Loader work device adaptive calibration method and device and loader

Abstract

The application discloses a loader working device self-adaptive calibration method, device and loader, and relates to the technical field of loader working device calibration. The method comprises the following steps: in response to a confirmed self-adaptive calibration instruction, a control current is output to a specified working device according to a preset control curve; the initial opening current of the specified working device when starting to act from different set positions under the drive of the control current and the maximum current in the action process are collected; and the control curve of the specified working device after calibration is obtained according to the initial opening current of the specified working device when starting to act from different set positions, the maximum current in the action process and the set dead zone. The application realizes self-adaptive calibration of the loader, eliminates the inconsistent control phenomenon caused by various errors in the production link, and realizes the automatic calibration process under different external environments by setting a separate control logic, thereby realizing the active open-loop control self-adaptation of the program, and enhancing the vehicle control performance, the resistance to external interference and the stability.

Description

Technical Field

[0001] This invention belongs to the field of loader technology, specifically relating to an adaptive calibration method, device, and loader for a loader working device. Background Technology

[0002] Traditional loaders have a simple structure and use an open-loop control system. The control signal is input from the operator's lever, transmitted as an electrical signal to the controller, which then transmits it to the electro-proportional valve. The electro-proportional valve converts the electrical signal into a pressure signal, which is then transmitted to the multi-way valve. The multi-way valve controls the hydraulic cylinders to achieve the desired action. Open-loop systems lack sensors to provide feedback on the position of the working device. While simple in structure, the lack of feedback makes them less resistant to external interference, resulting in relatively low control accuracy, inability to adjust based on the state of the controlled object, and poor stability. Because closed-loop control is complex, costly, slow in response, and difficult to debug, most working device controls utilize open-loop control systems.

[0003] In addition, the large number and scale of commercial products, manufacturing errors of different batches of parts, and assembly errors of different batches of vehicles will lead to slight differences in control parameters. These differences need to be compensated for by human calibration to compensate for various influences in the production process, but they are not completely eliminated. Even after calibration by different people, the finished products still have significant differences. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an adaptive calibration method, device, and loader for a loader's working device. This enables adaptive calibration of the loader, eliminating control inconsistencies caused by various errors in the production process. Furthermore, by setting separate control logic, an automatic calibration process is achieved under different external environments, realizing proactive open-loop adaptive control of the program to enhance the vehicle's handling and its resistance and stability to external interference.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, an adaptive calibration method for a loader working device is provided, comprising: responding to a confirmed adaptive calibration command, outputting a control current to a designated working device according to a preset control curve; collecting the initial current of the designated working device when it starts operating from different set positions under the drive of the control current, and the maximum current during the operation; and obtaining the calibrated control curve of the designated working device based on the initial current of the designated working device when it starts operating from different set positions, the maximum current during the operation, and a set dead zone.

[0006] Furthermore, before adaptive calibration, a self-check is also included, specifically: the whole vehicle issues a voice warning, prompting the driver to drive the whole vehicle to an open area before calibration, and prompting the people 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 command.

[0007] Furthermore, the method for determining the initial switching current includes: determining the initial switching current based on the hydraulic cylinder displacement sensor, using the current collected by the hydraulic cylinder displacement sensor as the current when the hydraulic cylinder displacement begins to change; or determining the initial switching current based on the structural component angle sensor, using the current collected by the structural component angle sensor as the current when the angle of the structural component begins to change; or determining the initial switching current based on visual recognition using lidar, using the current when the corresponding structural component begins to move.

[0008] Furthermore, the initial current is taken as the current when the angle of the structural component begins to change, which is collected by the structural component angle sensor. This includes: outputting control current to the designated working device according to the preset control curve; at the same time, detecting the signal of 10 consecutive cycles input by the angle sensor, which are recorded as A1-A10 in chronological order; the angle sensor is assembled to increase the output value of the boom lifting action; when each value in A2-A10 is greater than A1, it is determined that the boom lifting action has taken place; the current value at time A2 is the initial current of the boom lifting action.

[0009] Furthermore, the method for determining the maximum current includes: calculating the angular velocity of the boom based on the input value of the angle sensor; recording the current when the angular velocity reaches its maximum; repeating this process twice and taking the average value, which is the maximum current for the boom lifting action.

[0010] Furthermore, the method for determining the maximum current also includes: determining the speed by taking the derivative of the displacement using a hydraulic cylinder displacement sensor; when the speed no longer increases with the increase of current, the maximum speed is reached, and the current at which the maximum speed is initially reached is the maximum current; or determining the speed by a pressure sensor; by detecting the working pressure value to determine whether the limit position has been reached; by changing different maximum current values; as the current continuously increases, the time taken for the mechanism to travel from one limit position to the other limit position continuously decreases; when the time no longer decreases with the increase of current, the maximum speed is reached, and the current at which the maximum speed is initially reached is the maximum current; or determining the speed by visual recognition using a laser radar; when the speed is at its maximum, the maximum current is the maximum current.

[0011] Further, the maximum current is determined based on the pressure sensor, including: pre-setting a maximum current range y=(p,q), setting o=(p+q) / 2, placing the entire boom at its lowest position and the bucket at its retracted limit position, applying a fixed current o to complete the boom movement from the lowest position to the highest position, and recording the time t1 from the time the controller command is issued to the system working pressure reaching the rated value; repeating the above operation with current p and current q to obtain t2 and t3. If t2=t3, then the maximum current is in the (p,o) range, and y=(p,o); if t2>t3, then the maximum current is in the (o,q) range, and y=(o,q); repeating the above operation until |qp|<5, then recording the current value o as the maximum current.

[0012] Furthermore, after adaptive calibration, result confirmation is also included. Specifically, the control curve calibrated by the specified working device is applied to normal operation, prompting the driver to confirm the operation experience. If the driver does not agree, the part that is not agreed is evaluated as too large or too small. The controller is adjusted based on the evaluation result on the calibration result for the driver to re-experience until the calibration result is accepted, and the adaptive calibration ends.

[0013] Furthermore, at least one of the following measures is adopted for routine sensing, including: detecting hydraulic oil temperature, determining the commonly used hydraulic oil temperature of the vehicle based on the hydraulic oil temperature data, setting different oil temperature ranges, and outputting a prompt that recalibration is required when the commonly used hydraulic oil temperature crosses the range; recording handle operation data, analyzing the input signal curve of the handle, and outputting a prompt that recalibration is required if the operation logic has changed significantly; and verifying at set intervals during use, acquiring the curve when the driver operates the handle, verifying whether the calibration current has changed, and if there is a change, it indicates that the control curve has been affected and a prompt that recalibration is required.

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

[0015] Thirdly, a loader is provided, the loader being equipped with the adaptive calibration device for the loader working device described in the second aspect.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: (1) Based on the initial 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 control curve of the specified working device after calibration, realizes the adaptive calibration of the loader, and eliminates the control inconsistency 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 of the program is adaptive, so as to enhance the overall vehicle handling and resistance and stability to external interference. (2) The present invention simplifies the debugging process and shortens the debugging time by automatically calibrating the open-loop system of the loader working device through program control; (3) This invention achieves motion acquisition through different technical means, taking into account cost and wide adaptability; (4) The present invention uses the input and final execution result of the program to make logical judgments, which reduces the impact of part error and intermediate process signal transmission quality on the final controllability of the product, making the control more precise, eliminating manual links, and improving the consistency of batch products. (5) The present invention makes calibration unaffected by people and the environment, and can also be operated by the user of the equipment, making it more suitable for various working conditions and more adaptable. Attached Figure Description

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

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

[0019] Example 1 An adaptive calibration method for a loader working device includes: responding to a confirmed adaptive calibration command, outputting a control current to a designated working device according to a preset control curve; collecting the initial current of the designated working device when it starts operating from different set positions under the drive of the control current, and the maximum current during the operation; and obtaining the calibrated control curve of the designated working device based on the initial current of the designated working device when it starts operating from different set positions, the maximum current during the operation, and a set dead zone.

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

[0021] The working system of this invention is consistent with that of a conventional loader, except that the control logic involves... Figure 1 This section provides a brief overview of the control relationships among the working components. The handle serves as the input to the control system. The driver transmits commands to the controller via the handle. The controller, as the system control unit, converts these commands into current values ​​through preset logic and outputs them to the electro-proportional valve. The electro-proportional valve acts as the pilot of a multi-way valve. Based on the pilot pressure of the electro-proportional valve, the multi-way valve outputs different flow rates to the hydraulic cylinders. The hydraulic cylinders execute actions, driving the mechanical device to move and enabling the entire vehicle to operate. Angle sensors collect the angle signals between the boom and bucket and output them to the controller for logical judgment.

[0022] Adaptive calibration consists of four main parts: The first part is self-checking, which determines the current status and alerts personnel inside and outside the vehicle to ensure safety; the second part is adaptive calibration, which performs calibration according to preset logic; the third part is result confirmation, where the driver confirms the calibration result's validity; if invalid, recalibration is performed based on influencing factors; and the fourth part is routine perception, which senses the overall machine status when calibration is not triggered, and prompts the driver to recalibrate when recalibration is deemed necessary. Adaptive calibration is a triggered function and will not be activated during normal production operations.

[0023] The self-test logic is as follows: After triggering adaptive calibration, the vehicle will determine whether the current state of the working device will affect people and will remind people inside and outside the vehicle. At the same time, a preset position for the loader working device will be set, and the program will automatically move the working device from the current position to the preset position to prepare for calibration.

[0024] The adaptive calibration logic is as follows: After entering calibration, the controller outputs control current according to a preset curve and records the current value when the corresponding working device of the loader is activated. This value is the initial current of that action (which can be bucket retraction, bucket tipping, boom lifting, boom lowering, etc.). As the current continuously increases, when the speed of the action no longer changes within a certain range, the initial current value of this current range is the maximum current of that action. A control curve is plotted based on the initial current and the maximum current. After adding a dead zone, this curve serves as the control curve for the current vehicle, thereby improving the control characteristics of the current vehicle.

[0025] Methods for determining the initial starting current include: a) Based on the hydraulic cylinder displacement sensor, the initial starting current is determined by the current at which the hydraulic cylinder displacement sensor detects the initial change in displacement; or, b) Based on the angle sensor of the structural component, the initial current is taken as the current at which the angle of the structural component begins to change, as detected by the angle sensor; or, c) Visual recognition is performed based on the lidar, and the initial current is taken as the current when the corresponding structural component starts to move.

[0026] Methods for determining the maximum current include: a) Based on the hydraulic cylinder displacement sensor, the derivative of the displacement is the velocity. The velocity no longer increases with increasing current, indicating the maximum velocity has been reached. The current at which the maximum velocity is initially reached is the maximum current; or... b) Based on the pressure sensor, determine whether the limit position has been reached by detecting the working pressure value. Change different maximum current values. As the current continuously increases, the time for the mechanism to travel from one limit position to the other continuously decreases. When the time no longer decreases with increasing current, the maximum speed is reached. The current at which the maximum speed is initially reached is the maximum current; or... c) Visual recognition is performed based on the lidar to determine the speed of movement. The maximum current is when the speed of movement is at its maximum.

[0027] The normal sensing logic is as follows: Detect hydraulic oil temperature, determine the commonly used hydraulic oil temperature for the entire vehicle based on the hydraulic oil temperature data, set different oil temperature ranges, and prompt the driver to recalibrate when the commonly used hydraulic oil temperature falls outside this range; record handle operation data, and analyze the input signal curve of the handle to see if there are significant changes in the operation logic. If changes are found, prompt the driver to recalibrate, allowing the driver to make the decision; during use, perform calibration at regular intervals, acquiring the curve when the driver operates the handle and checking for changes in the calibration current. If changes are found, it indicates that the control curve has been affected, and prompt the driver to recalibrate.

[0028] like Figure 5 As shown, the specific adaptive calibration logic of this invention is as follows.

[0029] S1. Install a trigger button inside the vehicle, which the driver can activate manually.

[0030] S2. After the function is triggered, the vehicle will issue a voice warning, prompting the driver to move the vehicle to an open area for calibration, and reminding passengers to fasten their seat belts and personnel outside the vehicle to stay away from the working device. Once the driver presses the trigger button again, the adaptive calibration function will be officially triggered. Regardless of the position of the bucket and boom, the controller will move the boom to its lowest position and retract the bucket.

[0031] S3, according to Figure 2 The curve of current versus time for the controller shown starts from 0 and simultaneously detects the signal of 10 consecutive cycles input by the angle sensor, which are recorded as A1-A10 in chronological order. The angle sensor is assembled to increase the output value of the boom lifting action. When each value in A2-A10 is greater than A1, it is determined that the boom lifting action has taken place. The current value at time A2 is recorded as the initial current 'a' of the boom lifting action, and then the output current is stopped.

[0032] S4, according to Figure 3 The curve of controller current versus time is shown. Given a current, the angular velocity of the boom is geometrically calculated from the input value of the angle sensor. When the angular velocity reaches its maximum, the current at this time is recorded. The average value is taken twice, which is the maximum current b of the boom lifting action.

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

[0034] S6-S7 operate on the same principle as S3-S4.

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

[0036] S9-S10 operate on the same principle as S3-S4.

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

[0038] S12-S13, operating principle is the same as S3-S4.

[0039] S14. Combine the recorded initial current and maximum current values ​​a and b for each action, and apply the pre-set dead zone during normal operation. Figure 4 The system prompts the driver to experience the operation. If the driver does not agree, the system will evaluate the disapproved parts as being too large or too small. The controller will then adjust the calibration results based on the evaluation results for the driver to experience again until the driver agrees with the calibration results, at which point the adaptive calibration ends.

[0040] Furthermore, the present invention can employ at least one of the following measures for normal sensing, including: (1) detecting hydraulic oil temperature, determining the commonly used hydraulic oil temperature of the vehicle based on the hydraulic oil temperature data, setting different oil temperature ranges, and outputting a prompt that recalibration is required when the commonly used hydraulic oil temperature crosses the range; (2) recording handle operation data, analyzing the input signal curve of the handle, and outputting a prompt that recalibration is required if the operation logic has changed significantly; (3) verifying at set intervals during use, obtaining the curve when the driver operates the handle, verifying whether the calibration current has changed, and if it has changed, indicating that the control curve has been affected and a prompt that recalibration is required.

[0041] Specifically, this invention collects the hydraulic oil temperature signal of the entire vehicle, performs statistical analysis on the hydraulic oil temperature signal, selects the mode as the commonly used hydraulic oil temperature, and sets a commonly used temperature range in 10°C intervals. When the commonly used hydraulic oil temperature crosses the range, the driver is prompted to perform adaptive calibration to better match the current state. In addition, during the operation of the entire vehicle, the controller automatically runs a passive calibration program every hour. Taking the lifting boom as an example, the specific logic is as follows: without actively controlling the entire vehicle, the range from 0 to the middle stroke is extracted from the current handle signal operated by the driver. According to the sensor signal, the initial opening current a1 of the lifting boom is obtained according to step S3. Multiple sets of handle middle stroke to maximum stroke ranges are obtained. According to step S4, the maximum current b1 of the lifting boom is calculated. The obtained values ​​a1 and b1 are compared with the current initial opening current a and maximum current b. If the error is within 10%, the verification passes; if the error is >10%, the verification fails, and the driver is prompted to perform adaptive calibration.

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

[0043] A new working pressure sensor is added to measure the working pressure input to the controller. A maximum current range y = (p, q) is preset based on actual conditions. Let o = (p + q) / 2. With the boom at its lowest position and the bucket at its retracted limit, a fixed current o is applied to move the boom from its lowest to its highest position. Record the time t1 from the controller command being issued until the system working pressure reaches the rated value. Repeat the above operation with currents p and q to obtain t2 and t3. If t2 = t3, the maximum current is in the (p, o) range, and y = (p, o). If t2 > t3, the maximum current is in the (o, q) range, and y = (o, q). Repeat the above operation until |qp| < 5, then record the current value o as the maximum current.

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

[0045] Example 4 Based on the adaptive calibration method for a loader working device described in Embodiment 1 and Embodiment 2, and the adaptive calibration device for a loader working device described in Embodiment 3, this embodiment provides a loader that is calibrated using the adaptive calibration method for a loader working device described in Embodiment 1 or Embodiment 2, or is equipped with the adaptive calibration device for a loader working device described in Embodiment 3.

[0046] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method of adaptive calibration of a loader work implement, characterized by, include: In response to the confirmed adaptive calibration command, a control current is output to the designated working device according to the preset control curve; The initial current of the designated working device when it starts operating from different set positions under the drive of the control current, as well as the maximum current during the operation, are collected. Based on the initial current when the specified working device starts operating from different set positions, the maximum current during operation, and the set dead zone, the calibrated control curve of the specified working device is obtained. The method for determining the initial turn-on current includes: Based on the hydraulic cylinder displacement sensor, the initial starting current is determined by the current at which the hydraulic cylinder displacement sensor detects the initial change in displacement; or, Based on the angle sensor of the structural component, the initial current is taken as the current at which the angle of the structural component begins to change, as detected by the angle sensor; or, Based on visual recognition and judgment using LiDAR, the initial current is taken as the current when the corresponding structural component begins to move. The initial current is defined as the current at which the angle of the structural component begins to change, as collected by the structural component angle sensor. This includes: outputting control current to the designated working device according to a preset control curve; simultaneously, detecting the signal of 10 consecutive cycles input by the angle sensor, which are recorded as A1-A10 in chronological order; the angle sensor is assembled to increase the output value of the boom lifting action; when each value in A2-A10 is greater than A1, it is determined that the boom lifting action has occurred; the current value at time A2 is the initial current for the boom lifting action.

2. The loader work implement adaptive calibration method of claim 1, wherein, 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 people 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 command.

3. The loader work implement adaptive calibration method of claim 1, wherein, The method for determining the maximum current includes: calculating the angular velocity of the boom based on the input value of the angle sensor; recording the current when the angular velocity reaches its maximum; repeating this process twice and taking the average value, which is the maximum current for the boom lifting action.

4. The loader work implement adaptive calibration method of claim 1, wherein, The method for determining the maximum current also includes: Based on the displacement sensor of the hydraulic cylinder, the derivative of the displacement is the velocity. The velocity no longer increases with increasing current, indicating that the maximum velocity has been reached. The current at which the maximum velocity is initially reached is the maximum current; or... Based on the pressure sensor, the system determines whether the limit position has been reached by detecting the working pressure value. By changing the maximum current value, the time it takes for the mechanism to travel from one limit position to the other decreases as the current increases. When the time no longer decreases with increasing current, the maximum speed is reached, and the current at which the maximum speed is initially reached is the maximum current; or... The system uses LiDAR for visual recognition and judgment, and determines the speed of movement. The maximum current is found when the speed of movement is at its maximum.

5. The loader work implement adaptive calibration method of claim 4, wherein, Determining the maximum current based on the pressure sensor includes: Preset a maximum current range y=(p,q), let o=(p+q) / 2, place the whole boom in the lowest position and the bucket in the bucket retraction limit position, apply a fixed current o to complete the boom movement from the lowest position to the highest position, and record the time t1 from the time the controller command is issued 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), so let y=(p, o); if t2>t3, the maximum current is in the interval (o, q), so let y=(o, q); repeat the above operation until |qp|<5, then record the current value o as the maximum current.

6. The loader work implement adaptive calibration method of claim 1, wherein, Following adaptive calibration, result confirmation is also included, specifically: The control curve calibrated by the designated working device is applied to normal operation, prompting the driver to confirm the operation experience. If the driver does not agree, the part that is not agreed is evaluated as too large or too small. The controller is adjusted based on the evaluation result and the calibration result for the driver to re-experience until the calibration result is accepted, and the adaptive calibration ends.

7. The adaptive calibration method for the loader working device according to claim 1, characterized in that, Routine sensing is performed using at least one of the following measures: The system detects the hydraulic oil temperature, determines the commonly used hydraulic oil temperature for the entire vehicle based on the hydraulic oil temperature data, sets different oil temperature ranges, and outputs a prompt that recalibration is required when the commonly used hydraulic oil temperature falls outside the range. Record controller operation data, analyze the controller input signal curve, and if the operation logic changes significantly, output a prompt that recalibration is required. During use, the system is calibrated at set intervals to obtain the curve when the driver operates the control lever and check whether the calibration current changes. If there is a change, it indicates that the control curve has been affected and a prompt for recalibration is output.

8. A loader working device adaptive calibration 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 execute the adaptive calibration method for the loader working device according to any one of claims 1 to 7.

9. A loader, characterized in that, The loader is equipped with the adaptive calibration device for the loader working device as described in claim 8.

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