Loader remote control method, device, equipment, medium and loader

Abstract

The application discloses a loader remote control method, device, equipment, medium and loader. The loader remote control method is applied to the loader. The loader comprises a remote handle, a rudder machine, a steering mechanism, a pull rope displacement sensor, a proximity switch and a controller. The remote handle is used for controlling the rotation number of the rudder machine by adjusting the handle opening degree, so that the steering mechanism is steered. The pull rope displacement sensor is used for acquiring the steering angle of the steering mechanism. The proximity switch is used for generating a centering judgment signal according to the centering condition of the steering mechanism. The method comprises the following steps: in response to an initialization instruction, if the handle opening degree of the remote handle is not zero, executing a limit calibration strategy; and in response to the initialization instruction, if the handle opening degree is zero, executing a centering calibration strategy. The application can correct the steering deviation and automatically center the steering.

Description

Technical Field

[0001] This application relates to the field of loader technology, and in particular to a remote control method, device, equipment, medium, and loader for a loader. Background Technology

[0002] For loaders employing articulated, fully hydraulic power steering, the driver typically turns the steering wheel or handle, which in turn rotates the valve core inside the steering gear, thereby driving the extension and retraction of the steering cylinder to achieve steering. During steering, the opening of the steering valve cannot be controlled by electrical signals; therefore, a steering servo is required to drive the steering mechanism and achieve remote steering control of the loader. The steering servo is an electric actuator that, combined with a motor and encoder, can control the rotation angle and speed. It is mounted to the loader's steering shaft via a spline sleeve and mounting bracket. The rotation of the steering servo drives the steering system through the steering shaft, thus achieving steering control.

[0003] During this process, the handle is installed at the remote end. The driver controls the rotation of the steering servo by controlling the opening of the handle, which in turn drives the steering mechanism. If the loader experiences steering slippage or turns on uneven roads, the steering servo and steering system will become out of sync. This can easily lead to a deviation between the opening of the remote handle and the actual steering angle of the steering mechanism. As the deviation accumulates, the steering mechanism will also deviate further and further in one direction. It may even become so that even if the remote steering handle is continuously turned in another direction, or even reaches the handle's turning limit, it is impossible to adjust the steering deviation of the steering mechanism or return it to the neutral position. This seriously affects the loader's movement, and the control accuracy, driving efficiency, and driving safety are all adversely affected. Summary of the Invention

[0004] This application aims to provide a remote control method, device, equipment, medium, and loader for a loader, which can realize the correction of steering deviation and automatic steering return to center.

[0005] The loader remote control method according to a first aspect of this application is applied to a loader, the loader including a remote handle, a steering servo, a steering mechanism, a cable displacement sensor, a proximity switch, and a controller. The remote handle is used to control the number of rotations of the steering servo by adjusting the handle opening to cause the steering mechanism to turn. The cable displacement sensor is used to acquire the steering angle of the steering mechanism. The proximity switch is used to generate a centering judgment signal based on the centering status of the steering mechanism. The loader remote control method includes:

[0006] In response to the initialization command, if the handle opening of the remote handle is not zero, the limit calibration strategy is executed;

[0007] In response to the initialization command, a centering calibration strategy is executed when the handle opening is zero.

[0008] The extreme calibration strategy includes:

[0009] The remote control handle opening degree, the steering angle of the steering mechanism, and the number of rotations of the servo motor are obtained.

[0010] When the steering mechanism is rotated to the limit steering angle, the limit number of rotations of the servo motor corresponding to the limit steering angle is determined;

[0011] When the remote handle is pushed to its maximum opening and the steering mechanism has not rotated to the maximum steering angle, the steering servo is controlled to rotate so that the steering mechanism continues to rotate to the maximum steering angle, and the maximum number of rotations of the steering servo corresponding to the maximum steering angle is determined.

[0012] Based on the limit number of rotations, the correspondence between the limit positions of the steering servo, the remote handle, and the steering mechanism is determined;

[0013] The centering calibration strategy includes:

[0014] Obtain the centering judgment signal of the proximity switch;

[0015] Based on the centering judgment signal and the steering angle, the steering servo is controlled to rotate so that the steering mechanism is adjusted to the centering position, and the corresponding number of centering rotations of the steering servo is determined.

[0016] Based on the number of rotations for centering and the steering angle, the centering position correspondence between the steering servo, the remote handle, and the steering mechanism is determined.

[0017] According to some embodiments of this application, the step of controlling the steering servo to rotate so that the steering mechanism continues to rotate to the limit steering angle when the remote handle is pushed to its limit opening and the steering mechanism has not rotated to the limit steering angle, and determining the limit number of rotations of the steering servo corresponding to the limit steering angle, includes:

[0018] When the remote handle is pushed to the limit opening degree and the steering mechanism has not rotated to the limit steering angle, the steering angle of the steering mechanism is obtained and determined as the operating limit steering angle;

[0019] Obtain the difference between the operating limit steering angle and the limit steering angle;

[0020] When the steering angle difference is not zero, control the steering servo to rotate so that the steering mechanism continues to rotate toward the limit position;

[0021] When the steering angle difference is zero, the number of rotations of the steering servo is obtained and determined as the limit number of rotations.

[0022] According to some embodiments of this application, the limit position includes a left limit position and a right limit position, and the limit steering angle includes a left limit steering angle and a right limit steering angle.

[0023] According to some embodiments of this application, controlling the steering servo to rotate based on the centering judgment signal and the steering angle to adjust the steering mechanism to the centering position includes:

[0024] If the centering judgment signal indicates that the steering mechanism is not centering, the steering servo is controlled to rotate according to the steering angle so that the steering mechanism is adjusted to the centering position;

[0025] If the centering determination signal indicates that the steering mechanism has returned to center, the steering servo is controlled to stop moving.

[0026] According to some embodiments of this application, controlling the steering servo to rotate according to the steering angle so that the steering mechanism is adjusted to the return-to-center position includes:

[0027] When the steering angle is greater than zero, control the steering servo to rotate clockwise until the steering angle is in the centering range or the centering judgment signal indicates that the steering mechanism has returned to center;

[0028] When the steering angle is less than zero, the steering servo is controlled to rotate counterclockwise until the steering angle is in the centering range or the centering judgment signal indicates that the steering mechanism has returned to center.

[0029] According to some embodiments of this application, the step of controlling the steering servo to rotate clockwise when the steering angle is greater than zero, until the steering angle is in the centering range or the centering judgment signal indicates that the steering mechanism has returned to center, includes:

[0030] When the steering angle is greater than or equal to a first preset angle, the steering servo is controlled to rotate clockwise at a first rotational speed;

[0031] When the steering angle is less than the first preset angle and greater than or equal to the second preset angle, the steering servo is controlled to rotate clockwise at the second rotation speed until the steering angle is in the centering range or the centering judgment signal indicates that the steering mechanism has returned to center.

[0032] Wherein, the first preset angle is greater than the second preset angle, the second preset angle is greater than zero, and the second preset angle is the upper threshold value of the return-to-center interval.

[0033] A remote control device for a loader according to a second aspect embodiment of this application includes:

[0034] The first control module is configured to execute a limit calibration strategy in response to an initialization command, provided that the handle opening of the remote handle is not zero.

[0035] The second control module is used to execute a centering calibration strategy in response to an initialization command when the handle opening is zero.

[0036] The extreme calibration strategy includes:

[0037] The remote control handle opening degree, the steering angle of the steering mechanism, and the number of rotations of the servo motor are obtained.

[0038] When the steering mechanism is rotated to the limit steering angle, the limit number of rotations of the servo motor corresponding to the limit steering angle is determined;

[0039] When the remote handle is pushed to its maximum opening and the steering mechanism has not rotated to the maximum steering angle, the steering servo is controlled to rotate so that the steering mechanism continues to rotate to the maximum steering angle, and the maximum number of rotations of the steering servo corresponding to the maximum steering angle is determined.

[0040] Based on the limit number of rotations, the correspondence between the limit positions of the steering servo, the remote handle, and the steering mechanism is determined;

[0041] The centering calibration strategy includes:

[0042] Obtain the centering judgment signal of the proximity switch;

[0043] Based on the centering judgment signal and the steering angle, the steering servo is controlled to rotate so that the steering mechanism is adjusted to the centering position, and the corresponding number of centering rotations of the steering servo is determined.

[0044] Based on the number of rotations for centering and the steering angle, the centering position correspondence between the steering servo, the remote handle, and the steering mechanism is determined.

[0045] An electronic device according to a third aspect of this application includes a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the loader remote control method as described in any of the first aspect embodiments above.

[0046] A loader according to a fourth aspect of this application includes a remote handle, a steering gear, a steering mechanism, a pull rope displacement sensor, a proximity switch, and a controller, the controller being used to perform a loader remote control method as described in any of the first aspect embodiments above.

[0047] A computer-readable storage medium according to a fifth aspect embodiment of the present application stores computer-executable instructions for performing the loader remote control method as described in the first aspect embodiment above.

[0048] In this embodiment, the controller collects angle data from the pull rope displacement sensor, signals from the proximity switch at the steering center position, the handle opening of the remote handle, and the number of rotations of the steering servo motor to determine the actual steering deviation between the remote handle control end and the steering mechanism end. Through limit calibration strategy and centering calibration strategy, the steering deviation is corrected and the steering is automatically returned to center, which effectively improves the steering accuracy when remotely controlling the steering and makes it easier, more convenient, efficient and safer for operators to operate the loader.

[0049] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the application. Attached Figure Description

[0050] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0051] Figure 1 This is a flowchart illustrating an embodiment of the loader remote control method of this application;

[0052] Figure 2 This is a structural schematic diagram of the loader of this application;

[0053] Figure 3 This is a schematic diagram of an embodiment of the loader remote control device of this application;

[0054] Figure 4 This is a schematic diagram of the hardware structure of an embodiment of the electronic device of this application. Detailed Implementation

[0055] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0056] In the description of this application, the use of terms such as "first," "second," etc., is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0057] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0058] In the description of this application, it should be noted that, unless otherwise explicitly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0059] The technical solution of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of this application, not all embodiments.

[0060] Figure 1 A flowchart illustrating an embodiment of the loader remote control method provided in this application. See below. Figure 1 The embodiments of this application will be further described below.

[0061] like Figure 1 As shown in the figure, this application embodiment proposes a remote control method for a loader. This method is applied to a loader, which includes a remote control handle, a steering servo, a steering mechanism, a cable displacement sensor, a proximity switch, and a controller. The remote control handle is used to control the number of rotations of the steering servo by adjusting the handle opening to cause the steering mechanism to turn. The cable displacement sensor is used to acquire the steering angle of the steering mechanism. The proximity switch is used to generate a centering judgment signal based on the centering status of the steering mechanism. The remote control method for the loader includes:

[0062] Step 101: In response to the initialization command, if the handle opening of the remote handle is not zero, execute the limit calibration strategy;

[0063] Step 102: In response to the initialization command, execute the centering calibration strategy when the handle opening is zero;

[0064] The extreme calibration strategies include:

[0065] Obtain the remote control handle opening, steering angle of the steering mechanism, and number of rotations of the servo motor;

[0066] When the steering mechanism is rotated to the limit steering angle, determine the limit number of rotations of the servo motor corresponding to the limit steering angle;

[0067] When the remote handle is pushed to its limit opening and the steering mechanism has not rotated to its limit steering angle, the steering servo is controlled to rotate so that the steering mechanism continues to rotate to the limit steering angle, and the limit number of rotations of the steering servo corresponding to the limit steering angle is determined.

[0068] Based on the limit number of rotations, the correspondence between the limit positions of the steering servo, remote control, and steering mechanism is determined;

[0069] The centering calibration strategy includes:

[0070] Obtain the neutral signal from the proximity switch;

[0071] Based on the centering judgment signal and the steering angle, control the rotation of the steering servo to adjust the steering mechanism to the centering position, and determine the corresponding number of rotations of the steering servo for centering.

[0072] Based on the number of rotations and the steering angle, the centering position correspondence of the steering servo, remote control, and steering mechanism is determined.

[0073] In this embodiment, the controller collects angle data from the pull rope displacement sensor, signals from the proximity switch at the steering center position, the handle opening of the remote handle, and the number of rotations of the steering servo motor to determine the actual steering deviation between the remote handle control end and the steering mechanism end. Through limit calibration strategy and centering calibration strategy, the steering deviation is corrected and the steering is automatically returned to center, which effectively improves the steering accuracy when remotely controlling the steering and makes it easier, more convenient, efficient and safer for operators to operate the loader.

[0074] To facilitate understanding of the loader remote control method of this application, a brief description of the loader is provided here. The structure of the loader is as follows: Figure 2 As shown, it includes a remote handle, a steering gear, a steering mechanism, a pull cord displacement sensor, a proximity switch, and a controller.

[0075] It is understood that the loader in this application is a remotely controllable loader, with a remote cockpit at the remote end. The remote cockpit is equipped with remote handles and other operation switches and buttons for remotely controlling the loader's steering and other actions. The operator can remotely control the local loader by operating the remote handles and other controls from inside the remote cockpit.

[0076] The local unit consists of modules such as a steering servo, steering mechanism, pull-cord displacement sensor, proximity switch, and controller.

[0077] Among them, a steering servo is installed on the loader to control the steering mechanism and thus turn the loader.

[0078] The aforementioned cable displacement sensors are installed at the left and right steering cylinders of the loader. When the loader turns, the displacement of the left and right steering cylinders changes, and the cable installed at the cylinder changes with the displacement of the cylinder. That is, the steering angle is obtained through the data of the cable displacement sensor, which is the steering angle corresponding to the steering mechanism. When the steering angle is positive, the steering mechanism deflects to the left; when the steering angle is negative, the steering mechanism deflects to the right; when the steering angle is zero, the steering mechanism is in the neutral position.

[0079] The aforementioned proximity switch is installed at the center position of the steering mechanism. When the steering mechanism returns to the center position, the proximity switch senses the sensing element at the center position and outputs a high-level signal to the controller. The controller receives the high-level signal and thus determines that the steering mechanism has returned to the center position. If the steering mechanism has not returned to the center position, the proximity switch outputs a low-level signal.

[0080] The local controller is electrically connected to the steering gear, cable displacement sensor, and proximity switch, enabling it to acquire relevant data and execute the aforementioned remote control method for the loader. It is understood that this application uses an articulated, fully hydraulic power steering loader; therefore, it does not employ an electro-hydraulic proportional steering valve, but instead uses a steering gear to achieve steering.

[0081] The remote cockpit enables remote and local data interaction via CPE (Customer Premises Equipment) and a switch. In some cases, a vehicle-mounted camera can be installed at an appropriate location on the loader to capture real-time images of the loader's operation. The real-time images captured by the vehicle-mounted camera can be transmitted back to the large screen in the remote cockpit via the CPE.

[0082] Understandably, when a loader experiences steering slippage or turns on uneven roads, the steering servo and steering system become out of sync. This can easily lead to a deviation between the remote control handle's opening and the actual steering angle of the steering mechanism. As this deviation accumulates, the steering mechanism increasingly veering in one direction. To return it to the neutral position, the remote control handle must continuously turn in the opposite direction, even reaching its limit, without being able to adjust the steering deviation. In this situation, the remote controller can issue an initialization command, and the local controller responds by executing either a limit calibration strategy or a return-to-neutral calibration strategy.

[0083] There is a steering control mapping relationship between the remote handle in the remote cockpit and the local steering servo of the loader. Under normal circumstances, when the opening of the remote handle is greater than 0, the corresponding steering servo rotates counterclockwise, which controls the steering mechanism to turn left. When the opening of the remote handle reaches the left limit position, the corresponding steering servo rotates counterclockwise M times. M times is the preset limit number of rotations for left steering. At this time, the steering mechanism should also be at the limit steering angle.

[0084] Similarly, when the remote control handle opening is less than 0, the corresponding servo motor rotates clockwise, controlling the steering mechanism to turn right. This continues until the remote control handle opening reaches its right limit. At this point, the corresponding servo motor rotates clockwise N times, which is the preset limit number of rotations for right steering. The steering mechanism should also be at its limit steering angle at this time. It is understandable that, since the left and right sides of the loader are not necessarily symmetrical, the weight on the left and right sides may be inconsistent. Therefore, the maximum number of clockwise and counterclockwise rotations N and M of the servo motor may differ.

[0085] In addition, when the remote control handle opening is 0, the corresponding servo motor should not rotate, and the steering mechanism should also be in the neutral position.

[0086] The above-mentioned limit calibration strategy uses a remote handle to control the steering servo, thereby causing the steering mechanism to rotate towards the limit steering angle. Taking the limit calibration on one side as an example, when the remote handle is within its normal opening range, the steering mechanism can be rotated to the limit steering angle, that is, the steering mechanism reaches its limit position. Even if the handle continues to turn, the steering servo and the steering mechanism will not move. The number of rotations of the steering servo at this time, M1, is recorded. The above-mentioned determination of the correspondence between the limit positions of the steering servo, the remote handle, and the steering mechanism based on the limit rotation number is to correct the limit rotation number of the steering servo, M=M1, and realize the initial setting of the correct limit position.

[0087] If the steering mechanism cannot rotate to the limit steering angle after the remote handle is pushed to its limit opening, it indicates a large error. The handle at its limit position can no longer control the servo to continue rotating. The controller needs to control the servo to rotate until the steering mechanism reaches its limit steering angle. Record the number of rotations M2 of the servo at this point. Based on this limit rotation count, the correspondence between the limit positions of the servo, remote handle, and steering mechanism is determined. Correcting the servo's counter-clockwise rotation by M=M2 achieves the initial setting of the correct limit position. In some cases, the number of rotations the controller takes to control the servo can also be recorded. The limit number of rotations of the corrected steering servo is M = M + This enables the initialization setting of the correct limit bits.

[0088] The above-mentioned centering calibration strategy requires that if the steering mechanism is not actually centered when the handle opening is zero, the steering servo needs to be rotated by the controller to adjust the steering mechanism to the centering position. This can be assisted by a proximity switch installed at the center position of the steering mechanism to determine whether the steering mechanism has returned to center.

[0089] The aforementioned number of rotations to return to center refers to the number of rotations of the steering servo motor during the process of controlling the steering mechanism to rotate until it stops in the center position. .

[0090] The above determines the centering position correspondence of the servo, remote control, and steering mechanism based on the number of rotations. Specifically, when the steering angle is greater than 0 (i.e., the steering mechanism deviates to the left), adjusting the centering position requires rotating the servo clockwise. Understandably, after this step, the limit number of rotations of the steering servo will be corrected to M = M - N=N+ When the steering angle is less than 0, meaning the steering mechanism deviates to the right, adjusting it back to the center position requires rotating the steering servo counterclockwise. Understandably, after this step, the limit number of rotations of the steering servo will be corrected to M = M + N=N- .

[0091] In some implementations, when the remote handle is pushed to its maximum opening and the steering mechanism has not rotated to its maximum steering angle, the steering servo is controlled to rotate so that the steering mechanism continues to rotate to the maximum steering angle. Determining the maximum number of rotations of the steering servo corresponding to the maximum steering angle includes:

[0092] When the remote handle is pushed to its limit opening and the steering mechanism has not rotated to its limit steering angle, the steering angle of the steering mechanism is obtained and determined as the operating limit steering angle.

[0093] Obtain the difference between the operating limit steering angle and the limit steering angle;

[0094] When the steering angle difference is not zero, control the steering servo to rotate so that the steering mechanism continues to rotate toward the limit position;

[0095] When the steering angle difference is zero, the number of rotations of the steering servo is obtained and determined as the limit number of rotations.

[0096] In this embodiment, the steering angle of the steering mechanism is obtained by the rope displacement sensors installed at the steering cylinders on the left and right sides of the loader. By comparing the current steering angle with the limit steering angle, it is determined whether the steering mechanism has rotated to the limit position.

[0097] The aforementioned limit steering angle can be the steering angle measured by the cable displacement sensor when the steering mechanism is turned to the limit position. This limit steering angle value can be obtained by prior measurement and set as a threshold in the system.

[0098] In some implementations, the limit positions include a left limit position and a right limit position, and the limit steering angle includes a left limit steering angle and a right limit steering angle.

[0099] In this embodiment, it can be understood that the limit calibration strategy includes calibration of the left and right limit positions. In some cases, when the opening of the remote controller is greater than zero, the limit calibration strategy for the left side is executed, and when the opening of the remote controller is less than zero, the limit calibration strategy for the right side is executed.

[0100] In some implementations, based on the centering judgment signal and the steering angle, the steering servo is controlled to rotate so that the steering mechanism is adjusted to the centering position, including:

[0101] If the centering detection signal indicates that the steering mechanism is not in the center position, the steering servo is controlled to rotate according to the steering angle so that the steering mechanism is adjusted to the center position;

[0102] When the centering judgment signal indicates that the steering mechanism has returned to center, the steering servo stops moving.

[0103] In this embodiment, under normal circumstances, when the handle opening is zero, the steering mechanism should return to the center position, and the centering judgment signal generated by the proximity switch should also indicate that the steering mechanism has returned to the center. At this time, there is no need to adjust the steering servo. However, when the handle opening is zero, the steering mechanism does not return to the center position, that is, when the centering judgment signal generated by the proximity switch indicates that the steering mechanism has not returned to the center, the controller should adjust the steering servo until the steering mechanism returns to the center position.

[0104] In some implementations, controlling the steering servo to rotate according to the steering angle so that the steering mechanism is adjusted to the return-to-center position includes:

[0105] When the steering angle is greater than zero, control the steering servo to rotate clockwise until the steering angle is in the centering range or the centering judgment signal indicates that the steering mechanism has returned to center.

[0106] When the steering angle is less than zero, the steering servo is rotated counterclockwise until the steering angle is in the centering range or the centering judgment signal indicates that the steering mechanism has returned to center.

[0107] In this embodiment, the steering mechanism can be determined to be in the center position by the centering judgment signal of the proximity switch. Alternatively, the steering mechanism can be determined to be in the center position when the steering angle corresponding to the steering mechanism collected by the pull rope displacement sensor is within the centering interval by a preset centering interval.

[0108] In some implementations, when the steering angle is greater than zero, the steering servo is controlled to rotate clockwise until the steering angle is in the centering range or the centering judgment signal indicates that the steering mechanism has returned to center, including:

[0109] When the steering angle is greater than or equal to the first preset angle, the steering servo is controlled to rotate clockwise at the first rotational speed.

[0110] When the steering angle is less than the first preset angle and greater than or equal to the second preset angle, the steering servo is controlled to rotate clockwise at the second rotation speed until the steering angle is in the centering range or the centering judgment signal indicates that the steering mechanism has returned to center.

[0111] Among them, the first preset angle is greater than the second preset angle, the second preset angle is greater than zero, and the second preset angle is the upper threshold value of the return-to-center interval.

[0112] In this embodiment, when the steering angle is within different ranges, the rotation speed of the steering servo for returning to center is different. This makes the speed slower as it gets closer to the center position, which helps to return to center more accurately and avoids the situation where the steering servo deviates from one side to the other, causing the centering failure to occur.

[0113] Specifically, a first preset angle can be set. Second preset angle It is understandable .

[0114] When steering angle If the value is greater than 0, the steering mechanism will deviate to the left. The steering servo needs to be rotated clockwise until it returns to the center position. During this process, when... The steering servo rotates clockwise at the first rotational speed. The steering servo rotates clockwise at the second rotational speed. Alternatively, if the proximity switch signal is high, the steering has returned to the center position, and the servo motor stops moving.

[0115] Similarly, when the steering angle If the value is less than 0, the steering mechanism deviates to the right. The steering servo needs to be rotated counter-clockwise until it returns to the center position. During this process, when... The servo motor controls the direction to rotate counterclockwise at the first rotational speed. The steering servo rotates counterclockwise at the second rotational speed. Alternatively, if the proximity switch signal is high, the steering has returned to the center position, and the servo motor stops moving.

[0116] The loader remote control method provided in this application embodiment can be executed by a loader remote control device 200. This application embodiment uses the loader remote control device 200 executing the loader remote control method as an example to illustrate the loader remote control device 200 provided in this application embodiment.

[0117] Please see Figure 3 This is a structural schematic diagram of a loader remote control device 200 provided in an embodiment of this application. Figure 3 As shown, the loader remote control device 200 includes:

[0118] The first control module 201 is used to execute a limit calibration strategy in response to an initialization command when the handle opening of the remote handle is not zero.

[0119] The second control module 202 is used to execute a centering calibration strategy in response to an initialization command when the handle opening is zero.

[0120] The extreme calibration strategies include:

[0121] Obtain the remote control handle opening, steering angle of the steering mechanism, and number of rotations of the servo motor;

[0122] When the steering mechanism is rotated to the limit steering angle, determine the limit number of rotations of the servo motor corresponding to the limit steering angle;

[0123] When the remote handle is pushed to its limit opening and the steering mechanism has not rotated to its limit steering angle, the steering servo is controlled to rotate so that the steering mechanism continues to rotate to the limit steering angle, and the limit number of rotations of the steering servo corresponding to the limit steering angle is determined.

[0124] Based on the limit number of rotations, the correspondence between the limit positions of the steering servo, remote control, and steering mechanism is determined;

[0125] The centering calibration strategy includes:

[0126] Obtain the neutral signal from the proximity switch;

[0127] Based on the centering judgment signal and the steering angle, control the rotation of the steering servo to adjust the steering mechanism to the centering position, and determine the corresponding number of rotations of the steering servo for centering.

[0128] Based on the number of rotations and the steering angle, the centering position correspondence of the steering servo, remote control, and steering mechanism is determined.

[0129] In some implementations, the first control module 201 can be used to:

[0130] When the remote handle is pushed to its limit opening and the steering mechanism has not rotated to its limit steering angle, the steering angle of the steering mechanism is obtained and determined as the operating limit steering angle.

[0131] Obtain the difference between the operating limit steering angle and the limit steering angle;

[0132] When the steering angle difference is not zero, control the steering servo to rotate so that the steering mechanism continues to rotate toward the limit position;

[0133] When the steering angle difference is zero, the number of rotations of the steering servo is obtained and determined as the limit number of rotations.

[0134] In some implementations, the limit positions include a left limit position and a right limit position, and the limit steering angle includes a left limit steering angle and a right limit steering angle.

[0135] In some implementations, the second control module 202 may be used for:

[0136] If the centering detection signal indicates that the steering mechanism is not in the center position, the steering servo is controlled to rotate according to the steering angle so that the steering mechanism is adjusted to the center position;

[0137] When the centering judgment signal indicates that the steering mechanism has returned to center, the steering servo stops moving.

[0138] In some implementations, the second control module 202 may be used for:

[0139] When the steering angle is greater than zero, control the steering servo to rotate clockwise until the steering angle is in the centering range or the centering judgment signal indicates that the steering mechanism has returned to center.

[0140] When the steering angle is less than zero, the steering servo is rotated counterclockwise until the steering angle is in the centering range or the centering judgment signal indicates that the steering mechanism has returned to center.

[0141] In some implementations, the second control module 202 may be used for:

[0142] When the steering angle is greater than or equal to the first preset angle, the steering servo is controlled to rotate clockwise at the first rotational speed.

[0143] When the steering angle is less than the first preset angle and greater than or equal to the second preset angle, the steering servo is controlled to rotate clockwise at the second rotation speed until the steering angle is in the centering range or the centering judgment signal indicates that the steering mechanism has returned to center.

[0144] Among them, the first preset angle is greater than the second preset angle, the second preset angle is greater than zero, and the second preset angle is the upper threshold value of the return-to-center interval.

[0145] Since the loader remote control device 200 adopts all the technical solutions of the loader remote control method of the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here.

[0146] Figure 4 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application.

[0147] This electronic device may include a processor 301 and a memory 302 storing computer program instructions.

[0148] Specifically, the processor 301 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0149] Memory 302 may include mass storage for data or instructions. For example, and not limitingly, memory 302 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 302 may include removable or non-removable (or fixed) media. Where appropriate, memory 302 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 302 is non-volatile solid-state memory.

[0150] In some embodiments, memory 302 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Thus, generally, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this disclosure.

[0151] The processor 301 reads and executes computer program instructions stored in the memory 302 to implement any of the loader remote control methods in the above embodiments.

[0152] In one example, the electronic device may also include a communication interface 303 and a bus 310. For example, Figure 4 As shown, the processor 301, memory 302, and communication interface 303 are connected through bus 310 and complete communication with each other.

[0153] The communication interface 303 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0154] Bus 310 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 310 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0155] The electronic device can execute the loader remote control method in the embodiments of this application, thereby achieving the combination of Figure 1 and Figure 3 The method and apparatus for remote control of loaders are described.

[0156] This application provides a loader that includes a remote handle, a steering gear, a steering mechanism, a pull rope displacement sensor, a proximity switch, and a controller. The controller is used to execute any of the remote control methods for the loader described in the above embodiments.

[0157] Furthermore, in conjunction with the remote control method for loaders in the above embodiments, this application embodiment can provide a computer storage medium for implementation. This computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the remote control methods for loaders in the above embodiments.

[0158] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0159] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0160] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0161] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in 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, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0162] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for remote control of a loader, characterized in that, Applied to a loader, the loader includes a remote handle, a steering servo, a steering mechanism, a pull rope displacement sensor, a proximity switch, and a controller. The remote handle is used to control the number of rotations of the steering servo by adjusting the handle opening so that the steering mechanism can turn. The pull rope displacement sensor is used to obtain the steering angle of the steering mechanism. The proximity switch is used to generate a centering judgment signal based on the centering status of the steering mechanism. The remote control method for the loader includes: In response to the initialization command, if the handle opening of the remote handle is not zero, the limit calibration strategy is executed; In response to the initialization command, a centering calibration strategy is executed when the handle opening is zero. The extreme calibration strategy includes: The remote control handle opening degree, the steering angle of the steering mechanism, and the number of rotations of the servo motor are obtained. When the steering mechanism is rotated to the limit steering angle, the limit number of rotations of the servo motor corresponding to the limit steering angle is determined; When the remote handle is pushed to its maximum opening and the steering mechanism has not rotated to the maximum steering angle, the servo is controlled to rotate so that the steering mechanism continues to rotate to the maximum steering angle, and the maximum number of rotations of the servo corresponding to the maximum steering angle is determined; wherein, when the remote handle is pushed to its maximum opening and the steering mechanism has not rotated to the maximum steering angle, the steering angle of the steering mechanism is obtained and determined as the operating maximum steering angle; the steering angle difference between the operating maximum steering angle and the maximum steering angle is obtained; when the steering angle difference is not zero, the servo is controlled to rotate so that the steering mechanism continues to rotate towards the maximum position; when the steering angle difference is zero, the number of rotations of the servo is obtained and determined as the maximum number of rotations; Based on the limit number of rotations, the correspondence between the limit positions of the steering servo, the remote handle, and the steering mechanism is determined; The centering calibration strategy includes: Obtain the centering judgment signal of the proximity switch; Based on the centering judgment signal and the steering angle, the steering servo is controlled to rotate so that the steering mechanism is adjusted to the centering position, and the corresponding number of centering rotations of the steering servo is determined. Based on the number of rotations for centering and the steering angle, the centering position correspondence between the steering servo, the remote handle, and the steering mechanism is determined.

2. The remote control method for a loader according to claim 1, characterized in that, The limit positions include the left limit position and the right limit position, and the limit steering angle includes the left limit steering angle and the right limit steering angle.

3. The remote control method for a loader according to claim 1, characterized in that, The step of controlling the steering servo to rotate according to the centering judgment signal and the steering angle so that the steering mechanism is adjusted to the centering position includes: If the centering judgment signal indicates that the steering mechanism is not centering, the steering servo is controlled to rotate according to the steering angle so that the steering mechanism is adjusted to the centering position; If the centering determination signal indicates that the steering mechanism has returned to center, the steering servo is controlled to stop moving.

4. The remote control method for a loader according to claim 3, characterized in that, The step of controlling the steering servo to rotate according to the steering angle so that the steering mechanism is adjusted to the return-to-center position includes: When the steering angle is greater than zero, control the steering servo to rotate clockwise until the steering angle is in the centering range or the centering judgment signal indicates that the steering mechanism has returned to center; When the steering angle is less than zero, the steering servo is controlled to rotate counterclockwise until the steering angle is in the centering range or the centering judgment signal indicates that the steering mechanism has returned to center.

5. The remote control method for a loader according to claim 4, characterized in that, When the steering angle is greater than zero, controlling the steering servo to rotate clockwise until the steering angle is in the centering range or the centering judgment signal indicates that the steering mechanism has returned to center includes: When the steering angle is greater than or equal to a first preset angle, the steering servo is controlled to rotate clockwise at a first rotational speed; When the steering angle is less than the first preset angle and greater than or equal to the second preset angle, the steering servo is controlled to rotate clockwise at the second rotation speed until the steering angle is in the centering range or the centering judgment signal indicates that the steering mechanism has returned to center. Wherein, the first preset angle is greater than the second preset angle, the second preset angle is greater than zero, and the second preset angle is the upper threshold value of the return-to-center interval.

6. A remote control device for a loader, characterized in that, The method for remotely controlling a loader as described in any one of claims 1 to 5 includes: The first control module is configured to execute a limit calibration strategy in response to an initialization command, provided that the handle opening of the remote handle is not zero. The second control module is used to execute a centering calibration strategy in response to an initialization command when the handle opening is zero. The extreme calibration strategy includes: The remote control handle opening degree, the steering angle of the steering mechanism, and the number of rotations of the servo motor are obtained. When the steering mechanism is rotated to the limit steering angle, the limit number of rotations of the servo motor corresponding to the limit steering angle is determined; When the remote handle is pushed to its maximum opening and the steering mechanism has not rotated to the maximum steering angle, the steering servo is controlled to rotate so that the steering mechanism continues to rotate to the maximum steering angle, and the maximum number of rotations of the steering servo corresponding to the maximum steering angle is determined. Based on the limit number of rotations, the correspondence between the limit positions of the steering servo, the remote handle, and the steering mechanism is determined; The centering calibration strategy includes: Obtain the centering judgment signal of the proximity switch; Based on the centering judgment signal and the steering angle, the steering servo is controlled to rotate so that the steering mechanism is adjusted to the centering position, and the corresponding number of centering rotations of the steering servo is determined. Based on the number of rotations for centering and the steering angle, the centering position correspondence between the steering servo, the remote handle, and the steering mechanism is determined.

7. An electronic device, characterized in that, It includes a processor and a memory, the memory storing programs or instructions that can run on the processor, the programs or instructions being executed by the processor to implement the steps of the loader remote control method as described in any one of claims 1 to 5.

8. A loader, characterized in that, It includes a remote handle, a steering gear, a steering mechanism, a pull rope displacement sensor, a proximity switch, and a controller, the controller being used to perform the loader remote control method as described in any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the loader remote control method as described in any one of claims 1 to 5.

Images