Loader working device self-adaptive calibration method and device and loader

Abstract

The invention discloses a loader working device self-adaptive calibration method and device and a loader, and the method comprises the steps: responding to a confirmed self-adaptive calibration instruction, and outputting a control current to a designated working device according to a preset control curve; collecting the initial opening current when the specified working device starts to act from different set positions under the driving of the control current and the maximum current in the action process; and obtaining a calibrated control curve of the specified working device according to the initial opening current when the specified working device starts to act from different set positions, the maximum current in the action process and a set dead zone. According to the invention, self-adaptive calibration of the loader is realized, and the phenomenon of inconsistent control caused by various errors in a production link is eliminated; besides, by setting independent control logic, an automatic calibration process under different external environments is realized, and active open-loop control self-adaption of a program is realized, so that the controllability of the whole vehicle and the resistance and stability of external interference are enhanced.

Description

Technical Field

[0001] The present invention belongs to the technical field of loaders, and particularly relates to a method and device for self-adaptive calibration of a loader working device and a loader. Background Art

[0002] Traditional loaders have a simple structure and adopt an open-loop system for control. The control signal is input from the operator's joystick and transmitted to the controller in the form of an electrical signal. The controller transmits the electrical signal to the electro-hydraulic proportional valve, which converts the electrical signal into a pressure signal and transmits it to the multi-way valve. The multi-way valve controls the hydraulic cylinder to achieve the action. The open-loop system does not have a sensor for feedback on the position of the working device. Although the open-loop system has a simple structure, due to the lack of a feedback link, it has poor resistance to external interference, relatively low control accuracy, cannot be adjusted according to the state of the controlled object, and has poor stability. Since the closed-loop control has a complex structure, high cost, slow response speed, and difficult debugging, the control of the working device mostly adopts an open-loop control system.

[0003] In addition, the number of commercial products is large and the scale is huge. Manufacturing errors of parts in different batches and assembly errors of complete vehicles in different batches will all cause the control parameters to be slightly different. It is necessary to go through a manual calibration process to make up for various influences in the production process, but they are not completely eliminated. The complete machines calibrated by different people still have large differences. Summary of the Invention

[0004] To solve the deficiencies in the prior art, the present invention provides a method and device for self-adaptive calibration of a loader working device and a loader, which realizes the self-adaptive calibration of the loader, eliminates the control inconsistency phenomenon caused by various errors in the production process; in addition, by setting a separate control logic, the automatic calibration process under different external environments is realized, and the active open-loop control self-adaptation of the program is realized to enhance the vehicle handling performance, resistance to external interference and stability.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows: In a first aspect, a method for self-adaptive calibration of a loader working device is provided, including: in response to the confirmed self-adaptive calibration instruction, outputting a control current to a specified working device according to a preset control curve; collecting the initial opening current when the specified working device starts to move from different set positions and the maximum current during the movement under the drive of the control current; and obtaining the calibrated control curve of the specified working device according to the initial opening current when the specified working device starts to move from different set positions, the maximum current during the movement, and the set dead zone.

[0006] Further, before adaptive calibration, a self-check is also included, specifically: the whole vehicle gives a voice warning, prompting the driver to drive the whole vehicle to an open area before calibration, and prompting the passengers inside the vehicle to fasten their seat belts and the people outside the vehicle to stay away from the working device until the driver confirms the adaptive calibration instruction.

[0007] Further, the method for judging the initial opening current includes: judging according to the hydraulic cylinder displacement sensor, and taking the current at which the displacement of the hydraulic cylinder collected by the hydraulic cylinder displacement sensor begins to change as the initial opening current; or, judging according to the structural member angle sensor, and taking the current at which the angle of the structural member collected by the structural member angle sensor begins to change as the initial opening current; or, judging by visual recognition using a lidar, and taking the current when the corresponding structural member starts to move as the initial opening current.

[0008] Further, taking the current at which the angle of the structural member collected by the structural member angle sensor begins to change as the initial opening current includes: outputting a control current to the specified working device according to a preset control curve, and at the same time, detecting the signals of 10 consecutive cycles input by the angle sensor, denoted as A1 - A10 in chronological order. The angle sensor is assembled such that the output value increases when the boom is lifted. When each value in A2 - A10 is greater than A1, it is judged that there is an action of lifting the boom, and the current value at the moment of A2 is the initial opening current of the boom lifting action.

[0009] Further, the method for judging the maximum current includes: calculating the angular velocity of the boom according to the input value of the angle sensor, and when the angular velocity reaches the maximum, recording the current at this time, and taking the average value after repeating twice, which is the maximum current of the boom lifting action.

[0010] Further, the method for judging the maximum current also includes: judging according to the hydraulic cylinder displacement sensor, taking the derivative of the displacement to obtain the velocity, and when the velocity no longer increases with the increase of the current, that is, the maximum velocity is reached, the current at which the maximum velocity is first reached is the maximum current; or, judging according to the pressure sensor, detecting the value of the working pressure to judge whether the limit position is reached, changing different maximum current values, and as the current continuously increases, the time for the mechanism to move from one extreme position to the other extreme position continuously decreases. When the time no longer decreases with the increase of the current, that is, the maximum velocity is reached, the current at which the maximum velocity is first reached is the maximum current; or, judging by visual recognition using a lidar, judging the moving speed through visual recognition, and when the moving speed is the maximum, it is the maximum current.

[0011] Further, determining the maximum current according to the pressure sensor includes: presetting a maximum current range y = (p, q), making o = (p + q) / 2, placing the integral boom of the vehicle at the lowest position, placing the bucket at the extreme limit of bucket retraction, applying a fixed current o to complete the movement of the boom from the lowest position to the highest position, and recording the time t1 from the issuance of the controller command to the system working pressure reaching the rated value; repeating the above operations with current p and current q to obtain t2 and t3. If t2 = t3, the maximum current is in the range (p, o), and let y = (p, o); if t2 > t3, the maximum current is in the range (o, q), and let y = (o, q); repeating the above operations until |q - p| < 5, then recording the current value o as the maximum current.

[0012] Further, after the adaptive calibration, result confirmation is further included, specifically: applying the calibrated control curve of the specified working device to normal work, prompting the driver to confirm the operation feeling. If the driver does not approve, a too large or too small evaluation is made on the disapproved part. The controller adjusts based on the evaluation result on the basis of the calibration result for the driver to feel again until the calibration result is approved, and the adaptive calibration ends.

[0013] Further, at least one of the following measures is adopted for normal perception, including: detecting the hydraulic oil temperature, determining the common hydraulic oil temperature of the whole vehicle according to the hydraulic oil temperature data, setting different oil temperature ranges, and outputting a prompt for re-calibration when the common hydraulic oil temperature crosses the range; recording the handle operation data, analyzing the data of the input signal curve of the handle, and outputting a prompt for re-calibration if the operation logic changes significantly; during use, performing calibration every set time, obtaining the curve when the driver operates the handle, and checking whether the calibrated current changes. If there is a change, it means that the control curve is affected and has changed, and then outputting a prompt for re-calibration.

[0014] In a second aspect, a loader working device adaptive calibration device is provided, including a storage medium and a processor; the storage medium is used for storing instructions; the processor is used for operating according to the instructions to execute the loader working device adaptive calibration method described in the first aspect.

[0015] In a third aspect, a loader is provided, and the loader is configured with the loader working device adaptive calibration device described in the second aspect.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention: (1)Based on the initial opening current when the specified working device starts to operate from different set positions, the maximum current during the operation process, and the set dead zone, the present invention obtains the calibrated control curve of the specified working device, realizes the adaptive calibration of the loader, and eliminates the inconsistent control caused by various errors in the production process. Additionally, by setting a separate control logic, the automatic calibration process under different external environments is realized, and the active open-loop control adaptability of the program is achieved to enhance the vehicle handling performance, as well as the resistance and stability to external interference. (2)The present invention enables the calibration of the open-loop system of the loader working device to be automatically carried out through program control, simplifies the debugging process, and shortens the debugging time. (3)The present invention realizes the acquisition of actions through different technical means, taking into account cost and having wide adaptability. (4)The present invention uses the input and the final execution result for logical judgment through the program, reduces the influence of part errors and the quality of intermediate process signal transmission on the final handling performance of the product, makes the handling more accurate, eliminates the manual link, and has higher consistency for batch products. (5)The present invention makes the calibration not affected by humans and the environment, and can also be operated by the equipment users, which is more suitable for various working conditions and has higher adaptability. Description of the Drawings

[0017] Figure 1 is a schematic diagram of the control principle of a loader working device provided by an embodiment of the present invention; Figure 2 is Curve A of the output current of the controller versus time in an embodiment of the present invention; Figure 3 is Curve B of the output current of the controller versus time in an embodiment of the present invention; Figure 4 is the control curve of the handle input versus the output current of the controller in an embodiment of the present invention; Figure 5 is a schematic diagram of the specific calibration process of a method for adaptive calibration of a loader working device provided by an embodiment of the present invention. Detailed Embodiment

[0018] The present invention will be further described below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and cannot be used to limit the protection scope of the present invention.

[0019] Embodiment 1 An adaptive calibration method for a loader working device includes: in response to a confirmed adaptive calibration instruction, outputting a control current to a specified working device according to a preset control curve; collecting the initial opening current when the specified working device starts to move from different set positions and the maximum current during the movement under the drive of the control current; and obtaining the calibrated control curve of the specified working device according to the initial opening current when the specified working device starts to move from different set positions, the maximum current during the movement, and a set dead zone.

[0020] As Figure 1 shown, the loader working device in the present invention includes a handle, an angle sensor, a controller, an electro-hydraulic proportional valve, a multi-way valve, and a hydraulic cylinder.

[0021] The working system of the present invention is the same as that of a conventional loader working system. Due to the control logic involved, Figure 1 only the control relationship of the working components will be briefly introduced. The handle is the input of the control system. The driver transmits instructions to the controller by operating the handle. The controller is the system control unit and converts them into current values according to a preset logic and outputs them to the electro-hydraulic proportional valve. The electro-hydraulic proportional valve is the pilot end of the multi-way valve. The multi-way valve outputs different flow rates to the hydraulic cylinder according to the pilot pressure of the electro-hydraulic proportional valve. The hydraulic cylinder executes actions to push the mechanical device to move, realizing the work of the whole vehicle. The angle sensor collects the angle signals of the boom and the bucket and outputs them to the controller for logical judgment.

[0022] The adaptive calibration is mainly divided into four parts. The first part is self-checking, which is used to judge the current state and remind the personnel inside and outside the vehicle to ensure safety. The second part is adaptive calibration, which performs calibration according to a preset logic. The third part is result confirmation. The driver confirms whether the calibration result is reasonable. If it is not reasonable, re-calibration will be performed according to the influencing factors. The fourth part is normal state perception. When the calibration function is not triggered, the state of the whole machine is perceived. When it is judged to be re-calibrated, the driver is prompted to perform re-calibration. The adaptive calibration is a function triggered for execution and will not be triggered during normal production work.

[0023] The self-checking logic is as follows: after triggering the adaptive calibration, the whole vehicle will judge whether the current state of the working device will affect people and remind the people inside and outside the vehicle. At the same time, a preset placement position of the loader working device is set, and the working device is automatically moved from the current position to the preset position through a program to prepare for calibration.

[0024] The adaptive calibration logic is as follows: After entering the calibration, the controller outputs the control current according to a preset curve, and records the current value when the corresponding working device of the loader has an action. This value is the initial opening current of this action (this action can be bucket closing, bucket tipping, boom lifting, boom lowering, etc.). As the current continuously increases, when the speed of this action no longer changes within a certain interval, the initial current value of this current interval is the maximum current of this action. Draw a control curve based on the initial opening current and the maximum current, and after adding a dead zone, it is used as the control curve of the current whole vehicle to improve the control characteristics of the current whole vehicle.

[0025] The method for judging the initial opening current includes: a) Judging according to the hydraulic cylinder displacement sensor, and taking the current when the hydraulic cylinder displacement collected by the hydraulic cylinder displacement sensor starts to change as the initial opening current; or, b) Judging according to the structural member angle sensor, and taking the current when the angle of the structural member collected by the structural member angle sensor starts to change as the initial opening current; or, c) Judging by visual recognition using lidar, and taking the current when the corresponding structural member starts to move as the initial opening current.

[0026] The method for judging the maximum current includes: a) Judging according to the hydraulic cylinder displacement sensor, taking the derivative of the displacement is the speed. When the speed no longer increases as the current increases, that is, the maximum speed is reached, the current when the maximum speed is first reached is the maximum current; or, b) Judging according to the pressure sensor, judging whether the limit position is reached by detecting the value of the working pressure. Changing different maximum current values, as the current continuously increases, the time for the mechanism to move from one extreme position to the other extreme position continuously decreases. When the time no longer decreases as the current increases, that is, the maximum speed is reached, the current when the maximum speed is first reached is the maximum current; or, c) Judging by visual recognition using lidar, judging the movement speed through visual recognition, and when the movement speed is the maximum, it is the maximum current.

[0027] The normal state perception logic is as follows: Detect the hydraulic oil temperature, determine the common hydraulic oil temperature of the whole vehicle according to the hydraulic oil temperature data, set different oil temperature intervals. When the common hydraulic oil temperature crosses the interval, a prompt for the driver to re-calibrate is required; Record the handle operation data, and analyze whether the operation logic has changed significantly through the big data of the input signal curve of the handle. If there is a change, a prompt for re-calibration is sent to the driver, and the driver decides actively; During use, perform calibration at regular intervals, obtain the curve when the driver operates the handle, and check whether the calibration current has changed. If there is a change, it means that the control curve has been affected and changed, and a prompt is sent to the driver to perform re-calibration.

[0028] Such asFigure 5 As shown in the figure, the specific adaptive calibration logic of the present invention is as follows.

[0029] S1. Set a trigger button in the vehicle and let the driver actively trigger it.

[0030] S2. After the function is triggered, the whole vehicle gives a voice warning, prompting the driver to drive the whole vehicle to an open area for calibration, and prompting the people in the vehicle to fasten their seat belts and the people outside the vehicle to stay away from the working device. Wait until the driver presses the trigger button again, and the adaptive calibration function is officially triggered. No matter what positions the bucket and the boom of the whole vehicle are in, the controller controls them to move to the lowest position of the boom and the bucket is retracted.

[0031] S3. According to Figure 2 the curve of the controller current and time shown in the figure, give current starting from 0, and at the same time detect the signals of 10 consecutive cycles input by the angle sensor, which are recorded as A1 - A10 in the order of time. The angle sensor is assembled so that the output value increases when the boom is lifted. When each value in A2 - A10 is greater than A1, it is judged that there is an action of lifting the boom. Record the current value at the moment of A2 as the starting current a of the boom lifting action, and then stop outputting current.

[0032] S4. According to Figure 3 the curve of the controller current and time shown in the figure, give current, and calculate the angular velocity of the boom through the input value of the angle sensor geometrically. When the angular velocity reaches the maximum, record the current at this time, and repeat it twice and take the average value, which is the maximum current b of the boom lifting action.

[0033] S5. At this time, keep the bucket position unchanged and lift the boom to the highest position.

[0034] S6 - S7. The operation principle is the same as that of S3 - S4.

[0035] S8. Move the boom to the middle height and move the bucket to be parallel to the ground.

[0036] S9 - S10. The operation principle is the same as that of S3 - S4.

[0037] S11. Move the boom to the middle height and move the bucket to the retraction limit.

[0038] S12 - S13. The operation principle is the same as that of S3 - S4.

[0039] S14. Combine the recorded starting current and maximum current values a and b of each action with the pre - set dead zone and apply them in normal work. For example, Figure 4 , prompt the driver to have an operation experience. If the driver does not approve, make a larger or smaller evaluation of the disapproved part. The controller adjusts based on the evaluation result on the basis of the calibration result for the driver to feel again until the driver approves the calibration result, and the adaptive calibration ends.

[0040] Furthermore, the present invention can perform normal state perception by using at least one of the following measures, including: (1) detecting the hydraulic oil temperature, determining the common hydraulic oil temperature of the whole vehicle based on the hydraulic oil temperature data, setting different oil temperature intervals, and when the common hydraulic oil temperature crosses the interval, outputting a prompt for re-calibration; (2) recording the handle operation data, analyzing the data of the input signal curve of the handle through data analysis, and if the operation logic changes significantly, outputting a prompt for re-calibration; (3) during use, performing calibration every set time, obtaining the curve when the driver operates the handle, checking whether the calibrated current changes. If there is a change, it means that the control curve has been affected and changed, and then outputting a prompt for re-calibration.

[0041] Specifically, the present invention collects the hydraulic oil temperature signal of the whole vehicle, performs statistical analysis on the hydraulic oil temperature signal, selects the mode as the common hydraulic oil temperature, sets the common temperature interval every 10°C, and when the common hydraulic oil temperature crosses the interval, prompts the driver to perform adaptive calibration to better match the current state. In addition, during the operation of the whole vehicle, the controller automatically runs the passive calibration program every hour. Taking the lifting arm as an example, the specific logic is: not actively controlling the whole vehicle, intercepting the interval from 0 to the middle stroke from the current handle signal operated by the driver, obtaining the initial opening current a1 of the lifting arm action according to the signal of the sensor in accordance with step S3, obtaining multiple groups of intervals from the middle stroke to the maximum stroke of the handle, calculating the maximum current b1 of the lifting arm action according to step S4, comparing the obtained values a1 and b1 with the current initial opening current a and maximum current b. If the error is within 10%, the calibration passes; if the error > 10%, the calibration fails, and the driver is prompted to perform adaptive calibration.

[0042] Embodiment 2 Based on the adaptive calibration method for the working device of a loader described in Embodiment 1, this embodiment provides another method for obtaining the maximum current of the lifting arm action in step S4.

[0043] Add a working pressure sensor for measuring the working pressure and inputting it to the controller. Preset a maximum current interval y = (p, q) according to the actual situation, let o = (p + q) / 2, place the boom of the whole vehicle at the lowest position, place the bucket at the fully retracted limit position, apply a fixed current o to complete the movement of the boom from the lowest position to the highest position, and record the time t1 from the issuance of the controller command to the system working pressure reaching the rated value; repeat the above operation with current p and current q to obtain t2 and t3. If t2 = t3, the maximum current is in the interval (p, o), and let y = (p, o); if t2 > t3, the maximum current is in the interval (o, q), and let y = (o, q); repeat the above operation until |q - p| < 5, and then record the current value o as the maximum current.

[0044] Embodiment 3 Based on the self - adaptive calibration method of a loader working device described in Embodiment 1 and Embodiment 2, this embodiment provides a self - adaptive calibration device for a loader working device, including a storage medium and a processor; the storage medium is used for storing instructions; the processor is used to operate according to the instructions to execute the self - adaptive calibration method of the loader working device described in Embodiment 1 or Embodiment 2.

[0045] Embodiment 4 Based on the self - adaptive calibration method of a loader working device described in Embodiment 1 and Embodiment 2, and the self - adaptive calibration device of a loader working device described in Embodiment 3, this embodiment provides a loader. The loader is calibrated by using the self - adaptive calibration method of the loader working device described in Embodiment 1 or Embodiment 2, or is configured with the self - adaptive calibration device of the loader working device described in Embodiment 3.

[0046] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A method for adaptive calibration of a loader working device, characterized in that: include: In response to the confirmed adaptive calibration instruction, output a control current to a designated working device according to a preset control curve; Collect the initial current of the designated working device when it starts to move from different set positions under the drive of the control current, and the maximum current during the movement; According to the initial current when the designated working device starts to move from different set positions, the maximum current during the movement, and the set dead zone, a calibrated control curve of the designated working device is obtained.

2. The method for adaptive calibration of a loader working device according to claim 1, characterized in that: Before adaptive calibration, it also includes self-checking, specifically: the whole vehicle gives a voice warning, prompting the driver to drive the vehicle to an open area before calibration, and reminding people in the vehicle to fasten their seat belts and people outside the vehicle to stay away from the working device until the driver confirms the adaptive calibration command.

3. The method for adaptive calibration of a loader working device according to claim 1, characterized in that: The method for determining the initial current includes: According to the hydraulic cylinder displacement sensor, the current collected by the hydraulic cylinder displacement sensor when the hydraulic cylinder displacement begins to change is the initial current; or According to the judgment of the structural member angle sensor, the current when the structural member angle sensor detects that the structural member angle begins to change is the initial current; or, Based on the visual recognition and judgment of the laser radar, the current when the corresponding structural part starts to move is taken as the initial current.

4. The method for adaptive calibration of a loader working device according to claim 3, characterized in that: The current detected by the structural angle sensor when the angle of the structural part begins to change is the initial current, including: outputting control current to the specified working device according to the preset control curve, and at the same time, detecting 10 consecutive cycles of signals input by the angle sensor, which are recorded in chronological order as A1-A10. The angle sensor is assembled to increase the output value of the boom lifting. When each value in A2-A10 is greater than A1, it is judged that the boom lifting action is taking place, and the current value at the moment A2 is the initial current of the boom lifting action.

5. The method for adaptive calibration of a loader working device according to claim 4, characterized in that: The method for determining the maximum current includes: calculating the angular velocity of the boom according to the input value of the angle sensor, recording the current at the time when the angular velocity reaches the maximum, repeating the process twice and taking the average value, which is the maximum current of the boom lifting action.

6. The method for adaptive calibration of a loader working device according to claim 1, characterized in that: The method for determining the maximum current further includes: According to the hydraulic cylinder displacement sensor, the derivative of the displacement is the speed. The speed stops increasing with the increase of current, that is, it reaches the maximum speed. The current that initially reaches the maximum speed is the maximum current; or, According to the judgment of the pressure sensor, by detecting the value of the working pressure, it is judged whether the limit position is reached, and different maximum current values ​​are changed. As the current continues to increase, the time for the mechanism to pass from the limit position at one end to the limit position at the other end continues to decrease. When the time does not decrease with the increase of the current, the maximum speed is reached, and the current that initially reaches the maximum speed is the maximum current; or, Visual recognition is performed based on the laser radar, and the movement speed is judged by visual recognition. When the movement speed is the maximum, it is the maximum current.

7. The method for adaptive calibration of a loader working device according to claim 6, characterized in that: Determine the maximum current based on the pressure sensor, including: Preset a maximum current interval y=(p, q), set o=(p+q) / 2, put the whole boom in the lowest position, the bucket in the bucket limit position, give a fixed current o to complete the boom movement from the lowest position to the highest position, and record the time t1 from the controller command to the system working pressure reaching the rated value; Repeat the above operation with current p and current q to obtain t2 and t3. If t2=t3, the maximum current is in the interval (p, o), let y=(p, o); if t2>t3, the maximum current is in the interval (o, q), let y=(o, q); repeat the above operation until |qp|<5, then record the current value o as the maximum current.

8. The method for adaptive calibration of a loader working device according to claim 1, characterized in that: After adaptive calibration, the result confirmation is also included, specifically: The control curve calibrated by the designated working device is applied in normal operation, and the driver is prompted to confirm the operation. If the driver disagrees, the disagreed part will be evaluated as too large or too small. The controller will adjust the calibration result based on the evaluation result for the driver to feel again until the calibration result is approved, and the adaptive calibration is completed.

9. The method for adaptive calibration of a loader working device according to claim 1, characterized in that: Use at least one of the following measures to maintain normalcy, including: Detect the hydraulic oil temperature, determine the commonly used hydraulic oil temperature of the vehicle based on the hydraulic oil temperature data, set different oil temperature ranges, and output a prompt that recalibration is required when the commonly used hydraulic oil temperature crosses the range; Record the operation data of the handle, and analyze the input signal curve of the handle. If the operation logic has changed significantly, output a prompt that recalibration is required; During use, calibration is performed at set intervals to obtain the curve when the driver operates the handle and to verify whether the calibration current has changed. If there is a change, it means that the control curve has been affected and changed, and a prompt is output that recalibration is required.

10. An adaptive calibration device for a loader working device, characterized in that: including storage media and processors; The storage medium is used to store instructions; The processor is used to operate according to the instruction to execute the adaptive calibration method of the loader working device according to any one of claims 1 to 9.

11. A loader, characterized in that: The loader is equipped with the loader working device adaptive calibration device according to claim 10.

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