Shovel soil shaking control method, program, electronic device, construction machine

Abstract

This invention provides a method, program, electronic device, and construction machinery for controlling bucket soil shaking. Trigger zones are set in two oscillation directions of the handle controlling the bucket retraction / tilting. When the handle oscillates back and forth between the two trigger zones, an automatic soil shaking command is triggered, causing the controller to execute the automatic soil shaking program to control the bucket to alternately retract and tilt. This invention triggers the automatic soil shaking command by regularly oscillating the handle in the bucket control direction. This reduces the obstruction of the handle's function buttons and conforms to conventional operating intuition. Furthermore, the forward oscillation operation of the handle used to trigger the command only directly controls the bucket soil shaking manually, without causing the bucket to perform other unnecessary actions, thus avoiding conflicting operating commands.

Description

Technical Field

[0001] This invention belongs to the field of mechanical control technology, specifically relating to a method, program, electronic equipment, and engineering machinery for controlling soil shaking in a shovel. Background Technology

[0002] For construction machinery equipped with buckets (such as loaders, backhoe loaders, skid steer loaders, etc.), when loading soil or other large piles of small granular objects, it is often necessary to completely tilt the bucket outwards and then repeatedly and quickly tilt it back and forth. This vibration helps to shake out the soil or material accumulated in the bucket, a process known as "soil shaking." This repeated tilting and retraction of the bucket ensures that soil or material is fully discharged during each loading and unloading operation. This is especially important for materials with a certain degree of stickiness, such as wet soil, which can easily solidify once it adheres to the bucket, requiring additional manual removal.

[0003] The above-mentioned soil-shaking operation is a great test of the driver's skill level. The frequency and amplitude of repeatedly swinging the handle will affect the soil-shaking effect: too small an amplitude will result in insufficient soil-shaking force, too low a frequency will result in low soil-shaking efficiency, and too high a frequency will damage the handle.

[0004] In response, some equipment has been equipped with a "one-button automatic soil shaking" function, which is activated / deactivated by adding a corresponding switch button on the handle. However, current solutions not only encroach on the space of the handle's function buttons, but some also require additional dedicated mechanisms such as solenoid valves. For example, the patent document CN105041732B, "Control System and Rotary Drilling Rig with Automatic Soil Shaking Function," uses an independent automatic soil shaking solenoid valve to control the extension and retraction of the hydraulic cylinder. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a method, program, electronic device, and construction machinery for controlling soil shaking in a bucket, thereby solving the problem of automatic soil shaking function crowding out the function buttons on the control handle.

[0006] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0007] A method for controlling bucket soil shaking involves setting trigger zones in two oscillation directions of the handle controlling the bucket retraction / tilting. When the handle oscillates back and forth between the two trigger zones, an automatic soil shaking command is triggered, causing the controller to execute an automatic soil shaking program to control the bucket to alternately retract inward and tilt outward.

[0008] Furthermore, the automatic soil-shaking command is triggered by detecting the movement of the handle as follows:

[0009] Step 1: When the controller is in any trigger zone, trigger detection, and record the current location as the first trigger zone and the other as the second trigger zone;

[0010] Step 2: When the controller leaves the first trigger zone, start timing and check whether the controller moves to the second trigger zone within the time limit. If not, return to step 1. If yes, reset the timer and execute step 3 when the controller reaches the second trigger zone.

[0011] Step 3: Check if the handle returns to the first trigger zone within the time limit: if not, return to step 1; if yes, reset the timer and trigger the automatic soil shaking command when the handle reaches the first trigger zone.

[0012] Furthermore, the trigger zone is 70% to 100% of the maximum travel in the yaw direction.

[0013] Furthermore, the time limit is 200ms.

[0014] Furthermore, when the controller executes the automatic soil-shaking program, the bucket retraction solenoid valve and the bucket tilting solenoid valve are used as on / off valves.

[0015] Furthermore, when the controller executes the automatic soil shaking program, it exits the automatic soil shaking program after detecting that the handle has returned to the center and has been held for the set time.

[0016] Furthermore, the set duration is 150ms.

[0017] A computer program product: comprising a computer program that, when executed by a processor, implements the above-described bucket soil-shaking control method.

[0018] An electronic device: including a memory and a processor;

[0019] The memory is used to store computer programs;

[0020] The processor is used to execute the computer program and, in executing the computer program, implement the above-described bucket soil-shaking control method.

[0021] An engineering machine: equipped with a bucket, the bucket is operated to alternately retract and tilt inward according to the above-mentioned bucket soil-shaking control method.

[0022] The beneficial effects of this invention are as follows:

[0023] (1) The present invention provides a method for controlling soil shaking in a bucket. The automatic soil shaking command is triggered by the regular swinging of the handle in the bucket control direction. On the one hand, the hardware reduces the occupation of the handle function buttons. On the other hand, the forward swing operation of the handle used to trigger the command will only directly control the bucket to shake soil in a manual manner, and will not cause the bucket to perform other unnecessary actions, thus avoiding conflict of operation commands.

[0024] (2) The control method of the present invention, after the automatic soil shaking program is triggered, even if the handle is swung back and forth in the conventional manual way, the bucket will still continue to perform automatic soil shaking. This control method not only assists in completing high-quality soil shaking action through preset program, but also conforms to conventional operation intuition and reduces the learning cost of new vehicles for drivers.

[0025] (3) The present invention triggers the soil shaking command through the handle. When the automatic soil shaking is performed, the valve core displacement is directly controlled by the bucket retraction / outward tilting solenoid valve, without the need to add an additional solenoid valve or other components; and the original proportional valve is used as a switch valve to ensure that the soil shaking has a sufficiently large force.

[0026] (4) In the specific program implementation level, the present invention detects whether the swing amplitude of the handle meets the standard by defining the trigger area, and detects whether the swing speed of the handle meets the standard by using the time of leaving and reaching the trigger area as timing points, thereby ensuring the accurate triggering of the dust shaking command and eliminating the occurrence of "accidental touch". Attached Figure Description

[0027] Figure 1 This is a flowchart illustrating the method for controlling soil shaking in the bucket according to the present invention. Detailed Implementation

[0028] The embodiments of the present invention are described in detail below. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0029] I. Technical Solution

[0030] Reference Figure 1 As shown, this invention detects the movement state of the bucket control handle. When the handle swings back and forth in two opposite directions with the amplitude and interval reaching corresponding values, a preset automatic soil-shaking program in the vehicle controller is triggered, causing the bucket to automatically perform the soil-shaking action. The triggering of the above soil-shaking command does not require an additional switch button. The specific function implementation is as follows:

[0031] Trigger zones are defined in the two oscillation directions of the handle controlling the bucket retraction / tilting. In this embodiment, the trigger zones are specifically defined as the range of 70% to 100% of the maximum stroke in each oscillation direction. For ease of description, the first oscillation direction of the handle is called the first direction, and the oscillation direction on the opposite side is called the second direction. The trigger zones in the two oscillation directions are respectively called the first trigger zone and the second trigger zone.

[0032] When the vehicle is unlocked and the bucket is operated via the handle, the following steps are used to detect the handle's movement and trigger the soil-shaking command:

[0033] Step 1: Detect whether the travel position of the handle in the current yaw direction is within the trigger zone. If it is within the trigger zone (referred to as the first trigger zone), then trigger the following detection steps.

[0034] Step 2.1: When the handle returns to center and leaves the first trigger zone, start the timer.

[0035] Step 2.2: Detect whether the handle has moved to the second trigger zone within a specified time limit (200ms in this embodiment):

[0036] 1) If not, this test is invalid, and return to step 1;

[0037] 2) If so, reset the timer when the second trigger zone is reached, and proceed to step 3.

[0038] Step 3: Detect whether the controller moves back to the first trigger zone within a specified time limit (200ms in this embodiment):

[0039] 1) If not, this test is invalid, and return to step 1;

[0040] 2) If so, the automatic soil shaking command is triggered, causing the controller to execute the automatic soil shaking program.

[0041] When executing the automatic soil-shaking program:

[0042] 1) The bucket retraction solenoid valve and the bucket tilting solenoid valve are used as on / off valves. The controller outputs control signals to the two solenoid valves to control the bucket coupling valve core of the main valve to move back and forth, so that the large and small chambers of the bucket cylinder alternately receive oil, driving the bucket to alternately perform tilting and retraction actions at a preset frequency and speed. The specific current signal (current magnitude and alternating frequency) issued by the controller can be obtained by calibrating the relevant engineering machinery in advance according to the required soil shaking force.

[0043] 2) Whether the handle swings back and forth in the normal manual soil shaking mode or stops in any swing direction (first or second direction), the controller will continue to execute the automatic soil shaking program until it detects that the handle has returned to the center and maintains the position for the set time (150ms in this example) before exiting the automatic soil shaking.

[0044] II. Example

[0045] Taking a typical excavator as an example, the cab is equipped with two handles: the left handle controls the excavator platform to rotate left and right in the left and right directions, and controls the excavator boom (stick) to swing forward and backward in the right and right directions.

[0046] The aforementioned trigger zones are set on the left and right sides of the right handle, respectively.

[0047] Example 1: Initially, the handle is in the left trigger zone. When it swings to the right trigger zone within 200ms, and then returns to and stops in the left trigger zone within 200ms, the automatic dirt-shaking program is triggered until the handle returns to the center and stays there for 150ms before exiting.

[0048] Example 2: Initially, the handle is in the right trigger zone. When it swings to the left trigger zone within 200ms and then back to the right trigger zone within 200ms, the automatic soil shaking program is triggered. Afterward, the handle can be swung to either the left or right at any frequency, and the bucket will continue to execute the automatic soil shaking program according to the controller's preset program until the handle returns to the center and remains there for 150ms to exit.

[0049] III. Program products, electronic equipment, and construction machinery

[0050] 1. This application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement the bucket soil-shaking control method of the present invention.

[0051] 2. Based on the same inventive concept as the above-described bucket soil-shaking control method, this application also provides an electronic device, which includes a processor and a memory, wherein computer-readable code is stored in the memory, and when the computer-readable code is executed by the processor, the bucket soil-shaking control method of the present invention is implemented.

[0052] The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium can store the operating system and computer-readable code. The computer-readable code includes program instructions that, when executed, cause the processor to perform the bucket soil-dissipating control method. The processor provides computational and control capabilities to support the operation of the entire electronic device. The memory provides an environment for the execution of the computer-readable code in the non-volatile storage medium, which, when executed by the processor, causes the processor to perform the bucket soil-dissipating control method.

[0053] It should be understood that a processor can be a central processing unit, other general-purpose processors, digital signal processors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, transistor logic devices, discrete hardware components, etc. Among them, a general-purpose processor can be a microprocessor or any conventional processor.

[0054] 3. This application provides an engineering machinery equipped with a bucket and a controller, the controller being able to control the bucket to automatically shake soil according to the bucket control method of the present invention (i.e., control the bucket to quickly alternately retract and tilt).

[0055] This invention is not limited to the above-described embodiments. Any obvious improvements, substitutions, or modifications that can be made by those skilled in the art without departing from the essence of this invention are within the scope of protection of this invention.

Claims

1. A method for controlling soil shaking in a shovel bucket, characterized in that: Trigger zones are set in the two oscillation directions of the handle for retracting / tilting the bucket. When the handle swings back and forth between the two trigger zones, the automatic soil shaking command is triggered, causing the controller to execute the automatic soil shaking program to control the bucket to alternately retract inward and tilt outward.

2. The method for controlling soil shaking in a bucket according to claim 1, characterized in that: To trigger the automatic soil shaking command, check the handle's movement status as follows: Step 1: When the controller is in any trigger zone, trigger detection, and record the current location as the first trigger zone and the other as the second trigger zone; Step 2: When the controller leaves the first trigger zone, start timing and check whether the controller moves to the second trigger zone within the time limit. If not, return to step 1. If yes, reset the timer and execute step 3 when the controller reaches the second trigger zone. Step 3: Check if the handle returns to the first trigger zone within the time limit: if not, return to step 1; if yes, trigger the automatic soil shaking command when it reaches the first trigger zone.

3. The method for controlling soil shaking in a bucket according to claim 1, characterized in that: The trigger zone is 70% to 100% of the maximum travel in the yaw direction.

4. The method for controlling soil shaking in a bucket according to claim 2, characterized in that: The time limit is 200ms.

5. The method for controlling soil shaking in a bucket according to claim 1, characterized in that: When the controller executes the automatic soil shaking program, the bucket retraction solenoid valve and the bucket tilting solenoid valve are used as on / off valves.

6. The method for controlling soil shaking in a bucket according to claim 1, characterized in that: When the controller executes the automatic soil shaking program, it will exit the automatic soil shaking program after detecting that the handle has returned to the center and has been held for the set time.

7. The method for controlling soil shaking in a bucket according to claim 6, characterized in that: The set duration is 150ms.

8. A computer program product, characterized in that: It includes a computer program, which, when executed by a processor, implements the bucket soil-shaking control method as described in any one of claims 1 to 7.

9. An electronic device, characterized in that: Including memory and processor; The memory is used to store computer programs; The processor is used to execute the computer program and, when executing the computer program, to implement the bucket soil-shaking control method as described in any one of claims 1 to 7.

10. An engineering machinery, characterized in that: Equipped with a bucket, the bucket soil-shaking control method according to any one of claims 1 to 7 is used to control the bucket to alternately retract inward and tilt outward.

Images