Loader control method and device and loader

Abstract

The invention discloses a control method and device of a loading machine and the loading machine. The control method comprises the following steps: establishing a contrast relationship between the offset direction of the operation handle of the loader and a working mode; acquiring an opening value of the operation handle of the loading machine deviating to the target deviation direction based on the central position; obtaining the residence time of the operation handle of the loading machine in the target deviation direction according to the opening value; obtaining target deviation direction return center position information of the operation handle of the loading machine; acquiring target offset direction control trigger information according to the opening value, the residence time and the target offset direction return center position information; and determining a target working mode corresponding to the target offset direction according to the contrast relationship between the offset direction and the working mode and the target offset direction control trigger information, and controlling the loader to work in the target working mode. The opening value and the residence time of the operation handle are used as conditions for triggering the automatic function of the loader, and the operation requirement of the loader is met.

Description

Technical Field

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

[0002] A loader is a type of earthmoving machinery widely used in construction projects such as highways, railways, buildings, hydropower, ports, and mines. It is mainly used for shoveling and loading loose materials such as soil, sand, gravel, lime, and coal. It can also perform light shoveling operations on ores and hard soil. With different auxiliary working devices, it can also perform bulldozing, lifting, and loading and unloading operations of other materials such as timber.

[0003] However, in existing technologies, buttons are typically used to automatically raise and lower the boom and lower the bucket of a loader. This is not only inconvenient for the driver, but also adds extra button switches, increasing hardware costs. Summary of the Invention

[0004] This invention provides a control method, device, and loader for a loader, enabling the loader to trigger the loader triggering conditions according to the handle signal, thereby meeting the loader's operational requirements.

[0005] In a first aspect, the present invention provides a control method for a loader, the control method comprising:

[0006] Establish a correlation between the offset direction of the loader's operating handle and the working mode;

[0007] Obtain the opening value of the loader's operating handle based on the offset of its center position to the target offset direction;

[0008] The dwell time of the loader operating handle in the target offset direction is obtained based on the opening value;

[0009] Obtain the target offset direction return center position information of the loader operating handle;

[0010] Based on the opening value, the dwell time, and the target offset direction return center position information, obtain the target offset direction control trigger information;

[0011] Based on the correlation between the offset direction and the working mode and the target offset direction control trigger information, the target working mode corresponding to the target offset direction is determined, and the loader is controlled to work in the target working mode.

[0012] Optionally, the target offset direction control trigger information is obtained by using the opening value, the dwell time, and the target offset direction return center position information, including:

[0013] Get the preset opening value;

[0014] Get the preset dwell time;

[0015] When the opening value is greater than the preset opening value, the dwell time is greater than the preset dwell time, and the target offset direction returns to the center position information, the target offset direction control trigger information is obtained.

[0016] Optionally, after controlling the loader to operate in the target working mode, the method further includes:

[0017] Obtain the first sub-opening value of the loader operating handle based on the offset direction of the center position to the first sub-target;

[0018] The first sub-dwell time of the loader operating handle in the first sub-target offset direction is obtained based on the first sub-opening value;

[0019] Obtain the first sub-target offset direction return center position information of the loader operating handle;

[0020] The exit control information is obtained by taking the first sub-opening value, the first sub-dwelling time, and the first sub-target offset direction back to the center position information, wherein the first sub-opening value is less than the opening value, the first sub-dwelling time is less than the dwell time, and the first sub-target offset direction is the same as or opposite to the target offset direction.

[0021] Optionally, the exit control information is obtained by using the first sub-opening value, the first sub-dwell time, and the first sub-target offset direction return center position information, including:

[0022] Get the first sub-preset opening value;

[0023] Get the first preset dwell time;

[0024] When the first sub-opening value is greater than the first sub-preset opening value, the first sub-dwelling time is greater than the first sub-preset dwell time, and the first sub-target offset direction returns to the center position information, exit control information is obtained.

[0025] Optionally, the target working modes include boom raising working mode, boom lowering working mode, bucket tilting working mode, and bucket retracting working mode.

[0026] After controlling the loader to operate in the target working mode, the method further includes:

[0027] Obtain the first preset fixed value;

[0028] When the target working mode is the boom lifting working mode, the real-time motion angle of the boom lifting is obtained;

[0029] Obtain the preset motion angle for boom lifting;

[0030] When the absolute value of the difference between the real-time lifting angle of the boom and the preset lifting angle of the boom is less than the first preset fixed value, the boom lifting stops.

[0031] When the target working mode is the boom lowering working mode, the real-time motion angle of the boom lowering is obtained;

[0032] Obtain the preset motion angle for boom descent;

[0033] When the absolute value of the difference between the real-time movement angle of the boom descent and the preset movement angle of the boom descent is less than the first preset fixed value, the boom descent is stopped.

[0034] When the target working mode is the bucket tilting working mode, the real-time tilting motion angle of the bucket is obtained;

[0035] Obtain the preset angle of bucket tilting;

[0036] When the absolute value of the difference between the real-time outward movement angle of the bucket and the preset outward movement angle of the bucket is less than the first preset fixed value, the outward movement of the bucket stops.

[0037] When the target working mode is the bucket retraction working mode, obtain the real-time movement angle of the bucket retraction.

[0038] Obtain the preset angle of bucket retraction;

[0039] When the absolute value of the difference between the real-time inward movement angle of the bucket and the preset inward movement angle of the bucket is less than the first preset fixed value, the inward movement of the bucket stops.

[0040] Optionally, after obtaining the target offset direction return center position information of the loader operating handle, the method further includes:

[0041] Obtain a second preset fixed value and a third preset fixed angle, wherein the second preset fixed value is greater than the third preset fixed angle, and the absolute value of the second preset fixed value is the same as the absolute value of the third preset fixed value;

[0042] Obtain the actual boom angle and the preset boom angle;

[0043] When the difference between the actual boom angle and the preset boom angle is greater than the second preset fixed value, the boom lifting stop of the loader is enabled.

[0044] When the difference between the actual boom angle and the preset boom angle is less than the third preset fixed value, the boom descent stop of the loader is enabled.

[0045] Optional, also includes:

[0046] Obtain the actual angle of the bucket and the preset angle of the bucket;

[0047] When the difference between the actual angle of the bucket and the preset angle of the bucket is greater than the second preset fixed value, the bucket tilting of the loader is stopped.

[0048] When the difference between the actual angle of the bucket and the preset angle of the bucket is less than the third preset fixed value, the bucket retraction of the loader is enabled.

[0049] Optionally, the offset direction of the loader operating handle includes a first offset direction and a second offset direction, the first offset direction and the second offset direction intersect, the first offset direction includes a first positive offset direction and a first negative offset direction, and the second offset direction includes a second positive offset direction and a second negative offset direction; the target working mode includes boom raising working mode, boom lowering working mode, bucket tilting working mode and bucket retracting working mode;

[0050] The relationship between the offset direction of the loader operating handle and the working mode includes: a first relationship, a second relationship, a third relationship, and a fourth relationship;

[0051] The first correspondence includes the mapping between the first positive offset direction and the boom lifting working mode;

[0052] The second correlation includes the mapping between the first negative offset direction and the boom lowering working mode;

[0053] The third correlation relationship includes the mapping between the second positive offset direction and the bucket tipping working mode;

[0054] The fourth correlation relationship includes the mapping between the second negative offset direction and the bucket retraction working mode.

[0055] In a second aspect, the present invention provides a control device for a loader, which performs the control method for a loader as described in any one aspect of the first aspect, the control device for the loader comprising:

[0056] The correlation relationship establishment module is used to establish the correlation relationship between the offset direction of the loader's operating handle and the working mode;

[0057] The opening value acquisition module is used to acquire the opening value of the loader operating handle based on the offset of the center position to the target offset direction;

[0058] The dwell time acquisition module is used to acquire the dwell time of the loader operating handle in the target offset direction based on the opening value;

[0059] The target offset direction return center position information acquisition module is used to acquire the target offset direction return center position information of the loader operating handle;

[0060] The target offset direction control trigger information acquisition module is used to acquire target offset direction control trigger information based on the opening value, the dwell time, and the target offset direction return center position information.

[0061] The target working mode determination module is used to determine the target working mode corresponding to the target offset direction based on the offset direction and working mode correspondence and the target offset direction control trigger information, and control the loader to work in the target working mode.

[0062] Thirdly, the present invention provides a loader, the loader including the control device for the loader described in the second aspect.

[0063] The technical solution of this invention provides a control method, device, and loader for a loader. The control method includes: establishing a correlation between the offset direction of the loader's operating handle and the working mode; obtaining the opening value of the loader's operating handle offsetting from its center position to the target offset direction; obtaining the dwell time of the loader's operating handle in the target offset direction based on the opening value; obtaining the return center position information of the loader's operating handle in the target offset direction; obtaining target offset direction control trigger information based on the opening value, dwell time, and return center position information; determining the target working mode corresponding to the target offset direction based on the correlation between the offset direction and the working mode and the target offset direction control trigger information; and controlling the loader to operate in the target working mode. The opening value and dwell time of the operating handle are used as conditions for triggering the loader's automatic functions, thus meeting the loader's operational requirements.

[0064] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0066] Figure 1 A flowchart illustrating a control method for a loader provided in an embodiment of the present invention;

[0067] Figure 2A flowchart illustrating another control method for a loader provided in an embodiment of the present invention;

[0068] Figure 3 A flowchart illustrating another control method for a loader provided in an embodiment of the present invention;

[0069] Figure 4 A flowchart illustrating another control method for a loader provided in an embodiment of the present invention;

[0070] Figure 5 A flowchart illustrating another control method for a loader provided in an embodiment of the present invention;

[0071] Figure 6 A flowchart illustrating another control method for a loader provided in an embodiment of the present invention;

[0072] Figure 7 This is a schematic diagram of the structure of a control device for a loader provided in an embodiment of the present invention. Detailed Implementation

[0073] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0074] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0075] Figure 1 This is a flowchart illustrating a control method for a loader provided in an embodiment of the present invention, as shown below. Figure 1 As shown, this embodiment is applicable to the control of loaders. The method can be executed by the loader's control device, which can be implemented in hardware and / or software. The loader's control device can be configured within the loader. For example... Figure 1 As shown, the method includes:

[0076] S101, Establish the relationship between the offset direction of the loader's operating handle and the working mode.

[0077] The offset direction of the loader's operating handle corresponds to the working mode. Different operating modes can be executed according to different offset directions to meet the loader's operational requirements. By setting and storing different offset directions and different working modes, a correspondence between the offset direction of the loader's operating handle and the working mode is established. For example, the offset direction of the loader operating handle includes a first offset direction and a second offset direction, which intersect. The first offset direction includes a positive offset direction and a negative offset direction, and the second offset direction includes a positive offset direction and a negative offset direction. The target working modes include boom raising working mode, boom lowering working mode, bucket tilting working mode, and bucket retracting working mode. The correspondence between the offset direction of the loader operating handle and the working modes includes: a first correspondence, a second correspondence, a third correspondence, and a fourth correspondence. The first correspondence includes the mapping between the positive offset direction and the boom raising working mode; the second correspondence includes the mapping between the negative offset direction and the boom lowering working mode; the third correspondence includes the mapping between the positive offset direction and the bucket tilting working mode; and the fourth correspondence includes the mapping between the negative offset direction and the bucket retracting working mode. When the movement of the loader operating handle along a certain offset direction is detected, the working mode of the loader can be determined according to the correspondence between the offset direction and the working mode, so as to execute the operating requirements of the loader.

[0078] S102, Obtain the opening value of the loader operating handle based on the center position offset to the target offset direction.

[0079] When the loader's operating handle is moved by the operator, the loader's control unit can identify the opening value of the loader's operating handle based on the center position offset to the target offset direction. The opening value can include 0-100%.

[0080] S103, obtain the dwell time of the loader operating handle in the target offset direction based on the opening value.

[0081] Specifically, when the loader's operating handle is moved to the target offset direction, a timing function is activated to obtain the dwell time of the loader's operating handle in the target offset direction, so that the control unit can determine whether the operation of the operating handle is effective based on the dwell time.

[0082] S104, Obtain the target offset direction return center position information of the loader operating handle.

[0083] The loader operating handle will gradually return to the center position from the target offset direction. When the operating handle has completely returned to the center position, it is considered that the operating handle has returned to the center position, and the target offset direction of the loader operating handle has returned to the center position information.

[0084] S105: Obtain target offset direction control trigger information based on the opening value, dwell time, and target offset direction, returning the center position information.

[0085] The operator's operation on the control handle can be determined based on the opening value, dwell time, target offset direction, and return center position information. When the control unit considers the current operation to be valid, it obtains the target offset direction control trigger information so that the loader can work according to the operation requirements.

[0086] S106, determine the target working mode corresponding to the target offset direction based on the correspondence between the offset direction and the working mode and the target offset direction control trigger information, and control the loader to work in the target working mode.

[0087] Specifically, the target offset direction is controlled by triggering information based on the target offset direction. The target working mode corresponding to the target offset direction is determined in the offset direction and working mode correspondence, so as to control the loader to work according to the target working mode and meet the operation requirements.

[0088] This invention establishes a correlation between the offset direction of the loader's operating handle and the working mode; obtains the opening value of the loader's operating handle from its center position to the target offset direction; obtains the dwell time of the loader's operating handle in the target offset direction based on the opening value; obtains the return center position information of the loader's operating handle in the target offset direction; obtains the target offset direction control trigger information based on the opening value, dwell time, and return center position information; determines the target working mode corresponding to the target offset direction based on the correlation between the offset direction and the working mode and the target offset direction control trigger information, and controls the loader to operate in the target working mode. The opening value and dwell time of the operating handle are used as conditions for triggering the loader's automatic functions, thus meeting the loader's operational requirements.

[0089] Optional, Figure 2 A flowchart illustrating another control method for a loader provided in an embodiment of the present invention is shown below. Figure 2 As shown, the method includes:

[0090] S201, Establish the relationship between the offset direction of the loader's operating handle and the working mode.

[0091] S202, Obtain the opening value of the loader operating handle based on the center position offset to the target offset direction.

[0092] S203, obtain the dwell time of the loader operating handle in the target offset direction based on the opening value.

[0093] S204, Obtain the target offset direction return center position information of the loader operating handle.

[0094] S205, Get the preset opening value.

[0095] S206, Get the preset dwell time.

[0096] The preset opening value and preset dwell time can be set according to actual design requirements, and this embodiment of the invention does not impose specific limitations. The loading vehicle may also include a display, on which the preset opening value and preset dwell time can be set and displayed.

[0097] S207: When the opening value is greater than the preset opening value, the dwell time is greater than the preset dwell time, and the target offset direction returns to the center position information, the target offset direction control trigger information is obtained.

[0098] Specifically, if the opening value is greater than the preset opening value, the dwell time is greater than the preset dwell time, and the target offset direction returns to the center position information, then the current operation of the control handle is considered valid, and it is necessary to continue to obtain the target offset direction control trigger information so as to operate the loader according to the current operation.

[0099] S208 determines the target working mode corresponding to the target offset direction based on the correspondence between the offset direction and the working mode and the target offset direction control trigger information, and controls the loader to work in the target working mode.

[0100] This invention establishes a correlation between the offset direction of the loader's operating handle and the working mode; obtains the opening value of the loader's operating handle offsetting from its center position to the target offset direction; obtains the dwell time of the loader's operating handle in the target offset direction based on the opening value; obtains the return center position information of the loader's operating handle in the target offset direction; obtains a preset opening value; obtains a preset dwell time; when the opening value is greater than the preset opening value, the dwell time is greater than the preset dwell time, and the return center position information of the target offset direction is obtained, target offset direction control trigger information is obtained; based on the correlation between the offset direction and the working mode and the target offset direction control trigger information, the target working mode corresponding to the target offset direction is determined, and the loader is controlled to work in the target working mode. The opening value and dwell time of the operating handle are used as conditions for triggering the loader's automatic functions, thus meeting the loader's operational requirements.

[0101] Optional, Figure 3 A flowchart illustrating another control method for a loader provided in an embodiment of the present invention is shown below. Figure 3As shown, after controlling the loader to operate in the target working mode, the method further includes:

[0102] S301, Obtain the first sub-opening value of the loader operating handle based on the offset direction of the center position to the first sub-target.

[0103] Specifically, after the loader operates according to the target working mode, when the operator operates the control handle again, a first sub-opening value is obtained, which is the first sub-opening value offset from the center position to the first sub-target offset direction. This first sub-opening value is less than the opening value. The first sub-target offset direction is either in the same direction as the target offset direction or in the opposite direction. This can be understood as the movement of the control handle in the first sub-target offset direction being on the same straight line as the movement in the target offset direction.

[0104] S302, based on the first sub-opening value, obtain the first sub-dwell time of the loader operating handle in the first sub-target offset direction.

[0105] Specifically, when the loader operating handle moves to the first sub-target offset direction, the timing function is activated to obtain the first sub-dwell time of the loader operating handle in the first sub-target offset direction. The first sub-dwell time is less than the dwell time, so that the control unit can determine the operation of the operating handle based on the first sub-dwell time.

[0106] S303, obtain the first sub-target offset direction return center position information of the loader operating handle.

[0107] The loader operating handle will gradually return to the center position from the first sub-target offset direction. When the operating handle is completely back to the center position, it is considered that the operating handle has returned to the center position, and the first sub-target offset direction return to the center position information of the loader operating handle is obtained. The first sub-target offset direction return to the center position information and the target offset direction return to the center position information are the same information, and both are output when the operating handle is identified to have returned to the center position.

[0108] S304, the first sub-opening value, the first sub-dwelling time, and the first sub-target offset direction are returned to the center position information to obtain the exit control information. Among them, the first sub-opening value is less than the opening value, the first sub-dwelling time is less than the dwell time, and the first sub-target offset direction is the same as or opposite to the target offset direction.

[0109] When the first sub-opening value, the first sub-dwelling time, and the first sub-target offset direction return center position information meet the preset conditions, it is considered that the operator needs to stop the current working mode. At this time, the corresponding exit control information is obtained to stop the current operation of the loader.

[0110] This invention achieves precise control of the loader by acquiring a first sub-opening value based on the center position offset of the loader's operating handle to the first sub-target offset direction; acquiring a first sub-dwell time of the loader's operating handle in the first sub-target offset direction based on the first sub-opening value; acquiring information on the return to the center position of the loader's operating handle in the first sub-target offset direction; and acquiring exit control information based on the first sub-opening value, the first sub-dwell time, and the return to the center position information in the first sub-target offset direction. Specifically, the first sub-opening value is less than the opening value, the first sub-dwell time is less than the dwell time, and the first sub-target offset direction is the same as or opposite to the target offset direction. This meets the operator's operational needs.

[0111] Optional, Figure 4 A flowchart illustrating another control method for a loader provided in an embodiment of the present invention is shown below. Figure 4 As shown, the method includes:

[0112] S401, Obtain the first sub-opening value of the loader operating handle based on the offset direction of the center position to the first sub-target.

[0113] S402, obtain the first sub-dwell time of the loader operating handle in the first sub-target offset direction based on the first sub-opening value.

[0114] S403, obtain the first sub-target offset direction return center position information of the loader operating handle.

[0115] S404, Get the first sub-preset opening value.

[0116] S405, obtain the first sub-preset dwell time.

[0117] The first sub-preset opening value and the first sub-preset dwell time can be set according to actual design requirements, and this embodiment of the invention does not impose specific limitations. The first sub-preset opening value and the first sub-preset dwell time can also be set and displayed on the display.

[0118] S406, when the first sub-opening value is greater than the first sub-preset opening value, the first sub-dwelling time is greater than the first sub-preset dwell time, and the first sub-target offset direction returns to the center position information, exit control information is obtained; the first sub-opening value, the first sub-dwelling time, and the first sub-target offset direction return to the center position information are obtained, wherein the first sub-opening value is less than the opening value, the first sub-dwelling time is less than the dwell time, and the first sub-target offset direction is the same as or opposite to the target offset direction.

[0119] Specifically, if the first sub-opening value is greater than the first sub-preset opening value, the first sub-dwelling time is greater than the first sub-preset dwell time, and the first sub-target offset direction returns to the center position information, then the current operation of the control handle is considered valid, and it is necessary to continue to obtain the target offset direction control trigger information so as to operate the loader according to the current operation.

[0120] This invention achieves precise control of the loader by acquiring a first sub-opening value based on the center position offset of the loader's operating handle to the first sub-target offset direction; acquiring a first sub-dwell time of the loader's operating handle in the first sub-target offset direction based on the first sub-opening value; acquiring information on the loader's operating handle returning to the center position in the first sub-target offset direction; acquiring a first sub-preset opening value; acquiring a first sub-preset dwell time; and acquiring exit control information when the first sub-opening value is greater than the first sub-preset opening value, the first sub-dwell time is greater than the first sub-preset dwell time, and the information on the first sub-target offset direction returning to the center position. This acquisition of exit control information based on the first sub-opening value, the first sub-dwell time, and the information on the first sub-target offset direction returning to the center position enables precise control of the loader and meets the operator's operational needs.

[0121] Optional, Figure 5 A flowchart illustrating another control method for a loader provided in an embodiment of the present invention is shown below. Figure 5 As shown, the target working modes include boom raising working mode, boom lowering working mode, bucket tilting working mode, and bucket retracting working mode; S500, after controlling the loader to work in the target working mode, the method further includes:

[0122] S501, Obtain the first preset fixed value.

[0123] The first preset fixed value can be set according to actual design requirements, and this embodiment of the invention does not impose specific limitations. For example, the first preset fixed value can be 1°.

[0124] S502, when the target working mode is boom lifting working mode, obtain the real-time motion angle of boom lifting.

[0125] The real-time lifting angle of the boom can be defined as the angle between the boom and the windshield of the vehicle. During the boom lifting process, this real-time angle gradually changes.

[0126] S503, obtains the preset motion angle of boom lifting.

[0127] The boom lifting preset angle can be set according to actual design requirements, and the embodiments of the present invention do not impose specific limitations.

[0128] S504, when the absolute value of the difference between the real-time lifting angle of the boom and the preset lifting angle of the boom is less than the first preset fixed value, the boom lifting is stopped.

[0129] The difference between the real-time lifting angle of the boom and the preset lifting angle of the boom is calculated, and the absolute value of the difference is processed. When the absolute value of the difference is less than the first preset fixed value, it is considered that the lifting angle of the boom has reached the set angle, and the lifting of the boom needs to be stopped.

[0130] S505, when the target working mode is boom lowering working mode, obtain the real-time motion angle of boom lowering.

[0131] The real-time movement angle of the boom during descent can be defined as the angle between the boom and the windshield of the vehicle. This real-time movement angle gradually changes during the boom descent process.

[0132] S506, obtain the preset motion angle for boom descent.

[0133] The boom lifting preset angle can be set according to actual design requirements, and the embodiments of the present invention do not impose specific limitations.

[0134] S507, when the absolute value of the difference between the real-time motion angle of the boom descent and the preset motion angle of the boom descent is less than the first preset fixed value, the boom descent is stopped.

[0135] The difference between the real-time lowering angle of the boom and the preset lowering angle of the boom is calculated, and the absolute value of the difference is processed. When the absolute value of the difference is less than the first preset fixed value, it is considered that the lowering angle of the boom has reached the set angle, and the lowering of the boom needs to be stopped.

[0136] S508, when the target working mode is bucket tilting working mode, obtain the real-time tilting angle of the bucket.

[0137] The real-time outward tilting angle of the bucket can be defined as the angle between the bucket and the windshield of the vehicle. During the outward tilting process, this real-time angle gradually changes.

[0138] S509, obtain the preset angle of bucket tilting.

[0139] The preset angle of bucket tilting can be set according to actual design requirements, and this embodiment of the invention does not impose specific limitations.

[0140] S510, when the absolute value of the difference between the real-time outward movement angle of the bucket and the preset outward movement angle of the bucket is less than the first preset fixed value, the outward movement of the bucket is stopped.

[0141] The difference between the real-time outward tilting angle of the bucket and the preset outward tilting angle of the bucket is calculated, and the absolute value of the difference is processed. When the absolute value of the difference is less than the first preset fixed value, it is considered that the outward tilting angle of the bucket has reached the set angle, and the outward tilting of the bucket needs to be stopped.

[0142] S511, when the target working mode is the bucket retraction working mode, obtain the real-time movement angle of the bucket retraction.

[0143] The real-time angle of the bucket retraction can be the angle between the bucket and the windshield of the vehicle. During the bucket retraction process, this real-time angle gradually changes.

[0144] S512, obtain the preset angle of bucket retraction.

[0145] The preset angle of bucket retraction can be set according to actual design requirements, and this embodiment of the invention does not impose specific limitations.

[0146] S513, when the absolute value of the difference between the real-time inward movement angle of the bucket and the preset inward movement angle of the bucket is less than the first preset fixed value, the inward movement of the bucket is stopped.

[0147] The difference between the real-time inward movement angle of the bucket and the preset inward movement angle of the bucket is calculated, and the absolute value of the difference is processed. When the absolute value of the difference is less than the first preset fixed value, it is considered that the inward movement angle of the bucket has reached the set angle, and the inward movement of the bucket needs to be stopped.

[0148] This invention embodiment obtains the real-time boom lifting angle when the target working mode is boom lifting mode; obtains a preset boom lifting angle; obtains a first preset fixed value; and stops boom lifting when the absolute value of the difference between the real-time boom lifting angle and the preset boom lifting angle is less than the first preset fixed value. Similarly, when the target working mode is boom lowering mode, it obtains the real-time boom lowering angle; obtains a preset boom lowering angle; and stops boom lowering when the absolute value of the difference between the real-time boom lowering angle and the preset boom lowering angle is less than the first preset fixed value. When the target working mode is shovel... In the bucket tilting working mode, the real-time tilting angle of the bucket is acquired; the preset tilting angle of the bucket is also acquired; when the absolute value of the difference between the real-time tilting angle and the preset tilting angle is less than a first preset fixed value, the bucket tilting is stopped. When the target working mode is the bucket retraction working mode, the real-time retraction angle of the bucket is acquired; the preset retraction angle of the bucket is acquired; when the absolute value of the difference between the real-time retraction angle and the preset retraction angle is less than a first preset fixed value, the bucket retraction is stopped. This allows the loader to be precisely controlled in different target working modes, meeting the operator's operational needs.

[0149] Optional, Figure 6 A flowchart illustrating another control method for a loader provided in an embodiment of the present invention is shown below. Figure 6 As shown in step S600, after obtaining the target offset direction return center position information of the loader operating handle, the method further includes:

[0150] S601, Obtain a second preset fixed value and a third preset fixed angle, wherein the second preset fixed value is greater than the third preset fixed angle, and the absolute value of the second preset fixed value is the same as the absolute value of the third preset fixed value.

[0151] The second preset fixed value and the third preset fixed angle can be selected according to actual design requirements, and this embodiment of the invention does not impose specific limitations. The second preset fixed value can be 2°, and the third preset fixed angle can be -2°.

[0152] S602, obtain the actual boom angle and the preset boom angle.

[0153] Before operating the loader, it is necessary to determine its current status and whether it can function normally. This can be done by first obtaining the actual angle of the loader's boom. The preset boom angle can be selected according to actual design requirements; this embodiment of the invention does not impose specific limitations.

[0154] S603, when the difference between the actual boom angle and the preset boom angle is greater than the second preset fixed value, the boom lifting stop of the loader is enabled.

[0155] Specifically, the difference between the actual boom angle and the preset boom angle is calculated. If the difference is greater than the second preset fixed value, it is considered that the loader cannot trigger boom lifting, so as to determine that boom lifting is stopped.

[0156] S604, when the difference between the actual boom angle and the preset boom angle is less than the third preset fixed value, the boom descent stop of the loader is enabled.

[0157] Specifically, the difference between the actual boom angle and the preset boom angle is calculated. If the difference is less than a third preset fixed value, it is considered that the loader cannot trigger boom descent, so as to determine the boom descent stop enable.

[0158] S605, obtains the actual angle of the bucket and the preset angle of the bucket.

[0159] Before operating the loader, it is necessary to determine its current status and whether it can function normally. This can be achieved by acquiring the actual angle of the loader bucket. The preset bucket angle can be selected according to actual design requirements; this embodiment of the invention does not impose specific limitations.

[0160] S606, When the difference between the actual angle of the bucket and the preset angle of the bucket is greater than the second preset fixed value, the bucket tilting of the loader is stopped.

[0161] Specifically, the difference between the actual angle of the bucket and the preset angle of the bucket is calculated. If the difference is greater than the second preset fixed value, it is considered that the loader cannot trigger the bucket to tilt outward, so as to determine that the bucket tilting is stopped.

[0162] S607, when the difference between the actual angle of the bucket and the preset angle of the bucket is less than the third preset fixed value, the bucket retraction of the loader is stopped.

[0163] Specifically, the difference between the actual angle of the bucket and the preset angle of the bucket is calculated. If the difference is less than the third preset fixed value, it is considered that the loader cannot trigger the bucket retraction, so as to determine that the bucket retraction is stopped.

[0164] This invention provides precise control of the loader by acquiring the actual boom angle and the preset boom angle; acquiring a second preset fixed value and a third preset fixed angle, wherein the second preset fixed value is less than the third preset fixed angle and the absolute values ​​of the second and third preset fixed values ​​are the same; when the difference between the actual boom angle and the preset boom angle is greater than the second preset fixed value, the loader's boom raising is stopped; when the difference between the actual boom angle and the preset boom angle is less than the third preset fixed value, the loader's boom lowering is stopped; acquiring the actual bucket angle and the preset bucket angle; when the difference between the actual bucket angle and the preset bucket angle is greater than the second preset fixed value, the loader's bucket tilting is stopped; when the difference between the actual bucket angle and the preset bucket angle is less than the third preset fixed value, the loader's bucket retraction is stopped, thus ensuring precise control of the loader.

[0165] Based on the same inventive concept, embodiments of the present invention also provide a control device for a loader. Figure 7 This is a schematic diagram of the structure of a control device for a loader provided in an embodiment of the present invention, as shown below. Figure 7 As shown, the loader control device is used to execute the loader control method provided in any embodiment of the present invention. The loader control device can be implemented by software and / or hardware. The loader control device includes:

[0166] The correspondence establishment module 201 is used to establish the correspondence between the offset direction of the loader operating handle and the working mode;

[0167] The opening value acquisition module 202 is used to acquire the opening value of the loader operating handle based on the offset of the center position to the target offset direction;

[0168] The dwell time acquisition module 203 is used to acquire the dwell time of the loader operating handle in the target offset direction based on the opening value;

[0169] The target offset direction return center position information acquisition module 204 is used to acquire the target offset direction return center position information of the loader operating handle;

[0170] The target offset direction control trigger information acquisition module 205 is used to acquire target offset direction control trigger information based on the opening value, dwell time, and target offset direction return center position information.

[0171] The target working mode determination module 206 is used to determine the target working mode corresponding to the target offset direction based on the correspondence between the offset direction and the working mode and the target offset direction control trigger information, and to control the loader to work in the target working mode.

[0172] Therefore, the control device for the loader provided in the embodiments of the present invention includes the technical features of the control method for the loader provided in any embodiment of the present invention, and can achieve the beneficial effects of the control method for the loader provided in any embodiment of the present invention. The similarities can be referred to the above description of the control method for the loader provided in the embodiments of the present invention, and will not be repeated here.

[0173] Based on the same inventive concept, this embodiment of the invention also provides a loader, which includes the control device of the loader provided in this embodiment of the invention. Therefore, the loader provided in this embodiment of the invention includes the technical features of the control device of the loader provided in this embodiment of the invention, and can achieve the beneficial effects of the control device of the loader provided in this embodiment of the invention. The similarities can be referred to the above description of the control device of the loader provided in this embodiment of the invention, and will not be repeated here.

[0174] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A control method for a loader, characterized in that, The control method includes: Establish a correlation between the offset direction of the loader's operating handle and the working mode; Obtain the opening value of the loader's operating handle based on the offset of its center position to the target offset direction; The dwell time of the loader operating handle in the target offset direction is obtained based on the opening value; Obtain the target offset direction return center position information of the loader operating handle; Based on the opening value, the dwell time, and the target offset direction return center position information, obtain the target offset direction control trigger information; Based on the correlation between the offset direction and the working mode and the target offset direction control trigger information, the target working mode corresponding to the target offset direction is determined, and the loader is controlled to work in the target working mode.

2. The control method for a loader according to claim 1, characterized in that, The target offset direction control trigger information is obtained by using the opening value, the dwell time, and the target offset direction return center position information, including: Get the preset opening value; Get the preset dwell time; When the opening value is greater than the preset opening value, the dwell time is greater than the preset dwell time, and the target offset direction returns to the center position information, the target offset direction control trigger information is obtained.

3. The control method for a loader according to claim 1, characterized in that, After controlling the loader to operate in the target working mode, the method further includes: Obtain the first sub-opening value of the loader operating handle based on the offset direction of the center position to the first sub-target; The first sub-dwell time of the loader operating handle in the first sub-target offset direction is obtained based on the first sub-opening value; Obtain the first sub-target offset direction return center position information of the loader operating handle; The exit control information is obtained by taking the first sub-opening value, the first sub-dwelling time, and the first sub-target offset direction back to the center position information, wherein the first sub-opening value is less than the opening value, the first sub-dwelling time is less than the dwell time, and the first sub-target offset direction is the same as or opposite to the target offset direction.

4. The control method for a loader according to claim 3, characterized in that, The exit control information is obtained by taking the first sub-opening value, the first sub-dwell time, and the first sub-target offset direction return center position information, including: Get the first sub-preset opening value; Obtain the first preset dwell time; When the first sub-opening value is greater than the first sub-preset opening value, the first sub-dwelling time is greater than the first sub-preset dwell time, and the first sub-target offset direction returns to the center position information, exit control information is obtained.

5. The control method for a loader according to claim 1, characterized in that, The target working modes include boom raising working mode, boom lowering working mode, bucket tilting working mode, and bucket retracting working mode; After controlling the loader to operate in the target working mode, the method further includes: Obtain the first preset fixed value; When the target working mode is the boom lifting working mode, the real-time motion angle of the boom lifting is obtained; Obtain the preset motion angle for boom lifting; When the absolute value of the difference between the real-time lifting angle of the boom and the preset lifting angle of the boom is less than the first preset fixed value, the boom lifting stops. When the target working mode is the boom lowering working mode, the real-time motion angle of the boom lowering is obtained; Obtain the preset motion angle for boom descent; When the absolute value of the difference between the real-time movement angle of the boom descent and the preset movement angle of the boom descent is less than the first preset fixed value, the boom descent is stopped. When the target working mode is the bucket tilting working mode, the real-time tilting motion angle of the bucket is obtained; Obtain the preset angle of bucket tilting; When the absolute value of the difference between the real-time outward movement angle of the bucket and the preset outward movement angle of the bucket is less than the first preset fixed value, the outward movement of the bucket stops. When the target working mode is the bucket retraction working mode, obtain the real-time movement angle of the bucket retraction. Obtain the preset angle of bucket retraction; When the absolute value of the difference between the real-time inward movement angle of the bucket and the preset inward movement angle of the bucket is less than the first preset fixed value, the inward movement of the bucket stops.

6. The control method for a loader according to claim 1, characterized in that, After obtaining the target offset direction return center position information of the loader operating handle, the method further includes: Obtain a second preset fixed value and a third preset fixed angle, wherein the second preset fixed value is greater than the third preset fixed angle, and the absolute value of the second preset fixed value is the same as the absolute value of the third preset fixed value; Obtain the actual boom angle and the preset boom angle; When the difference between the actual boom angle and the preset boom angle is greater than the second preset fixed value, the boom lifting stop of the loader is enabled. When the difference between the actual boom angle and the preset boom angle is less than the third preset fixed value, the boom descent stop of the loader is enabled.

7. The control method for a loader according to claim 6, characterized in that, Also includes: Obtain the actual angle of the bucket and the preset angle of the bucket; When the difference between the actual angle of the bucket and the preset angle of the bucket is greater than the second preset fixed value, the bucket tilting of the loader is stopped. When the difference between the actual angle of the bucket and the preset angle of the bucket is less than the third preset fixed value, the bucket retraction of the loader is enabled.

8. The control method for a loader according to claim 1, characterized in that, The offset direction of the loader operating handle includes a first offset direction and a second offset direction, which intersect. The first offset direction includes a first positive offset direction and a first negative offset direction, and the second offset direction includes a second positive offset direction and a second negative offset direction. The target working modes include boom raising working mode, boom lowering working mode, bucket tilting working mode, and bucket retracting working mode. The relationship between the offset direction of the loader operating handle and the working mode includes: a first relationship, a second relationship, a third relationship, and a fourth relationship; The first correspondence includes the mapping between the first positive offset direction and the boom lifting working mode; The second correlation includes the mapping between the first negative offset direction and the boom lowering working mode; The third correlation relationship includes the mapping between the second positive offset direction and the bucket tipping working mode; The fourth correlation relationship includes the mapping between the second negative offset direction and the bucket retraction working mode.

9. A control device for a loader, characterized in that, The control device of the loader executes the control method of the loader comprising any one of claims 1-8, wherein the control device of the loader comprises: The correlation relationship establishment module is used to establish the correlation relationship between the offset direction of the loader's operating handle and the working mode; The opening value acquisition module is used to acquire the opening value of the loader operating handle based on the offset of the center position to the target offset direction; The dwell time acquisition module is used to acquire the dwell time of the loader operating handle in the target offset direction based on the opening value; The target offset direction return center position information acquisition module is used to acquire the target offset direction return center position information of the loader operating handle; The target offset direction control trigger information acquisition module is used to acquire target offset direction control trigger information based on the opening value, the dwell time, and the target offset direction return center position information. The target working mode determination module is used to determine the target working mode corresponding to the target offset direction based on the offset direction and working mode correspondence and the target offset direction control trigger information, and control the loader to work in the target working mode.

10. A loader, characterized in that, The loader includes the control device for the loader as described in claim 9.

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