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CN-117364873-B - Loader control method and device, loader and storage medium

CN117364873BCN 117364873 BCN117364873 BCN 117364873BCN-117364873-B

Abstract

The invention relates to the technical field of automatic control and discloses a control method and device of a loader, the loader and a storage medium, wherein the method comprises the steps of obtaining a first attitude angle of a movable arm relative to a horizontal direction and a second attitude angle of an inclined bucket rod relative to the horizontal direction; obtaining a first joint angle between the movable arm and the bucket hydraulic push rod and a second joint angle between the bucket and the movable arm based on the first attitude angle, the second attitude angle and structural parameters of the loader; the boom and the bucket are controlled based on the first joint angle and the second joint angle. According to the invention, the first attitude angle of the movable arm relative to the horizontal direction and the second attitude angle of the inclined bucket rod relative to the horizontal direction are obtained, and the joint angle of the working arm of the loader is calculated in real time according to the structural parameters of the loader, so that the movable arm and the bucket of the loader are controlled.

Inventors

  • LIN LIZE

Assignees

  • 深圳海星智驾科技有限公司

Dates

Publication Date
20260508
Application Date
20231121

Claims (10)

  1. 1. The loader comprises a movable arm, a bucket hydraulic push rod, an inclined bucket rod, a bucket connecting rod, a movable arm connecting rod and a bucket, wherein the first end of the movable arm is hinged with the first end of the bucket hydraulic push rod, the second end of the movable arm is hinged with the first end of the bucket, the second end of the bucket hydraulic push rod is hinged with the first end of the inclined bucket rod, the second end of the inclined bucket rod is hinged with the second end of the bucket through the bucket connecting rod, the first end of the bucket and the second end of the bucket are both positioned on a rear plate of the bucket, one end of the movable arm connecting rod is fixedly connected with the first end of the movable arm, and the other end of the movable arm connecting rod is hinged with a preset hinge point on the inclined bucket rod. Acquiring a first attitude angle of the movable arm relative to the horizontal direction and a second attitude angle of the inclined bucket rod relative to the horizontal direction; Obtaining a first joint angle between the movable arm and the bucket hydraulic push rod and a second joint angle between the bucket and the movable arm based on the first attitude angle, the second attitude angle and structural parameters of the loader; the boom and the bucket are controlled based on the first joint angle and the second joint angle.
  2. 2. The loader control method according to claim 1, wherein the controlling the boom and the bucket based on the first joint angle and the second joint angle includes: planning the movement of the movable arm and the bucket based on the difference between the first joint angle and a first target joint angle which is acquired in advance and the difference between the second joint angle and a second target joint angle which is acquired in advance, and determining target movement tracks corresponding to the movable arm and the bucket respectively; based on target movement tracks corresponding to the movable arm and the bucket respectively, obtaining a first control amount corresponding to a movable arm hydraulic push rod on the loader and a second control amount corresponding to the bucket hydraulic push rod; and controlling a boom and a bucket on the loader to move based on the first control amount and the second control amount.
  3. 3. The loader control method according to claim 2, wherein the controlling the movement of the boom and the bucket on the loader based on the first control amount and the second control amount includes: adjusting the state of a boom hydraulic cylinder on the loader based on the first control amount to move the boom hydraulic push rod so as to control the boom to move so that the first joint angle reaches the first target joint angle; and adjusting the state of a bucket hydraulic cylinder on the loader based on the second control amount, so that the bucket hydraulic push rod moves to control the bucket to move so that the second joint angle reaches the second target joint angle.
  4. 4. The loader control method of claim 1, wherein the structural parameters of the loader comprise an angle of flare between a floor and a back plate of the bucket; The obtaining a first joint angle between the boom and the bucket hydraulic pushrod and a second joint angle between the bucket and the boom based on the first attitude angle, the second attitude angle, and structural parameters of the loader includes: obtaining the first joint angle based on the first attitude angle; Obtaining a first included angle between a rear plate of the bucket and the movable arm based on the first attitude angle, the second attitude angle and structural parameters of the loader; and obtaining a second joint angle between the bucket and the movable arm according to the first included angle and the opening angle between the bottom plate and the rear plate of the bucket.
  5. 5. The loader control method of claim 4, wherein said deriving said first joint angle based on said first attitude angle comprises: And obtaining the first joint angle according to the sum of the pitch angle of the ground where the loader is located and the first attitude angle, which is obtained in advance.
  6. 6. The loader control method of claim 4 or 5, wherein the structural parameters of the loader further comprise a first length of a first straight line segment having a first end of the bucket and a second end of the bucket as two-sided endpoints, a second length of a second straight line segment having the first end of the bucket and the predetermined hinge point as two-sided endpoints, a second angle between the boom and the second straight line segment; The obtaining a first included angle between a rear plate of the bucket and the movable arm based on the first attitude angle, the second attitude angle and the structural parameters of the loader includes: calculating a third length of a third straight line segment taking the second end of the bucket and the preset hinge point as two side endpoints based on the first attitude angle, the second attitude angle and the structural parameters of the loader; calculating a third included angle between the first straight line segment and the second straight line segment according to the first length, the second length and the third length based on cosine relation among the first straight line segment, the second straight line segment and the third straight line segment in a space triangle formed by the first end of the bucket, the second end of the bucket and the preset hinging point; and calculating the sum of the second included angle and the third included angle to obtain the first included angle.
  7. 7. The loader control method of claim 6, wherein the structural parameters of the loader further comprise a fourth length of a fourth straight line segment ending with the preset hinge point and the second end of the inclined stick as both side points and a bucket link length corresponding to the bucket link; the calculating, based on the first attitude angle, the second attitude angle, and the structural parameters of the loader, a third length of a third straight line segment having the second end of the bucket and the preset hinge point as two side end points includes: calculating the difference between the second attitude angle and the first attitude angle to obtain a fourth included angle between the fourth straight line segment and the movable arm; calculating the difference between the fourth included angle and the second included angle to obtain a fifth included angle between the second straight line segment and the fourth straight line segment; In a space triangle formed by the first end of the bucket, the second end of the inclined bucket rod and the preset hinging point, calculating a fifth length of a fifth straight line segment taking the first end of the bucket and the second end of the inclined bucket rod as two side endpoints according to the second length, the fourth length and the fifth included angle; in the space triangle formed by the first end of the bucket, the second end of the inclined bucket rod and the second end of the bucket, and the space triangle formed by the first end of the bucket, the second end of the inclined bucket rod and the preset hinge point, calculating a third length of a third straight line segment taking the second end of the bucket and the preset hinge point as two side endpoints according to the first length, the second length, the fourth length, the fifth length and the bucket connecting rod length.
  8. 8. The utility model provides a loader controlling means, the loader includes movable arm, scraper bowl hydraulic push rod, slope arm, scraper bowl connecting rod, movable arm connecting rod and scraper bowl, the first end of movable arm with the first end of scraper bowl hydraulic push rod articulates, the second end of movable arm with the first end of scraper bowl articulates, the second end of scraper bowl hydraulic push rod with the first end of slope arm articulates, the second end of slope arm passes through the scraper bowl connecting rod with the second end of scraper bowl articulates, the first end of scraper bowl and the second end of scraper bowl all are located on the back plate of scraper bowl, the one end of movable arm connecting rod with the first end fixed connection of movable arm, the other end of movable arm connecting rod with predetermine hinge point on the slope arm articulates, its characterized in that, the device includes: an acquisition module for acquiring a first attitude angle of the movable arm relative to a horizontal direction and a second attitude angle of the inclined arm relative to the horizontal direction; The first processing module is used for obtaining a first joint angle between the movable arm and the bucket hydraulic push rod and a second joint angle between the bucket and the movable arm based on the first attitude angle, the second attitude angle and structural parameters of the loader; and a second processing module for controlling the boom and the bucket based on the first joint angle and the second joint angle.
  9. 9. The loader is characterized by comprising a movable arm, a bucket hydraulic push rod, an inclined bucket rod, a bucket connecting rod, a movable arm connecting rod, a bucket and a controller, wherein the first end of the movable arm is hinged with the first end of the bucket hydraulic push rod, the second end of the movable arm is hinged with the first end of the bucket, the second end of the bucket hydraulic push rod is hinged with the first end of the inclined bucket rod, the second end of the inclined bucket rod is hinged with the second end of the bucket through the bucket connecting rod, the first end of the bucket and the second end of the bucket are both positioned on a rear plate of the bucket; The controller comprises a memory and a processor, wherein the memory and the processor are in communication connection, the memory stores computer instructions, and the processor executes the computer instructions, so that the loader control method of any one of claims 1 to 7 is executed.
  10. 10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon computer instructions for causing a computer to execute the loader control method according to any one of claims 1 to 7.

Description

Loader control method and device, loader and storage medium Technical Field The invention relates to the technical field of automatic control, in particular to a loader control method and device, a loader and a storage medium. Background With the development of automation and intelligence of equipment, the unmanned operation of the equipment is required to be higher and higher. At present, domestic engineering machinery unmanned operation is just started, and unmanned operation of the engineering machinery is more difficult than unmanned operation of a passenger car. The unmanned operation of the loader as an engineering machine not only comprises unmanned driving, but also comprises unmanned operation of an operation device. However, since the automation control of the working device is complex, many products on the market at present do not have the automatic loading working function, and the angle of the mechanical joint of the loader cannot be monitored in real time, so that the bucket and the movable arm of the loader are automatically controlled. Disclosure of Invention In view of the above, the present invention provides a loader control method, apparatus, loader and storage medium, so as to solve the problem that related products cannot automatically control the bucket and boom of the loader. In a first aspect, the invention provides a control method for a loader, the loader comprising a movable arm, a bucket hydraulic push rod, an inclined bucket rod, a bucket connecting rod, a movable arm connecting rod and a bucket, wherein a first end of the movable arm is hinged with the first end of the bucket hydraulic push rod, a second end of the movable arm is hinged with the first end of the bucket, a second end of the bucket hydraulic push rod is hinged with the first end of the inclined bucket rod, and a second end of the inclined bucket rod is hinged with the second end of the bucket through the bucket connecting rod: Acquiring a first attitude angle of the movable arm relative to the horizontal direction and a second attitude angle of the inclined bucket rod relative to the horizontal direction; obtaining a first joint angle between the movable arm and the bucket hydraulic push rod and a second joint angle between the bucket and the movable arm based on the first attitude angle, the second attitude angle and structural parameters of the loader; the boom and the bucket are controlled based on the first joint angle and the second joint angle. Therefore, the joint angle of the working arm of the loader is obtained in real time by obtaining the first attitude angle of the movable arm relative to the horizontal direction and the second attitude angle of the inclined bucket rod relative to the horizontal direction, and then the joint angle of the working arm of the loader is obtained based on the first attitude angle, the second attitude angle and the structural parameters of the loader, so that the movable arm and the bucket of the loader are controlled. In an alternative embodiment, controlling the boom and the bucket based on the first joint angle and the second joint angle includes: Planning the movement of the movable arm and the bucket based on the difference between the first joint angle and a first target joint angle which is acquired in advance and the difference between the second joint angle and a second target joint angle which is acquired in advance, and determining target movement tracks corresponding to the movable arm and the bucket respectively; based on target movement tracks corresponding to the movable arm and the bucket respectively, obtaining a first control amount corresponding to a movable arm hydraulic push rod and a second control amount corresponding to the bucket hydraulic push rod on the loader; The boom and the bucket on the loader are controlled to move based on the first control amount and the second control amount. And the target movement tracks of the movable arm and the bucket are obtained through the difference between the joint angles of the movable arm and the bucket of the loader and the target joint angles, so that the control amounts respectively corresponding to the movable arm hydraulic push rod and the bucket hydraulic push rod on the loader are obtained, and the movement of the movable arm and the bucket of the loader is controlled. In an alternative embodiment, controlling movement of a boom and a bucket on a loader based on a first control amount and a second control amount includes: Adjusting the state of a movable arm hydraulic cylinder on the loader based on the first control amount to enable a movable arm hydraulic push rod to move so as to control the movable arm to move to enable the first joint angle to reach a first target joint angle; and adjusting the state of a bucket hydraulic cylinder on the loader based on the second control amount to enable the bucket hydraulic push rod to move so as to control the bucket to move so that the second joint angle rea