Loader Commutation Method, Control System and Loader Based on Working Condition Identification

Abstract

The present application provides a loader commutation method, a control system and a loader based on working condition recognition, relating to the field of loader steering control. The loader commutation method includes: judging whether it is in a commutation state according to whether the actual driving direction of the loader is the same as the required driving direction; if so, comparing the actual engine speed with a first preset value; if the actual engine speed is greater than the first preset value, 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; adjusting the actual engine speed according to the calculated ideal engine speed change rate until the difference between the actual engine speed in k consecutive program operation cycles and the required speed at the current moment is less than a first threshold. The loader commutation method provided by the present invention can make the commutation process smoother and can be dynamically adjusted.

Description

Technical Field

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

[0002] A loader is a construction equipment mainly for shoveling and loading materials. The operation cycle of a loader includes: moving forward to insert materials, shoveling, changing the driving direction (i.e., reversing) and leaving the material pile, approaching a vehicle / target material pile for unloading after reversing, reversing back to the starting position, and moving forward in reverse to prepare for the second round of shoveling operation, etc., a total of 6 stages. A loader operation cycle includes four reversing processes, and the reversing operation is frequent; and in order to improve the loader operation efficiency, the reversing operation mostly occurs at a relatively high vehicle speed. However, for a loader using a hydrostatic system, due to the inherent lag characteristics of the hydraulic system itself, there is often a problem of slow response when changing the direction, which in turn 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] To solve the loader reversing efficiency problem, CN114233842A discloses a loader high-speed reversing process control method and system, including: obtaining a shift lever operation signal and a rotational speed sensor signal, the shift lever operation signal including: a whole machine start signal, a driving direction change signal and a gearbox gear change signal, and the rotational speed sensor signal including: rotational speed signals of each shaft inside the gearbox; determining the operating state of the gearbox according to the shift lever operation signal and the rotational speed sensor signal; and operating a clutch control solenoid valve according to a pre-determined reversing gear shift strategy to control the clutch engagement oil pressure and perform reversing process control. This solution still has the following defects: 1. Using the gear shift method to passively reduce the rotational speed of the loader output shaft, the change mode of the rotational speed is a sudden change mode generated by multiple gear shifts, and the driver will feel an obvious sense of jerk, and the jitter caused by the sudden change of the loader vehicle speed will be amplified when loading materials, reducing the safety and stability of the whole machine and increasing the failure rate of the equipment. 2. Limited by the gear settings of the loader, there is a speed reduction efficiency threshold for passively reducing the rotational speed of the loader output shaft by gear shift, and the reversing time cannot be further reduced after reaching the threshold. 3. There are different states such as full load and no load in the loader operation cycle, and the parameters such as vehicle weight and center of gravity are quite different in different states. Only through gear shift, it is impossible to adjust to adapt to different working conditions and operating habits, and it is impossible to achieve the best reversing efficiency.

[0004] Therefore, there is an urgent need to develop a new loader reversing method, control system and loader to solve the current defects and deficiencies. Summary of the Invention

[0005] The content part of the present invention is used to briefly introduce concepts, which will be described in detail in the following detailed implementation part. The content part of this disclosure is not intended to identify the key features or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.

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

[0007] To achieve the above object, as the first aspect of the present invention, a loader commutation method based on working condition recognition is proposed, including the following steps:

[0008] S1, determine whether it is in the commutation state according to whether the actual driving direction of the loader is consistent with the required driving direction. If so, enter step S2;

[0009] S2, compare the actual engine speed with a first preset value. If the actual engine speed is greater than the first preset value, enter step S3;

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

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

[0012] As the second aspect of the present invention, a loader commutation control system based on working condition recognition is also proposed, including:

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

[0014] A calculation unit, which is used to calculate the ideal deceleration according to the actual vehicle speed and the required vehicle speed and calculate the ideal engine speed change rate according to the ideal deceleration when the loader is in the commutation state and the actual engine speed is greater than the first preset value;

[0015] An adjustment unit is configured to adjust the actual engine speed according to the calculated ideal engine speed change rate of the calculation unit until the difference between the actual engine speed in consecutive k program operation cycles and the required speed at the current moment is less than a first threshold; where k is a preset positive integer.

[0016] As a third aspect of the present invention, a loader is further proposed, which includes the loader commutation control system as described above.

[0017] Based on the above technical solutions, the loader commutation 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. By real-time monitoring of key parameters such as the commutation state, deceleration and engine speed of the loader, the present invention can intelligently identify the commutation timing and dynamically adjust the engine speed accordingly. On the basis of shortening the commutation time, the key parameters change smoothly during the high-speed commutation process, the whole vehicle commutation process is more stable, the sense of jerk felt by the driver 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 commutation process, the system will automatically reduce the engine speed, reduce the output flow of the hydraulic pump, reduce the oil flow resistance, reduce the pressure fluctuation, enable the commutation valve to respond to the commutation command faster, and improve the commutation speed. At the same time, the commutation time is shortened, the time loss caused by hysteresis is reduced, and the working efficiency of the loader is significantly improved.

[0020] 3. This method also has self-adaptability, which can dynamically adjust the engine speed according to different working modes and operating habits, achieve the best commutation efficiency, reduce energy consumption, and extend the equipment life. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0022] Figure 1 is a flowchart of some embodiments of the loader commutation method based on working condition recognition of the present invention;

[0023] Figure 2 is a flowchart of other embodiments of the loader commutation method based on working condition recognition of the present invention;

[0024] Figure 3 is a schematic diagram of some embodiments of the loader commutation control system based on working condition recognition of the present invention. Detailed implementation manners

[0025] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the following further elaborates on the present invention in detail with reference to specific embodiments and 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", "the" and "said" used in the embodiments of the present invention and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0027] Due to the inherent hysteresis characteristics of the hydraulic system itself in the prior art, there is often a problem of slow response during direction conversion, which further leads to the inability to reduce the commutation time while maintaining stability during the entire commutation process. After in-depth research, it is found that real-time monitoring of key parameters such as the commutation state, deceleration, and engine speed of the loader, intelligent identification of the commutation timing, and dynamic adjustment of the engine speed accordingly can make the vehicle commutation process smoother, reduce the sense of jerk felt by the driver, improve the safety and stability of the whole machine, and reduce the failure rate of the equipment. Therefore, the present application proposes a loader commutation method, control system, and loader based on working condition recognition.

[0028] The following will further elaborate on the present invention through specific embodiments. It should be noted that the following embodiments are only illustrative and not used to limit the present invention. Based on the embodiments shown below of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the embodiments of the present invention.

[0029] Embodiment 1

[0030] Refer to Figure 1 , which shows a flowchart of some embodiments of the loader commutation method based on working condition recognition according to the present invention. The loader commutation method includes the following steps:

[0031] Step S1, determine whether it is in a commutation state according to whether the actual driving direction of the loader is consistent with the required driving direction. If so, enter 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 the shift lever, or can be obtained according to the driver's commutation 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 according to the driver's operation and the current working mode. As an example, the required driving direction can be obtained by selecting and inputting according to the currently selected pre-stored semi-automatic working mode and the steps of 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 preset according to parameters such as the self-weight, load, horsepower, and engine torque of the loader to determine whether it is a high-speed commutation condition, or the driver can pre-adjust and set the first preset value through actual operation.

[0037] S3. Calculate the ideal deceleration according to the actual vehicle speed and the required vehicle speed, and calculate the 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 commutation process can be preset according to parameters such as the vehicle self-weight, load, horsepower, engine torque, required commutation time, and no-load or full-load condition, or the required vehicle speed during the commutation process under different working conditions can be set according to 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 PID closed-loop calculation.

[0041] S4. Adjust the actual engine speed according to the ideal engine speed change rate calculated in step S3 until the difference between the actual engine speed and the required engine speed at the current moment is less than a first threshold for k consecutive program operation cycles; where k is a preset 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 to obtain the total transmission ratio,

[0045] where, is the actual vehicle speed, is the actual engine speed, is the overall gear 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 according to the change rate of the actual engine speed and the ideal engine speed, and control the actual engine speed to decrease to the required speed within one 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 operation cycle, t1 is the current moment, and t2 is the moment of the next program operation cycle of t1.

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

[0050] One of the beneficial effects of the above-mentioned Embodiment 1 of the present invention is as follows:

[0051] 1. By real-time monitoring of key parameters such as the commutation state, deceleration, and engine speed of the loader, the present invention can intelligently identify the commutation timing and dynamically adjust the engine speed accordingly. On the basis of shortening the commutation time, the key parameters change smoothly during the high-speed commutation process, the whole vehicle commutation process is more stable, the sense of jerk felt by the driver 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 commutation process, the system will automatically reduce the engine speed, reduce the output flow of the hydraulic pump, reduce the oil flow resistance, reduce the pressure fluctuation, enable the commutation valve to respond to the commutation command faster, and improve the commutation speed. At the same time, the commutation time is shortened, the time loss caused by hysteresis is reduced, and the working efficiency of the loader is significantly improved.

[0053] 3. This method also has self-adaptability, can dynamically adjust the engine speed according to different working conditions and operating habits, achieve the best commutation efficiency, reduce energy consumption, and extend the service life of the equipment.

[0054] Embodiment 2

[0055] Such as Figure 2, Embodiment 2 further includes step S5 on the basis of Embodiment 1, controlling the actual engine speed to be adjusted to a second preset value within a first time interval.

[0056] It should be noted that in the reversing operation, usually by controlling the hydraulic valve, the relative directions of the input and output of the transmission gears are changed, so as to realize vehicle reversing. In this setting, it is not necessary to reduce the engine speed to 0 and then increase the speed in the reverse direction. Instead, when maintaining a certain engine speed, the direction change is carried out through the hydraulic unit.

[0057] As an example, the first time interval can be preset according to the reversing time requirement, comprehensively considering parameters such as the vehicle's own weight, load, horsepower, engine torque, required reversing time, no-load or full-load working conditions, etc., or the first time interval during the reversing process under different working conditions can 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 preset according to the reverse acceleration requirement, comprehensively considering parameters such as the vehicle's own weight, load, horsepower, engine torque, required reversing time, no-load or full-load working conditions, etc., or the second preset value during the reversing process under different working conditions can be set according to the pre-stored automatic working mode or semi-automatic working mode.

[0059] One of the beneficial effects of the above-mentioned Embodiment 2 of the present invention is as follows:

[0060] 1. By real-time monitoring of key parameters such as the reversing state, deceleration, and engine speed of the loader, the present invention intelligently identifies the reversing timing and dynamically adjusts the engine speed accordingly. On the basis of shortening the reversing time, the key parameters during the high-speed reversing process change smoothly, the whole vehicle reversing process is more stable, the sense of jerk felt by the driver 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, reduce the pressure fluctuation, enable the reversing valve to respond to the reversing command faster, and improve the reversing speed. At the same time, the reversing time is shortened, the time loss caused by hysteresis is reduced, and the working efficiency of the loader is significantly improved.

[0062] 3. This method also has self-adaptability, can dynamically adjust the engine speed according to different working conditions and operating habits, achieve the best reversing efficiency, reduce energy consumption, and extend the service life of the equipment.

[0063] Embodiment 3

[0064] Further refer to Figure 3, as an implementation of the methods shown in the respective figures, the present invention provides some embodiments of a loader commutation process control system based on working condition recognition. These system embodiments correspond to Figure 1 the method embodiments shown in FIG. 1 or FIG. 2, and this system can be specifically applied to various electronic devices.

[0065] As shown in Figure 3 , some embodiments of the loader commutation process control system based on working condition recognition include: a working condition recognition unit 101, a calculation unit 102, and an adjustment unit 103. Among them, the working condition recognition unit 101 is used to judge whether it is in a commutation state according to whether the actual driving direction is consistent with the required driving direction, and judge whether it is in a high-speed commutation state according to whether the actual engine speed is greater than a first preset value; the calculation unit 102 is used to calculate an ideal deceleration according to the actual vehicle speed and the required vehicle speed when the loader is in a commutation state and the actual engine speed is greater than the first preset value, and calculate an 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 in k consecutive program operation cycles is less than a first threshold value; where k is a preset positive integer.

[0066] It can be understood that the various units described in this system correspond to the respective steps in the method described with reference to Figure 1 . Therefore, the operations, features, and beneficial effects described above for the method also apply to the system and the units included therein, and will not be repeated here.

[0067] Embodiment 4

[0068] A loader includes the loader commutation process control system described above.

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

[0070] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction means that implements the functions specified in one or more of the processes Figure 1 one or more processes and / or blocks Figure 1 specified in one or more of the blocks.

[0071] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more of the processes Figure 1 one or more processes and / or blocks Figure 1 specified in one or more of the blocks.

[0072] The foregoing is only a preferred embodiment of the present invention, and it should be noted that: for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A loader commutation method based on working condition recognition, characterized in that It includes the following steps: S1. Determine whether it is in a commutation state based on whether the actual driving direction of the loader is the same as the required driving direction. If so, go to step S2; S2. Compare the actual engine speed with a first preset value. If the actual engine speed is greater than the first preset value, go to step S3; wherein, the first preset value is preset according to the self-weight, load, horsepower, and engine torque parameters of the loader to determine whether it is a high-speed commutation condition; S3. Calculate the ideal deceleration according to the actual vehicle speed and the required vehicle speed, and calculate the ideal engine speed change rate according to the ideal deceleration; wherein, the required vehicle speed during the commutation process is preset according to the vehicle self-weight, load, horsepower, engine torque, required commutation time, no-load or full-load working condition parameters, or the required vehicle speed during the commutation process under different working conditions is set according to the pre-stored automatic working mode or semi-automatic working mode; S4. Adjust the actual engine speed according to the ideal engine speed change rate calculated in step S3 until the difference between the actual engine speed and the required speed at the current moment is less than a first threshold for k consecutive program operation cycles; wherein, k is a preset positive integer; S5. Control the actual engine speed to be adjusted to a second preset value within a first time interval. When maintaining a certain engine speed, perform a direction change through a hydraulic unit to achieve vehicle commutation; wherein, the second preset value is set according to the reverse acceleration requirement.

2. The loader commutation 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 commutation method according to claim 1, wherein, Calculate the ideal deceleration according to the actual vehicle speed and the required vehicle speed through a PID closed-loop calculation method.

4. The loader commutation method according to claim 1, wherein Calculating the ideal engine speed change rate according to the ideal deceleration specifically includes: Using the formula to obtain the ideal engine speed change rate where t is time, is the ideal engine speed change rate, and a is the ideal deceleration, is the overall transmission ratio.

5. The loader commutation method according to claim 4, wherein Using the formula to obtain the overall transmission ratio, Among them, is the actual vehicle speed, is the actual engine speed.

6. The loader commutation method according to claim 1, characterized in that, The step of adjusting the actual engine speed specifically includes: Calculate 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, and control the actual engine speed to be reduced to the required speed within one program operation cycle.

7. The loader commutation 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 obtain the required engine speed that should be achieved in the next program operation cycle Among them, is the required engine speed, is the ideal engine speed change rate, is the program operation cycle, t1 is the current moment, and t2 is the moment of the next program operation cycle after t1.

8. A loader reversing control system based on working condition recognition, characterized in that, It includes: A working condition identification unit for determining whether it is in a commutation state based on whether the actual driving direction is the same as the required driving direction, and determining whether it is in a high-speed commutation state according to whether the actual engine speed is greater than a first preset value; wherein, the first preset value is preset according to the self-weight, load, horsepower, and engine torque parameters of the loader to determine whether it is a high-speed commutation condition; A calculation unit, configured to calculate an ideal deceleration based on an actual vehicle speed and a required vehicle speed, and calculate an ideal engine speed change rate based on the ideal deceleration when the loader is in a reversing state and the actual engine speed is greater than the first preset value; wherein, the required vehicle speed during the reversing process is preset according to vehicle self-weight, load, horsepower, engine torque, required reversing time, no-load or full-load working condition parameters, or the required vehicle speed during the reversing process under different working conditions is set according to a pre-stored automatic working mode or semi-automatic working mode; An adjustment unit, configured 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 in k consecutive program operation cycles is less than a first threshold; wherein, k is a preset positive integer; The adjustment unit is further configured to control the actual engine speed to be adjusted to a second preset value within a first time interval, and perform a direction change through a hydraulic unit while maintaining a certain engine speed to achieve vehicle reversing; wherein, the second preset value is set according to the reverse acceleration requirement.

9. The loader reversing control system according to claim 8, 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, and a is the ideal deceleration, is the overall transmission ratio.

10. The loader reversing control system according to claim 9, wherein, The calculation unit uses the formula to obtain the overall transmission ratio. Among them, is the actual vehicle speed, is the actual engine speed, is the overall gear ratio.

11. The loader reversing control system according to claim 10, characterized in that, when the adjustment unit adjusts the actual engine speed, calculate 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, and control the actual engine speed to be reduced to the required speed within one program operation cycle.

12. The loader reversing control system according to claim 11, wherein, 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, Among them, is the required engine speed, is the program operation cycle, t1 is the current moment, and t2 is the moment of the next program operation cycle after t1.

13. A loader, characterized in that, including the loader reversing control system according to any one of claims 8-12.

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