Control method, device, and system for reducing impact of a loader implement

Abstract

This invention discloses a control method, device, and system for reducing the impact of a loader's working device. The method includes calculating the bucket angle, bucket cylinder length, and bucket angle limit based on the boom's rotation angle relative to the front frame and the rocker arm's rotation angle relative to the boom; calculating the bucket angular velocity and bucket cylinder extension / retraction speed based on the bucket angle and bucket cylinder length; calculating the bucket angle at the trigger control based on the bucket angle limit and the control domain length; triggering the control method when the bucket angle is less than or equal to the bucket angle at the trigger control; calculating the target bucket angular velocity and target bucket cylinder extension / retraction speed at different bucket angles based on the bucket angular velocity at the trigger time, the control domain length, and the bucket angular velocity at the time of collision; using the target bucket cylinder extension / retraction speed and the calculated bucket cylinder extension / retraction speed as inputs, and combining a closed-loop control algorithm, controlling the extension / retraction speed of the bucket cylinder to change the bucket angular velocity according to a set pattern. This invention can reduce the impact of the bucket caused by the collision between the boom and the bucket.

Description

Technical Field

[0001] This invention belongs to the field of loader control technology, specifically relating to a control method, device, and system for reducing the impact of loader working devices. Background Technology

[0002] The structure and performance of a loader's working device directly affect the machine's loading efficiency, workload, power, and motion characteristics. During operation, the boom and bucket achieve positional restraint through the impact of limit blocks, which can easily cause bucket impact, leading to structural deformation and affecting the service life of structural components and the working device's performance. Furthermore, since the entire working device is connected to the front frame via pins, this impact force is also transmitted to the entire machine through the front frame, thus affecting the driver's comfort.

[0003] Existing technologies typically reduce bucket impact by optimizing the structural dimensions of the working device or the valve port area of ​​the hydraulic valve. However, during operation, the boom and bucket still achieve positional limitation through the impact of limit blocks, which prevents the achievement of optimal results, and significant impact still occurs during operation. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a control method, device, and system for reducing the impact of a loader's working device. This method can significantly reduce the impact caused by the collision between the boom and the bucket during shoveling, thereby improving the stress conditions of structural components, enhancing their reliability, and improving the driver's operating comfort.

[0005] To achieve the above-mentioned technical objectives and effects, the present invention is implemented through the following technical solution:

[0006] In a first aspect, the present invention provides a control method for reducing the impact of a loader's working device, comprising:

[0007] Based on the obtained boom rotation angle relative to the front frame and rocker arm rotation angle relative to the boom, calculate the bucket angle and tipping cylinder length;

[0008] Based on the bucket angle and the tipping cylinder length, the bucket angular velocity and the tipping cylinder extension / retraction speed are calculated using the numerical differential method.

[0009] The corresponding lifting height is calculated based on the obtained boom rotation angle relative to the front frame, and the bucket angle limit value at that lifting height is also calculated.

[0010] Based on the bucket angle limit value and the pre-set control domain length, the bucket angle at which control is triggered is calculated.

[0011] When the bucket angle is less than or equal to the bucket angle when the control is triggered, the control method is triggered, and the target bucket angular velocity and target tipping cylinder extension speed are calculated based on the bucket angular velocity at the trigger time, the pre-set control domain length, and the bucket angular velocity when the bucket collides with the boom.

[0012] Using the target tipping cylinder extension speed and the calculated tipping cylinder extension speed as inputs, and combining a closed-loop control algorithm, the extension speed of the tipping cylinder is controlled by adjusting the drive current of the hydraulic valve, so that the bucket angular velocity changes in a set manner.

[0013] In conjunction with the first aspect, optionally, the calculation method for the bucket angle and the tipping cylinder length includes:

[0014] Obtain the boom rotation angle α1 relative to the front frame and the rocker arm rotation angle α2 relative to the boom;

[0015] Based on the obtained boom rotation angle α1 relative to the front frame and rocker arm rotation angle α2 relative to the boom, the bucket angle is calculated according to the kinematic principles of the working device. and the length of the tipping bucket .

[0016] In conjunction with the first aspect, optionally, the method for calculating the limit value of the bucket angle includes:

[0017] Based on the obtained boom rotation angle α1 relative to the front frame, the corresponding lifting height and the limit extension length of the tipper cylinder at that lifting height are calculated according to the kinematic principles of the working device. ;

[0018] Based on the maximum extension and retraction length of the tipping cylinder Calculate the limit value of the rocker arm's rotation angle relative to the boom. ;

[0019] Based on the limit value of the rotation angle of the rocker arm relative to the boom Calculate the limit value of the bucket angle according to the kinematic principle of the working device. .

[0020] In conjunction with the first aspect, optionally, AB is defined as the bucket, BC as the tie rod, CDE as the rocker arm, ADIF as the boom, GHI as the front frame, EG as the tipper cylinder, and FH as the boom cylinder; the limit extension / retraction length of the tipper cylinder is used as described above. Calculate the limit value of the rocker arm's rotation angle relative to the boom. ,include:

[0021] When the tipping cylinder reaches its maximum extension length Greater than or equal to the minimum length L of the tipping cylinder CylTiltMin When calculating the rocker arm's rotation angle limit relative to the boom, the following formula is used. :

[0022] ;

[0023] Where, α 2,min This represents the minimum rotation angle of the rocker arm relative to the boom;

[0024] When the tipping cylinder reaches its maximum extension length Less than the minimum length of the tipping bucket When calculating the rocker arm's rotation angle limit relative to the boom, the following formula is used. :

[0025] ;

[0026] ;

[0027] in, L is the angle between the line connecting hinge points D and E at the minimum tipping cylinder length and the line connecting hinge points D and G; DE L is the distance between hinge points D and E; DG ∠ADI is the distance between hinge points D and G; ∠ADI is the angle between the line connecting hinge points A and D and the line connecting hinge points D and I; ∠GDI is the angle between the line connecting hinge points D and G and the line connecting hinge points D and I; ∠CDE is the angle between the line connecting hinge points C and D and the line connecting hinge points D and E.

[0028] In conjunction with the first aspect, optionally, the bucket angle during the trigger control is calculated using the following formula:

[0029] ;

[0030] in, To trigger the control of the bucket angle, This represents the limit value of the bucket angle. The length of the control domain is preset.

[0031] In conjunction with the first aspect, optionally, the target bucket angular velocity at different bucket angles is calculated using the following formula:

[0032] Based on the bucket angular velocity at the trigger moment, the pre-set control domain length, and the bucket angular velocity at the moment of collision between the bucket and the boom, the bucket angle is calculated using the following formula: Target bucket angular velocity at time:

[0033] ;

[0034] in, The bucket angle is equal to The target bucket angular velocity at that time, The bucket angular velocity at the moment of triggering The bucket angular velocity is the preset value when the bucket collides with the boom.

[0035] In conjunction with the first aspect, optionally, the method for calculating the target tipping cylinder extension / retraction speed at different bucket angles includes:

[0036] Based on the target bucket angular velocity The target tipping cylinder extension / retraction speed is calculated using the following formula:

[0037] ;

[0038] in, The bucket angle is equal to The target tipping cylinder extension and retraction speed is K, which is a coefficient related to the structural dimensions of the working device.

[0039] Secondly, the present invention provides a control device for reducing the impact of a loader's working device, comprising:

[0040] The first calculation module is used to calculate the bucket angle and the tipping cylinder length based on the obtained boom rotation angle relative to the front frame and rocker arm rotation angle relative to the boom.

[0041] The second calculation module is used to calculate the bucket angular velocity and the tipping cylinder extension / retraction speed based on the bucket angle and the tipping cylinder length, combined with the numerical differential method.

[0042] The third calculation module is used to calculate the corresponding lifting height based on the obtained boom rotation angle relative to the front frame, and to calculate the limit value of the bucket angle at that lifting height.

[0043] The fourth calculation module is used to calculate the bucket angle when the control is triggered based on the bucket angle limit value and the pre-set control domain length.

[0044] The fifth calculation module is used to trigger the control method when the bucket angle is less than or equal to the bucket angle when the trigger control is activated, and to calculate the target bucket angular velocity and target tipping cylinder extension speed under different bucket angles based on the bucket angular velocity at the trigger time, the pre-set control domain length, and the bucket angular velocity when the bucket collides with the boom.

[0045] The control module is used to control the extension and retraction speed of the bucket cylinder by taking the target extension and retraction speed of the bucket cylinder and the calculated extension and retraction speed of the bucket cylinder as inputs, and combining the closed-loop control algorithm to adjust the drive current of the hydraulic valve, so that the bucket angular velocity changes in a set manner.

[0046] Thirdly, the present invention provides a control system for reducing the impact of a loader's working device, including a storage medium and a processor;

[0047] The storage medium is used to store instructions;

[0048] The processor is configured to operate according to the instructions to perform the method according to any one of the first aspects.

[0049] Fourthly, the present invention provides a control system for reducing the impact of a loader's working device, comprising:

[0050] The first angle sensor is used to collect the rotation angle of the boom relative to the frame;

[0051] The second angle sensor is used to collect the rotation angle of the rocker arm relative to the boom.

[0052] The controller, connected to the first angle sensor and the second angle sensor, performs the following operations:

[0053] Based on the obtained boom rotation angle relative to the front frame and rocker arm rotation angle relative to the boom, calculate the bucket angle and tipping cylinder length;

[0054] Based on the bucket angle and the tipping cylinder length, the bucket angular velocity and the tipping cylinder extension / retraction speed are calculated using the numerical differential method.

[0055] The corresponding lifting height is calculated based on the obtained boom rotation angle relative to the front frame, and the bucket angle limit value at that lifting height is also calculated.

[0056] Based on the bucket angle limit value and the pre-set control domain length, the bucket angle at which control is triggered is calculated.

[0057] When the bucket angle is less than or equal to the bucket angle when the control is triggered, the control method is triggered, and the target bucket angular velocity and target tipping cylinder extension speed are calculated based on the bucket angular velocity at the trigger time, the pre-set control domain length, and the bucket angular velocity when the bucket collides with the boom.

[0058] Using the target tipping cylinder extension speed and the calculated tipping cylinder extension speed as inputs, and combining a closed-loop control algorithm, the extension speed of the tipping cylinder is controlled by adjusting the drive current of the hydraulic valve, so that the bucket angular velocity changes in a set manner.

[0059] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0060] Compared to existing technologies, this invention calculates the bucket angle and tipper cylinder length based on the obtained boom rotation angle relative to the front frame and rocker arm rotation angle relative to the boom. Based on the bucket angle and tipper cylinder length, and using numerical differentiation methods, it calculates the bucket angular velocity and tipper cylinder extension / retraction speed. It calculates the corresponding lifting height based on the obtained boom rotation angle relative to the front frame and calculates the bucket angle limit value at that lifting height. Based on the bucket angle limit value and a pre-set control domain length, it calculates the bucket angle at which control is triggered. When the bucket angle is less than or equal to the bucket angle at which control is triggered, the control method is triggered. Based on the bucket angular velocity at the trigger moment, the pre-set control domain length, and the bucket angular velocity when the bucket collides with the boom, it calculates the target bucket angular velocity and target tipper cylinder extension / retraction speed at different bucket angles. Using the target tipper cylinder extension / retraction speed and the calculated tipper cylinder extension / retraction speed as inputs, and combining a closed-loop control algorithm, it controls the extension / retraction speed of the tipper cylinder by adjusting the drive current of the hydraulic valve, causing the bucket angular velocity to change according to a set pattern. This invention can greatly reduce the impact caused by the collision between the boom and the bucket during bucket operation. It can not only improve the stress conditions of the structural components and help improve the reliability of the structural components, but also improve the operator's comfort. Attached Figure Description

[0061] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the 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, wherein:

[0062] Figure 1 This is a schematic diagram of a control method for reducing the impact of a loader's working device according to an embodiment of the present invention;

[0063] Figure 2 This is a schematic diagram of the buffer process of the unloading operation of a loader working device according to an embodiment of the present invention. Detailed Implementation

[0064] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0065] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0066] Example 1

[0067] This invention provides a control method for reducing the impact on the working device of a loader. This control method is applicable to situations where the boom's rotation angle α1 relative to the front frame remains constant, while the rocker arm's rotation angle α2 relative to the boom continuously changes. In specific implementation, the control method is applied to a controller and includes the following steps:

[0068] (1) Calculate the bucket angle based on the obtained boom rotation angle α1 relative to the front frame and rocker arm rotation angle α2 relative to the boom. and the length of the tipping bucket ;

[0069] (2) Based on the bucket angle and the length of the tipping bucket By combining numerical differential methods, the bucket angular velocity and the tipping cylinder extension / retraction speed are calculated. The bucket angular velocity and the tipping cylinder extension / retraction speed are mentioned. The calculation can be implemented using existing technologies, therefore, it will not be described in detail in the embodiments of the present invention;

[0070] (3) Calculate the corresponding lifting height based on the obtained boom rotation angle α1 relative to the front frame, and calculate the limit value of the bucket angle at this lifting height. ;

[0071] (4) Based on the stated bucket angle limit value Combined with the pre-set control domain length Calculate the bucket angle when triggering control. ;

[0072] (5) When the bucket angle is Bucket angle less than or equal to the angle at which control is triggered ,Right now ≤ If the control method is triggered, the control will be determined based on the bucket angular velocity at the trigger time (the trigger time refers to the moment when the control method is triggered) and the pre-set control domain length. The angular velocity of the bucket when the bucket collides with the boom Calculate the target bucket angular velocity at different bucket angles. and the extension / retraction speed of the target tipping cylinder In the specific implementation process, the pre-set control domain length The angular velocity of the bucket when the bucket collides with the boom The value of can be set according to actual needs, and its specific value is not limited in this embodiment of the invention;

[0073] (6) Based on the target tipping cylinder extension and retraction speed The calculated extension and retraction speed of the tipping cylinder Using the input as input and combining it with a closed-loop control algorithm, the extension and retraction speed V of the tipping cylinder is controlled by adjusting the drive current I of the hydraulic valve. CylTilt This causes the bucket angular velocity to change according to a set pattern. In specific implementation, the closed-loop control algorithm is based on the target tipping cylinder extension / retraction speed. and the calculated extension and retraction speed of the tipping cylinder The control error e is calculated, and the driving current I of the hydraulic valve is calculated based on the control error e. The calculation process is different for different closed-loop control algorithms. Any existing closed-loop algorithm can be used here, such as fuzzy control or PID.

[0074] The control method in this embodiment of the invention can greatly reduce the impact caused by the collision between the boom and the bucket during bucket operation. It can not only improve the stress conditions of the structural components and help improve the reliability of the structural components, but also improve the operator's comfort.

[0075] In one specific embodiment of the present invention, the bucket angle and the length of the tipping bucket The calculation methods include:

[0076] The boom rotation angle α1 relative to the front frame and the rocker arm rotation angle α2 relative to the boom are obtained. In the specific implementation process, the boom rotation angle α1 relative to the front frame and the rocker arm rotation angle α2 relative to the boom can be acquired in real time by the first angle sensor and the second angle sensor, respectively.

[0077] Based on the obtained boom rotation angle α1 relative to the front frame and rocker arm rotation angle α2 relative to the boom, the bucket angle is calculated according to the kinematic principles of the working device. and the length of the tipping bucket In the specific implementation process, the kinematic model of the working device can be used to calculate the bucket angle. and the length of the tipping bucket .

[0078] In one specific embodiment of the present invention, the bucket angle limit value The calculation methods include:

[0079] Based on the obtained boom rotation angle α1 relative to the front frame, the corresponding lifting height and the limit extension length of the tipper cylinder at that lifting height are calculated according to the kinematic principles of the working device. The kinematic principle of the working device is existing technology; in specific implementation, a kinematic model of the working device can be used to calculate the corresponding lifting height, and the limit extension length of the tipping cylinder at that lifting height. .

[0080] Based on the maximum extension and retraction length of the tipping cylinder Calculate the limit value of the rocker arm's rotation angle relative to the boom. ;

[0081] Based on the limit value of the rotation angle of the rocker arm relative to the boom Calculate the limit value of the bucket angle according to the kinematic principle of the working device. In practical implementation, the kinematic model of the working device can be used to calculate the limit value of the bucket angle. .

[0082] In one specific embodiment of the present invention, such as Figure 2 As shown, AB is defined as the bucket, BC as the tie rod, CDE as the rocker arm, ADIF as the boom, GHI as the front frame, EG as the tipper cylinder, and FH as the boom cylinder; the description is based on the limit extension length of the tipper cylinder. Calculate the limit value of the rocker arm's rotation angle relative to the boom. ,include:

[0083] When the tipping cylinder reaches its maximum extension length Greater than or equal to the minimum length L of the tipping cylinder CylTiltMin When calculating the rocker arm's rotation angle limit relative to the boom, the following formula is used. :

[0084] ;

[0085] Where, α 2,min This represents the minimum rotation angle of the rocker arm relative to the boom;

[0086] When the tipping cylinder reaches its maximum extension length Less than the minimum length of the tipping bucket When calculating the rocker arm's rotation angle limit relative to the boom, the following formula is used. :

[0087] ;

[0088] ;

[0089] in, L is the angle between the line connecting hinge points D and E at the minimum tipping cylinder length and the line connecting hinge points D and G; DE L is the distance between hinge points D and E; DG ∠ADI is the distance between hinge points D and G; ∠ADI is the angle between the line connecting hinge points A and D and the line connecting hinge points D and I; ∠GDI is the angle between the line connecting hinge points D and G and the line connecting hinge points D and I; ∠CDE is the angle between the line connecting hinge points C and D and the line connecting hinge points D and E.

[0090] In one specific embodiment of the present invention, such as Figure 2 As shown, the bucket angle is triggered during the control. The following formula is used to calculate:

[0091] ;

[0092] in, To trigger the control of the bucket angle, This represents the limit value of the bucket angle. The length of the pre-defined control domain. This design enables buffering during unloading.

[0093] In one specific embodiment of the present invention, the target bucket angular velocity at different bucket angles is calculated using the following formula:

[0094] Based on the bucket angular velocity at the trigger moment, the pre-set control domain length, and the bucket angular velocity when the loader's working device impacts the device, the bucket angle is calculated using the following formula: Target bucket angular velocity at time :

[0095] ;

[0096] in, The bucket angle is equal to The target bucket angular velocity at that time, The bucket angular velocity at the moment of triggering The angular velocity of the bucket when the loader's working device experiences an impact.

[0097] In one specific embodiment of the present invention, the method for calculating the target tipping cylinder extension / retraction speed at different bucket angles includes:

[0098] Based on the target bucket angular velocity The target tipping cylinder extension / retraction speed is calculated using the following formula:

[0099] ;

[0100] in, The bucket angle is equal to The target tipping cylinder extension and retraction speed is K, which is a coefficient related to the structural dimensions of the working device.

[0101] Example 2

[0102] This invention provides a control device for reducing the impact of a loader's working device, comprising:

[0103] The first calculation module is used to calculate the bucket angle and the tipping cylinder length based on the obtained boom rotation angle relative to the front frame and rocker arm rotation angle relative to the boom.

[0104] The second calculation module is used to calculate the bucket angular velocity and the tipping cylinder extension / retraction speed based on the bucket angle and the tipping cylinder length, combined with the numerical differential method.

[0105] The third calculation module is used to calculate the corresponding lifting height based on the obtained boom rotation angle relative to the front frame, and to calculate the limit value of the bucket angle at that lifting height.

[0106] The fourth calculation module is used to calculate the bucket angle when the control is triggered based on the bucket angle limit value and the pre-set control domain length.

[0107] The fifth calculation module is used to trigger the control method when the bucket angle is less than or equal to the bucket angle when the trigger control is activated, and to calculate the target bucket angular velocity and target tipping cylinder extension speed under different bucket angles based on the bucket angular velocity at the trigger time, the pre-set control domain length, and the bucket angular velocity when the bucket collides with the boom.

[0108] The control module is used to control the extension and retraction speed of the bucket cylinder by taking the target extension and retraction speed of the bucket cylinder and the calculated extension and retraction speed of the bucket cylinder as inputs, and combining the closed-loop control algorithm to adjust the drive current of the hydraulic valve, so that the bucket angular velocity changes in a set manner.

[0109] The rest are the same as in Example 1.

[0110] Example 3

[0111] This invention provides a control system for reducing the impact of a loader's working device, including a storage medium and a processor;

[0112] The storage medium is used to store instructions;

[0113] The processor is configured to operate according to the instructions to execute the method according to any one of Embodiment 1.

[0114] Example 4

[0115] This invention provides a control system for reducing the impact on the working device of a loader, comprising:

[0116] The first angle sensor is used to collect the rotation angle α1 of the boom relative to the frame;

[0117] The second angle sensor is used to collect the rotation angle α2 of the rocker arm relative to the boom.

[0118] The controller, connected to the first angle sensor and the second angle sensor, performs the following operations:

[0119] Based on the obtained boom rotation angle α1 relative to the front frame and rocker arm rotation angle α2 relative to the boom, the bucket angle is calculated. and the length of the tipping bucket ;

[0120] According to the bucket angle and the length of the tipping bucket By combining numerical differential methods, the bucket angular velocity and the tipping cylinder extension / retraction speed are calculated. The bucket angular velocity and the tipping cylinder extension / retraction speed are mentioned. The calculations can be performed using existing technologies;

[0121] The lifting height is calculated based on the obtained boom rotation angle α1 relative to the front frame, and the limit value of the bucket angle at this lifting height is also calculated. ;

[0122] According to the bucket angle limit value Combined with the pre-set control domain length Calculate the bucket angle when triggering control. ;

[0123] When the bucket angle Bucket angle less than or equal to the angle at which control is triggered ,Right now ≤ If the control method is triggered, the bucket angular velocity at the trigger time and the pre-set control domain length will be used. The bucket angular velocity when the bucket collides with the boom Calculate the target bucket angular velocity at different bucket angles. and the extension / retraction speed of the target tipping cylinder ;

[0124] With the target tipping cylinder extension and retraction speed The calculated extension and retraction speed of the tipping cylinder Using the input as input and combined with a closed-loop control algorithm, the extension and retraction speed V of the tipping cylinder is controlled by adjusting the drive current I of the hydraulic valve. CylTilt This causes the bucket angular velocity to change according to a set method.

[0125] The rest are the same as in Example 1.

[0126] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0127] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0128] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0129] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0130] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

[0131] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A control method for reducing the impact of a loader's working device, characterized in that, include: Based on the obtained boom rotation angle relative to the front frame and rocker arm rotation angle relative to the boom, calculate the bucket angle and tipping cylinder length; Based on the bucket angle and the tipping cylinder length, the bucket angular velocity and the tipping cylinder extension / retraction speed are calculated using the numerical differential method. The corresponding lifting height is calculated based on the obtained boom rotation angle relative to the front frame, and the bucket angle limit value at that lifting height is also calculated. Based on the bucket angle limit value and the pre-set control domain length, the bucket angle at which control is triggered is calculated; when the bucket angle is less than or equal to the bucket angle at which control is triggered, the control method is triggered, and based on the bucket angular velocity at the trigger time, the pre-set control domain length, and the bucket angular velocity when the bucket collides with the boom, the target bucket angular velocity and the target tipping cylinder extension / retraction speed at different bucket angles are calculated. Using the target tipping cylinder extension speed and the calculated tipping cylinder extension speed as inputs, and combined with a closed-loop control algorithm, the extension speed of the tipping cylinder is controlled by adjusting the drive current of the hydraulic valve, so that the bucket angular velocity changes in a set manner. The bucket angle during the trigger control is calculated using the following formula: i start =θ end -Dth; Where, θ start θ is the bucket angle when the control is triggered. end Δθ represents the limit value of the bucket angle, and Δθ is the pre-set length of the control domain. The target bucket angular velocity at different bucket angles is calculated using the following formula: Based on the bucket angular velocity at the trigger moment, the pre-set control domain length, and the bucket angular velocity at the moment of collision between the bucket and the boom, the bucket angle is calculated using the following formula, which equals θ. i Target bucket angular velocity at time: in, The bucket angle is equal to θ i The target bucket angular velocity at that time The bucket angular velocity at the moment of triggering The bucket angular velocity is the preset value when the bucket collides with the boom; The calculation method for the target tipping cylinder extension and retraction speed at different bucket angles includes: Based on the target bucket angular velocity The target tipping cylinder extension / retraction speed is calculated using the following formula: Among them, V obj The bucket angle is equal to θ i The target tipping cylinder extension and retraction speed is K, which is a coefficient related to the structural dimensions of the working device.

2. The control method for reducing the impact of a loader's working device according to claim 1, characterized in that: The calculation methods for the bucket angle and the tipping cylinder length include: Obtain the boom rotation angle α1 relative to the front frame and the rocker arm rotation angle α2 relative to the boom; Based on the obtained boom rotation angle α1 relative to the front frame and rocker arm rotation angle α2 relative to the boom, the bucket angle is calculated according to the kinematic principles of the working device. and the length of the tipping bucket 3. The control method for reducing the impact of a loader's working device according to claim 1, characterized in that: The method for calculating the limit value of the bucket angle includes: Based on the obtained boom rotation angle α1 relative to the front frame, the corresponding lifting height and the limit extension length L′ of the tipper cylinder at that lifting height are calculated according to the kinematic principle of the working device. CylTilt ; Based on the maximum extension / retraction length L′ of the tipping cylinder CylTilt Calculate the limit value of the rocker arm's rotation angle relative to the boom. Based on the limit value of the rotation angle of the rocker arm relative to the boom Calculate the limit value of the bucket angle θ according to the kinematic principle of the working device. end .

4. The control method for reducing the impact of a loader's working device according to claim 3, characterized in that: Define AB as the bucket, BC as the tie rod, CDE as the rocker arm, ADIF as the boom, GHI as the front frame, EG as the tipper cylinder, and FH as the boom cylinder; the following is based on the tipper cylinder's limit extension length L′. CylTilt Calculate the limit value of the rocker arm's rotation angle relative to the boom. include: When the maximum extension length L′ of the tipping cylinder CylTilt Greater than or equal to the minimum length L of the tipping cylinder CylTiltMin When calculating the rocker arm's rotation angle limit relative to the boom, the following formula is used. Where, α 2,min This represents the minimum rotation angle of the rocker arm relative to the boom; When the maximum extension length L′ of the tipping cylinder CylTilt Less than the minimum length L of the tipping bucket CylTiltMin When calculating the rocker arm's rotation angle limit relative to the boom, the following formula is used. Wherein, ∠EDG′ is the angle between the line connecting hinge points D and E at the minimum tipping cylinder length and the line connecting hinge points D and G; L DE L is the distance between hinge points D and E; DG ∠ADI is the distance between hinge points D and G; ∠ADI is the angle between the line connecting hinge points A and D and the line connecting hinge points D and I; ∠GDI is the angle between the line connecting hinge points D and G and the line connecting hinge points D and I; ∠CDE is the angle between the line connecting hinge points C and D and the line connecting hinge points D and E.

5. A control device for reducing the impact of a loader's working device, characterized in that, include: The first calculation module is used to calculate the bucket angle and the tipping cylinder length based on the obtained boom rotation angle relative to the front frame and rocker arm rotation angle relative to the boom. The second calculation module is used to calculate the bucket angular velocity and the tipping cylinder extension / retraction speed based on the bucket angle and the tipping cylinder length, combined with the numerical differential method. The third calculation module is used to calculate the corresponding lifting height based on the obtained boom rotation angle relative to the front frame, and to calculate the limit value of the bucket angle at that lifting height. The fourth calculation module is used to calculate the bucket angle when the control is triggered based on the bucket angle limit value and the pre-set control domain length. The fifth calculation module is used to trigger the control method when the bucket angle is less than or equal to the bucket angle at the trigger control. Based on the bucket angular velocity at the trigger time, the preset control domain length, and the bucket angular velocity when the bucket collides with the boom, it calculates the target bucket angular velocity and the target tipping cylinder extension speed at different bucket angles. The control module is used to take the target tipping cylinder extension speed and the calculated tipping cylinder extension speed as inputs, and combine them with a closed-loop control algorithm to control the extension speed of the tipping cylinder by adjusting the drive current of the hydraulic valve, so that the bucket angular velocity changes in a set manner. The bucket angle during the trigger control is calculated using the following formula: i start =θ end -Dth; Where, θ start θ is the bucket angle when the control is triggered. end Δθ represents the limit value of the bucket angle, and Δθ is the pre-set length of the control domain. The target bucket angular velocity at different bucket angles is calculated using the following formula: Based on the bucket angular velocity at the trigger moment, the pre-set control domain length, and the bucket angular velocity at the moment of collision between the bucket and the boom, the bucket angle is calculated using the following formula, which equals θ. i Target bucket angular velocity at time: in, The bucket angle is equal to θ i The target bucket angular velocity at that time The bucket angular velocity at the moment of triggering The bucket angular velocity is the preset value when the bucket collides with the boom; The calculation method for the target tipping cylinder extension and retraction speed at different bucket angles includes: Based on the target bucket angular velocity The target tipping cylinder extension / retraction speed is calculated using the following formula: Among them, V obj The bucket angle is equal to θ i The target tipping cylinder extension and retraction speed is K, which is a coefficient related to the structural dimensions of the working device.

6. A control system for reducing the impact of a loader's working device, characterized in that, Including storage media and processor; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the method according to any one of claims 1-4.

7. A control system for reducing the impact of a loader's working device, characterized in that, include: The first angle sensor is used to collect the rotation angle of the boom relative to the frame; The second angle sensor is used to collect the rotation angle of the rocker arm relative to the boom. The controller, connected to the first angle sensor and the second angle sensor, performs the following operations: Based on the obtained boom rotation angle relative to the front frame and rocker arm rotation angle relative to the boom, calculate the bucket angle and tipping cylinder length; Based on the bucket angle and the tipping cylinder length, the bucket angular velocity and the tipping cylinder extension / retraction speed are calculated using the numerical differential method. The corresponding lifting height is calculated based on the obtained boom rotation angle relative to the front frame, and the bucket angle limit value at that lifting height is also calculated. Based on the bucket angle limit value and the pre-set control domain length, the bucket angle at which control is triggered is calculated; when the bucket angle is less than or equal to the bucket angle at which control is triggered, the control method is triggered, and based on the bucket angular velocity at the trigger time, the pre-set control domain length, and the bucket angular velocity when the bucket collides with the boom, the target bucket angular velocity and the target tipping cylinder extension speed at different bucket angles are calculated. Using the target tipping cylinder extension speed and the calculated tipping cylinder extension speed as inputs, and combined with a closed-loop control algorithm, the extension speed of the tipping cylinder is controlled by adjusting the drive current of the hydraulic valve, so that the bucket angular velocity changes in a set manner. The bucket angle during the trigger control is calculated using the following formula: i start =θ end -Dth; Where, θ start θ is the bucket angle when the control is triggered. end Δθ represents the limit value of the bucket angle, and Δθ is the pre-set length of the control domain. The target bucket angular velocity at different bucket angles is calculated using the following formula: Based on the bucket angular velocity at the trigger moment, the pre-set control domain length, and the bucket angular velocity at the moment of collision between the bucket and the boom, the bucket angle is calculated using the following formula, which equals θ. i Target bucket angular velocity at time: in, The bucket angle is equal to θ i The target bucket angular velocity at that time The bucket angular velocity at the moment of triggering The bucket angular velocity is the preset value when the bucket collides with the boom; The calculation method for the target tipping cylinder extension and retraction speed at different bucket angles includes: Based on the target bucket angular velocity The target tipping cylinder extension / retraction speed is calculated using the following formula: Among them, V obj The bucket angle is equal to θ i The target tipping cylinder extension and retraction speed is K, which is a coefficient related to the structural dimensions of the working device.

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