A quick-change device and tool docking control method, device, equipment and medium

Abstract

Embodiments of the application disclose a quick-change device and a tool butt joint control method, device, equipment and medium, which are applied to a quick-change system including a to-be-quick-changed equipment, a quick-change device and a tool, the equipment side of the quick-change device is connected with a telescopic arm of the to-be-quick-changed equipment, and the tool side is arranged with a proximity switch; the method is executed by a controller of the to-be-quick-changed equipment, and includes: after determining that the distance between the quick-change device and the tool is less than or equal to a first preset distance, controlling the telescopic arm to drive the quick-change device to move towards the direction of the tool until the distance between the quick-change device and the tool is less than or equal to a second preset distance threshold; controlling the telescopic arm to drive the quick-change device to translate towards the direction of the tool, 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 values are all preset signal values, and then locking the quick-change device and the tool, thereby improving the butt joint efficiency and accuracy.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a docking control method, device, equipment and medium for quick-change devices and attachments. Background Technology

[0002] Construction machinery, as essential equipment for comprehensive mechanized construction projects, is typically equipped with various attachments to meet the needs of diverse application scenarios. Currently, in order to quickly change the attachments used by construction machinery, quick-change devices are usually required to connect the machinery and the attachments.

[0003] In existing technologies, quick-change devices are usually manually connected to attachments, and after the quick-change devices are connected to the attachments, the quick-change devices are locked to fix the attachments to the quick-change devices, thereby realizing the connection between the construction machinery and the attachments.

[0004] However, manually connecting the quick-change device to the attachment can be difficult when the operator's field of vision is poor. Secondly, manually connecting the quick-change device to the attachment relies entirely on human intervention, resulting in low efficiency. Summary of the Invention

[0005] This invention provides a docking control method, device, equipment, and medium for quick-change devices and attachments, which improves the docking efficiency and accuracy of quick-change devices and attachments.

[0006] In a first aspect, embodiments of the present invention provide a docking control method for a quick-change device and an attachment, 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. The pressure sensor is used to acquire the pressure value of the telescopic arm. At least one proximity switch is arranged on the attachment side of the quick-change device.

[0007] This method is executed by the 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, control the telescopic arm to move the quick-change device toward 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] The telescopic arm is controlled to move the quick-change device horizontally in the direction of the attachment, and the pressure value of the pressure sensor and the signal value of the proximity switch are acquired in real time.

[0010] Based on 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, at which point the quick-change device and the attachment are locked.

[0011] Optionally, the quick-change device further includes a length sensor, a first angle sensor, a second angle sensor, and an image acquisition device. Determining that the distance between the quick-change device and the attachment is less than or equal to a first preset distance includes: determining the extension length of the telescopic arm using the length sensor, determining the rotation angle of the telescopic arm using the first angle sensor, and determining the rotation angle of the quick-change device using the second angle sensor; determining the relative position of the quick-change device in the quick-change coordinate system based on the rotation angle of the quick-change device, the extension length of the telescopic arm, and the rotation angle, and acquiring the relative position of the attachment in the quick-change coordinate system using the image acquisition device; wherein, the quick-change coordinate system is a coordinate system with the location of the quick-change device as the origin; when the distance between the quick-change device and the attachment is determined to be greater than the first preset distance threshold based on the relative positions, controlling the telescopic arm to move the quick-change device toward the attachment until the distance between the quick-change device and the attachment is less than or equal to the first preset distance threshold.

[0012] Optionally, controlling the telescopic arm and 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 a second preset distance threshold includes: 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 to be performed by the telescopic arm and the quick-change device based on the relative position 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; 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 attachment is less than or equal to the second preset distance threshold.

[0013] Optionally, the position of the quick-change device is adjusted based on 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. This includes: determining 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 move the quick-change device 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 yes, when the signal value of each proximity switch is not a preset signal value, controlling the telescopic arm to move the quick-change device horizontally backward a set distance, and stopping the docking control between the quick-change device and the attachment; when the signal value of each proximity switch is not a preset signal value, adjusting the up-down or left-right swing angle of the quick-change device until the signal value of each proximity switch is a preset signal value; and locking the quick-change device and the attachment when the signal value of each proximity switch is a preset signal value.

[0014] Optionally, the attachment side of the quick-change device is equipped with three proximity switches, and the line connecting the three proximity switches forms an inverted right-angled triangle. When the signal values ​​of each proximity switch are not all preset signal values, 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. This includes: when only the signal values ​​of the first and second proximity switches are detected as preset signal values, controlling the quick-change device to swing upwards until the signal values ​​of each proximity switch are detected as preset signal values, or the signal values ​​of the first and second proximity switches are not preset signal values; when only the signal value of the third proximity switch is detected as a preset signal value, controlling the quick-change device to swing downwards until the signal values ​​of each proximity switch are detected as preset signal values, or the signal values ​​of the first and third proximity switches are not preset signal values; when the signal values ​​of the first and second proximity switches are not preset signal values, or the signal values ​​of the first and third proximity switches are not preset signal values, controlling the attachment side of the quick-change device to be parallel to the mating surface of the attachment, and controlling the quick-change device to move horizontally in the direction of the attachment until the signal value of each proximity switch is the preset signal value.

[0015] Optionally, when the signal values ​​of each proximity switch are not all preset signal values, the left and right swing angles of the quick-change device are adjusted until the signal values ​​of each proximity switch are all preset signal values. This includes: when only the signal values ​​of the first and third proximity switches are detected as preset signal values, controlling the quick-change device to turn in the direction of the first and third proximity switches until the signal values ​​of each proximity switch are detected as preset signal values, or the signal values ​​of the first and third proximity switches are not preset signal values; when only the signal value of the second proximity switch is detected as preset signal values, controlling the quick-change device to turn in the direction of the second proximity switch until the signal values ​​of each proximity switch are detected as preset signal values, or the signal value of the second proximity switch is not preset signal values; when the signal values ​​of the first and third proximity switches are not preset signal values, or the signal value of the second proximity switch is not preset signal values, controlling the attachment side of the quick-change device to be parallel to the mating surface of the attachment, and controlling the quick-change device to move horizontally in the direction of the attachment until the signal values ​​of each proximity switch are preset signal values.

[0016] Secondly, embodiments of the present invention also provide a docking control device for a quick-change device and an attachment, 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. The pressure sensor is used to obtain the pressure value of the telescopic arm. At least one proximity switch is arranged on the attachment side of the quick-change device.

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

[0018] The quick-change proximity module is used to control the telescopic arm to move the quick-change device toward the attachment after determining that the distance between the quick-change device and the attachment is less than or equal to a first preset distance, until the distance between the quick-change device and the attachment is less than or equal to a 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 to acquire 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 based on 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, at which point the quick-change device and the attachment are locked.

[0021] Optionally, the quick-change device further includes a length sensor, a first angle sensor, a second angle sensor, and an image acquisition device; the quick-change proximity module is specifically used for: determining the extension 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-change device through the second angle sensor; determining the relative position of the quick-change device in the quick-change coordinate system based on the rotation angle of the quick-change device and the extension 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; wherein, the quick-change coordinate system is a coordinate system with the location of the quick-change device as the origin; when the distance between the quick-change device and the attachment is determined to be greater than a first preset distance threshold based on the relative positions, 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 first preset distance threshold.

[0022] Thirdly, embodiments of the present invention also provide a quick-change device, 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 attachment in any embodiment of the present invention.

[0023] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions for causing a processor to execute and implement the docking control method for the quick-change device and attachment provided in any embodiment of the present invention.

[0024] The technical solution provided by this invention involves controlling the quick-change device to move towards the attachment until the distance between the quick-change device and the attachment is less than or equal to a second preset distance threshold. Then, the telescopic arm is controlled to drive the quick-change device to move horizontally towards the attachment. During the horizontal movement of the quick-change device, 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 a preset signal value. At this point, the quick-change device and the attachment are locked together. This avoids the problem of low docking efficiency and accuracy of the quick-change device and attachment due to manual docking in the prior art. It can achieve accurate docking of the quick-change device and attachment while improving the docking efficiency.

[0025] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a flowchart of a docking control method for a quick-change device and attachments according to Embodiment 1 of the present invention;

[0028] Figure 2 This is a flowchart of another docking control method for a quick-change device and attachment provided according to Embodiment 2 of the present invention;

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

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

[0031] Figure 5 This is a schematic diagram of the structure of a quick-change device and attachment docking control device according to Embodiment 3 of the present invention;

[0032] Figure 6 This is a structural schematic diagram of a quick-change device provided in Embodiment 4 of the present invention. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0035] Example 1

[0036] Figure 1 This is a flowchart of a docking control method for a quick-change device and attachments according to Embodiment 1 of the present invention. This embodiment is applicable to situations where attachments are docked with a device to be quickly changed using a quick-change device. The method can be executed by a docking control device for the quick-change device and attachments. The docking control device for the quick-change device and attachments can be implemented in hardware and / or software and 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 an attachment, 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, the pressure sensor being used to acquire the pressure value of the telescopic arm. At least one proximity switch is arranged on the attachment side of the quick-change device. The device to be quick-changed can be a device that requires the use of attachments to achieve a specific function, such as a telescopic forklift and an off-road battery swapping robot.

[0038] This method is executed by the 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 the first preset distance, control the telescopic arm to move the quick-change device toward the attachment until the distance between the quick-change device and the attachment is less than or equal to the second preset distance threshold.

[0040] In this embodiment, the attachments can be accessories for the quick-change equipment, such as forks and buckets.

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

[0042] S120: 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.

[0043] In this embodiment, a pressure sensor can be used to acquire the pressure of the telescopic boom 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 has reached a set proximity distance, such as 20 mm. In practical applications, 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 has reached the set proximity distance.

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

[0045] S130. Based on the pressure value of the pressure sensor and the signal value of the proximity switch, control the telescopic arm 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, then lock the quick-change device and the attachment.

[0046] In this step, specifically, it can be determined 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 made contact with the attachment, and at this time, 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 made contact with 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 values ​​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 dock with the attachment can be stopped.

[0048] For example, when the signal value of any proximity switch is a preset signal value, the object in contact with the quick-change device can be determined to be an attachment. At this time, the telescopic arm can be controlled to adjust the position of the quick-change device until the signal value of each proximity switch is the preset signal value. When the signal values ​​of all proximity switches are not the preset signal values, the object in contact with the quick-change device is determined to be not an attachment. At this time, the telescopic arm can be controlled to move the quick-change device horizontally backward a set distance, and the docking between the quick-change device and the attachment can be stopped.

[0049] The technical solution of this embodiment, by controlling the telescopic arm to move the quick-change device toward the attachment after determining that the distance between the quick-change device and the attachment is less than or equal to a first preset distance, until the distance between the quick-change device and the attachment is less than or equal to a second preset distance threshold; controlling the telescopic arm to move the quick-change device horizontally toward the attachment, and acquiring the pressure value of the pressure sensor and the signal value of the proximity switch in real time; and adjusting the position of the quick-change device by controlling the telescopic arm 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, locks the quick-change device and the attachment together. This solves the problem of low docking efficiency and accuracy of the quick-change device and attachment due to manual docking in the prior art, and improves the docking efficiency and accuracy of the quick-change device and attachment.

[0050] Example 2

[0051] Figure 2 This is a flowchart of another quick-change device and attachment docking control method provided by Embodiment 2 of the present invention. This embodiment is a further optimization and extension based on the above embodiments and can be combined with various optional technical solutions in the above embodiments.

[0052] like Figure 2As shown in the figure, this embodiment discloses a docking control method 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, 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-angled triangle.

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

[0054] S210. 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.

[0055] In this step, specifically, the pitch and rotation angles of the telescopic boom 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. Based on the rotation angle of the quick-change device and the extension length and rotation angle of the telescopic arm, determine the relative position of the quick-change device in the quick-change coordinate system, and acquire 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 location of the device to be quickly changed as the origin. The image acquisition device can be of various types, such as a camera and a LiDAR sensor.

[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 based on its telescopic length and rotation angle, the relative position of the quick-change device in the quick-change coordinate system is further determined based on its rotation angle. Then, image information of the attachment can be acquired by an image acquisition device located at the front end of the equipment to be quick-changed, and the relative position of the attachment in the quick-change coordinate system can be determined based on this image information.

[0059] S230. When the distance between the quick-change device and the attachment is determined to be greater than the first preset distance threshold based on the relative positions, the telescopic arm is controlled to move the quick-change device toward 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 attachment is greater than the first preset distance, the required displacement action of the telescopic arm and the quick-change device 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 attachment 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 the first preset distance threshold, the set action to be performed by the telescopic arm and the quick-change device is determined based on the relative position 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-change device and the attachment can be determined based on their relative positions in the quick-change coordinate system. Alternatively, the relative distance between the quick-change device and the attachment can be obtained using an ultrasonic ranging sensor. Then, based on the relative positions and distances, the set actions to be performed by the telescopic boom and the quick-change device, as well as the execution sequence of each set action, can be determined. The set actions may include at least one of the following: telescopic boom lowering, telescopic boom raising, telescopic boom rotation, quick-change device raising, quick-change device lowering, quick-change device left rotation, quick-change device right rotation, and quick-change device rotation.

[0063] S250: Control 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 the second preset distance threshold.

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

[0065] S260: 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.

[0066] S270. Based on the pressure value of the pressure sensor and the signal value of the proximity switch, control the telescopic arm 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, 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 move the quick-change device 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 move the quick-change device horizontally backward 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-down swing angle or left-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 attachment are locked.

[0068] Optional, such as Figure 3 As shown, the quick-change device has three proximity switches arranged on the attachment side, and the line connecting the three proximity switches forms an inverted right-angled triangle. When the signal value of each proximity switch is not a 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. This includes: when only the signal values ​​of the first and second proximity switches are detected as preset signal values, controlling the quick-change device to swing upwards until the signal values ​​of each proximity switch are detected as preset signal values, or the signal values ​​of the first and second proximity switches are not preset signal values; when only the signal value of the third proximity switch is detected as a preset signal value, controlling the quick-change device to swing downwards until the signal values ​​of each proximity switch are detected as preset signal values, or the signal values ​​of the first and third proximity switches are not preset signal values; when the signal values ​​of the first and second proximity switches are not preset signal values, or the signal values ​​of the first and third proximity switches are not preset signal values, controlling the attachment side of the quick-change device to be parallel to the mating surface of the attachment, and controlling the quick-change device to move horizontally in the direction of the attachment until the signal value of each proximity switch is the preset signal value.

[0069] Specifically, such as Figure 3 As shown, the first and second proximity switches can be placed on the same horizontal line, and the first and third proximity switches can be placed on the same vertical line. Then, as... Figure 4As shown, since the first and second proximity switches move away from the attachment as the quick-change device swings upward, their signal values ​​may not be the preset values. In this case, the attachment side of the quick-change device can be made parallel to the attachment's mating surface, and the quick-change device can be horizontally moved in the direction of the attachment until the signal value of each proximity switch is the preset value. Similarly, since the third proximity switch moves away from the attachment as the quick-change device swings downward, its signal value may not be the preset value. In this case, after making the quick-change device parallel to the attachment's mating surface, the quick-change device can be horizontally moved in the direction of the attachment until the signal value of each proximity switch is the preset value.

[0070] Optionally, when the signal values ​​of each proximity switch are not all preset signal values, the left and right swing angles of the quick-change device are adjusted until the signal values ​​of each proximity switch are all preset signal values. This includes: when only the signal values ​​of the first and third proximity switches are detected as preset signal values, controlling the quick-change device to turn in the direction of the first and third proximity switches until the signal values ​​of each proximity switch are detected as preset signal values, or the signal values ​​of the first and third proximity switches are not preset signal values; when only the signal value of the second proximity switch is detected as preset signal values, controlling the quick-change device to turn in the direction of the second proximity switch until the signal values ​​of each proximity switch are detected as preset signal values, or the signal value of the second proximity switch is not preset signal values; when the signal values ​​of the first and third proximity switches are not preset signal values, or the signal value of the second proximity switch is not preset signal values, controlling the attachment side of the quick-change device to be parallel to the mating surface of the attachment, and controlling the quick-change device to move horizontally in the direction of the attachment until the signal values ​​of each proximity switch are preset signal values.

[0071] Specifically, such as Figure 4 As shown, since the first and third proximity switches move away from the attachment when the quick-change device turns in the direction of the first and third proximity switches, their signal values ​​may not be the preset signal values. In this case, the quick-change device can be controlled to be parallel to the attachment's mating 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. Similarly, since the second proximity switch moves away from the attachment when the quick-change device turns in the direction of the second proximity switch, its signal value may not be the preset signal value. In this case, the quick-change device can be controlled to be parallel to the attachment's mating 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.

[0072] The technical solution of this embodiment, by controlling the quick-change device to move horizontally towards the attachment only after the distance between the quick-change device and the attachment is less than or equal to a second preset distance threshold, can avoid the situation where the quick-change device and the attachment are too far apart, resulting in the signal value of the docking switch not being the preset signal value, thus improving the practicality of the docking control method between the quick-change device and the attachment. Secondly, by arranging three proximity switches on the attachment side of the quick-change device, and the line connecting the three proximity switches forming an inverted right-angled triangle, it is possible to detect in a timely manner whether the attachment side of the quick-change device is parallel to the docking surface of the attachment, thereby achieving accurate docking between the quick-change device and the attachment.

[0073] Example 3

[0074] Figure 5 This is a schematic diagram of the structure of a quick-change device and attachment docking control device according to Embodiment 3 of the present invention. This embodiment is applicable to the situation where the device to be changed is docked with the attachment through the quick-change device. The quick-change device and attachment docking control device can be implemented in 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 attachment docking control device disclosed in this embodiment are 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. The pressure sensor is used to obtain the pressure value of the telescopic arm. At least one proximity switch is arranged on the attachment side of the quick-change device.

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

[0077] The quick-change proximity module 51 is used to control the telescopic arm to move the quick-change device 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 move horizontally in the direction of the attachment, and to 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 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, then the quick-change device and the attachment are locked.

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

[0081] Optional, the quick-change translation module 52 includes:

[0082] The speed limit determination unit is used to obtain the overall vehicle speed of the equipment to be quickly replaced and determine the preset speed limit based on the preset bucket full rate.

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

[0084] The fast-change equipment travel unit is used to control the fast-change equipment to travel in the direction of the material according to a preset speed limit.

[0085] Optional, quick-change proximity module 51 includes:

[0086] The rotation angle determination unit is 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 based on the rotation angle of the quick-change device and the extension length and rotation angle of the telescopic arm. The relative position of the attachment in the quick-change coordinate system is obtained by the image acquisition device. The quick-change coordinate system is a coordinate system with the location of the device to be quickly changed as the origin.

[0088] The quick-change device moving unit is used to control the telescopic arm to move the quick-change device toward the direction of the attachment when the distance between the quick-change device and the attachment is determined to be greater than the first preset distance threshold based on the relative positions, until the distance between the quick-change device and the attachment is less than or equal to the first preset distance threshold.

[0089] The action to be executed determination unit is used to determine the set action to be executed by the telescopic arm and the quick-change device based on the relative position 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 when the distance between the quick-change device and the attachment is less than or equal to a first preset distance threshold.

[0090] A set action execution unit is used to control 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.

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

[0092] The pressure value determination unit is used to determine whether the pressure value of the pressure sensor is greater than or equal to the set pressure threshold.

[0093] The horizontal movement unit is used to control the telescopic arm to move the quick-change device horizontally in 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] The collision stop unit is used to control the telescopic arm to move the quick-change device backward horizontally a set distance and stop the docking control of the quick-change device and attachment when 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 not the preset signal value.

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

[0097] Optionally, when the pose adjustment unit has three proximity switches arranged on the attachment side of the quick-change device, and the lines connecting the three proximity switches form an inverted right-angled triangle, it includes:

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

[0099] The quick-change device lowering unit is used to control the quick-change device to lower when only the signal value of the third proximity switch is detected as a preset signal value, until the signal value of each proximity switch is detected as a preset signal value, or the signal values ​​of the first proximity switch and the third proximity switch are not preset signal values.

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

[0102] The second quick-change steering unit is used to control the quick-change device to turn in the direction of the second proximity switch when only the signal value of the second proximity switch is detected as a preset signal value, until the signal value of each proximity switch is detected as a preset signal value, or the signal value of the second proximity switch is not a 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 mating surface of the attachment when the signal values ​​of the first proximity switch and the third proximity switch are not preset signal values, or when the signal value of the second proximity switch is not preset signal value, and to 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 attachment docking control device provided in this embodiment of the invention can execute the quick-change device and attachment docking control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method execution. Content not described in detail in this embodiment can be referred to the description in any method embodiment of this application.

[0105] Example 4

[0106] Figure 6 A schematic diagram of a quick-change device that can be used to implement embodiments of the present invention is shown. For example... 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 attachment in any embodiment of the present invention.

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

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

[0109] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0110] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0111] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0112] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A docking control method for a quick-change device and attachments, characterized in that, The device is applied to a quick-change system, which includes a device to be quickly 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 quickly changed. The device to be quickly changed also includes a controller and a pressure sensor, the pressure sensor being used to acquire the pressure value of the telescopic arm. At least one proximity switch is arranged on the attachment side of the quick-change device. The method is executed by the controller, and the method includes: After determining that the distance between the quick-change device and the attachment is less than or equal to the first preset distance, control the telescopic arm to move the quick-change device toward the attachment until the distance between the quick-change device and the attachment is less than or equal to the second preset distance threshold. The telescopic arm is controlled to move the quick-change device horizontally in the direction of the attachment, and the pressure value of the pressure sensor and the signal value of the proximity switch are acquired in real time. Based on 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, at which point the quick-change device and the attachment are locked.

2. The method according to claim 1, characterized in that, The quick-change device further includes a length sensor, a first angle sensor, a second angle sensor, and an image acquisition device. 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 arm's telescopic length is determined by a length sensor, the telescopic arm's rotation angle is determined by a first angle sensor, and the quick-change device's rotation angle is determined by a second angle sensor. Based on the rotation angle of the quick-change device and the extension 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 obtained by an image acquisition device; wherein, the quick-change coordinate system is a coordinate system with the location of the device to be quickly changed as the origin; When the distance between the quick-change device and the attachment is determined to be greater than the first preset distance threshold based on the relative positions, the telescopic arm is controlled to move the quick-change device toward 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 control telescopic arm and quick-change device move toward the attachment until the distance between the quick-change device and the attachment is less than or equal to a second preset distance threshold, including: When the distance between the quick-change device and the attachment is less than or equal to the first preset distance threshold, the set action to be performed by the telescopic arm and the quick-change device is determined based on the relative position 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. Control 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.

4. The method according to claim 1, characterized in that, Based on the pressure value from the pressure sensor and the signal value from the proximity switch, the position of the quick-change device is adjusted until the pressure value from the pressure sensor is greater than or equal to a set pressure threshold, and the signal value of each proximity switch is a preset signal value, including: Determine whether the pressure value of the pressure sensor is greater than or equal to the set pressure threshold. If not, control the telescopic arm 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, 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 attachment; When the signal value of each proximity switch is not the preset signal value, adjust the up-down or left-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, lock the quick-change device and attachment.

5. The method according to claim 4, characterized in that, The quick-change device has three proximity switches arranged on the attachment side, and the line connecting the three proximity switches forms an inverted right triangle. When the signal values ​​of each proximity switch are not all preset signal values, the vertical swing angle of the quick-change device is adjusted until the signal values ​​of each proximity switch are all preset signal values, including: When only the signal values ​​of the first proximity switch and the second proximity switch are detected to be preset signal values, the quick-change device is controlled to swing up until the signal values ​​of each proximity switch are detected to be preset signal values, or the signal values ​​of the first proximity switch and the second proximity switch are not preset signal values. When only the signal value of the third proximity switch is detected as the preset signal value, the quick-change device is controlled to swing down until the signal value of each proximity switch is detected as 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 preset signal values, or when the signal values ​​of the first proximity switch and the third proximity switch are not preset signal values, the attachment side of the quick-change device is controlled to be parallel to the mating 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 values ​​of each proximity switch are not all preset signal values, the left and right swing angles of the quick-change device are adjusted until the signal values ​​of each proximity switch are all preset signal values, including: When only the signal values ​​of the first proximity switch and the third proximity switch are detected to be preset signal values, the quick-change device is controlled to turn in the direction of the first proximity switch and the third proximity switch 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 not preset signal values. When only the signal value of the second proximity switch is detected as the preset signal value, the quick-change device is controlled to turn in the direction of the second proximity switch until the signal value of each proximity switch is detected as 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 preset signal values, or when the signal value of the second proximity switch is not preset signal value, the attachment side of the quick-change device is controlled to be parallel to the mating 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.

7. A docking control device for a quick-change device and attachments, characterized in that, The device is applied to a quick-change system, which includes a device to be quickly 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 quickly changed. The device to be quickly changed also includes a controller and a pressure sensor, the pressure sensor being used to acquire the pressure value of the telescopic arm. At least one proximity switch is arranged on the attachment side of the quick-change device. The device is configured in the controller, and the device includes: The quick-change proximity module is used to control the telescopic arm to move the quick-change device toward the attachment after determining that the distance between the quick-change device and the attachment is less than or equal to a first preset distance, until the distance between the quick-change device and the attachment is less than or equal to a 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 to acquire 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 based on 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, at which point the quick-change device and the attachment are locked.

8. The apparatus according to claim 7, characterized in that, The device to be quickly changed also includes a length sensor, a first angle sensor, a second angle sensor, and an image acquisition device; The quick-change proximity module is specifically used for: The telescopic arm's telescopic length is determined by a length sensor, the telescopic arm's rotation angle is determined by a first angle sensor, and the quick-change device's rotation angle is determined by a second angle sensor. Based on the rotation angle of the quick-change device and the extension 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 obtained by an image acquisition device; wherein, the quick-change coordinate system is a coordinate system with the location of the device to be quickly changed as the origin; When the distance between the quick-change device and the attachment is determined to be greater than the first preset distance threshold based on the relative positions, the telescopic arm is controlled to move the quick-change device toward 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 quick-change device, characterized in that, The device to be quickly replaced includes: Telescopic boom, pressure sensor, and controller; The controller is used to execute the docking control method for the quick-change device and attachment as 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 that are used to cause the controller to execute the docking control method of the quick-change device and attachment as described in any one of claims 1-6.

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