CN112144592A - Intelligent shoveling control system and method for backhoe loader and backhoe loader - Google Patents
Intelligent shoveling control system and method for backhoe loader and backhoe loader Download PDFInfo
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- CN112144592A CN112144592A CN202010995554.5A CN202010995554A CN112144592A CN 112144592 A CN112144592 A CN 112144592A CN 202010995554 A CN202010995554 A CN 202010995554A CN 112144592 A CN112144592 A CN 112144592A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
Abstract
The invention discloses an intelligent shoveling control system and method for a backhoe loader and the backhoe loader, belonging to the technical field of backhoe loaders. The controller receives a stacking angle deviation sent by the material pile stacking angle identification system and a distance deviation sent by the bucket left-right distance identification system, and sends a control command to the steering system based on the stacking angle deviation and the distance deviation, and the steering system adjusts the relative position of the bucket and the material pile; receiving left and right stacking angles sent by a material pile stacking angle recognition system and material characteristic parameters sent by a screening and weighing device, and matching an optimal digging track in a digging track database based on the left and right stacking angles and the material characteristic parameters; and sending control commands to the advancing system and the shoveling system to execute shoveling operation based on the optimal shoveling track and the distance between the tooth tips of the shovel and the material pile right in front of the shovel.
Description
Technical Field
The invention belongs to the technical field of loaderdiggers, and particularly relates to an intelligent shoveling control system and method for a loader-digger and the loader-digger.
Background
The backhoe loader is a multipurpose construction machine, and plays an important role in the field of construction. In the whole shoveling operation cycle process, the operation posture of the shoveling material operation process of the shovel is the most complicated, the operation resistance is the largest, and the energy consumption occupies the largest proportion. Because the operation objects of the loader-digger are various rock-soil media, the characteristics are greatly different, and different operation objects correspond to different optimal excavation modes. At present, the common mode of the shoveling operation of the domestic backhoe loader is that an operator inserts a bucket into materials at one time by virtue of traction force of the whole machine, then operates a movable arm handle and a bucket handle to realize the rotation and lifting of the bucket to complete the shoveling operation, and the shoveling operation completely depends on the experience of the operator, so that the problems of low operation efficiency and high energy consumption exist.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an intelligent shoveling control system and method for a loader digger and the loader digger, which can automatically select the optimal shoveling track according to the material characteristics, do not depend on the experience of an operator in shoveling operation, and have the advantages of high operation efficiency, low energy consumption and the like.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: an intelligent shovel control system for a backhoe loader, comprising: the device comprises a screening and weighing device, a material pile accumulation angle identification system, a bucket left-right distance identification system, a bucket inserted material pile identification system, a steering system, a shoveling track database, a forward system and a shoveling system which are respectively electrically connected with a controller; the controller receives the stacking angle deviation sent by the material pile stacking angle identification system and the distance deviation sent by the bucket left-right distance identification system, and sends a control command to the steering system based on the stacking angle deviation and the distance deviation so that the steering system can adjust the relative position of the bucket and the material pile; the controller receives the left and right stacking angles sent by the material pile stacking angle recognition system and the material characteristic parameters sent by the screening and weighing device, and matches the optimal digging track in the digging track database based on the left and right stacking angles and the material characteristic parameters; the controller sends control commands to the advancing system and the shoveling system to perform shoveling work based on the optimal shoveling trajectory and the distance between the tip of the bucket and the pile right in front of the bucket, which are sent by the bucket insertion pile recognition system.
Furthermore, the material pile accumulation angle identification system, the bucket left-right distance identification system and the bucket insertion material pile identification system are simultaneously and electrically connected with the first distance sensor, the second distance sensor, the third distance sensor and the fourth distance sensor; the first distance sensor and the second distance sensor are fixed on the left rocker arm, arranged up and down and used for acquiring distance parameters of a material pile right in front of the left side of the bucket; and the third distance sensor and the fourth distance sensor are fixed on the right rocker arm, arranged up and down and used for acquiring distance parameters of a material pile right in front of the right side of the bucket.
Further, the material pile stacking angle recognition system calculates a left stacking angle according to distance parameters acquired by the first distance sensor and the second distance sensor; calculating a right stacking angle according to distance parameters acquired by the distance sensor III and the distance sensor IV; calculating a stacking angle deviation according to the left stacking angle and the right stacking angle; when the stacking angle deviation exceeds a preset stacking angle deviation threshold value, the controller sends a control command to the steering system, and the steering system adjusts the relative position of the bucket and the material pile; when the stacking angle deviation meets a preset stacking angle deviation threshold, the controller calculates the average value of the left stacking angle and the right stacking angle, and the average value is used as the stacking angle of the material pile for the excavation track database to call.
Further, the left-right distance recognition system of the bucket calculates relative errors according to left-side distance parameters acquired by the first distance sensor and the second distance sensor and right-side distance parameters acquired by the third distance sensor and the fourth distance sensor; when the relative error exceeds a preset distance deviation threshold value, the controller sends a control command to the steering system, and the steering system adjusts the relative position of the bucket and the material pile.
Further, the bucket inserted material pile recognition system calculates the distance between the tooth tip on the left side of the bucket and the material pile in front of the bucket according to the left side distance parameters acquired by the first distance sensor and the second distance sensor, calculates the distance between the tooth tip on the right side of the bucket and the material pile in front of the bucket according to the right side distance parameters acquired by the third distance sensor and the fourth distance sensor, and takes the average value as the distance L0 between the tooth tip of the bucket and the material pile in front of the bucket; when L0 is reduced to zero, the fact that the bucket starts to insert into the material pile is judged, meanwhile, the fact that the pressure jump is compared with the pressure jump collected through the left boom cylinder pressure sensor and the right boom cylinder pressure sensor is verified, and the pressure jump are used as the identification judgment conditions for the fact that the bucket starts to insert into the material pile.
Furthermore, the steering system comprises a steering controller and a front axle steering oil cylinder, and the steering controller controls the front axle steering oil cylinder to realize steering action after receiving a steering command sent by the controller.
Further, the advancing system comprises a gearbox gear controller and an engine throttle controller, the gearbox gear controller and the engine throttle controller are respectively electrically connected with the controllers, and the controllers send control signals to the gearbox gear controller and the engine throttle controller based on the optimal excavation track so as to adjust gears and throttles.
Furthermore, the shoveling system comprises a hydraulic multi-way valve, the hydraulic multi-way valve controls the expansion and contraction of the left bucket cylinder, the right bucket cylinder, the left movable arm cylinder and the right movable arm cylinder to execute shoveling actions by adjusting opening and closing according to received action instruction information sent by the controller, and simultaneously, the executing state of the shoveling actions is fed back in real time through the left bucket cylinder displacement sensor, the right bucket cylinder displacement sensor, the left movable arm cylinder displacement sensor and the right movable arm cylinder displacement sensor.
Furthermore, the digging track database is built in the controller and comprises the optimal digging operation track of the bucket determined under the conditions of specific particle size grading characteristics, stacking density and stacking angle aiming at different types of materials, so that the digging operation track can be called by the controller.
Further, screening weighing device includes a vibrations formula screening section of thick bamboo, vibrations formula screening section of thick bamboo is fixed in the driver's cabin for measure the particle diameter characteristic and the bulk density of material.
The utility model provides a loader-digger, loader-digger is configured with the aforesaid loader-digger intelligence shovel control system.
An intelligent shoveling control method of a backhoe loader comprises the following steps: starting an automatic digging operation function; receiving material characteristic parameters; receiving distance parameters of material piles right in front of the left side and the right side of the bucket, and respectively calculating a left stacking angle, a right stacking angle, stacking angle deviation and distance deviation; adjusting the relative position of the bucket and the material pile based on the stacking angle deviation and the distance deviation until the stacking angle deviation meets a preset stacking angle deviation threshold and the distance deviation meets a preset distance deviation threshold; calculating a stockpile accumulation angle and a distance between a tooth tip of the bucket and a stockpile right in front of the bucket; matching an optimal digging track in a digging track database based on the pile accumulation angle and the material characteristic parameters; and sending control commands to the advancing system and the shoveling system to execute shoveling operation based on the optimal shoveling track and the distance between the tooth tips of the shovel and the material pile right in front of the shovel.
Compared with the prior art, the invention has the following beneficial effects: the invention measures and analyzes the particle size characteristic and the density characteristic of a material through the screening and weighing device, calculates the left and right distance and the relative deviation of the bucket relative to a material pile and the stacking angle and the relative deviation of the material through real-time measurement, controls the steering system, the advancing system and the shoveling system according to the characteristics and the relative position relation of the material pile, adjusts the insertion posture of the bucket, automatically judges the condition that the bucket starts to be inserted into the material, compares the conditions in a shoveling operation posture library in real time, and matches and calls the optimal automatic shoveling control parameters to improve the full-bucket shoveling rate and achieve the purposes of independent of the experience of an operator, high operation efficiency and low energy consumption in shoveling operation.
Drawings
FIG. 1 is a schematic illustration of a partial structure of a backhoe loader equipped with an intelligent shovel control system of the backhoe loader according to an embodiment of the present invention;
fig. 2 is a schematic system structure diagram of an intelligent excavation control system of an excavating loader according to an embodiment of the present invention;
fig. 3 is a control flow chart of an intelligent excavation control method of the loader-digger according to the embodiment of the invention;
fig. 4 is a schematic diagram of a calculation for automatically identifying the characteristics of a pile according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
as shown in fig. 1 to 4, an intelligent excavation control system of an excavating and loading machine comprises: the device comprises a screening and weighing device, a material pile accumulation angle identification system, a bucket left-right distance identification system, a bucket inserted material pile identification system, a steering system, a shoveling track database, a forward system and a shoveling system which are respectively electrically connected with a controller; the controller receives the stacking angle deviation sent by the material pile stacking angle identification system and the distance deviation sent by the bucket left-right distance identification system, and sends a control command to the steering system based on the stacking angle deviation and the distance deviation so that the steering system can adjust the relative position of the bucket and the material pile; the controller receives the left and right stacking angles sent by the material pile stacking angle recognition system and the material characteristic parameters sent by the screening and weighing device, and matches the optimal digging track in the digging track database based on the left and right stacking angles and the material characteristic parameters; the controller sends control commands to the advancing system and the shoveling system to perform shoveling work based on the optimal shoveling trajectory and the distance between the tip of the bucket and the pile right in front of the bucket, which are sent by the bucket insertion pile recognition system.
As shown in fig. 1, an automatic shovel work system apparatus having a parallel eight-bar linkage structure, which is an example of a loading end work apparatus of a backhoe loader, includes: the system comprises a bucket 1, a left bucket cylinder 2, a left bucket cylinder displacement sensor 3, a right bucket cylinder 4, a right bucket cylinder displacement sensor 5, a distance sensor I6, a left rocker arm 7, a distance sensor II 8, a distance sensor III 9, a right rocker arm 10, a distance sensor IV 11, a left boom cylinder 12, a left boom cylinder displacement sensor 13, a left boom cylinder pressure sensor 14, a right boom cylinder 15, a right boom cylinder displacement sensor 16, a right boom cylinder pressure sensor 17, a controller 18, a screening and weighing device 19, a steering system 20 and an advancing system 21.
The system structure of the intelligent shovel control system of the backhoe loader is shown in fig. 2, and before the backhoe loader enters a construction site or a shoveling work object is replaced, the grain composition and the bulk density of shoveling media are tested by the screening and weighing device 19 as input information of the controller 18. In the V-shaped work cycle, the automatic digging work button 26 is turned on, and each time the bucket 1 advances and inserts toward the pile, the left and right pile angles of the front pile are measured in real time by the pile angle recognition system 23 and the relative error is calculated as the pile angle deviation, the distances between the left and right sides of the bucket 1 and the pile are measured in real time by the bucket left and right distance recognition system 24 and the relative error is calculated as the distance deviation, and the distance between the tip of the bucket and the pile directly in front of the bucket is measured in real time by the bucket insertion pile recognition system 25 and the three are used as the input information of the controller 18. The controller 18 controls the steering system 20 to adjust the relative position relationship between the bucket and the material pile according to the received input information, compares and matches an optimal digging track strategy in the digging track database 28, and controls the digging system 22 to perform automatic digging operation while controlling the advancing system 21 to advance after the bucket is inserted into the material pile, so as to realize intelligent digging operation of material piles with different characteristics.
The material pile accumulation angle recognition system 23, the bucket left-right distance recognition system 24 and the bucket insertion material pile recognition system 25 are simultaneously electrically connected with the distance sensor I6, the distance sensor II 8, the distance sensor III 9 and the distance sensor IV 11 or are connected with a communication protocol, and are used for measuring in real time and transmitting data; the first distance sensor 6 and the second distance sensor 8 are fixed on the left rocker arm 7, arranged up and down and used for acquiring distance parameters of a material pile right in front of the left side of the bucket; and a third distance sensor 9 and a fourth distance sensor 11 are fixed on the right rocker arm 10, arranged up and down and used for acquiring distance parameters of a material pile right in front of the right side of the bucket.
The material pile accumulation angle recognition system 23 calculates a left accumulation angle according to distance parameters acquired by the first distance sensor 6 and the second distance sensor 8; calculating a right stacking angle according to distance parameters collected by the third distance sensor 9 and the fourth distance sensor 11; and calculating the stacking angle deviation according to the left stacking angle and the right stacking angle. When the stacking angle deviation exceeds a preset stacking angle deviation threshold, the controller 18 sends a control instruction to the steering system 20, and the steering system 20 adjusts the relative angle between the bucket 1 and the material pile, so that the forward shoveling of the bucket 1 is realized, the unbalance loading degree is reduced, and the full-bucket rate is improved; when the bank angle deviation satisfies the preset bank angle deviation threshold, the controller 18 calculates an average of the left bank angle and the right bank angle as a final bank angle for the excavation trajectory database 28 to call, and the calculation principle is as shown in fig. 4.
The bucket left-right distance identification system 24 calculates relative errors according to left-side distance parameters acquired by the first distance sensor 6 and the second distance sensor 8 and right-side distance parameters acquired by the third distance sensor 9 and the fourth distance sensor 11; when the relative error exceeds a preset distance deviation threshold, the controller 18 sends a control instruction to the steering system 20, and the steering system 20 adjusts the relative angle between the bucket 1 and the material pile, so that the front shovel of the bucket 1 is realized, the unbalance loading degree is reduced, and the full-bucket rate is improved.
After the bucket 1 finishes posture adjustment according to the left and right stacking angles and the left and right distances, the bucket 1 is approximately considered to be in a forward shoveling state, at this time, the bucket insertion stockpile recognition system 25 calculates the distance between the tooth tip on the left side of the bucket and the stockpile in front of the bucket according to the left side distance parameters acquired by the first distance sensor 6 and the second distance sensor 8, calculates the distance between the tooth tip on the right side of the bucket and the stockpile in front of the bucket according to the right side distance parameters acquired by the third distance sensor 9 and the fourth distance sensor 11, and takes an average value as the distance L0 between the tooth tip of the bucket and the stockpile in front of the bucket, wherein the calculation principle is shown in FIG. 4. When L0 is reduced to zero, it is determined that the bucket has begun to dig into the pile and the controller 18, upon receiving the signal, begins to invoke the shovel system 22 to perform automatic shoveling operations. Meanwhile, at the moment when the bucket 1 starts to insert into the material pile, the cylinder pressure values of the left boom cylinder 12 and the right boom cylinder 15 are increased by a large moment, the corresponding left boom cylinder pressure sensor 14 and the right boom cylinder pressure sensor 17 are used for measuring the cylinder pressures in real time and feeding the cylinder pressures back to the controller 18, and the detected cylinder pressure mutations and the calculated distance L0 are compared with each other for verification and are jointly used as identification and judgment conditions for the bucket starting to insert into the material pile. The left boom cylinder pressure sensor 14 and the right boom cylinder pressure sensor 17 may be connected by a tee joint, and are electrically connected or connected via a communication protocol to the controller 18.
The steering system 20 includes a steering controller, a front axle steering cylinder, etc., and the controller 18 determines whether steering adjustment is needed according to the received left and right stacking angles and distance deviation information of the bucket, and then sends a steering instruction signal to the steering controller, so as to control the front axle steering cylinder to realize steering. The advancing direction of the backhoe loader is adjusted so as to carry out the shoveling work of the bucket 1 against the pile as much as possible. The steering system 20 is configured to operate in response to commands from the controller 18, and is electrically connected to the steering controller at the loading end.
The forward system 21 includes a transmission gear controller and an engine throttle controller electrically connected to the controller 18. After the bucket begins to be inserted into the material pile, the controller 18 sends control signals to a gear controller of a gearbox and an accelerator controller of an engine according to the advancing speed of the whole vehicle corresponding to the selected optimal digging track, and adjusts corresponding gears and the accelerator, so that the advancing speed is kept to be established.
The shoveling system 22 comprises a hydraulic multi-way valve 29, a left bucket cylinder 2, a left bucket cylinder displacement sensor 3, a right bucket cylinder 4, a right bucket cylinder displacement sensor 5, a left boom cylinder 12, a left boom cylinder displacement sensor 13, a right boom cylinder 15 and a right boom cylinder displacement sensor 16;
the hydraulic multi-way valve 29 controls the expansion and contraction of the left bucket cylinder 2, the right bucket cylinder 4, the left boom cylinder 12, and the right boom cylinder 15 to perform the cutting operation by adjusting the opening and closing according to the received operation instruction information sent by the controller 18, and simultaneously feeds back the expansion and contraction lengths of the cylinders in real time by the left bucket cylinder displacement sensor 3, the right bucket cylinder displacement sensor 5, the left boom cylinder displacement sensor 13, and the right boom cylinder displacement sensor 16 to determine the execution state of the cutting operation. After the bucket 1 is inserted into the material pile, the shoveling system 22 can realize the combination of boom lifting and bucket rotation for different shoveling tracks corresponding to different material pile characteristics, thereby improving the operation efficiency and the full-bucket rate. The hydraulic multi-way valve 29 is an electromagnetic proportional hydraulic multi-way valve, and the displacement sensor can be a hydraulic oil cylinder displacement sensor and is connected with the controller 18 through a cable or a communication protocol.
The excavation track database 28 aims at improving efficiency and reducing consumption, determines the optimal excavation operation track of the bucket based on EDEM-Redurdyn-AMEstim combined simulation under the characteristic conditions of specific particle size grading characteristics, stacking density, stacking angle and the like aiming at different types of materials such as broken stones, sand, soil, coal and the like, and forms a database after prototype verification and solidification. The excavation trajectory database 28 is built in the controller 18, and performs comparison and matching according to the input information of the screening and weighing device 19 and the material pile accumulation angle recognition system 23, selects the optimal excavation operation, and is used by the controller 19 for calling to perform the next automatic excavation operation. Meanwhile, the excavation trajectory database 28 is an open system that can be debugged and updated according to the latest optimization results or the test results of the construction site.
Screening weighing device 19 is a vibrations formula screening section of thick bamboo, keeps unanimous with screening section of thick bamboo structure in laboratory, contains the screening dish in a series of different apertures to have layering quality display function, accessible bolt fastening is in the driver's cabin. Particle size characterization and bulk density measurements of the material can be achieved with this device without laboratory test analysis conditions prior to spading. During testing, on-site sampling is carried out in the screening cylinder, the engineering vehicle is started and is in an idle state, screening is realized by means of self vibration of a cab, an additional vibration motor is not needed, and cost can be reduced.
The controller 18 and the attached readable and writable display, start button 26, emergency stop button 27, etc. are mounted on a console in the cab. The material pile characteristic information such as material type, particle size grading characteristic, bulk density and the like can be manually input. After the start button 26 of the automatic digging operation is turned on, the controller 18 receives the piling angle information and the distance information transmitted from the pile piling angle recognition system 23 and the bucket left-right distance recognition system 24 in real time in the process of advancing to the pile, and controls the steering system 20 to adjust the posture of the bucket if the relative deviation exceeds a preset value, thereby realizing the face shovel. The controller 18 then compares the received material characteristic information with the pile accumulation characteristic information to select the best cutting trajectory plan in the cutting trajectory database 28. The controller 18 then identifies a condition for determining that the bucket is beginning to insert the windrow via the bucket insertion windrow identification system 25. Finally, the controller 18 controls the bucket 1 to advance to insert into a material pile, lift and rotate and the like through the advancing system 21 and the shoveling system 22, so as to realize intelligent shoveling operation aiming at different material characteristics.
As shown in fig. 4, the left side of the loading device and the material pile are schematically illustrated, and the right side and the left side are symmetrically consistent. During shoveling operation, the bucket is placed to a horizontal position, the distance L6 between the upper sensor and the lower sensor on the same side of the rocker arm is known, the included angle theta 2 between the upper sensor and the lower sensor and the horizontal plane is known, and the horizontal distance L3 and the vertical distance L5 between the lower sensor and the tooth tip of the bucket are known;
the distance between the bucket and the material pile is L1 and L2, and the whole vehicle is measured in real time by a distance sensor in the advancing process;
left bank angle θ 1= arctan (L6 × sin θ 2/(L1+ L6 × cos θ 2-L2)), and right bank angle calculation method is the same;
the distance between the bucket tooth tip and the material pile is L0= L2-L3-L4, L4= L5-cos theta 2, and when L0 is reduced to zero, the bucket can be judged to be inserted into the material pile in combination with sudden change of the pressure of the oil cylinder.
The invention measures and analyzes the particle size characteristic and the density characteristic of a material through the screening and weighing device, measures and calculates the left and right distance and the relative deviation of the bucket relative to a material pile and the stacking angle and the relative deviation of the material through the distance meter in real time, controls the steering system, the advancing system and the shoveling system according to the characteristics and the relative position relation of the material pile, adjusts the insertion posture of the bucket, automatically judges the condition that the bucket starts to insert the material, compares the conditions in a shoveling operation posture library in real time, and matches and calls the optimal automatic shoveling control parameter so as to improve the full-bucket shoveling rate and achieve the purposes of improving the operation efficiency and reducing the energy consumption.
Example two:
based on the intelligent shovel control system of the backhoe loader according to the first embodiment, the present embodiment provides a backhoe loader configured with the intelligent shovel control system of the backhoe loader according to the first embodiment, as shown in fig. 1.
Example three:
based on the intelligent shoveling control system of the backhoe loader and the backhoe loader of the second embodiment, the present embodiment provides an intelligent shoveling control method of the backhoe loader, including:
(1) starting an automatic digging operation function;
(2) receiving material characteristic parameters; obtaining the material particle composition screening record and the material bulk density weighing record through manual input or measurement through a screening weighing device;
(3) the whole vehicle normally moves forward and drives to a material pile;
(4) receiving distance parameters of material piles right in front of the left side and the right side of the bucket, and respectively calculating a left stacking angle, a right stacking angle, stacking angle deviation and distance deviation;
(5) adjusting the relative position of the bucket and the material pile based on the stacking angle deviation and the distance deviation, and adjusting the advancing direction until the stacking angle deviation meets a preset stacking angle deviation threshold value and the distance deviation meets a preset distance deviation threshold value;
(6) calculating a stockpile accumulation angle and a distance between a tooth tip of the bucket and a stockpile right in front of the bucket, and judging the condition that the bucket starts to insert the stockpile;
(7) matching an optimal digging track in a digging track database based on the pile accumulation angle and the material characteristic parameters;
(8) and sending a control command to the advancing system and the shoveling system based on the optimal shoveling track and the distance between the tooth tips of the bucket and the material pile right in front of the bucket, adjusting the advancing speed and carrying out automatic shoveling operation.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (12)
1. The utility model provides a loader-digger intelligence shovel control system which characterized by includes:
the device comprises a screening and weighing device, a material pile accumulation angle identification system, a bucket left-right distance identification system, a bucket inserted material pile identification system, a steering system, a shoveling track database, a forward system and a shoveling system which are respectively electrically connected with a controller;
the controller receives the stacking angle deviation sent by the material pile stacking angle identification system and the distance deviation sent by the bucket left-right distance identification system, and sends a control command to the steering system based on the stacking angle deviation and the distance deviation so that the steering system can adjust the relative position of the bucket and the material pile;
the controller receives the left and right stacking angles sent by the material pile stacking angle recognition system and the material characteristic parameters sent by the screening and weighing device, and matches the optimal digging track in the digging track database based on the left and right stacking angles and the material characteristic parameters;
the controller sends control commands to the advancing system and the shoveling system to perform shoveling work based on the optimal shoveling trajectory and the distance between the tip of the bucket and the pile right in front of the bucket, which are sent by the bucket insertion pile recognition system.
2. The intelligent shoveling control system of the backhoe loader as claimed in claim 1, wherein the stockpile stacking angle recognition system, the bucket left and right distance recognition system and the bucket inserted stockpile recognition system are all electrically connected to the first distance sensor, the second distance sensor, the third distance sensor and the fourth distance sensor at the same time; the first distance sensor and the second distance sensor are fixed on the left rocker arm, arranged up and down and used for acquiring distance parameters of a material pile right in front of the left side of the bucket; and the third distance sensor and the fourth distance sensor are fixed on the right rocker arm, arranged up and down and used for acquiring distance parameters of a material pile right in front of the right side of the bucket.
3. The intelligent shovel control system of a backhoe loader as claimed in claim 2, wherein the heap pile angle recognition system calculates a left pile angle based on the distance parameters collected by the first and second distance sensors; calculating a right stacking angle according to distance parameters acquired by the distance sensor III and the distance sensor IV; calculating a stacking angle deviation according to the left stacking angle and the right stacking angle;
when the stacking angle deviation exceeds a preset stacking angle deviation threshold value, the controller sends a control command to the steering system, and the steering system adjusts the relative position of the bucket and the material pile;
when the stacking angle deviation meets a preset stacking angle deviation threshold, the controller calculates the average value of the left stacking angle and the right stacking angle, and the average value is used as the stacking angle of the material pile for the excavation track database to call.
4. The intelligent shovel control system of a backhoe loader of claim 2, wherein the left and right bucket distance recognition system calculates the relative error based on the left distance parameters collected by the first and second distance sensors and the right distance parameters collected by the third and fourth distance sensors;
when the relative error exceeds a preset distance deviation threshold value, the controller sends a control command to the steering system, and the steering system adjusts the relative position of the bucket and the material pile.
5. The intelligent shovel control system of claim 2, wherein the bucket insertion pile recognition system calculates the distance between the tooth tips on the left side of the bucket and the pile directly in front of the bucket according to the left distance parameters collected by the first distance sensor and the second distance sensor, calculates the distance between the tooth tips on the right side of the bucket and the pile directly in front of the bucket according to the right distance parameters collected by the third distance sensor and the fourth distance sensor, and averages the distance L0 between the tooth tips of the bucket and the pile directly in front of the bucket; when L0 is reduced to zero, the fact that the bucket starts to insert into the material pile is judged, meanwhile, the fact that the pressure jump is compared with the pressure jump collected through the left boom cylinder pressure sensor and the right boom cylinder pressure sensor is verified, and the pressure jump are used as the identification judgment conditions for the fact that the bucket starts to insert into the material pile.
6. The intelligent shovel control system of the backhoe loader as claimed in claim 1, wherein the steering system comprises a steering controller and a front axle steering cylinder, and the steering controller controls the front axle steering cylinder to realize steering action after receiving a steering command sent by the controller.
7. The intelligent excavation control system of the backhoe loader of claim 1, wherein the advancing system comprises a transmission gear controller and an engine throttle controller, the transmission gear controller and the engine throttle controller are electrically connected to the controller, respectively, and the controller sends control signals to the transmission gear controller and the engine throttle controller based on the optimal excavation trajectory to adjust the gear and the throttle.
8. The intelligent excavation control system of the loader digger of claim 1, wherein the excavation system comprises a hydraulic multi-way valve, the hydraulic multi-way valve controls the left bucket cylinder, the right bucket cylinder, the left boom cylinder and the right boom cylinder to perform excavation actions by adjusting opening and closing according to received action instruction information sent by the controller, and simultaneously feeds back the execution state of the excavation actions in real time through a left bucket cylinder displacement sensor, a right bucket cylinder displacement sensor, a left boom cylinder displacement sensor and a right boom cylinder displacement sensor.
9. The intelligent shovel control system of claim 1, wherein the shovel trajectory database is built into the controller and contains optimal shovel trajectory of the shovel for different types of materials under specific particle size grading characteristics, bulk density and bulk angle conditions for the controller to call.
10. The intelligent shovel control system of claim 1 wherein the screening and weighing device comprises a vibratory screening drum affixed within the cab for measuring the particle size characteristics and bulk density of the material.
11. A backhoe loader, characterized in that the backhoe loader is provided with the intelligent shoveling control system of the backhoe loader according to any one of claims 1 to 8.
12. An intelligent shoveling control method of a loader-digger is characterized by comprising the following steps:
starting an automatic digging operation function;
receiving material characteristic parameters;
receiving distance parameters of material piles right in front of the left side and the right side of the bucket, and respectively calculating a left stacking angle, a right stacking angle, stacking angle deviation and distance deviation;
adjusting the relative position of the bucket and the material pile based on the stacking angle deviation and the distance deviation until the stacking angle deviation meets a preset stacking angle deviation threshold and the distance deviation meets a preset distance deviation threshold;
calculating a stockpile accumulation angle and a distance between a tooth tip of the bucket and a stockpile right in front of the bucket;
matching an optimal digging track in a digging track database based on the pile accumulation angle and the material characteristic parameters;
and sending control commands to the advancing system and the shoveling system to execute shoveling operation based on the optimal shoveling track and the distance between the tooth tips of the shovel and the material pile right in front of the shovel.
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