Intelligent running system of loading machine and operation method

Abstract

An intelligent operation method for a loader comprises the steps that S1, initial parameters are calibrated, and target angle numerical values of all key positions of the loader are recorded through a man-machine interaction interface and stored in a logic control module; s2, performing cycle operation, starting an auxiliary operation mode, sending a mode switching instruction by an operator through a mode switching instruction device in the operation process, obtaining sensor parameters of a next operation position according to a preset cycle sequence after a logic control module receives the mode switching instruction, and sending the sensor parameters to the auxiliary operation mode; and the movable arm and the rocker arm are controlled to rotate to a target angle directly or after triggering conditions are met. A'multi-level manual-automatic switching mechanism 'is creatively designed, the safety problem of butt joint with the dumper is considered again, and the operation difficulty is effectively simplified on the basis that the operation safety of the loader is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, in particular to a loader intelligent driving system and operation method. BACKGROUND

[0002] During the operation of the loader operator, multiple work handles need to be frequently pulled to control the operation of the loader arm and rocker arm, which is time-consuming and easy to cause fatigue.

[0003] The prior art introduces an intelligent control system for the loader to solve this problem. However, there are two major problems at present: First, multiple memory buttons are set to memorize the positions of the boom and bucket in different working states. When using, the operator needs to carefully distinguish, which improves the work efficiency to a certain extent, but there is a problem of misoperation, which exists a safety hazard. Second, it is integrated into a full-automatic unmanned driving system, for example, the patent No. CN202410913312.5, named "unmanned loader automatic operation system", which completely does not need the intervention of the operator. This system has very high requirements for the working environment and high cost. However, under normal circumstances, the working environment of the loader is very poor, and the ground is uneven, so the full-automatic driving system is prone to accidents. Therefore, the intelligent driving of the loader on uneven ground is also a problem that must be considered.

[0004] In addition, during the intelligent operation of the loader, the material is relatively safe when being scooped, but when being connected with the dump truck, especially when being lifted and withdrawn, special care is needed. According to different working environments, the operator needs to carefully maintain the distance from the dump truck, otherwise it is easy to cause scratching events. SUMMARY

[0005] To solve the technical problems in the background art, the present application provides a loader intelligent driving system and operation method.

[0006] The technical scheme of the present application is as follows: A loader intelligent operation method, comprising the following steps: S1, calibrating initial parameters; Record the target angle value of each key position of the loader through the man-machine interaction interface, and store it in the logic control module; Wherein, the key positions include: the initial position of the loading, the full bucket position, the transfer position, the lifting position, the unloading position, and the bucket collecting position. The target angle value is fed back by the first angle sensor installed at the hinge joint of the boom and the front support, and the second angle sensor installed at the hinge joint of the boom and the rocker arm; The key position is a fixed position repeatedly used during the loader operation, and the angle values of the swing arm and the swing arm at the fixed position are recorded in advance, so as to provide basic data for subsequent auxiliary cycle operation, thereby saving the time of repeatedly adjusting the fixed position by the operator.

[0007] S2, cycle operation; The auxiliary operation mode is started, and the operator issues a mode switching instruction through a mode switching instructing device during the operation; After receiving the mode switching instruction, the logic control module obtains the sensor parameters of the next operation position according to the preset cycle sequence, and directly controls the swing arm and the swing arm to rotate to the target angle or controls the swing arm and the swing arm to rotate to the target angle after meeting the triggering condition.

[0008] Compared with the conventional mode of setting multiple memory buttons, only one mode switching instructing device is set, and different operation steps are executed through the set cycle sequence, so that the operation difficulty is greatly simplified.

[0009] Specifically, in step S2, the preset cycle sequence is in turn a loading instruction, a full bucket instruction, a transfer instruction, a lifting instruction, a discharging instruction and a bucket collecting instruction.

[0010] Under the loading instruction, the logic control module directly controls the swing arm and the swing arm to rotate to the angle corresponding to the loading initial position; Under the full bucket instruction, the logic control module obtains the torque value of the loader walking motor in real time, and when the torque value is greater than the torque threshold value, the logic control module controls the swing arm and the swing arm to rotate to the angle corresponding to the full bucket position; Under the transfer instruction, the logic control module directly controls the swing arm and the swing arm to rotate to the angle corresponding to the transfer position; Under the lifting instruction, the system enters a standby state with manual priority, and the logic control module obtains the rotation angle of the swing arm in real time, and when the rotation angle is greater than a first switching threshold value, the logic control module switches the control right to an automatic control mode, and controls the swing arm and the swing arm to rotate to the angle corresponding to the lifting position; Under the discharging instruction, the logic control module directly controls the swing arm and the swing arm to rotate to the angle corresponding to the discharging position; Under the bucket collecting instruction, the system enters a standby state with manual priority, and the logic control module obtains the rotation angle of the swing arm in real time, and when the rotation angle is less than a second switching threshold value, the logic control module switches the control right to an automatic control mode, and controls the swing arm and the swing arm to rotate to the angle corresponding to the bucket collecting position.

[0011] The above is the core invention point of the present application, compared with the problems existing in the conventional full-automatic unmanned driving, the present application creatively designs a "multi-level manual-automatic switching mechanism", which effectively simplifies the operation difficulty on the basis of ensuring the safety of the loader operation. The first layer manual-automatic switching mechanism is one-key switching in an auxiliary operation mode, and in the auxiliary operation mode, only one mode switching instructing device needs to be operated to perform cyclic operation at six different nodes of construction, and the operation is simple; The second layer manual-automatic switching mechanism is that a manual priority strategy is adopted at key nodes, and after a specific condition is triggered, the automatic control mode is switched.

[0012] This is mainly aimed at the lifting and bucket collecting operation steps, and the two steps are the two nodes most closely matched with the loader and the dump truck, and considering that the two vehicles are manually connected and the complexity of the site environment, various connection accidents are prone to occur in the two steps, such as poor connection, material spilling, or scratching each other during connection, etc. If too much reliance is placed on the full-automatic unmanned system here, a very complex detection system needs to be set, which is high in cost and slow in efficiency.

[0013] Therefore, in the key step of lifting instruction, the system is first brought into a manual priority standby state, at this time, the operation handle for controlling the boom and the rocker arm on the loader is powered on, the operator can repeatedly adjust the position of the vehicle and the boom to adapt to the position of the dump truck and the site environment, and when the adjustment is in place and it is confirmed that no interference will occur, the boom is continuously controlled to rise, and when the rotation angle of the boom is greater than the first switching threshold value, the logic control module determines that the lifting environment is safe, the circuit of the operation handle for controlling the boom and the rocker arm on the loader is cut off, and the automatic control mode is switched to, the boom and the rocker arm are controlled to rotate to the angle corresponding to the lifting position, so as to save the time and effort of manually adjusting the unloading height.

[0014] Similarly, when the bucket collecting action is performed, on the one hand, the bucket will be turned down, and on the other hand, the dump truck will start to move, and if the two actions are completely relied on automatic control, the problem of interference between the bucket and the dump truck is prone to occur. Moreover, after the dump truck is filled, the bucket of the loader needs to perform certain flattening operation, which is difficult to be realized by the full-automatic unloading and bucket collecting intelligent operation system of the loader.

[0015] Therefore, under the bucket collecting instruction, the system is also first brought into a manual priority standby state, at this time, the operation handle for controlling the boom and the rocker arm on the loader is powered on, the operator can repeatedly adjust the position of the vehicle and the rocker arm action, and after leaving the dump truck, the boom is continuously controlled to descend, and when the rotation angle of the boom is less than the first switching threshold value, the logic control module determines that the bucket collecting environment is safe, the circuit of the operation handle for controlling the boom and the rocker arm on the loader is cut off, and the automatic control mode is switched to, the boom and the rocker arm are controlled to rotate to the angle corresponding to the bucket collecting position.

[0016] Thus, the loading of the material is completed. The loader can return to the material shoveling position, the mode switching instructing device is switched to the material shoveling instruction, and the bucket is switched from the bucket collecting state to the ground shoveling state.

[0017] It is worth noting that the present application is to reduce the auxiliary operation mode under the influence of the operator's misoperation on the boom and swing arm operation handle of the loader to the automatic operation process, and is designed to disconnect the boom and swing arm operation handle circuit of the loader in the auxiliary operation mode, and only give temporary communication at the initial stage of the lifting instruction and the bucket closing instruction. This is also the essential difference between the present application and the prior art which controls part or all of the operation links automatically. In this way, when the operator uses the auxiliary operation mode, he only needs to control the vehicle direction in most cases, and only when the lifting and bucket closing operation is matched with the dump truck, manual control of the boom is required before automatic control. Therefore, the present application is an intelligent operation method combining safety and efficiency.

[0018] The mode switching instruction device is a resettable handle, button or knob, which is installed at a place convenient for the operator to operate.

[0019] The angle sensor can adopt a double-axis inclination sensor, which is installed concentrically with the hinge shaft and is provided with a buffer pad.

[0020] The walking motor of the loader adopts PID regulation, so that the motor speed quickly reaches the target value, and the motor speed fluctuation is reduced, so that the motor runs stably and efficiently.

[0021] The present application also provides a loader intelligent driving system which adopts the above-mentioned loader intelligent operation method, and specifically comprises: A first angle sensor is installed at the hinge joint of the boom and the front support; A second angle sensor is installed at the hinge joint of the boom and the swing arm; A man-machine interaction interface; A mode switching instruction device; A hydraulic control valve block for controlling the action of the boom cylinder and the swing arm cylinder; A logic control module, the input end of which is electrically connected with the first angle sensor, the second angle sensor, the man-machine interaction interface and the mode switching instruction device, and the output end of which is electrically connected with the hydraulic control valve block.

[0022] In order to further ensure the operation safety of the loader, the system further comprises a slope inclination sensor installed on the frame of the loader for detecting the front and rear inclination and the left and right inclination of the loader, and when the front and rear inclination is greater than 25° or the left and right inclination is greater than 15°, the loader stops working.

[0023] After starting the auxiliary operation mode, the logic control module obtains the feedback value of the slope inclination sensor in real time when transferring the operation, and when the feedback value is greater than the safety threshold, the boom is controlled to descend and the bucket is controlled to close, so as to reduce the center of gravity of the loader and prevent tipping.

[0024] As a preferred embodiment, the ratio of the boom lowering angle to the bucket closing angle is 2:1.

[0025] Through the above design, the intelligent traveling system and operation method of the loader, innovatively designs an intelligent operation method and traveling system integrating safety and efficiency, compared with the full-automatic control mode of the prior art for part or all operation links, the application creatively designs a "multi-level manual-automatic switching mechanism", reconsiders the docking safety problem with the dump truck, effectively simplifies the operation difficulty on the basis of ensuring the safety of the loader operation, and specifically: The first layer of manual-automatic switching mechanism is one-key switching of the auxiliary operation mode, and in the auxiliary operation mode, only one mode switching instructing device needs to be operated to perform cyclic operation at 6 different nodes of construction, which is simple and convenient to operate. The second layer of manual-automatic switching mechanism is that the two key nodes of lifting and closing are manually controlled, and after triggering a specific condition, the automatic control mode is switched.

[0026] In this way, when the operator uses the auxiliary operation mode, in most cases, only the vehicle travel direction needs to be controlled, and only in the lifting and closing operation with the dump truck, the boom needs to be manually controlled to the position before being automatically controlled, which greatly improves the operation safety. BRIEF DESCRIPTION OF DRAWINGS

[0027] In the drawings: Figure 1 It is a control flow chart of the intelligent operation method of the loader; Figure 2 It is a structural schematic diagram of the intelligent traveling system of the loader; Figure 3 It is a structural schematic diagram of the first angle sensor; Figure 4 It is an installation position schematic diagram of the first angle sensor; Figure 5 It is an installation position schematic diagram of the second angle sensor; The components represented by the reference signs in the drawings are: 1, boom; 2, rocker arm; 3, bucket; 4, first angle sensor; 5, second angle sensor. DETAILED DESCRIPTION

[0028] Example 1 Referring to Figures 1-3 The embodiment provides an intelligent operation method of a loader, comprising the following steps: S1, calibrating initial parameters; Record the target angle value of each key position of the loader through the man-machine interaction interface, and store it in the logic control module; The human-computer interaction interface includes, but is not limited to, a touch screen, a physical key or a voice control device, and is used for completing the operations such as calibration, editing, deleting and setting of a cycle sequence of a position.

[0029] The key positions include a shovel loading initial position, a full bucket position, a transfer position, a lifting position, a discharging position and a bucket collecting position, and target angle values are fed back by a first angle sensor 4 installed at a hinge joint of the boom 1 and a front support and a second angle sensor 5 installed at a hinge joint of the boom 1 and the rocker arm 2.

[0030] The target angle values are set in groups and correspond to the boom 1 angle and the rocker arm 2 angle of each key position, and before formal work, the specific values of this operation are recorded through actual operation.

[0031] The shovel loading initial position is an approximate ground-adhering state position of the bucket, the full bucket position is a turnover state position of the bucket after the bucket is full of materials, the transfer position is a position of the bucket slightly lifted on the road for transfer, the lifting position is a position of the bucket lifted to the highest point before discharging, the discharging position is a position of the bucket after the bucket is turned over for discharging, and the bucket collecting position is a position of the bucket collected to a low position and ready to go to a material accumulation point.

[0032] The key positions are fixed positions repeatedly used in the operation of the loader, and the angle values of the boom 1 and the rocker arm 2 at these fixed positions are recorded in advance to provide basic data for subsequent auxiliary cycle operation, so that the time of repeatedly adjusting the fixed positions by the operator can be saved.

[0033] S2, cycle operation; An auxiliary operation mode is started, and the operator issues a mode switching instruction through a mode switching instructor during operation; After the logic control module receives the mode switching instruction, sensor parameters of a next operation position are obtained according to a preset cycle sequence, and the boom 1 and the rocker arm 2 are directly controlled to rotate to target angles or are controlled to rotate to the target angles after a trigger condition is met.

[0034] Compared with the conventional mode of setting multiple memory buttons, only one mode switching instructor is set, different operation steps are executed through the set cycle sequence, and the operation difficulty is greatly simplified.

[0035] Specifically, in step S2, the preset cycle sequence is in turn a shovel loading instruction, a full bucket instruction, a transfer instruction, a lifting instruction, a discharging instruction and a bucket collecting instruction. When an accident occurs during operation, the auxiliary operation mode can be closed and switched to manual operation. The logic control module clears the currently memorized sequence, and when the auxiliary operation mode is started again, the execution starts from the first shovel loading instruction.

[0036] Referring to Figure 1As shown, under the shovel command, the logic control module directly controls the swing arm 1 and the rocker arm 2 to rotate to the angle corresponding to the initial position of the shovel loading; Under the full bucket command, the logic control module obtains the torque value of the walking motor of the loader in real time, and when it is greater than the torque threshold value, the swing arm 1 and the rocker arm 2 are controlled to rotate to the angle corresponding to the full bucket position; Under the transfer command, the logic control module directly controls the swing arm 1 and the rocker arm 2 to rotate to the angle corresponding to the transfer position; Under the lifting command, the system enters a standby state with manual priority, and the logic control module obtains the rotation angle of the swing arm 1 in real time. When it is greater than the first switching threshold value, the logic control module switches the control to the automatic control mode, and controls the swing arm 1 and the rocker arm 2 to rotate to the angle corresponding to the lifting position; Under the unloading command, the logic control module directly controls the swing arm 1 and the rocker arm 2 to rotate to the angle corresponding to the unloading position; Under the bucket collection command, the system enters a standby state with manual priority, and the logic control module obtains the rotation angle of the swing arm 1 in real time. When it is less than the second switching threshold value, the logic control module switches the control to the automatic control mode, and controls the swing arm 1 and the rocker arm 2 to rotate to the angle corresponding to the bucket collection position.

[0037] The above is the core invention point of the present application. Compared with the various problems existing in the traditional full-automatic unmanned driving, the present application creatively designs a "multi-level manual-automatic switching mechanism", which effectively simplifies the operation difficulty on the basis of ensuring the safety of the loader operation. Specifically: The first layer manual-automatic switching mechanism is one-key switching of hand-automatic in the auxiliary operation mode, and in the auxiliary operation mode, only one mode switching command device needs to be operated to perform cyclic operation at six different nodes of construction, which is simple and convenient to operate. The second layer manual-automatic switching mechanism is a manual priority strategy at key nodes, and after a specific condition is triggered, the automatic control mode is switched automatically.

[0038] This mainly aims at the lifting and bucket collection operation steps, which are the two nodes most closely matched with the loader and the dump truck. Considering the human operation of the two vehicles and the complexity of the site environment, various docking accidents are prone to occur in these two steps, such as improper docking, material spilling, or scratching each other during docking. If too much reliance is placed on the full-automatic unmanned system here, a very complex detection system needs to be set, which is high in cost and slow in efficiency.

[0039] Therefore, the application makes the system enter the standby state of manual priority at the key step of lifting instruction, at this time, the operation handle for controlling the operation of the boom 1 and the rocker 2 on the loader is powered on, the operator can repeatedly adjust the position of the vehicle and the position of the boom 1 to adapt the position of the dump truck and the field environment, when the adjustment is in place and it is confirmed that no interference will be caused, the boom 1 is continuously controlled to rise, when the rotation angle of the boom 1 obtained by the logic control module is greater than the first switching threshold, it is judged that the safe lifting environment is at this time, the circuit of the operation handle for controlling the operation of the boom 1 and the rocker 2 on the loader is cut off, and the automatic control mode is switched to, the boom 1 and the rocker 2 are controlled to rotate to the corresponding angle of the lifting position, so as to save the time and effort of manually adjusting the unloading height.

[0040] Similarly, when the bucket operation is performed, on the one hand, the bucket 3 will be turned down, and on the other hand, the dump truck will start to move, the simultaneous operation of the two will easily cause the interference problem of the bucket 3 and the dump truck if the automatic control is completely relied on. Moreover, after the dump truck is filled, the bucket 3 of the loader needs to perform certain flattening operation, and the bucket angle needs to be repeatedly adjusted, which is difficult to be realized by the intelligent operation system of the loader adopting the fully automatic unloading and bucket operation.

[0041] Therefore, the application also makes the system enter the standby state of manual priority at the bucket instruction, at this time, the operation handle for controlling the operation of the boom 1 and the rocker 2 on the loader is powered on, the operator can repeatedly adjust the position of the vehicle and the operation of the rocker 2, after leaving the dump truck, the boom 1 is continuously controlled to descend, when the rotation angle of the boom 1 obtained by the logic control module is less than the first switching threshold, it is judged that the safe bucket environment is at this time, the circuit of the operation handle for controlling the operation of the boom 1 and the rocker 2 on the loader is cut off, and the automatic control mode is switched to, the boom 1 and the rocker 2 are controlled to rotate to the corresponding angle of the bucket position.

[0042] At this time, the loading of the material is completed. The loader can return to the loading position, the mode switching instruction device is switched to the loading instruction, and the bucket 3 is switched from the bucket state to the ground loading state.

[0043] It is worth noting that, in order to reduce the influence of the misoperation of the operator on the operation handle for controlling the operation of the boom 1 and the rocker 2 on the loader on the automatic operation process in the auxiliary operation mode, the circuit of the operation handle for controlling the operation of the boom 1 and the rocker 2 on the loader is disconnected in the auxiliary operation mode, and only temporary connection is given at the initial stage of the lifting instruction and the bucket instruction. This is also the essential difference between the application and the prior art in which the automatic control is performed on part or all of the operation links. In this way, the operator only needs to control the traveling direction of the vehicle in most cases when the auxiliary operation mode is used, and only when the boom 1 is manually controlled to the position in the lifting and bucket operation with the dump truck, the automatic control is switched. Therefore, the application is an intelligent operation method which integrates safety and efficiency.

[0044] As a preferred solution, the logic control module controls the boom and the arm to move at a fast speed first and then at a slow speed according to the signals fed back by the angle sensors, so as to prevent impact force from being generated after reaching the specified position. Under the full bucket command, the bucket turning speed is also controlled to be fast first and then slow according to the torque value of the traveling motor.

[0045] In the embodiment, the mode switching instructing device is a resettable handle which can be installed at a position convenient for the operator to operate. The handle is large in size and is eye-catching in position, so as to be convenient for the operator to touch.

[0046] Referring to Figure 3 As shown in the figure, the two angle sensors can be double-axis inclination sensors which are rigidly connected to the connection positions of the boom and the arm and the connection positions of the boom and the front frame through flanges. The flanges are provided with three-way adjusting screws which can be used to finely adjust the initial positions of the angle sensors in the X / Y / Z axes. When installed, the angle sensors are concentrically installed with the hinge shafts and are provided with buffer pads to reduce vibration. The buffer pads can be polyurethane buffer pads (5-8 mm in thickness).

[0047] The boom and the arm are respectively provided with fixed seats at the two hinge positions, the fixed seats are connected with plug-in plates, the plug-in plates are provided with rotating shafts at the ends, the outermost double-axis inclination sensors are connected with pointers, the pointers are provided with U-shaped openings at the ends, the rotating shafts are inserted into the U-shaped openings of the pointers, and the angle sensor pointers follow the transmission when the boom and the arm move, so as to convert the real-time angle values into changes of analog signals and transmit the changes into the logic control module.

[0048] The traveling motor of the loader is adjusted by PID, so that the motor speed can quickly reach the target value, the motor speed fluctuation is reduced, and the motor can stably and efficiently operate.

[0049] Embodiment 2 Referring to Figure 2 The application further provides a loader intelligent traveling system which adopts the loader intelligent operation method of embodiment 1 and specifically comprises the following components: A first angle sensor 4 is installed at the hinge position of the boom 1 and the front support; A second angle sensor 5 is installed at the hinge position of the boom 1 and the arm 2; A man-machine interaction interface; A mode switching instructing device; A hydraulic control valve block for controlling the actions of the boom 1 oil cylinder and the arm 2 oil cylinder; A logic control module, the input end of which is electrically connected with the first angle sensor 4, the second angle sensor 5, the man-machine interaction interface and the mode switching instructing device, and the output end of which is electrically connected with the hydraulic control valve block.

[0050] Embodiment 3 To further ensure the safety of the loader, the system further comprises a slope inclination sensor installed on the frame of the loader for detecting the front and rear inclination and the left and right inclination of the loader, and the loader stops working when the front and rear inclination is greater than 25° or the left and right inclination is greater than 15°.

[0051] After starting the auxiliary operation mode, the logic control module acquires the feedback value of the slope inclination sensor in real time during the transfer operation, and controls the boom 1 to descend and the bucket 3 to close when the feedback value is greater than the safety threshold, so as to lower the center of gravity of the loader and prevent the loader from overturning.

[0052] Specifically, during the anti-overturning operation, the anti-overturning operation is divided into front and rear anti-overturning and left and right anti-overturning.

[0053] The front and rear anti-overturning is judged as: The angle of the boom angle sensor is set to 6° under the normal transfer instruction.

[0054] If the front and rear inclination of the slope inclination sensor is greater than 0° (i.e., the vehicle is high in front and low in back), the boom is controlled to descend by 1 / 3 of the corresponding angle of the front and rear inclination, and the lowest angle of the boom is 2°.

[0055] That is, when the front and rear inclination is between 13-25°, the angle of the boom is 2°.

[0056] If the front and rear inclination of the slope inclination sensor is less than 0° (i.e., the vehicle is low in front and high in back), the boom is controlled to descend by 1 / 2 of the corresponding angle of the front and rear inclination, and the lowest angle of the boom is 2°.

[0057] That is, when the front and rear inclination is between the reverse 9-25°, the angle of the boom is 2°.

[0058] The lowest limit of the angle of the boom 2° can ensure that the bucket will not drag the bottom when the loader is climbing or descending a slope.

[0059] As another embodiment, if the angle of the boom angle sensor set by the operator is greater than 6° under the normal transfer instruction, when the front and rear inclination of the slope inclination sensor is greater than 0°, the boom is first controlled to descend to 6° at a descending speed of 1° per second, and then the above steps are executed.

[0060] The left and right anti-overturning is judged as: The angle of the boom angle sensor is set to 6° under the normal transfer instruction.

[0061] If the left and right inclination of the slope inclination sensor is greater than 0° or less than 0° (i.e., the vehicle is high in front and low in back), the boom is controlled to descend by the corresponding angle of the change angle of the left and right inclination, and the lowest angle of the boom is 1°.

[0062] That is, when the left and right inclination angles are 5-15° in the positive direction or 5-15° in the negative direction, the boom angle is 1°. In this way, the dipper can be prevented from dragging the bottom during the transfer process.

[0063] As another embodiment, if the operator sets the boom angle sensor angle to be greater than 6° under normal transfer instructions, when the left and right inclination angle sensor angles are greater than 0°, the boom is first controlled to decrease to 6° at a rate of 0.5° per second, and then the above steps are executed.

[0064] As a preferred embodiment, the ratio of the boom 1 decrease angle to the dipper 3 closing angle is 2:1, that is, the boom 1 decreases by 2° and the dipper closes by 1°, when the boom angle 1° sensor angle is 6°, the dipper angle is 20°, and the maximum dipper closing angle is 23°.

[0065] As a further preferred solution, during the transfer operation, if the boom 1 is triggered to decrease, the hydraulic motor runs at a certain speed, and when the target angle value is reached, the hydraulic motor speed is 0, so as to ensure that there is no large impact during operation. The boom decreases by 1° and the dipper performs a closing action at the same time, and the action time is inversely proportional to the speed of the hydraulic motor, so as to ensure smooth operation.

Claims

1. A method for intelligent operation of a loader, characterized in that, Includes the following steps: S1, Calibrate initial parameters; The target angle values ​​at each key position of the loader are recorded through the human-machine interface and stored in the logic control module; The key positions include: initial loading position, full bucket position, transfer position, lifting position, unloading position, and bucket closing position. The target angle value is fed back by the first angle sensor installed at the hinge of the boom and the front support, and the second angle sensor installed at the hinge of the boom and the rocker arm. S2, Cyclic operation; The auxiliary operation mode is activated, and the operator issues a mode switching command through the mode switching command device during the operation. After receiving the mode switching command, the logic control module obtains the sensor parameters of the next working position according to the preset cycle sequence, and controls the boom and rocker arm to rotate to the target angle directly or after the trigger condition is met.

2. The intelligent operation method for a loader according to claim 1, characterized in that, In step S2, the preset cycle sequence is as follows: shovel loading command, full bucket command, transfer command, lifting command, unloading command, and bucket retraction command.

3. The intelligent operation method for a loader according to claim 2, characterized in that, Under the loading command, the logic control module directly controls the boom and rocker arm to rotate to the angle corresponding to the initial loading position; Under the command to fill the bucket, the logic control module obtains the torque value of the loader's travel motor in real time. When the torque value is greater than the torque threshold, it controls the boom and rocker arm to rotate to the angle corresponding to the full bucket position. Under the transfer command, the logic control module directly controls the boom and rocker arm to rotate to the angle corresponding to the transfer position; Under the lifting command, the system enters the manual priority standby state. The logic control module obtains the rotation angle of the boom in real time. When it is greater than the first switching threshold, the logic control module switches the control to the automatic control mode and controls the boom and rocker arm to rotate to the corresponding angle of the lifting position. Under the unloading command, the logic control module directly controls the boom and rocker arm to rotate to the angle corresponding to the unloading position; Upon receiving the bucket-collecting command, the system enters a manual-priority standby state. The logic control module acquires the boom's rotation angle in real time. When the angle is less than the second switching threshold, the logic control module switches control to automatic control mode, controlling the boom and rocker arm to rotate to the angle corresponding to the bucket-collecting position.

4. A loader intelligent operation method according to any one of claims 1-3, characterized in that, The mode switching command can be a resettable handle, button, or knob.

5. A loader intelligent operation method according to any one of claims 1-3, characterized in that, The angle sensor is a dual-axis tilt sensor, which is installed concentrically with the hinge axis and is equipped with a buffer pad.

6. The intelligent operation method for a loader according to claim 1, characterized in that, The loader's travel motor uses PID control.

7. A loader intelligent driving system, characterized in that, The intelligent operation method for a loader according to any one of claims 1-3 specifically includes: The first angle sensor is installed at the hinge between the boom and the front support; The second angle sensor is installed at the hinge between the boom and the rocker arm; Human-computer interaction interface; Mode switching instruction; The hydraulic control valve block is used to control the movement of the boom cylinder and the rocker arm cylinder; The logic control module has its input terminals electrically connected to the first angle sensor, the second angle sensor, the human-machine interface, and the mode switching command unit, and its output terminal electrically connected to the hydraulic control valve block.

8. The intelligent driving system for a loader according to claim 7, characterized in that, It also includes a ramp tilt sensor, which is installed on the loader frame to detect the loader's front and rear tilt angles and left and right tilt angles. When the front and rear tilt angle is greater than 25° or the left and right tilt angle is greater than 15°, the loader stops working.

9. The intelligent driving system for a loader according to claim 8, characterized in that, After the auxiliary operation mode is activated, during the transfer operation, the logic control module obtains the feedback value of the ramp tilt sensor in real time. When the value is greater than the safety threshold, it controls the boom to lower and the bucket to retract.

10. A loader intelligent driving system according to claim 9, characterized in that, The ratio of the boom lowering angle to the bucket retraction angle is 2:1.

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