to the second preset distance threshold; control the telescopic arm to drive the quick-change device to translate horizontally in the direction of the accessory, and obtain the pressure value of the pressure sensor and the signal value of the proximity switch in real time; control the telescopic arm to adjust the posture of the quick-change device according to the pressure value of the pressure sensor and the signal value of the proximity switch, until the pressure value of the pressure sensor is greater than or equal to the set pressure threshold, and the signal value of each proximity switch is the preset signal value, and then lock the quick-change device with the accessory. This technical solution solves the problem of low docking efficiency and accuracy of the quick-change device and the accessory in the prior art of manually docking the quick-change device with the accessory, thereby improving the docking efficiency and accuracy of the quick-change device and the accessory.

[0050] Embodiment 2

[0051] Figure 2 It is a flow chart of another method for controlling the docking of a quick-change device and an attachment provided according to the second embodiment of the present invention. This embodiment is a further optimization and expansion based on the above embodiments, and can be combined with various optional technical solutions in the above embodiments.

[0052] like Figure 2As shown, a method for controlling the docking of a quick-change device and an attachment disclosed in this embodiment is applied to a quick-change system, wherein the quick-change system includes a device to be quick-changed, a quick-change device and an attachment, wherein the device side of the quick-change device is connected to the telescopic arm of the device to be quick-changed; the device to be quick-changed also includes a controller, a pressure sensor, a length sensor, a first angle sensor, a second angle sensor, an image acquisition device and an ultrasonic ranging sensor; three proximity switches are arranged on the attachment side of the quick-change device, and the connection line of the three proximity switches forms an inverted right triangle;

[0053] The method is executed by a controller and specifically includes the following steps:

[0054] S210, determining the telescopic length of the telescopic arm through a length sensor, determining the rotation angle of the telescopic arm through a first angle sensor, and determining the rotation angle of the quick-change device through a second angle sensor.

[0055] In this step, specifically, the pitch angle and rotation angle of the telescopic arm can be determined by the first angle sensor, and the up and down swing angle, left and right rotation angle and rotation angle of the quick-change device can be determined by the second angle sensor.

[0056] S220, determining the relative position of the quick-change device in the quick-change coordinate system according to the rotation angle of the quick-change device and the telescopic length and rotation angle of the telescopic arm, and acquiring the relative position of the attachment in the quick-change coordinate system through the image acquisition device.

[0057] In this embodiment, the quick-change coordinate system is a coordinate system with the position of the device to be quick-changed as the origin. There can be many types of image acquisition devices, such as cameras and laser radars.

[0058] In this step, specifically, since the telescopic arm is connected to the equipment side of the quick-change device, after determining the relative position of the telescopic arm in the quick-change coordinate system according to the telescopic length and rotation angle of the telescopic arm, the relative position of the quick-change device in the quick-change coordinate system can be further determined according to the rotation angle of the quick-change device. Then, the image information of the attachment can be obtained by an image acquisition device disposed at the front end of the device to be quickly changed, and the relative position of the attachment in the quick-change coordinate system can be determined according to the image information of the attachment.

[0059] S230. When it is determined according to the relative positions that the distance between the quick-change device and the attachment is greater than a first preset distance threshold, control the telescopic arm to drive the quick-change device to move toward the direction of the attachment until the distance between the quick-change device and the attachment is less than or equal to the first preset distance threshold.

[0060] In this step, specifically, when the distance between the quick-change device and the accessory is greater than a first preset distance, the displacement action that the telescopic arm and the quick-change device need to perform can be determined, and the telescopic arm can be controlled to drive the quick-change device to perform the displacement action so that the distance between the quick-change device and the accessory is less than or equal to the first preset distance threshold.

[0061] S240. When the distance between the quick-change device and the attachment is less than or equal to a first preset distance threshold, the set action required to be performed by the telescopic arm and the quick-change device is determined according to the relative positions of the quick-change device and the attachment in the quick-change coordinate system and the relative distance between the quick-change device and the attachment.

[0062] In this step, specifically, the relative distance between the quick-changer and the attachment can be determined based on the relative positions of the quick-changer and the attachment in the quick-changer coordinate system. Alternatively, the relative distance between the quick-changer and the attachment can be obtained by an ultrasonic ranging sensor. Then, the set actions that the telescopic arm and the quick-changer need to perform, as well as the execution order of each set action, can be determined based on each relative position and relative distance. Among them, the set actions can include at least one of the telescopic arm swinging down, the telescopic arm swinging up, the telescopic arm rotating, the quick-changer swinging up, the quick-changer swinging down, the quick-changer turning left, the quick-changer turning right, and the quick-changer rotating.

[0063] S250, controlling the telescopic arm to drive the quick-change device to perform a set action, so that the distance between the quick-change device and the attachment is less than or equal to a second preset distance threshold.

[0064] In this step, specifically, the telescopic arm can be controlled to drive the quick-change device to execute the set action according to the determined execution order.

[0065] S260, controlling the telescopic arm to drive the quick-change device to move horizontally toward the direction of the attachment, and obtaining the pressure value of the pressure sensor and the signal value of the proximity switch in real time.

[0066] S270. According to the pressure value of the pressure sensor and the signal value of the proximity switch, control the telescopic arm to adjust the posture of the quick-change device until the pressure value of the pressure sensor is greater than or equal to the set pressure threshold and the signal value of each proximity switch is the preset signal value, and then lock the quick-change device and the attachment.

[0067] In this step, specifically, it can be determined whether the pressure value of the pressure sensor is greater than or equal to the set pressure threshold; if not, the telescopic arm is controlled to drive the quick-change device to move horizontally toward the direction of the accessory until the pressure value of the pressure sensor is greater than or equal to the set pressure threshold; if so, when the signal value of each proximity switch is not the preset signal value, the telescopic arm is controlled to drive the quick-change device to move horizontally backward by a set distance, and stop the docking control of the quick-change device and the accessory; when the signal value of each proximity switch is not the preset signal value, the up and down swing angle or the left and right swing angle of the quick-change device is adjusted until the signal value of each proximity switch is the preset signal value; when the signal value of each proximity switch is the preset signal value, the quick-change device and the accessory are locked.

[0068] Optional, such as Figure 3 As shown, three proximity switches are arranged on the attachment side of the quick-change device, and the connecting line of the three proximity switches forms an inverted right triangle; when the signal value of each proximity switch is not the preset signal value, the up and down swing angle of the quick-change device is adjusted until the signal value of each proximity switch is the preset signal value, including: when only the signal values ​​of the first proximity switch and the second proximity switch are detected to be the preset signal value, the quick-change device is controlled to swing up until it is detected that the signal value of each proximity switch is the preset signal value, or the signal values ​​of the first proximity switch and the second proximity switch are not the preset signal value; when only the signal value of the third proximity switch is detected to be the preset signal value, the quick-change device is controlled to swing down until it is detected that the signal value of each proximity switch is the preset signal value, or the signal values ​​of the first proximity switch and the third proximity switch are not the preset signal value; when the signal values ​​of the first proximity switch and the second proximity switch are not the preset signal value, or the signal values ​​of the first proximity switch and the third proximity switch are not the preset signal value, the attachment side of the quick-change device is controlled to be parallel to the docking surface of the attachment, and the quick-change device is controlled to translate horizontally in the direction of the attachment until the signal value of each proximity switch is the preset signal value.

[0069] Specifically, Figure 3 As shown in FIG. 1 , the first proximity switch and the second proximity switch can be arranged on the same horizontal line, and the first proximity switch and the third proximity switch can be arranged on the same vertical line. Figure 4As shown, since the first proximity switch and the second proximity switch will move away from the attachment as the quick-change device swings upward, the signal values ​​of the first proximity switch and the second proximity switch may not be the preset signal values. In this case, the attachment side of the quick-change device can be controlled to be parallel to the attachment's docking surface, and the quick-change device can be controlled to move horizontally in the direction of the attachment until the signal value of each proximity switch is the preset signal value. Since the third proximity switch will move away from the attachment as the quick-change device swings downward, the signal value of the third proximity switch may not be the preset signal value. In this case, after controlling the quick-change device to be parallel to the attachment's docking surface, the quick-change device can be controlled to move horizontally in the direction of the attachment until the signal value of each proximity switch is the preset signal value.

[0070] Optionally, when the signal value of each proximity switch is not the preset signal value, the left and right swing angle of the quick-change device is adjusted until the signal value of each proximity switch is the preset signal value, including: when only the signal values ​​of the first proximity switch and the third proximity switch are detected to be the preset signal values, the quick-change device is controlled to turn toward the direction of the first proximity switch and the third proximity switch until it is detected that the signal value of each proximity switch is the preset signal value, or the signal values ​​of the first proximity switch and the third proximity switch are also not the preset signal values; when only the signal value of the second proximity switch is detected to be the preset signal value, the quick-change device is controlled to turn toward the direction of the second proximity switch until it is detected that the signal value of each proximity switch is the preset signal value, or the signal value of the second proximity switch is also not the preset signal value; when the signal values ​​of the first proximity switch and the third proximity switch are also not the preset signal values, or the signal value of the second proximity switch is also not the preset signal value, the attachment side of the quick-change device is controlled to be parallel to the docking surface of the attachment, and the quick-change device is controlled to move horizontally toward the direction of the attachment until the signal value of each proximity switch is the preset signal value.

[0071] Specifically, Figure 4 As shown, since the first proximity switch and the third proximity switch will be away from the attachment when the quick-change device turns toward the direction where the first proximity switch and the third proximity switch are located, the signal values ​​of the first proximity switch and the third proximity switch may not be the preset signal values. At this time, the quick-change device can be controlled to be parallel to the docking surface of the attachment, and the quick-change device can be controlled to be horizontally translated in the direction where the attachment is located until the signal value of each proximity switch is the preset signal value. Since the second proximity switch is away from the attachment when the quick-change device turns toward the direction where the second proximity switch is located, the signal value of the second proximity switch may not be the preset signal value. At this time, the quick-change device can be controlled to be parallel to the docking surface of the attachment, and the quick-change device can be controlled to be horizontally translated in the direction where the attachment is located until the signal value of each proximity switch is the preset signal value.

[0072] The technical solution of this embodiment can avoid the situation where the quick-change device and the attachment are too far apart, thereby causing the signal value of the docking switch to be always non-preset signal value, by controlling the distance between the quick-change device and the attachment to be less than or equal to the second preset distance threshold, and then controlling the quick-change device to move horizontally in the direction of the attachment, thereby improving the practicality of the docking control method of the quick-change device and the attachment. Secondly, by arranging three proximity switches on the attachment side of the quick-change device, and the connection line of the three proximity switches forms an inverted right triangle, it is possible to timely detect whether the attachment side of the quick-change device is parallel to the docking surface of the attachment, thereby achieving accurate docking of the quick-change device and the attachment.

[0073] Embodiment 3

[0074] Figure 5 It is a structural schematic diagram of a docking control device for a quick-change device and an accessory provided according to Example 3 of the present invention. This embodiment can be applied to the situation where the device to be converted is docked with the accessory through a quick-change device. The docking control device for the quick-change device and the accessory can be implemented in the form of hardware and / or software and can be configured in the device to be quickly changed.

[0075] like Figure 5 As shown, the quick-change device and the docking control device for the attachment disclosed in this embodiment are applied to the quick-change system, which includes the equipment to be quick-changed, the quick-change device and the attachment, the equipment side of the quick-change device is connected to the telescopic arm of the equipment to be quick-changed; the equipment to be quick-changed also includes a controller and a pressure sensor, the pressure sensor is used to obtain the pressure value of the telescopic arm; the attachment side of the quick-change device is arranged with at least one proximity switch;

[0076] The device is configured in a controller and includes:

[0077] The quick-change approach module 51 is used to control the telescopic arm to drive the quick-change device to move toward the direction of the attachment after determining that the distance between the quick-change device and the attachment is less than or equal to the first preset distance, until the distance between the quick-change device and the attachment is less than or equal to the second preset distance threshold;

[0078] The quick-change translation module 52 is used to control the telescopic arm to drive the quick-change device to translate horizontally in the direction of the attachment, and obtain the pressure value of the pressure sensor and the signal value of the proximity switch in real time;

[0079] The quick-change docking module 53 is used to control the telescopic arm to adjust the posture of the quick-change device according to the pressure value of the pressure sensor and the signal value of the proximity switch, until the pressure value of the pressure sensor is greater than or equal to the set pressure threshold and the signal value of each proximity switch is the preset signal value, and then the quick-change device is locked with the attachment.

[0080] The technical solution in this embodiment, through the mutual cooperation of the quick-change approach module, the quick-change translation module and the quick-change docking module, solves the problem of low docking efficiency and accuracy of the quick-change device and the attachment in the prior art by manually docking the quick-change device with the attachment, thereby improving the docking efficiency and accuracy of the quick-change device and the attachment.

[0081] Optionally, the device moving module 52 to be quickly replaced includes:

[0082] A speed limit determination unit is used to obtain the vehicle speed of the equipment to be quickly replaced, and determine a preset speed limit according to a preset full bucket rate;

[0083] The vehicle speed determination unit is used to send a torque change instruction to the travel motor controller through the controller if the vehicle speed is greater than the preset limit speed, so that the travel motor controller reduces the driving torque corresponding to the travel motor according to the torque change instruction until the vehicle speed is equal to the preset limit speed;

[0084] The traveling unit of the equipment to be quickly changed is used to control the equipment to be quickly changed to move toward the direction where the materials are located according to a preset speed limit.

[0085] Optionally, the quick-change access module 51 includes:

[0086] A rotation angle determination unit, used to determine the telescopic length of the telescopic arm through a length sensor, determine the rotation angle of the telescopic arm through a first angle sensor, and determine the rotation angle of the quick-change device through a second angle sensor;

[0087] The relative position determination unit is used to determine the relative position of the quick-change device in the quick-change coordinate system according to the rotation angle of the quick-change device and the telescopic length and rotation angle of the telescopic arm, and obtain the relative position of the attachment in the quick-change coordinate system through the image acquisition device; wherein the quick-change coordinate system is a coordinate system with the position of the device to be quick-changed as the origin;

[0088] The quick-change device moving unit is used to control the telescopic arm to drive the quick-change device to move in the direction of the attachment when it is determined according to the relative positions that the distance between the quick-change device and the attachment is greater than a first preset distance threshold, until the distance between the quick-change device and the attachment is less than or equal to the first preset distance threshold;

[0089] The to-be-executed action determination unit is used to determine the set action to be executed by the telescopic arm and the quick-changer according to the relative positions of the quick-changer and the attachment in the quick-changer coordinate system and the relative distance between the quick-changer and the attachment when the distance between the quick-changer and the attachment is less than or equal to a first preset distance threshold;

[0090] The set action execution unit is used to control the telescopic arm to drive the quick-change device to execute the set action, so that the distance between the quick-change device and the attachment is less than or equal to a second preset distance threshold.

[0091] Optionally, the quick-change docking module 53 includes:

[0092] A pressure value judging unit, used to judge whether the pressure value of the pressure sensor is greater than or equal to a set pressure threshold;

[0093] The horizontal moving unit is used to control the telescopic arm to drive the quick-change device to move horizontally toward the direction of the attachment if the pressure value of the pressure sensor is less than the set pressure threshold, until the pressure value of the pressure sensor is greater than or equal to the set pressure threshold;

[0094] A collision stop unit is used to control the telescopic arm to drive the quick-change device to move horizontally backward by a set distance and stop the docking control of the quick-change device and the attachment if the pressure value of the pressure sensor is greater than or equal to a set pressure threshold and the signal value of each proximity switch is not a preset signal value;

[0095] A posture adjustment unit is used to adjust the up-and-down swing angle or the left-and-right swing angle of the quick-change device when the signal value of each proximity switch is not the preset signal value, until the signal value of each proximity switch is the preset signal value;

[0096] The quick-change locking unit is used to lock the quick-change device and the attachment when the signal value of each proximity switch is a preset signal value.

[0097] Optionally, the posture adjustment unit is provided with three proximity switches on the attachment side of the quick-change device, and the connection line of the three proximity switches forms an inverted right triangle, including:

[0098] The quick-change device upward swing unit is used to control the quick-change device to swing upward when only the signal values ​​of the first proximity switch and the second proximity switch are detected to be the preset signal values, until it is detected that the signal value of each proximity switch is the preset signal value, or the signal values ​​of the first proximity switch and the second proximity switch are not the preset signal values;

[0099] The quick-change device swing-down unit is used to control the quick-change device to swing down when only the signal value of the third proximity switch is detected to be the preset signal value, until it is detected that the signal value of each proximity switch is the preset signal value, or the signal values ​​of the first proximity switch and the third proximity switch are also not the preset signal value;

[0100] The first quick-change translation unit is used to control the attachment side of the quick-change device to be parallel to the docking surface of the attachment when the signal values ​​of the first proximity switch and the second proximity switch are not the preset signal values, or the signal values ​​of the first proximity switch and the third proximity switch are not the preset signal values, and control the quick-change device to translate horizontally in the direction of the attachment until the signal value of each proximity switch is the preset signal value;

[0101] The first quick-change steering unit is used to control the quick-change device to turn toward the direction of the first proximity switch and the third proximity switch when only the signal values ​​of the first proximity switch and the third proximity switch are detected to be the preset signal values, until it is detected that the signal value of each proximity switch is the preset signal value, or the signal values ​​of the first proximity switch and the third proximity switch are not the preset signal values;

[0102] A second quick-change steering unit is used to control the quick-change device to turn toward the direction of the second proximity switch when only the signal value of the second proximity switch is detected to be the preset signal value, until it is detected that the signal value of each proximity switch is the preset signal value, or the signal value of the second proximity switch is not the preset signal value;

[0103] The second quick-change translation unit is used to control the attachment side of the quick-change device to be parallel to the docking surface of the attachment when the signal values ​​of the first proximity switch and the third proximity switch are not the preset signal values, or the signal value of the second proximity switch is not the preset signal value, and control the quick-change device to translate horizontally in the direction of the attachment until the signal value of each proximity switch is the preset signal value.

[0104] The quick-change device and the docking control device of the attachment provided in the embodiment of the present invention can execute the quick-change device and the docking control method of the attachment provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. The contents not described in detail in this embodiment can refer to the description in any method embodiment of this application.

[0105] Embodiment 4

[0106] Figure 6 FIG. 2 shows a schematic diagram of a structure of a device to be quickly replaced that can be used to implement an embodiment of the present invention. Figure 6 As shown, the quick-change device includes a telescopic arm 11, a pressure sensor 12, and a controller 13; wherein the pressure sensor 12 is used to obtain the pressure value of the telescopic arm 11, and the controller 13 is used to execute the docking control method of the quick-change device and accessories of any embodiment of the present invention.

[0107] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0108] To provide interaction with a user, the systems and techniques described herein may be implemented on a device to be replaced, which has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or trackball), through which a user can provide input to the device to be replaced. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0109] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0110] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0111] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0112] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling the docking of a quick-change device and an attachment, characterized in that: Applied to a quick-change system, the quick-change system comprises a device to be quick-changed, a quick-change device and an attachment, the device side of the quick-change device is connected to the telescopic arm of the device to be quick-changed; the device to be quick-changed further comprises a controller and a pressure sensor, the pressure sensor is used to obtain the pressure value of the telescopic arm; the attachment side of the quick-change device is arranged with at least one proximity switch; The method is executed by the controller, and includes: After determining that the distance between the quick-change device and the attachment is less than or equal to the first preset distance, controlling the telescopic arm to drive the quick-change device to move in the direction of the attachment until the distance between the quick-change device and the attachment is less than or equal to the second preset distance threshold; Control the telescopic arm to drive the quick-change device to move horizontally toward the direction of the attachment, and obtain the pressure value of the pressure sensor and the signal value of the proximity switch in real time; According to the pressure value of the pressure sensor and the signal value of the proximity switch, the telescopic arm is controlled to adjust the position of the quick-change device until the pressure value of the pressure sensor is greater than or equal to the set pressure threshold and the signal value of each proximity switch is the preset signal value, and the quick-change device and the attachment are locked.

2. The method according to claim 1, characterized in that: The device to be quickly changed further includes a length sensor, a first angle sensor, a second angle sensor and an image acquisition device, and the step of determining that the distance between the quick change device and the attachment is less than or equal to a first preset distance includes: The telescopic length of the telescopic arm is determined by a length sensor, the rotation angle of the telescopic arm is determined by a first angle sensor, and the rotation angle of the quick-change device is determined by a second angle sensor; According to the rotation angle of the quick-change device and the telescopic length and rotation angle of the telescopic arm, the relative position of the quick-change device in the quick-change coordinate system is determined, and the relative position of the attachment in the quick-change coordinate system is acquired by the image acquisition device; wherein the quick-change coordinate system is a coordinate system with the position of the device to be quick-changed as the origin; When it is determined according to the relative positions that the distance between the quick-change device and the attachment is greater than the first preset distance threshold, the telescopic arm is controlled to drive the quick-change device to move toward the direction of the attachment until the distance between the quick-change device and the attachment is less than or equal to the first preset distance threshold.

3. The method according to claim 2, characterized in that The controlling the telescopic arm and the quick-change device to move toward the direction of the attachment until the distance between the quick-change device and the attachment is less than or equal to a second preset distance threshold comprises: When the distance between the quick-change device and the attachment is less than or equal to a first preset distance threshold, determining the set action that the telescopic arm and the quick-change device need to perform according to the relative positions of the quick-change device and the attachment in the quick-change coordinate system and the relative distance between the quick-change device and the attachment; The telescopic arm is controlled to drive the quick-change device to perform a set action so that the distance between the quick-change device and the attachment is less than or equal to a second preset distance threshold.

4. The method according to claim 1, characterized in that: According to the pressure value of the pressure sensor and the signal value of the proximity switch, the posture of the quick change device is adjusted until the pressure value of the pressure sensor is greater than or equal to the set pressure threshold, and the signal value of each proximity switch is the preset signal value, including: Determine whether the pressure value of the pressure sensor is greater than or equal to a set pressure threshold; If not, the telescopic arm is controlled to drive the quick-change device to move horizontally in the direction of the attachment until the pressure value of the pressure sensor is greater than or equal to the set pressure threshold; If so, when the signal value of each proximity switch is not the preset signal value, the telescopic arm is controlled to drive the quick-change device to move horizontally backward by a set distance, and the docking control of the quick-change device and the attachment is stopped; When the signal value of each proximity switch is not the preset signal value, the up-and-down swing angle or the left-and-right swing angle of the quick-change device is adjusted until the signal value of each proximity switch is the preset signal value; When the signal value of each proximity switch reaches the preset signal value, the quick-change device and the attachment are locked.

5. The method according to claim 4, characterized in that Three proximity switches are arranged on the attachment side of the quick-change device, and the connection line of the three proximity switches forms an inverted right triangle; When the signal value of each proximity switch is not the preset signal value, the up and down swing angle of the quick change device is adjusted until the signal value of each proximity switch is the preset signal value, including: When only the signal values ​​of the first proximity switch and the second proximity switch are detected to be the preset signal values, the quick change device is controlled to swing upward until it is detected that the signal values ​​of each proximity switch are the preset signal values, or the signal values ​​of the first proximity switch and the second proximity switch are not the preset signal values; When only the signal value of the third proximity switch is detected to be the preset signal value, the quick-change device is controlled to swing downward until it is detected that the signal value of each proximity switch is the preset signal value, or the signal values ​​of the first proximity switch and the third proximity switch are not the preset signal values; When the signal values ​​of the first proximity switch and the second proximity switch are not the preset signal values, or the signal values ​​of the first proximity switch and the third proximity switch are not the preset signal values, the attachment side of the quick-change device is controlled to be parallel to the docking surface of the attachment, and the quick-change device is controlled to move horizontally in the direction of the attachment until the signal value of each proximity switch is the preset signal value.

6. The method according to claim 5, characterized in that When the signal value of each proximity switch is not the preset signal value, the left and right swing angles of the quick change device are adjusted until the signal value of each proximity switch is the preset signal value, including: When only the signal values ​​of the first proximity switch and the third proximity switch are detected to be the preset signal values, the quick-change device is controlled to turn toward the direction where the first proximity switch and the third proximity switch are located, until it is detected that the signal value of each proximity switch is the preset signal value, or the signal value of the first proximity switch and the third proximity switch is not the preset signal value; When only the signal value of the second proximity switch is detected to be the preset signal value, the quick-change device is controlled to turn toward the direction where the second proximity switch is located until it is detected that the signal value of each proximity switch is the preset signal value, or the signal value of the second proximity switch is not the preset signal value; When the signal values ​​of the first proximity switch and the third proximity switch are not the preset signal values, or the signal value of the second proximity switch is not the preset signal value, the attachment side of the quick-change device is controlled to be parallel to the docking surface of the attachment, and the quick-change device is controlled to move horizontally toward the direction of the attachment until the signal value of each proximity switch is the preset signal value.

7. A docking control device for a quick-change device and an attachment, characterized in that: Applied to a quick-change system, the quick-change system comprises a device to be quick-changed, a quick-change device and an attachment, the device side of the quick-change device is connected to the telescopic arm of the device to be quick-changed; the device to be quick-changed further comprises a controller and a pressure sensor, the pressure sensor is used to obtain the pressure value of the telescopic arm; the attachment side of the quick-change device is arranged with at least one proximity switch; The device is configured in the controller, and the device includes: The quick-change approach module is used to control the telescopic arm to drive the quick-change device to move toward the direction of the attachment after determining that the distance between the quick-change device and the attachment is less than or equal to the first preset distance, until the distance between the quick-change device and the attachment is less than or equal to the second preset distance threshold; The quick-change translation module is used to control the telescopic arm to drive the quick-change device to move horizontally in the direction of the attachment, and obtain the pressure value of the pressure sensor and the signal value of the proximity switch in real time; The quick-change docking module is used to control the telescopic arm to adjust the position of the quick-change device according to the pressure value of the pressure sensor and the signal value of the proximity switch, until the pressure value of the pressure sensor is greater than or equal to the set pressure threshold and the signal value of each proximity switch is the preset signal value, and then the quick-change device and the attachment are locked.

8. The device according to claim 7, characterized in that The device to be quickly replaced also includes a length sensor, a first angle sensor, a second angle sensor and an image acquisition device; The quick-change access module is specifically used for: The telescopic length of the telescopic arm is determined by a length sensor, the rotation angle of the telescopic arm is determined by a first angle sensor, and the rotation angle of the quick-change device is determined by a second angle sensor; According to the rotation angle of the quick-change device and the telescopic length and rotation angle of the telescopic arm, the relative position of the quick-change device in the quick-change coordinate system is determined, and the relative position of the attachment in the quick-change coordinate system is acquired by the image acquisition device; wherein the quick-change coordinate system is a coordinate system with the position of the device to be quick-changed as the origin; When it is determined according to the relative positions that the distance between the quick-change device and the attachment is greater than the first preset distance threshold, the telescopic arm is controlled to drive the quick-change device to move toward the direction of the attachment until the distance between the quick-change device and the attachment is less than or equal to the first preset distance threshold.

9. A device to be quickly replaced, characterized in that: The equipment to be quickly replaced includes: telescopic arm, pressure sensor, and controller; Wherein, the controller is used to execute the docking control method of the quick-change device and accessories described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a controller to implement the docking control method of the quick-change device and the attachment according to any one of claims 1 to 6 when executed.

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