Loader intelligent driving system and working method

Abstract

A loader intelligent operation method, comprising S1, calibrating initial parameters, recording target angle values of each key position of the loader through a man-machine interaction interface, and storing in a logic control module; S2, cyclic operation, starting an auxiliary operation mode, the operator issuing a mode switching instruction through a mode switching instructor during operation, the logic control module receiving the mode switching instruction, acquiring sensor parameters of the next operation position according to a preset cyclic sequence, and directly or after meeting a trigger condition, controlling the boom and rocker to rotate to the target angle. The application creatively designs a "multi-level manual-automatic switching mechanism", reconsiders the docking safety problem with the dump truck, and effectively simplifies the operation difficulty on the basis of ensuring the safety of the loader operation.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, specifically to an intelligent driving system and operating method for a loader. Background Technology

[0002] Loader operators need to frequently pull multiple working handles to control the loader boom and rocker arm during operation, which can lead to long working hours and fatigue.

[0003] Existing technology has introduced intelligent control systems for loaders to address this problem. However, two major issues remain: First, multiple memory buttons are set up to remember the positions of the boom and bucket under different working conditions. When using them, the operator needs to carefully distinguish them. Although this improves work efficiency to a certain extent, it also poses the problem of misoperation and safety hazards. Secondly, there's the option of integrating it into a fully automated, unmanned driving system. For example, patent number CN202410913312.5, titled "An Automated Operating System for an Unmanned Loader," completely eliminates the need for operator intervention. However, this approach has very high requirements for the working environment and is quite costly. Yet, loaders typically operate in very harsh environments with uneven ground, making fully automated driving systems prone to accidents. Therefore, intelligent driving for loaders on uneven surfaces is also a crucial consideration.

[0004] In addition, while shoveling materials is relatively safe during the intelligent operation of the loader, extra care is required when docking with dump trucks, especially when lifting and retracting. Depending on the working environment, the operator must carefully maintain a distance from the dump truck, otherwise a collision is likely to occur. Summary of the Invention

[0005] To address the technical problems existing in the background art, the present invention provides an intelligent driving system and operating method for a loader.

[0006] The technical solution of this invention is as follows: A method for intelligent operation of a loader 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. The key positions are the fixed positions that are repeatedly used during loader operation. Record the angle values ​​of the boom and rocker arm at these fixed positions in advance to provide basic data for subsequent auxiliary cycle operations. This can save the operator the time of repeatedly adjusting these fixed positions.

[0007] 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.

[0008] Compared to the traditional method of setting multiple memory buttons, this invention only sets one mode switching command, which executes different operation steps in a pre-set cyclical sequence, greatly simplifying the operation.

[0009] Specifically, 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.

[0010] 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-down 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-down position.

[0011] The above content constitutes the core inventive point of this invention. Compared with the various problems existing in traditional fully automatic unmanned driving, this invention creatively designs a "multi-level manual-automatic switching mechanism," which effectively simplifies the operation while ensuring the safety of loader operation. Specifically: The first-level manual-automatic switching mechanism is as follows: the auxiliary operation mode can be switched with one click, and in the auxiliary operation mode, only one mode switching command device needs to be operated to carry out cyclical operation at 6 different nodes of construction, which is simple to operate; The second-level manual-automatic switching mechanism is as follows: key nodes adopt a manual priority strategy, and automatically switch to automatic control mode after specific conditions are triggered.

[0012] This mainly addresses the lifting and bucket-folding operations, which are the two most crucial steps in the interaction between the loader and the dump truck. Considering the manual operation of the two vehicles during docking and the complexity of the on-site environment, these two steps are prone to various docking accidents, such as incomplete docking, material spillage, or collisions during docking. Over-reliance on fully automated unmanned systems here would require very complex detection systems, resulting in high costs and slow efficiency.

[0013] Therefore, in the crucial step of lifting command, this invention first puts the system into a manual-priority standby state. At this time, the operating handles on the loader that control the boom and rocker arm are energized. The operator can repeatedly adjust the vehicle position and boom position to adapt to the dump truck position and the site environment. Once the adjustment is in place and it is confirmed that there will be no interference, the boom is continuously controlled to rise. When the logic control module obtains that the boom rotation angle is greater than the first switching threshold, it determines that this is a safe lifting environment and cuts off the circuit of the boom and rocker arm operating handles on the loader, switching to automatic control mode. The boom and rocker arm are then controlled to rotate to the corresponding angle of the lifting position, thus saving the time and effort of manually adjusting the unloading height.

[0014] Similarly, during the bucket retraction action, the bucket tilts downwards while the dump truck begins to move. If these two actions occur simultaneously and rely entirely on automatic control, interference between the bucket and the dump truck can easily occur. Furthermore, after the dump truck is full, the loader's bucket needs to perform a certain leveling operation, which is difficult to achieve with a fully automatic unloading and bucket retraction intelligent operating system.

[0015] Therefore, under the command to retract the bucket, the present invention first puts the system into a manual priority standby state. At this time, the operating handles on the loader that control the boom and rocker arm are energized. The operator can repeatedly adjust the vehicle position and rocker arm movement. After leaving the dump truck, the boom is continuously lowered. When the logic control module obtains that the boom rotation angle is less than the first switching threshold, it determines that this is a safe bucket retracting environment, cuts off the circuit of the boom and rocker arm operating handles on the loader, switches to automatic control mode, and controls the boom and rocker arm to rotate to the angle corresponding to the bucket retracting position.

[0016] This completes one loading cycle. The loader can then return to the shoveling position, triggering the mode switch to the shoveling command, which switches the bucket from the retracted state to the ground-hugging shoveling state.

[0017] It is worth noting that, to reduce the impact of operator error on the loader's boom and rocker arm control handles during auxiliary operation mode, this invention is designed to disconnect the circuits of the boom and rocker arm control handles in auxiliary operation mode, providing only temporary connection at the initial stages of lifting and bucket retraction commands. This is the essential difference between this invention and existing technologies that provide fully automatic control for some or all aspects of the operation. Thus, in most cases, operators only need to control the vehicle's direction of travel when using auxiliary operation mode; only during lifting and bucket retraction operations in conjunction with a dump truck, manual control of the boom is required before switching to automatic control. Therefore, this invention is an intelligent operation method that combines safety and efficiency.

[0018] The mode switching command device can be a resettable handle, button, or knob, and can be installed in a location convenient for the operator to operate.

[0019] The angle sensor can be a dual-axis tilt sensor, which is installed concentrically with the hinge axis and is equipped with a buffer pad.

[0020] The loader's travel motor uses PID control to quickly reach the target speed and reduce speed fluctuations, ensuring stable and efficient motor operation.

[0021] The present invention also provides an intelligent driving system for a loader, which employs the above-mentioned intelligent operation method for a loader, specifically including: 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.

[0022] To further ensure the safety of loader operation, this system 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.

[0023] After activating the auxiliary operation mode, 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, thereby lowering the loader's center of gravity and preventing tipping.

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

[0025] Through the above design, this invention provides an intelligent driving system and operating method for loaders. It innovatively designs an intelligent operating method and driving system that integrates safety and efficiency. Compared to existing technologies that perform fully automatic control of some or all operational processes, this invention creatively designs a "multi-level manual-automatic switching mechanism," reconsidering the safety issues related to docking with dump trucks. While ensuring the safety of loader operation, it effectively simplifies the operation. Specifically: The first-level manual-automatic switching mechanism is as follows: the auxiliary operation mode can be switched with one click, and in the auxiliary operation mode, only one mode switching command device needs to be operated to carry out cyclical operation at 6 different nodes of construction, which is simple to operate; The second-level manual-automatic switching mechanism is as follows: the two key nodes of lifting and bucket retraction adopt a manual priority strategy, and automatically switch to automatic control mode after specific conditions are triggered.

[0026] In this way, when using the auxiliary operation mode, operators only need to control the direction of the vehicle's movement in most cases. Only when lifting and retracting the bucket in conjunction with the dump truck is the boom manually controlled to reach the desired position before switching to automatic control, which greatly improves operational safety. Attached Figure Description

[0027] In the attached diagram: Figure 1 This is a control flowchart for the intelligent operation method of loaders; Figure 2 This is a structural diagram of the intelligent driving system for a loader; Figure 3 This is a schematic diagram of the structure of the first angle sensor; Figure 4 This is a schematic diagram showing the installation location of the first angle sensor; Figure 5 This is a schematic diagram showing the installation location of the second angle sensor; The components represented by the various reference numerals in the diagram are: 1. Boom; 2. Rocker arm; 3. Bucket; 4. First angle sensor; 5. Second angle sensor. Detailed Implementation

[0028] Example 1 See Figures 1-3 This embodiment provides a method for intelligent operation of a loader, including 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; Human-computer interaction interfaces include, but are not limited to, touch screens, physical buttons, or voice-controlled devices, used to perform operations such as position calibration, editing, deletion, and setting the cycle sequence.

[0029] 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 4 installed at the hinge of boom 1 and front support, and the second angle sensor 5 installed at the hinge of boom 1 and rocker arm 2.

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

[0031] Among them, the initial loading position is the position where the bucket is almost touching the ground, the full bucket position is the position where the bucket is flipped after being filled with material, the transfer position is the position where the bucket is slightly raised and being transferred on the road, the lifting position is the position where the bucket is raised to the highest point before unloading, the unloading position is the position where the bucket is flipped and unloading, and the bucket retraction position is the position where the bucket is retracted to the lowest position and is ready to go to the material accumulation point.

[0032] The key positions are the fixed positions that are repeatedly used during loader operation. Record the angle values ​​of boom 1 and rocker arm 2 at these fixed positions in advance to provide basic data for subsequent auxiliary cycle operations. This can save the operator the time of repeatedly adjusting these fixed positions.

[0033] 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 1 and rocker arm 2 to rotate to the target angle directly or after the trigger condition is met.

[0034] Compared to the traditional method of setting multiple memory buttons, this invention only sets one mode switching command, which executes different operation steps in a pre-set cyclical sequence, greatly simplifying the operation.

[0035] Specifically, 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. If an unexpected accident occurs during operation, the auxiliary operation mode can be turned off and manual operation switched. The logic control module clears the currently memorized sequence, and when the auxiliary operation mode is restarted, execution begins from the first shovel loading command.

[0036] See Figure 1As shown, under the loading command, the logic control module directly controls the boom 1 and rocker arm 2 to rotate to the angle corresponding to the initial loading position; Under the command of full bucket, the logic control module obtains the torque value of the loader's travel motor in real time. When it is greater than the torque threshold, it controls the boom 1 and rocker arm 2 to rotate to the angle corresponding to the full bucket position. Under the transfer command, the logic control module directly controls the boom 1 and rocker arm 2 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 boom 1 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 boom 1 and rocker arm 2 to rotate to the corresponding angle of the lifting position. Under the unloading command, the logic control module directly controls the boom 1 and rocker arm 2 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 rotation angle of boom 1 in real time. When the angle is less than the second switching threshold, the logic control module switches the control to automatic control mode, controlling boom 1 and rocker arm 2 to rotate to the angle corresponding to the bucket-collecting position.

[0037] The above content constitutes the core inventive point of this invention. Compared with the various problems existing in traditional fully automatic unmanned driving, this invention creatively designs a "multi-level manual-automatic switching mechanism," which effectively simplifies the operation while ensuring the safety of loader operation. Specifically: The first-level manual-automatic switching mechanism is as follows: the auxiliary operation mode can be switched to manual or automatic mode with one click. In the auxiliary operation mode, only one mode switching command needs to be operated to carry out cyclical operation at 6 different nodes of construction, which is simple to operate. The second-level manual-automatic switching mechanism is as follows: key nodes adopt a manual priority strategy, and automatically switch to automatic control mode after specific conditions are triggered.

[0038] This mainly addresses the lifting and bucket-folding operations, which are the two most crucial steps in the interaction between the loader and the dump truck. Considering the manual operation of the two vehicles during docking and the complexity of the on-site environment, these two steps are prone to various docking accidents, such as incomplete docking, material spillage, or collisions during docking. Over-reliance on fully automated unmanned systems here would require very complex detection systems, resulting in high costs and slow efficiency.

[0039] Therefore, in the crucial step of lifting command, this invention first puts the system into a manual-priority standby state. At this time, the operating handles on the loader that control the boom 1 and rocker arm 2 are energized. The operator can repeatedly adjust the vehicle position and the boom 1 position to adapt to the dump truck position and the site environment. Once the adjustment is in place and it is confirmed that there will be no interference, the boom 1 is continuously controlled to rise. When the logic control module obtains that the rotation angle of the boom 1 is greater than the first switching threshold, it determines that this is a safe lifting environment and cuts off the circuit of the operating handles of the boom 1 and rocker arm 2 on the loader, switching to automatic control mode. The boom 1 and rocker arm 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, during the bucket retraction action, bucket 3 tilts downwards while the dump truck begins to move. If these two actions occur simultaneously and rely entirely on automatic control, interference between bucket 3 and the dump truck can easily occur. Furthermore, after the dump truck is full, the loader's bucket 3 needs to perform a leveling operation, requiring adjustments to the bucket angle, which is difficult to achieve with a fully automatic unloading and bucket retraction intelligent operating system.

[0041] Therefore, under the command to retract the bucket, the present invention first puts the system into a manual priority standby state. At this time, the operating handles on the loader that control the boom 1 and rocker arm 2 are energized. The operator can repeatedly adjust the vehicle position and the rocker arm 2 movement. After leaving the dump truck, the boom 1 is continuously controlled to descend. When the logic control module obtains that the rotation angle of the boom 1 is less than the first switching threshold, it determines that this is a safe bucket retracting environment, cuts off the circuit of the operating handles on the boom 1 and rocker arm 2 on the loader, switches to automatic control mode, and controls the boom 1 and rocker arm 2 to rotate to the angle corresponding to the bucket retracting position.

[0042] This completes one loading cycle. The loader can then return to the shoveling position, triggering the mode switch to the shoveling command, which switches the bucket 3 from its self-retracting state to the ground-hugging shoveling state.

[0043] It is worth noting that, to reduce the impact of operator error on the automatic operation process caused by misoperation of the boom 1 and rocker arm 2 control handles in the auxiliary operation mode, this invention is designed to disconnect the circuits of the boom 1 and rocker arm 2 control handles in the auxiliary operation mode, providing only temporary connection at the initial stages of lifting and bucket retraction commands. This is the essential difference between this invention and existing technologies that provide fully automatic control for some or all aspects of the operation. Thus, in most cases, when using the auxiliary operation mode, the operator only needs to control the vehicle's direction of travel; only during lifting and bucket retraction operations in conjunction with a dump truck, manual control of the boom 1 is required before automatic control is activated. Therefore, this invention is an intelligent operation method that combines safety and efficiency.

[0044] As a preferred solution, the logic control module, based on signals from the angle sensor, adopts a fast-then-slow approach when controlling the boom and rocker arm movements to prevent impact force upon reaching the designated position. Similarly, under the full bucket command, the bucket tilting speed is controlled based on the torque value of the travel motor, also starting fast and then slowing down.

[0045] In this embodiment, the mode switching command is a resettable handle, which can be installed in a convenient location for the operator. The handle is relatively large and positioned in a prominent location for easy access by the operator.

[0046] See Figure 3 As shown, both angle sensors can be dual-axis tilt sensors, rigidly connected to the boom-rocker connection and the boom-front frame connection via flanges. The flanges are equipped with three-way adjusting screws, allowing for fine-tuning of the initial position of the angle sensors along the X / Y / Z axes. During installation, the angle sensors are concentrically mounted with the hinge shafts and a buffer pad is provided for vibration damping. The buffer pad can be made of polyurethane (5-8mm thick).

[0047] The boom and rocker arm are respectively equipped with fixed seats at two hinge points. The fixed seats are connected to the plates, and the ends of the plates are equipped with rotating shafts. The outermost part of the dual-axis tilt sensor is connected to a pointer, and the end of the pointer has a U-shaped opening. The rotating shaft is inserted into the U-shaped opening of the pointer. When the boom and rocker arm move, the angle sensor pointer follows the transmission, thereby converting the real-time angle value into a change in analog signal, which is then transmitted to the logic control module.

[0048] The loader's travel motor uses PID control to quickly reach the target speed and reduce speed fluctuations, ensuring stable and efficient motor operation.

[0049] Example 2 See Figure 2 The present invention also provides an intelligent driving system for a loader, which adopts the intelligent operation method of the loader in Embodiment 1, specifically including: The first angle sensor 4 is installed at the hinge between the boom 1 and the front support, see [reference]. Figure 4 As shown; The second angle sensor 5 is installed at the hinge between the boom 1 and the rocker arm 2, see [reference]. Figure 5 As shown; Human-computer interaction interface; Mode switching instruction; The hydraulic control valve block is used to control the movement of the boom cylinder 1 and the rocker arm cylinder 2; The logic control module has its input terminals electrically connected to the first angle sensor 4, the second angle sensor 5, the human-machine interface, and the mode switching command unit, and its output terminal electrically connected to the hydraulic control valve block.

[0050] Example 3 To further ensure the safety of loader operation, this system also includes a ramp tilt sensor based on embodiment 2. The sensor is installed on the loader frame and is used 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.

[0051] 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 it is greater than the safety threshold, it controls the boom 1 to descend and the bucket 3 to retract, thereby lowering the center of gravity of the loader and preventing it from tipping over.

[0052] Specifically, anti-tipping operations are divided into front and rear anti-tipping and left and right anti-tipping.

[0053] Front and rear anti-rollover judgment is: Under normal transport instructions, the boom angle sensor angle is set to 6°.

[0054] If the tilt angle detected by the ramp tilt sensor is greater than 0° (i.e., the front of the vehicle is higher than the rear), the boom is controlled to descend by 1 / 3 of the tilt angle, and the lowest angle the boom descends to is 2°.

[0055] That is, when the tilt angle is between 13-25°, the boom angle is 2°.

[0056] If the tilt angle detected by the ramp tilt sensor is less than 0° (i.e., the vehicle is lower in the front and higher in the rear), the boom is controlled to descend by half the tilt angle, and the lowest angle the boom descends to is 2°.

[0057] That is, when the tilt angle is between 9-25° in the opposite direction, the boom angle is 2°.

[0058] The minimum boom angle of 2° ensures that the bucket will not bottom out when the loader is going uphill or downhill.

[0059] As another implementation method, if the operator sets the boom angle sensor angle to be greater than 6° under normal transfer command, then when the ramp tilt angle sensor detects that the forward and backward tilt angle 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] Left and right anti-rollover judgment is: Under normal transport instructions, the boom angle sensor angle is set to 6°.

[0061] If the left and right tilt angles detected by the slope tilt sensor are greater than 0° or less than 0° (i.e., the front of the vehicle is higher than the rear), the boom is controlled to descend by the corresponding angle according to the change in the left and right tilt angles, and the lowest angle the boom descends to is 1°.

[0062] That is, when the tilt angle is 5-15° in the positive direction or 5-15° in the negative direction, the boom angle is 1°. This ensures that the bucket will not drag during transport.

[0063] As another implementation method, if the operator sets the boom angle sensor angle to be greater than 6° under normal transfer instructions, then when the left and right tilt angles of the ramp tilt sensor are detected to be greater than 0°, the boom is first controlled to descend to 6° at a descending speed of 0.5° per second, and then the above steps are executed.

[0064] In a preferred embodiment, the ratio of the lowering angle of the boom 1 to the retraction angle of the bucket 3 is 2:1, that is, for every 2° the boom 1 lowers, the bucket retracts by 1°. When the boom angle sensor angle is 6°, the bucket angle is 20°, and the maximum retraction angle of the bucket is 23°.

[0065] As a further preferred option, during the transfer operation, if the boom 1 is triggered to descend, the hydraulic motor will run at a certain speed. When the target angle value is reached, the speed of the hydraulic motor will stop at 0 to ensure that no large impact is generated during operation. For every 1° descent of the boom, the bucket will simultaneously perform a bucket retraction action. The action time is inversely proportional to the speed of the hydraulic motor 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. 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. 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-down 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-down position.

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

3. The intelligent operation method for a loader according to any one of claims 1, 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.

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

5. A loader intelligent control system, characterized in that, The intelligent operation method for a loader according to any one of claims 1-4 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.

6. The intelligent control system for a loader according to claim 5, 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.

7. The intelligent control system for a loader according to claim 6, 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.

8. The intelligent control system for a loader according to claim 7, characterized in that, The ratio of the boom lowering angle to the bucket retraction angle is 2:1.

Images