Loader reversing method based on working condition recognition, control system and loader

Abstract

The invention provides a loader reversing method based on working condition recognition, a control system and a loader, and relates to the field of loader steering control. The loader reversing method comprises the steps that whether a loader is in a reversing state or not is judged according to whether the actual running direction and the required running direction of the loader are consistent or not, if yes, the actual engine rotating speed is compared with a first preset value, and if the actual engine rotating speed is larger than the first preset value, ideal deceleration is calculated according to the actual vehicle speed and the required vehicle speed; calculating an ideal engine speed change rate according to the ideal deceleration; and according to the calculated ideal engine rotating speed change rate, the actual engine rotating speed is adjusted until the difference value between the actual engine rotating speed of k continuous program operation cycles and the required rotating speed at the current moment is smaller than a first threshold value. By means of the loader reversing method, the reversing process can be more stable, and dynamic adjustment can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of loader reversing control, and in particular to a loader reversing method based on working condition identification, a control system and a loader. Background Art

[0002] A loader is a type of construction equipment that mainly performs shoveling and loading operations. The operation cycle of a loader is divided into six stages: moving forward to insert materials, shoveling, changing the direction of travel, that is, leaving the pile after reversing, approaching the vehicle / target pile to unload after reversing, reversing to return to the starting position, and reversing forward to prepare for the second round of shoveling operations. An operation cycle of a loader includes four reversing processes, and the reversing operation is frequent; and in order to improve the operating efficiency of the loader, the reversing operation often occurs at a high speed. However, for loaders using a hydrostatic system, due to the inherent hysteresis characteristics of the hydraulic system itself, there is often a problem of slow response when changing direction, which makes the entire reversing process slow and inefficient. This situation not only prolongs the time required to complete a single task, but also indirectly reduces the overall work efficiency and productivity level.

[0003] In order to solve the problem of loader reversing efficiency, CN114233842A discloses a loader high-speed reversing process control method and system, including: obtaining a shift handle operation signal and a speed sensor signal, the shift handle operation signal includes: a whole machine start signal, a driving direction change signal and a gearbox gear change signal, the speed sensor signal includes: a gearbox internal shaft speed signal; determining the gearbox operating state according to the shift handle operation signal and the speed sensor signal; and operating the clutch control solenoid valve according to a predetermined reversing gear switching strategy to control the clutch to engage the oil pressure and perform the reversing process control. This scheme still has the following defects: 1. The gear switching method is used to passively reduce the output shaft speed of the loader. The speed change method is a sudden change method caused by multiple gear switching. The driver will feel a significant sense of frustration, and the jitter caused by the sudden change of the loader speed will be amplified when loaded with materials, reducing the safety and stability of the whole machine and increasing the failure rate of the equipment. 2. Limited by the gear setting of the loader, there is a speed reduction efficiency threshold for passively reducing the output shaft speed of the loader through gear switching. After reaching the threshold, the reversing time cannot be further reduced. 3. There are different states in the loader operation cycle, such as full load and no load. The vehicle weight, center of gravity and other parameters vary greatly in different states. It is impossible to adjust to different working conditions and operating habits by simply switching gears, and it is impossible to achieve the best switching efficiency.

[0004] It can be seen that there is an urgent need to develop a new loader reversing method, control system and loader to solve the current defects and shortcomings. Summary of the invention

[0005] The content of the present invention is used to introduce the concepts in a brief form, which will be described in detail in the detailed implementation section below. The content of the present disclosure is not intended to identify the key features or essential features of the technical solution claimed for protection, nor is it intended to limit the scope of the technical solution claimed for protection.

[0006] Some embodiments of the present invention propose a loader reversing method, a control system and a loader based on working condition identification to at least partially solve the technical problems mentioned in the above background technology part.

[0007] In order to achieve the above object, as a first aspect of the present invention, a loader reversing method based on working condition identification is proposed, comprising the following steps:

[0008] S1, judging whether the loader is in a reversing state according to whether the actual driving direction and the required driving direction are consistent, if so, proceeding to step S2;

[0009] S2, comparing the actual engine speed with a first preset value, if the actual engine speed is greater than the first preset value, proceeding to step S3;

[0010] S3, calculating an ideal deceleration according to the actual vehicle speed and the required vehicle speed, and calculating an ideal engine speed change rate according to the ideal deceleration;

[0011] S4, adjusting the actual engine speed according to the ideal engine speed change rate calculated in step S3, until the difference between the actual engine speed for k consecutive program operation cycles and the required speed at the current moment is less than a first threshold value; wherein k is a pre-set positive integer.

[0012] As a second aspect of the present invention, a loader reversing control system based on working condition identification is also proposed, comprising:

[0013] A working condition identification unit, used to determine whether the vehicle is in a reversing state according to whether the actual driving direction is consistent with the required driving direction, and to determine whether the vehicle is in a high-speed reversing state according to whether the actual engine speed is greater than a first preset value;

[0014] a calculation unit, configured to calculate an ideal deceleration according to the actual vehicle speed and the required vehicle speed, and calculate an ideal engine speed change rate according to the ideal deceleration when the loader is in a reversing state and the actual engine speed is greater than the first preset value;

[0015] An adjustment unit is used to adjust the actual engine speed according to the ideal engine speed change rate calculated by the calculation unit until the difference between the actual engine speed for k consecutive program operation cycles and the required speed at the current moment is less than a first threshold value; wherein k is a pre-set positive integer.

[0016] As a third aspect of the present invention, a loader is also proposed, comprising the loader reversing control system as described above.

[0017] Based on the above technical solutions, it can be seen that the loader reversing method, control system and loader of the present invention have at least one of the following beneficial effects compared with the prior art:

[0018] 1. The present invention monitors the loader's reversing state, deceleration, engine speed and other key parameters in real time, intelligently identifies the reversing timing, and dynamically adjusts the engine speed accordingly. On the basis of shortening the reversing time, the key parameters change smoothly during the high-speed reversing process, the vehicle reversing process is smoother, the driver's sense of frustration is reduced, the safety and stability of the whole machine are improved, and the failure rate of the equipment is reduced.

[0019] 2. During the reversing process, the system will automatically reduce the engine speed, reduce the output flow of the hydraulic pump, reduce the oil flow resistance, and reduce pressure fluctuations, so that the reversing valve can respond to the reversing command faster and increase the reversing speed. At the same time, it shortens the reversing time, reduces the time loss caused by lag, and significantly improves the working efficiency of the loader.

[0020] 3. This method is also adaptive and can dynamically adjust the engine speed according to different working modes and operating habits to achieve optimal switching efficiency, reduce energy consumption and extend equipment life. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 is a flow chart of some embodiments of the loader reversing method based on working condition identification of the present invention;

[0023] Figure 2 is a flow chart of other embodiments of the loader reversing method based on working condition identification of the present invention;

[0024] Figure 3 Schematic diagram of some embodiments of the loader reversing control system based on working condition identification of the present invention. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0026] The terms used in the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the embodiments of the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0027] The existing technology has the problem of slow response when changing direction due to the inherent hysteresis characteristics of the hydraulic system itself, which leads to the inability to reduce the switching time while maintaining stability during the entire switching process. After in-depth research, it is found that real-time monitoring of the loader's switching state, deceleration, engine speed and other key parameters, intelligent identification of the switching timing, and dynamic adjustment of the engine speed can make the vehicle's switching process smoother, reduce the driver's sense of frustration, improve the safety and stability of the whole machine, and reduce the failure rate of the equipment. Therefore, this application proposes a loader switching method, control system and loader based on working condition identification.

[0028] The present invention will be further described below by specific embodiments. It should be noted that the following embodiments are only illustrative and are not intended to limit the present invention. Based on the embodiments of the present invention shown below, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the embodiments of the present invention.

[0029] Example 1

[0030] refer to Figure 1 , shows a flowchart of some embodiments of a loader reversing method based on working condition identification according to the present invention. The loader reversing method comprises the following steps:

[0031] Step S1, judging whether the loader is in a reversing state according to whether the actual driving direction and the required driving direction are consistent, if so, proceeding to step S2.

[0032] In some embodiments, the required driving direction can be obtained according to the driver's operation. As an example, the required driving direction can be obtained according to the driver's operation of moving a shift lever, or according to the driver's reversing operation input.

[0033] In some embodiments, the required driving direction can be obtained according to the current working mode. As an example, the required driving direction can be obtained according to the currently selected pre-stored automatic working mode.

[0034] In some embodiments, the required driving direction can be obtained based on the driver's operation and the current working mode. As an example, the required driving direction can be obtained based on the step selection input of the currently selected pre-stored semi-automatic working mode and the driver's current working mode.

[0035] S2, compare the actual engine speed with a first preset value. If the actual engine speed is greater than the first preset value, proceed to step S3.

[0036] As an example, the first preset value can be pre-set according to parameters such as the loader's own weight, load, horsepower, engine torque, etc. to determine whether it is a high-speed switching condition, or the driver can pre-adjust and set the first preset value through actual operation.

[0037] S3, calculating an ideal deceleration according to the actual vehicle speed and the required vehicle speed, and calculating an ideal engine speed change rate according to the ideal deceleration.

[0038] It should be noted that the required vehicle speed and the ideal engine speed change rate are dynamic parameters that change with time.

[0039] As an example, the required vehicle speed during the switching process can be pre-set based on parameters such as vehicle weight, load, horsepower, engine torque, required switching time, no-load or full-load conditions, etc.; the required vehicle speed during the switching process under different conditions can also be set based on the pre-stored automatic working mode or semi-automatic working mode.

[0040] In some embodiments, the ideal deceleration is calculated according to the actual vehicle speed and the required vehicle speed through a PID closed-loop calculation.

[0041] S4, adjusting the actual engine speed according to the ideal engine speed change rate calculated in step S3, until the difference between the actual engine speed for k consecutive program operation cycles and the required speed at the current moment is less than a first threshold value; wherein k is a pre-set positive integer.

[0042] In some embodiments, using the formula ,

[0043] To obtain the ideal engine speed change rate, where t is time, is the ideal engine speed change rate, is the ideal deceleration, is the total transmission ratio.

[0044] In some embodiments, using the formula Get the total transmission ratio,

[0045] in, is the actual vehicle speed, is the actual engine speed, is the total transmission ratio.

[0046] In some embodiments, the method for adjusting the actual engine speed is to calculate the required speed that the engine should reach in the next program operation cycle based on the actual engine speed and the change rate of the ideal engine speed, and control the actual engine speed to drop to the required speed within a program operation cycle.

[0047] Using the formula ,

[0048] To obtain the required speed that the engine should reach in the next program operation cycle, where: is the required engine speed, is the program running cycle, t1 is the current time, and t2 is the time of the next program running cycle after t1.

[0049] As an example, the value of k and the first threshold value can be preset according to parameters such as vehicle weight, load, horsepower, engine torque, required switching time, no-load or full-load conditions, etc., and the value of k and the first threshold value under different working conditions can also be set according to the pre-stored automatic working mode or semi-automatic working mode.

[0050] The above-mentioned embodiment 1 of the present invention has one of the following beneficial effects:

[0051] 1. The present invention monitors the loader's reversing state, deceleration, engine speed and other key parameters in real time, intelligently identifies the reversing timing, and dynamically adjusts the engine speed accordingly. On the basis of shortening the reversing time, the key parameters change smoothly during the high-speed reversing process, the vehicle reversing process is smoother, the driver's sense of frustration is reduced, the safety and stability of the whole machine are improved, and the failure rate of the equipment is reduced.

[0052] 2. During the reversing process, the system will automatically reduce the engine speed, reduce the output flow of the hydraulic pump, reduce the oil flow resistance, and reduce pressure fluctuations, so that the reversing valve can respond to the reversing command faster and increase the reversing speed. At the same time, it shortens the reversing time, reduces the time loss caused by lag, and significantly improves the working efficiency of the loader.

[0053] 3. This method is also adaptive and can dynamically adjust the engine speed according to different working conditions and operating habits to achieve optimal switching efficiency, reduce energy consumption and extend equipment life.

[0054] Example 2

[0055] like Figure 2, Example 2 further includes step S5 based on Example 1, controlling the actual engine speed to be adjusted to a second preset value within the first time interval.

[0056] It should be noted that in the reversing operation, the relative directions of the input and output of the gearbox are usually changed by controlling the hydraulic valve, thereby realizing the vehicle reversal. In this setting, there is no need to reduce the engine speed to 0 and then increase the speed in the reverse direction, but it is necessary to change the direction through the hydraulic unit while maintaining a certain engine speed.

[0057] As an example, the first time interval can be pre-set based on the switching time requirement, taking into account parameters such as vehicle weight, load, horsepower, engine torque, required switching time, no-load or full-load conditions, etc.; the first time interval in the switching process under different working conditions can also be set according to the pre-stored automatic working mode or semi-automatic working mode.

[0058] As an example, the second preset value can be pre-set based on the reverse acceleration requirements, taking into account parameters such as vehicle weight, load, horsepower, engine torque, required switching time, no-load or full-load conditions, etc.; the second preset value in the switching process under different conditions can also be set according to the pre-stored automatic working mode or semi-automatic working mode.

[0059] The above-mentioned embodiment 2 of the present invention has one of the following beneficial effects:

[0060] 1. The present invention monitors the loader's reversing state, deceleration, engine speed and other key parameters in real time, intelligently identifies the reversing timing, and dynamically adjusts the engine speed accordingly. On the basis of shortening the reversing time, the key parameters change smoothly during the high-speed reversing process, the vehicle reversing process is smoother, the driver's sense of frustration is reduced, the safety and stability of the whole machine are improved, and the failure rate of the equipment is reduced.

[0061] 2. During the reversing process, the system will automatically reduce the engine speed, reduce the output flow of the hydraulic pump, reduce the oil flow resistance, and reduce pressure fluctuations, so that the reversing valve can respond to the reversing command faster and increase the reversing speed. At the same time, it shortens the reversing time, reduces the time loss caused by lag, and significantly improves the working efficiency of the loader.

[0062] 3. This method is also adaptive and can dynamically adjust the engine speed according to different working conditions and operating habits to achieve optimal switching efficiency, reduce energy consumption and extend equipment life.

[0063] Example 3

[0064] Further references Figure 3As an implementation of the methods shown in the above figures, the present invention provides some embodiments of a loader reversing process control system based on working condition identification. These system embodiments are similar to Figure 1 Corresponding to the method embodiments shown in or 2, the system can be specifically applied to various electronic devices.

[0065] like Figure 3 As shown, some embodiments of the loader reversing process control system based on working condition identification include: working condition identification unit 101, calculation unit 102, and adjustment unit 103. Among them, the working condition identification unit 101 is used to determine whether it is in the reversing state according to whether the actual driving direction is consistent with the required driving direction, and to determine whether it is in the high-speed reversing state according to whether the actual engine speed is greater than the first preset value; the calculation unit 102 is used to calculate the ideal deceleration according to the actual vehicle speed and the required vehicle speed when the loader is in the reversing state and the actual engine speed is greater than the first preset value, and calculate the ideal engine speed change rate according to the ideal deceleration; the adjustment unit 103 is used to adjust the actual engine speed according to the ideal engine speed change rate calculated by the calculation unit, until the difference between the actual engine speed and the required speed at the current moment for k consecutive program operation cycles is less than the first threshold value; wherein k is a pre-set positive integer.

[0066] It is understood that the units recorded in this system are similar to those in the reference Figure 1 Therefore, the operations, features and beneficial effects described above for the method are also applicable to the system and the units contained therein, and will not be described in detail here.

[0067] Example 4

[0068] A loader comprises the loader reversing process control system.

[0069] The present application is described with reference to the flowcharts and / or block diagrams of the methods, systems and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0070] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0071] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0072] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A loader reversing method based on working condition identification, characterized in that: The steps include: S1, judging whether the loader is in a reversing state according to whether the actual driving direction and the required driving direction are consistent, if so, proceeding to step S2; S2, comparing the actual engine speed with a first preset value, if the actual engine speed is greater than the first preset value, proceeding to step S3; S3, calculating an ideal deceleration according to the actual vehicle speed and the required vehicle speed, and calculating an ideal engine speed change rate according to the ideal deceleration; S4, adjusting the actual engine speed according to the ideal engine speed change rate calculated in step S3, until the difference between the actual engine speed for k consecutive program operation cycles and the required speed at the current moment is less than a first threshold value; wherein k is a pre-set positive integer.

2. The loader reversing method according to claim 1, characterized in that: The required driving direction is obtained based on the driver's operation and / or the current working mode.

3. The loader reversing method according to claim 1, characterized in that: The ideal deceleration is calculated according to the actual vehicle speed and the required vehicle speed by a PID closed-loop calculation method.

4. The loader reversing method according to claim 1, characterized in that: The ideal engine speed change rate is calculated based on the ideal deceleration, including: Using the formula Obtaining the ideal engine speed change rate, Where t is time, is the ideal engine speed change rate, is the ideal deceleration, is the total transmission ratio.

5. The loader reversing method according to claim 4, characterized in that: Using the formula Get the total transmission ratio, in, is the actual vehicle speed, is the actual engine speed.

6. The loader reversing method according to claim 1, characterized in that: The steps for adjusting the actual engine speed include: The required speed that the engine should reach in the next program operation cycle is calculated according to the actual engine speed and the ideal engine speed change rate, and the actual engine speed is controlled to decrease to the required speed within a program operation cycle.

7. The loader reversing method according to claim 6, characterized in that: The step of calculating the required speed that the engine should reach in the next program operation cycle according to the actual engine speed and the ideal engine speed change rate specifically includes: Using the formula Get the required speed that the engine should reach in the next program operation cycle, in, is the required engine speed, is the ideal engine speed change rate, is the program running cycle, t1 is the current time, and t2 is the time of the next program running cycle after t1.

8. The loader reversing method according to any one of claims 1 to 7, characterized in that: The loader reversing method also includes: S5, controlling the actual engine speed to be adjusted to a second preset value within a first time interval.

9. A loader reversing control system based on working condition identification, characterized in that: include: A working condition identification unit, used to determine whether the vehicle is in a reversing state according to whether the actual driving direction is consistent with the required driving direction, and to determine whether the vehicle is in a high-speed reversing state according to whether the actual engine speed is greater than a first preset value; a calculation unit, configured to calculate an ideal deceleration according to the actual vehicle speed and the required vehicle speed, and calculate an ideal engine speed change rate according to the ideal deceleration when the loader is in a reversing state and the actual engine speed is greater than the first preset value; An adjustment unit is used to adjust the actual engine speed according to the ideal engine speed change rate calculated by the calculation unit until the difference between the actual engine speed for k consecutive program operation cycles and the required speed at the current moment is less than a first threshold value; wherein k is a pre-set positive integer.

10. The loader reversing control system according to claim 9, characterized in that: The calculation unit uses the formula , To obtain the ideal engine speed change rate, Where t is time, is the ideal engine speed change rate, is the ideal deceleration, is the total transmission ratio.

11. The loader reversing control system according to claim 10, characterized in that: The calculation unit uses the formula Get the total transmission ratio, in, is the actual vehicle speed, is the actual engine speed, is the total transmission ratio.

12. The loader reversing control system according to claim 9, characterized in that: When the adjustment unit adjusts the actual engine speed, The required speed that the engine should reach in the next program operation cycle is calculated based on the actual engine speed and the ideal engine speed change rate, and the actual engine speed is controlled to decrease to the required speed within a program operation cycle.

13. The loader reversing control system according to claim 12, characterized in that: When the adjustment unit calculates the required speed that the engine should reach in the next program operation cycle according to the actual engine speed and the ideal engine speed change rate, Using the formula , To obtain the required speed that the engine should reach in the next program operation cycle, in, is the required engine speed, is the program running cycle, t1 is the current time, and t2 is the time of the next program running cycle after t1.

14. A loader, characterized in that: It comprises a loader reversing control system as described in any one of claims 9-13.

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