CN113653124B - Shoveling control method of pure electric driving wheel type unmanned loader - Google Patents

Shoveling control method of pure electric driving wheel type unmanned loader Download PDF

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Publication number
CN113653124B
CN113653124B CN202110986225.9A CN202110986225A CN113653124B CN 113653124 B CN113653124 B CN 113653124B CN 202110986225 A CN202110986225 A CN 202110986225A CN 113653124 B CN113653124 B CN 113653124B
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loader
bucket
vehicle speed
threshold value
torque
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CN113653124A (en
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韩云武
费孝涛
赵连星
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Jiangsu Vocational College of Electronics and Information
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Jiangsu Vocational College of Electronics and Information
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention discloses a shovel control method of a pure electric drive wheel type unmanned loader, which adopts vehicle speed closed-loop control and constant torque control. The two methods do not depend on a vehicle sensor system, the shoveling position is accurately determined by judging the motor torque and the vehicle speed of the vehicle, the material characteristics are judged, and shoveling is performed in a gradual mode, so that the maximization of the working efficiency is realized.

Description

Shoveling control method of pure electric driving wheel type unmanned loader
Technical Field
The invention relates to a loader, in particular to a shovel control method of a pure electric drive wheel type unmanned loader, and belongs to the field of unmanned engineering machinery.
Background
A pure electric wheel loader, which is a wheel loader whose driving force is completely provided by a motor, includes a series hybrid wheel loader, a pure electric wheel loader, a fuel cell wheel loader, and the like.
With the development of the unmanned technology, manufacturers of large engineering machinery are developing the unmanned shoveling technology of wheel loaders, and sensing of material positions and types is performed by using sensors such as laser radars, cameras and millimeter wave radars. In order to reduce the damage of laser radar, a camera, a millimeter wave radar and the like caused by splashed materials and reduce the blind area of a sensing system, the sensors can only be arranged at the higher position of the loader body, such as the periphery of a cockpit. Therefore, the prior art has the following problems:
1. because the loader working environment is bad, dust raised in the shoveling process can shield laser emitted by a laser radar, a camera and millimeter waves emitted by a millimeter wave radar, so that the performance of a sensing system is reduced, or splashed materials can possibly smash sensors such as the laser radar, the camera and the millimeter wave radar, so that the sensing system is damaged, and the shoveling work depending on the sensing system is inaccurate.
2. Due to the shielding of the loader bucket and the lifting arm, the sensing system still has blind areas in important areas such as the front lower part of the bucket, which can cause adverse effects on the decision of digging actions and even cause misjudgment.
Therefore, the environment sensing method of the unmanned vehicle can be only used for identifying a material pile by a loader, avoiding obstacles of pedestrians and vehicles, planning a traveling path and the like. The unmanned shoveling control method is not applicable to the working conditions (shoveling and shoveling materials) of the loader or has serious defects, so that the development of the unmanned shoveling control method of the wheel loader, which is not based on the existing unmanned vehicle environment perception sensor and the control method, is very important.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the unmanned excavation control method of the pure electric drive wheel type loader, so that the unmanned loader does not depend on sensors commonly used by traditional unmanned vehicles such as radars, cameras and the like during excavation operation, and excavation can be accurately finished, so that the maximization of the working efficiency is realized.
The first technical scheme adopted by the invention is as follows:
a shovel control method of a pure electric drive wheel type unmanned loader is characterized by comprising the following steps:
in the process that the loader drives to the material, a target vehicle speed V is set, and the torque of the MCU is controlled according to the following method:
T＝T 1 +T 2 (1)
t is MCU torque;
T 1 is the steady state part torque;
T 2 is a dynamic part torque;
wherein, T 1 The calculation method comprises the following steps:
T 1 ＝k*(μ+tan(s))*mg*R/I (2)
k is a steering compensation coefficient of the loader and is obtained by experimental calibration;
mu is the rolling resistance coefficient of the wheel of the loader;
s is the road surface gradient;
m is the mass of the loader;
g is the acceleration of gravity;
r is the radius of the wheel of the loader;
i is the transmission ratio of the transmission system;
wherein, T 2 Part of the calculation methods are as follows:
T 2 ＝k p *△V+k i *∫ 0 t △V*dt+k d *d△V/dt (3)
k p : the coefficient is a proportional gain coefficient and is obtained by experimental calibration;
k i : is an integral time constant and is obtained by experimental calibration;
k d : is a differential time constant and is obtained by experimental calibration;
Δ V: the difference between the target vehicle speed V and the current actual vehicle speed Vi is obtained;
when T is 2 Continuously rises and the amplitude of the rise exceeds T 1 When the ratio is a%, it is determined that the loader has reached the shoveling position, and the MCU outputs the maximum torque to perform shoveling.
Further, the MCU works with the maximum output torque, and meanwhile, the controller records the forward stroke of the loader,
1) when the forward stroke of the loader is smaller than a threshold value L0, and the vehicle speed is smaller than a threshold value V0 or the wheels slip during the forward process, determining that the loader touches hard materials;
at the moment, the controller controls the bucket oil cylinder and/or the lifting oil cylinder to enable the bucket to turn upwards or lift upwards horizontally, when the vehicle speed is higher than a threshold value V0 and the rotation angle between the bottom surface of the bucket and the plane of the vehicle frame is not more than 30 degrees, the bucket turning is stopped, and the vehicle continues to advance;
in the process of continuing to move forwards, if the vehicle speed is less than the threshold V0 or the wheels slip before the forward stroke of the loader is less than the threshold L0, the actions are repeated;
when the forward stroke of the loader is larger than or equal to a threshold value L0 or the rotation angle between the bottom surface of the bucket and the plane of the frame exceeds 30 degrees, the loader retracts the bucket to a bucket retracting position, and simultaneously, when the rotation angle between the bottom surface of the bucket and the plane of the frame exceeds 45 degrees, the driving torque is reduced to 0 Nm;
2) when the forward stroke of the loader is larger than a threshold value L0 and the vehicle speed is never smaller than a threshold value V0 during the forward stroke, the loader is judged to touch the loose materials, and at the moment, the controller controls the bucket cylinder to enable the bucket to be turned up to the bucket-collecting position.
Further, a% ═ 30%. When T is 2 The amplitude of the rise exceeds T 1 And 30%, judging that the loader reaches the digging position.
The second technical scheme adopted by the invention is as follows:
a shovel control method of a pure electric drive wheel type unmanned loader is characterized by comprising the following steps:
when the speed of the loader is reduced and the reduction amplitude exceeds a certain set proportion B% of the target speed V, the controller judges that the loader enters a digging position, and the MCU outputs the maximum torque to carry out digging work.
Further, B% ═ 30%. When the magnitude of the vehicle speed decrease exceeds 30% of the target vehicle speed V, it is determined that the loader reaches the excavation position.
Further, the MCU works with the maximum output torque, and meanwhile, the controller records the forward stroke of the loader,
1) when the forward stroke of the loader is smaller than a threshold value L0, and the vehicle speed is smaller than a threshold value V0 or the wheels slip during the forward process, determining that the loader touches hard materials;
at the moment, the controller controls the bucket oil cylinder and/or the lifting oil cylinder to enable the bucket to turn upwards or lift horizontally upwards, and when the vehicle speed is higher than a threshold value V0 and the rotation angle between the bottom surface of the bucket and the plane of the frame does not exceed 30 degrees, the bucket turning is stopped, and the vehicle continues to move forwards;
in the process of continuing to move forwards, if the vehicle speed is less than the threshold V0 or the wheels slip before the forward stroke of the loader is less than the threshold L0, the actions are repeated;
when the forward stroke of the loader is larger than or equal to a threshold value L0 or the rotation angle between the bottom surface of the bucket and the plane of the frame exceeds 30 degrees, the loader retracts the bucket to a bucket retracting position, and simultaneously, when the rotation angle between the bottom surface of the bucket and the plane of the frame exceeds 45 degrees, the driving torque is reduced to 0 Nm;
2) when the forward stroke of the loader is larger than a threshold value L0 and the vehicle speed is never smaller than a threshold value V0 during the forward stroke, the loader is judged to touch the loose materials, and at the moment, the controller controls the bucket cylinder to enable the bucket to be turned up to the bucket-collecting position.
Compared with the prior art, the method does not depend on the feedback of a vehicle sensing system, is not afraid of the shielding of the bucket and a lifting arm, completely judges whether the loader is close to the materials only through the change of the torque of the motor or the change of the speed of the vehicle, judges whether the loader is contacted with hard materials or loose materials through the change of the speed in the forward stroke, adjusts the shoveling state of the bucket, accurately finishes shoveling work, can avoid misjudgment on shoveling action, and realizes the maximization of the work efficiency.
Detailed Description
The technical solution of the present invention is described in detail by the following examples, but it should be understood by those skilled in the art that the following examples are not intended to limit the technical solution of the present invention, and any equivalent changes or modifications made within the spirit of the technical solution of the present invention should be considered as falling within the protection scope of the present invention.
The invention provides a shoveling control method of a pure electric drive wheel type unmanned loader, and aims to accurately determine a shoveling position when a shovel approaches materials and to automatically judge whether a bucket is full or not on the premise of not depending on a sensor so as to maximize the working efficiency.
Once, unmanned digging start
The unmanned excavation of the invention is started according to the following steps:
1. the controller remotely starts the unmanned digging function, and the vehicle controller is awakened by a remote starting signal.
2. After the last step is completed, the controller sets the power mode to ON.
3. And after the last step is finished, the controller wakes up other controllers through the communication bus.
4. And after the last step is finished, the controller executes a high-voltage electrifying process.
5. After the last step is completed, the controller executes a preparation workflow.
6. After the previous step is completed, the unmanned digging action can be started.
If any one of the steps 2-5 fails to be executed, a signal of 'no-man digging start execution XX step failure' needs to be sent to a controller remotely, then the controller controls other controllers to sleep, and then the controller sleeps without performing no-man digging action.
Second, unmanned digging control method
For the control of unmanned excavation, the invention adopts two strategies, one is a control mode based on vehicle speed closed loop, and the other is a control mode based on constant torque.
Vehicle speed closed loop control mode
The closed loop of the vehicle speed is to set a target vehicle speed to make the vehicle run according to the target vehicle speed as much as possible, however, when external interference exists, the actual vehicle speed is inconsistent with the target vehicle speed, and at this time, the output torque of the motor needs to be adjusted at any time according to the actual vehicle speed to make the actual vehicle speed and the target vehicle speed approximately consistent. Therefore, in this control mode, the loader can be made to travel at the target vehicle speed V before cutting without reducing the speed, regardless of the other.
After the unmanned digging is finished and started, the method comprises the following steps:
1. gear control
The controller switches the gear to the D gear.
2. Bucket control
The controller adjusts the bucket to the shoveling position by controlling the lifting oil cylinder and the bucket oil cylinder.
3. Driving control
During the travel of the loader toward the material, the target vehicle speed V is set so that the loader advances with this target vehicle speed V (preferably 5kph) as a target (advances as close as possible to the target vehicle speed V). The vehicle Control Unit sends a torque command to an MCU (Motor Control Unit), wherein the torque calculation method is as follows:
T＝T 1 +T 2 (1)
t is MCU torque, and the unit is Nm;
T 1 steady state partial torque in Nm;
T 2 dynamic part torque is in Nm.
Wherein:
3.1 Steady State portion
The steady-state partial torque calculation method comprises the following steps:
T 1 ＝k*(μ+tan(s))*mg*R/I (2)
wherein:
k is a loader steering compensation coefficient, and compensation coefficients of different steering angles can be obtained through limited tests under a specific machine type;
mu is the rolling resistance coefficient of the wheel of the loader;
m is the mass of the loader in kg;
g is the acceleration of gravity in m/s 2 ；
s is the road surface gradient and the unit is%;
r is the radius of the wheel of the loader and has the unit of m;
i is the transmission ratio.
It follows that the steady state portion of MCU torque is related only to the static characteristics of the vehicle and environment, and not to the dynamic characteristics of the vehicle, and therefore this portion of torque is relatively stable.
3.2 dynamic part
The difference (Delta V) between the target vehicle speed V of the loader and the current actual vehicle speed Vi is used as input, and dynamic partial torque is output.
The dynamic part torque calculation method comprises the following steps:
T 2 ＝k p *△V+k i *∫ 0 t △V*dt+k d *d△V/dt (3)
wherein:
k p the coefficient is a proportional gain coefficient and is obtained by experimental calibration;
k i is an integral time constant and is obtained by experimental calibration;
k d is a differential time constant and is obtained by experimental calibration;
Δ V is the difference between the target vehicle speed V and the current actual vehicle speed Vi.
The torque is divided into a steady-state part and a dynamic part, when the motor torque is adjusted according to the difference between the target vehicle speed and the real-time vehicle speed, the torque is divided into two parts at the same time, the steady-state part is not influenced by the vehicle speed, so the dynamic part is a certain compensation for the steady-state part, and if the difference between the real-time vehicle speed and the target vehicle speed is small, the dynamic part is almost not.
Further, by determining the change in torque of the dynamic portion, the change in vehicle speed can be verified in reverse, and if the dynamic portion continues to rise, it indicates that the difference between the target vehicle speed and the real-time vehicle speed is large, meaning that the loader may approach the material pile and be ready for a digging operation.
4. Shovel control
When the torque dynamic part continuously rises and the rising amplitude exceeds A% of the steady-state part (A% is a self-set threshold value, and the preferred value can be 30%), the whole vehicle controller judges that the loader enters the shoveling position, at the moment, the controller sends a driving torque command to the MCU according to the maximum driving capacity, and the MCU outputs the maximum torque (the maximum torque is a MCU delivery parameter and is greater than T) 1 +T 2 ) And starts recording the forward stroke. The forward stroke calculation method is many and conventional, and can be obtained according to vehicle speed integration, which is not described herein.
4.1 hard materials
When the forward stroke of the loader is smaller than a threshold L0 (a preferable value of 1m can be set), and the vehicle speed is smaller than a threshold V0 (a preferable value of 0.1kph) or the wheels slip during the forward stroke, the loader is judged to be touched with hard solid materials.
At this time, the controller extends/retracts the bucket (preferably, the bucket cylinder) and turns the bucket (preferably, 0.0036kph, if the speed is too high and the bucket is possibly not full, the optional value is a stable speed reached by the minimum opening of the electromagnetic valve) at a slower speed, so that the bucket turns upwards or lifts upwards horizontally until the vehicle speed is higher than a threshold value V0 and the rotation angle between the bottom surface of the bucket and the plane of the vehicle frame is not more than 30 degrees (the preferred value), the shovel loading is stopped, and the vehicle continues to advance.
During the process of continuing to move forward, if the vehicle speed is less than the threshold V0 or the wheels slip before the loader forward stroke is less than the threshold L0, the above actions are repeated.
Until the forward stroke of the loader is larger than or equal to the threshold value L0 and the rotation angle between the bottom surface of the bucket and the plane of the frame exceeds 30 degrees (the turning angle of the bucket is larger than 30 degrees), the loader retracts the bucket to the bucket retracting position at the fastest speed, and simultaneously reduces the driving torque to 0Nm when the rotation angle between the bottom surface of the bucket and the plane of the frame exceeds 45 degrees, and then the loading work is finished.
4.2 bulk materials
If the loader forward stroke is greater than the threshold L0 (preferably 1m) and the speed of the vehicle never falls below the threshold V0 (preferably 0.1kph) during forward travel, it is determined that the loader has touched the bulk material and the controller directly retracts the bucket to the stow position at the fastest possible speed, while reducing the drive torque to 0Nm when the angle of rotation of the bucket floor with respect to the frame plane exceeds 45 degrees, at which point the loading operation is complete.
5. End of spading
When the bucket is turned upwards to a bucket collecting position, the controller switches the gear to the R gear, and lifts the large arm through the lifting oil cylinder to enable the bucket to be away from the ground for a certain distance (the preferred value is 0.5 m).
(II) constant Torque control mode
Constant torque control, namely that in the process that the loader drives to the material, the controller always sends a constant torque value of T to the MCU 1 The control command (i.e., the steady-state portion of torque).
Similarly, after the unmanned digging program is started, the control is carried out according to the following steps:
1. gear control
The controller switches the gear to the D gear.
2. Bucket control
The controller adjusts the bucket to the digging position by controlling the lifting oil cylinder and the bucket oil cylinder.
3. Driving control
And in the process that the loader drives to the material, setting a target speed V and enabling the loader to move forward at the target speed V. Before the loader reaches the shoveling position, the speed of the loader can fluctuate near the target speed V due to the change of the road surface condition, and the vehicle starts to reduce the speed until the loader reaches the shoveling position, so that the shovel works. In the process, the output torque of the MCU is not required to be controlled to change along with the change of the vehicle speed, and the controller always sends constant torque T to the MCU 1 。
4. Shovel control
When the speed of the loader is reduced and the reduction amplitude exceeds a certain set proportion B% of the target speed V (the optimal value is 30%), the controller judges that the loader enters the digging position, the controller sends a driving torque command to the MCU according to the maximum driving capacity at the moment, the speed of the loader is reduced to move forwards, the digging work is started, and the forward travel is recorded.
4.1 hard materials
Similarly, when the forward travel of the loader is less than the threshold L0 (which may be set to a preferred value of 1m), and the vehicle speed is less than the threshold V0 (which may be set to a preferred value of 0.1kph) or the wheels are slipping during forward travel, it is determined that the loader is in contact with hard solid material.
At this time, the controller extends/retracts the bucket (preferably, the bucket cylinder) and turns the bucket (preferably, 0.0036kph, if the speed is too high and the bucket is possibly not full, the optional value is a stable speed reached by the minimum opening of the electromagnetic valve) at a slower speed, so that the bucket turns upwards or lifts upwards horizontally until the vehicle speed is higher than a threshold value V0 and the rotation angle between the bottom surface of the bucket and the plane of the vehicle frame is not more than 30 degrees (the preferred value), the shovel loading is stopped, and the vehicle continues to advance.
During the process of continuing to move forward, if the vehicle speed is less than the threshold V0 or the wheels slip before the loader forward stroke is less than the threshold L0, the above actions are repeated.
Until the forward stroke of the loader is larger than or equal to the threshold value L0 and the rotation angle between the bottom surface of the bucket and the plane of the frame exceeds 30 degrees (the turning angle of the bucket is larger than 30 degrees), the loader retracts the bucket to the bucket retracting position at the fastest speed, and simultaneously reduces the driving torque to 0Nm when the rotation angle between the bottom surface of the bucket and the plane of the frame exceeds 45 degrees, and then the loading work is finished.
4.2 bulk materials
Similarly, if the loader forward travel is greater than threshold L0 (preferably 1m) and vehicle speed never falls below threshold V0 (preferably 0.1kph) during forward travel, it is determined that the loader has touched the bulk material and the controller directly retracts the bucket to the stowed position at the fastest possible speed while reducing the drive torque to 0Nm when the angle of rotation of the bucket floor relative to the frame plane exceeds 45 degrees, at which point the loading operation is complete.
5. Method for finishing unmanned excavation program
When the bucket is turned upwards to a bucket-collecting position, the controller switches the gear to the R gear, and lifts the large arm through the lifting oil cylinder to enable the bucket to be away from the ground for a certain distance (the preferred value is 0.5m), and then the unmanned digging procedure is finished, and the controller automatically executes procedures of retreating, lifting and loading.

Claims (4)

1. A shovel control method of a pure electric drive wheel type unmanned loader is characterized by comprising the following steps:
in the process that the loader drives to the material, a target vehicle speed V is set, and the torque of the MCU is controlled according to the following method:
T＝T 1 +T 2 (1)
t is MCU torque;
T 1 is the steady state part torque;
T 2 is a dynamic part torque;
wherein, T 1 The calculation method comprises the following steps:
T 1 ＝k*(μ+tan(s))*mg*R/I (2)
k is a steering compensation coefficient of the loader and is obtained by experimental calibration;
mu is the rolling resistance coefficient of the wheel of the loader;
s is the road surface gradient;
m is the mass of the loader;
g is the acceleration of gravity;
r is the radius of the wheel of the loader;
i is the transmission ratio of the transmission system;
wherein, T 2 Part of the calculation methods are as follows:
T 2 ＝k p *△V+k i *∫ 0 t △V*dt+k d *d△V/dt (3)
k p : the coefficient is a proportional gain coefficient and is obtained by experimental calibration;
k i : is an integral time constant and is obtained by experimental calibration;
k d : is a differential timeThe interval constant is obtained by experimental calibration;
Δ V: the difference between the target vehicle speed V and the current actual vehicle speed Vi is obtained;
when T is 2 Continuously rises and the amplitude of the rise exceeds T 1 When the proportion is A%, the loader is judged to reach the spading position, and the MCU outputs the maximum torque to carry out spading work;
meanwhile, the controller records the forward stroke of the loader,
1) when the forward stroke of the loader is smaller than a threshold value L0, and the vehicle speed is smaller than a threshold value V0 or the wheels slip during the forward process, determining that the loader touches hard materials;
at the moment, the controller controls the bucket oil cylinder and/or the lifting oil cylinder to enable the bucket to turn upwards or lift upwards horizontally, when the vehicle speed is higher than a threshold value V0 and the rotation angle between the bottom surface of the bucket and the plane of the vehicle frame is not more than 30 degrees, the bucket turning is stopped, and the vehicle continues to advance;
in the process of continuing to move forwards, if the vehicle speed is less than the threshold V0 or the wheels slip before the forward stroke of the loader is less than the threshold L0, the actions are repeated;
when the forward stroke of the loader is larger than or equal to a threshold value L0 or the rotation angle between the bottom surface of the bucket and the plane of the frame exceeds 30 degrees, the loader retracts the bucket to a bucket retracting position, and simultaneously, when the rotation angle between the bottom surface of the bucket and the plane of the frame exceeds 45 degrees, the driving torque is reduced to 0 Nm;
2) when the forward stroke of the loader is larger than a threshold value L0 and the vehicle speed is never smaller than a threshold value V0 during the forward stroke, the loader is judged to touch the loose materials, and at the moment, the controller controls the bucket cylinder to enable the bucket to be turned up to the bucket-collecting position.
2. The shoveling control method of the pure electric drive wheel type unmanned loader according to claim 1, characterized in that: and A% ═ 30%.
3. A shovel control method of a pure electric drive wheel type unmanned loader is characterized by comprising the following steps:
in the process that the loader drives to materials, the loader is driven to move forwards through constant torque at a target speed V, when the speed of the loader decreases and the decreasing amplitude exceeds a certain set proportion B% of the target speed V, the controller judges that the loader enters a shoveling position, and the MCU outputs the maximum torque to carry out shoveling work;
meanwhile, the controller records the forward stroke of the loader,
1) when the forward stroke of the loader is smaller than a threshold value L0, and the vehicle speed is smaller than a threshold value V0 or the wheels slip during the forward process, determining that the loader touches hard materials;
at the moment, the controller controls the bucket oil cylinder and/or the lifting oil cylinder to enable the bucket to turn upwards or lift upwards horizontally, when the vehicle speed is higher than a threshold value V0 and the rotation angle between the bottom surface of the bucket and the plane of the vehicle frame is not more than 30 degrees, the bucket turning is stopped, and the vehicle continues to advance;
in the process of continuing to move forwards, if the vehicle speed is less than the threshold V0 or the wheels slip before the forward stroke of the loader is less than the threshold L0, the actions are repeated;
when the forward travel of the loader is larger than or equal to a threshold value L0 or the rotation angle between the bottom surface of the bucket and the plane of the frame exceeds 30 degrees, the loader retracts the bucket to a bucket retracting position, and simultaneously, when the rotation angle between the bottom surface of the bucket and the plane of the frame exceeds 45 degrees, the driving torque is reduced to 0 Nm;
2) when the forward stroke of the loader is larger than a threshold value L0 and the vehicle speed is never smaller than a threshold value V0 during the forward stroke, the loader is judged to touch the loose materials, and at the moment, the controller controls the bucket cylinder to enable the bucket to be turned up to the bucket-collecting position.
4. The shoveling control method of the pure electric drive wheel type unmanned loader according to claim 3, characterized in that: and B% ═ 30%.
CN202110986225.9A 2021-08-26 2021-08-26 Shoveling control method of pure electric driving wheel type unmanned loader Active CN113653124B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1846047B (en) * 2003-09-02 2010-12-01 株式会社小松制作所 Engine control device
US7853384B2 (en) * 2007-03-20 2010-12-14 Deere & Company Method and system for controlling a vehicle for loading or digging material
CN105805071B (en) * 2016-05-09 2017-12-05 青岛雷沃工程机械有限公司 A kind of one-way valve mechanism and rotation oil system for excavator swing arm
CN106436789B (en) * 2016-12-05 2018-10-16 徐工集团工程机械有限公司 It is a kind of to shovel dress system, control method and loading machine automatically
CN112196004B (en) * 2020-10-26 2021-04-30 吉林大学 Automatic shovel loading dynamic control method of loader based on segmented shovel loading method

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Application publication date: 20211116

Assignee: Avico (Weihai) Vacuum Technology Co.,Ltd.

Assignor: Jiangsu electronic information Vocational College

Contract record no.: X2022980018728

Denomination of invention: A Digging Control Method for a Pure Electric Drive Wheel Type Unmanned Loader

Granted publication date: 20220916

License type: Common License

Record date: 20221025