CN109853660B - Intelligent control system of loader - Google Patents
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- CN109853660B CN109853660B CN201811633299.9A CN201811633299A CN109853660B CN 109853660 B CN109853660 B CN 109853660B CN 201811633299 A CN201811633299 A CN 201811633299A CN 109853660 B CN109853660 B CN 109853660B
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Abstract
The invention relates to the technical field of loaders, and provides an intelligent control system of a loader, which comprises a plurality of loader-related data acquisition devices, a vehicle control unit, a plurality of execution components, an intelligent control handle, a touch display screen and a plurality of indicator lamps for indicating the running state of the loader, wherein the vehicle control unit analyzes and evaluates related data acquired by the loader-related data acquisition devices to generate alarm data parameters for defining the running fault state of the loader, the generated alarm data parameters are output to the execution components through a signal bus, the execution components make supplementary actions, the intelligent control handle is used for realizing programming learning and intelligent control, and errors caused by fatigue and tension of an operator are avoided through automatic compensation of electronic equipment. Safe operation is significantly increased, preventing damage to the machine.
Description
Technical Field
The invention belongs to the technical field of loaders, and particularly relates to an intelligent control system of a loader.
Background
The wheel loader is a soil shoveling and transporting machine widely applied to projects such as roads, railways, ports, docks, coal, mines, water conservancy, national defense and the like, urban construction and other places. The method plays an important role in reducing labor intensity, accelerating engineering construction speed and improving engineering quality.
A wheel loader is a working machine suitable for various application scenarios. The processing in different applications often requires considerable skill and experience. There are many situations in a conventional wheel loader where it may lead to incorrect operation or dangerous situations, such as:
(1) lifting or lowering a heavy load while driving and articulation at a certain inclination of the vehicle can lead to vehicle rollover, each factor moving within the allowable range of the work machine, however, the sum of these factors leads to vehicle inclination. Conventional wheel loaders today can only be prevented by the experience and skill of the driver;
(2) when unloading very heavy loads, the operator has to interrupt the process quickly, an unstable stop leading to an increase in the forces acting on the working machine and on the operator; in some cases, this can lead to damage to the hydraulic system, such as damage to the hoses or mechanical damage (e.g., deformation) or compromise the stability or stability of the vehicle; this can be prevented in conventional wheel loaders only by technically complicated and expensive hydraulic brake valves; however, these brake valves also typically slow down the rate of discharge at lower or no load, which results in lower operating speed and efficiency;
(3) the kinematics of the attachment of a conventional wheel loader have properties optimized for typical applications, such as the return of the bucket during lowering of the boom via mechanical forced guidance in the working position after the lift arm has been lifted for dumping; this mechanically forced guidance (design-dependent movement) is the best position for applying the shovel, but is cumbersome and even dangerous for the application. The condition of the accessory is uncontrollable each time, at which time the machine operator must continuously compensate manually, different accessories apply different working scenarios, each accessory having its own kinematics. This can currently only be compensated by the experience and skill of the operator.
In conclusion, it can be seen that the drawbacks associated with the design of a wheel loader are compensated by conventional hydraulic, mechanical and electrical solutions, which are often inadequate or costly.
Disclosure of Invention
In view of the drawbacks of the prior art, the present invention provides an intelligent control system for a loader, which aims to solve the problem that the design-related disadvantages of the prior art wheel loaders are compensated by conventional hydraulic, mechanical and electrical solutions, which are generally insufficient or costly.
The technical scheme provided by the invention is as follows: a loader intelligent control system comprising:
the system comprises a plurality of loader-related data acquisition devices, a plurality of control devices and a plurality of control modules, wherein the loader-related data acquisition devices are used for acquiring the data of each running state of a loader to form loader-related data, and the related data comprises boom position information, boom angular velocity, boom steering angle, vehicle speed, vehicle traveling direction, selected gear or gear, engine speed, accelerator pedal position, hydraulic pressure, lifting load, valve position, brake signal and oil temperature;
the vehicle control unit is respectively in communication connection with the plurality of loader-related data acquisition devices through a signal bus, and is used for analyzing and evaluating the related data acquired by the plurality of loader-related data acquisition devices, generating an alarm data parameter for defining the operation fault state of the loader, and outputting the generated alarm data parameter through the signal bus;
the executing components are connected with the vehicle control unit through a signal bus and used for receiving the alarm data parameters sent by the vehicle control unit, analyzing the alarm data parameters, generating compensation data for controlling and compensating the fault content of the loader and executing compensation action according to the compensation data;
the intelligent control handle, the touch display screen and a plurality of indicating lamps are connected with the vehicle control unit and used for indicating the running state of the loader.
As an improvement, the loader-related data acquisition device comprises a rotating speed sensor positioned on an engine, a first position sensor positioned in a cab of the loader, a second position sensor and a first angle sensor positioned on a bucket, a second angle sensor positioned on a boom, a speed sensor positioned on wheels of a vehicle, a gearbox, an accelerator pedal, a hydraulic valve, a brake and an oil temperature sensor.
As an improvement, the signal bus is composed of a plurality of buses led out from the vehicle control unit to a rotating speed sensor positioned on an engine, a first position sensor positioned in a cab of the loader, a second position sensor and a first angle sensor positioned on a bucket, a second angle sensor positioned on a crane boom, a speed sensor positioned on wheels of the vehicle, a gearbox, an accelerator pedal, a hydraulic valve, a brake and an oil temperature sensor.
As a refinement, the bus includes a CAN bus, a LIN bus, an ISO bus, and an SAE bus.
As an improvement, the vehicle control unit includes:
the relevant data receiving module is used for receiving relevant data acquired by the loader relevant data acquisition equipment;
the analysis and evaluation module is used for analyzing and evaluating the relevant data acquired by the relevant data acquisition equipment of the plurality of loaders and generating alarm data parameters for defining the operation fault state of the loaders;
and the alarm data parameter output module is used for outputting the generated alarm data parameters through the signal bus.
As a modified scheme, the execution component comprises an engine control unit, a transmission control unit and a hydraulic control unit.
As an improved scheme, the signal bus is composed of a plurality of buses led out from the vehicle control unit to the engine control unit, the transmission control unit, the hydraulic control unit and the intelligent control handle.
As an improved scheme, the intelligent control handle is arranged in an arc shape and is provided with a handle head part, a transition part and a bottom end installation part;
the handle is characterized in that a plurality of keys are arranged at the head of the handle, the keys comprise a number key 1, a number key 2, a number key 3, a number key 4, a number key 5 and a number key 6, the six number keys are distributed in a Sudoku mode, the number key 3 and the number key 4 are positioned in the middle, and the number key 1, the number key 2, the number key 5 and the number key 6 are positioned on two sides;
the transition part is used for connecting the handle head and the bottom end mounting part, the transition part is of a hollow structure, a boosting button is mounted on the transition part, and the boosting button is used for improving the walking power of the loader;
the bottom installation department be used for with intelligent control handle fixed mounting in the driver's cabin of loader to provide follow vehicle control unit draws forth with a plurality of number keys and the signal bus who steps up the button and be connected.
As an improved scheme, the bottom end mounting part is internally provided with a sensor for sensing the swinging motion of the handle head in four directions, and the sensed swinging motion forms a corresponding electric signal and is sent to the vehicle control unit;
the swing direction of the handle head comprises a forward direction, a backward direction, a left direction and a right direction, wherein the forward direction represents that a boom of the loader moves upwards, the backward direction represents that the boom of the loader moves downwards, the left direction represents that a bucket of the loader is lifted, and the right direction represents that the bucket of the loader is poured.
As an improvement, the number keys 1 represent emptying and vibration, the number keys 2 represent a calling programming sequence, the number keys 3 represent forward driving, the number keys 4 represent backward driving, the number keys 5 represent programming buttons, and the number keys 6 represent calling programming positions.
In the embodiment of the invention, the intelligent control system of the loader comprises a plurality of loader-related data acquisition devices, a vehicle control unit, a plurality of execution components, an intelligent control handle, a touch display screen and a plurality of indicator lamps for indicating the operation state of the loader, wherein the vehicle control unit analyzes and evaluates the related data acquired by the plurality of loader-related data acquisition devices to generate alarm data parameters for defining the operation fault state of the loader, outputs the generated alarm data parameters to the execution components through the signal bus, and the execution components make supplementary actions and simultaneously utilize the intelligent control handle to realize programming learning and intelligent control, thereby realizing automatic compensation through electronic equipment and avoiding errors caused by fatigue and tension of an operator. Safe operation is significantly increased, preventing damage to the machine. This work also greatly improves the work efficiency. The network solution also simplifies the wiring of the machine.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic structural diagram of an intelligent control system of a loader provided by the invention;
FIGS. 2 and 3 are schematic structural diagrams of the intelligent control system of the loader based on the signal bus, respectively, provided by the invention;
FIG. 4 is a block diagram of a vehicle control unit provided by the present invention;
FIG. 5 is a schematic structural diagram of an intelligent control handle provided by the present invention;
wherein 1-loader-related data acquisition equipment, 2-vehicle control unit, 3-execution component, 4-intelligent control handle, 5-touch display screen, 6-indicator light, 7-rotational speed sensor on engine, 8-first position sensor in loader cab, 9-second position sensor on bucket, 10-first angle sensor on bucket, 11-second angle sensor on boom, 12-speed sensor on vehicle wheel, 13-gearbox, 14-accelerator pedal, 15-hydraulic valve, 16-brake, 17-oil temperature sensor, 18-engine control unit, 19-transmission control unit, 20-hydraulic control unit, 21-bottom end installation part, 22-related data receiving module, 23-analysis and evaluation module, 24-alarm data parameter output module, 25-handle head part and 26-transition part.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are merely for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
Fig. 1 is a schematic structural diagram of an intelligent control system of a loader according to the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown in the diagram.
Loader intelligence control system includes:
the data acquisition equipment 1 is used for acquiring data of each running state of the loader to form loader-related data, wherein the loader-related data comprises crane arm position information, crane arm angular velocity, crane arm steering angle, vehicle speed, vehicle traveling direction, selected gear or gear, engine speed, accelerator pedal position, hydraulic pressure, lifting load, valve position, brake signal and oil temperature;
the vehicle control unit 2 is respectively in communication connection with the plurality of loader-related data acquisition devices 1 through a signal bus, and is used for analyzing and evaluating the related data acquired by the plurality of loader-related data acquisition devices 1, generating alarm data parameters for defining the operation fault state of the loader, and outputting the generated alarm data parameters through the signal bus;
the execution components 3 are connected with the vehicle control unit 2 through a signal bus and used for receiving the alarm data parameters sent by the vehicle control unit 2, analyzing the alarm data parameters, generating compensation data for controlling and compensating the fault content of the loader and executing compensation action according to the compensation data;
the intelligent control device comprises an intelligent control handle 4 connected with the vehicle control unit 2, a touch display screen 5 and a plurality of indicator lamps 6 used for indicating the running state of the loader, wherein the touch display screen 5 is used for realizing man-machine interaction, and the indicator lamps are used for displaying the running state of corresponding equipment.
As shown in fig. 2 and 3, the loader-related data acquisition device 1 comprises a rotating speed sensor 7 located on an engine, a first position sensor 8 located in a cab of the loader, a second position sensor 9 located on a bucket, a first angle sensor 10 located on the bucket, a second angle sensor 11 located on a boom, a speed sensor 12 located on a wheel of the vehicle, a gearbox 13, an accelerator pedal 14, a hydraulic valve 15, a brake 16 and an oil temperature sensor 17;
on the basis of this, the signal bus is formed by several buses from the vehicle control unit 2 to a rotational speed sensor 7 located on the engine, a first position sensor located in the loader cab, a second position sensor 9 located on the bucket, a first angle sensor 10 located on the bucket, a second angle sensor 11 located on the boom, a speed sensor 12 located on the vehicle wheels, a gearbox 13, an accelerator pedal 14, a hydraulic valve 15, a brake 16 and an oil temperature sensor 17.
As also shown in connection with fig. 2 and 3, the actuating member 3 includes an engine control unit 18, a transmission control unit 19, and a hydraulic control unit 20;
the signal bus is composed of a plurality of buses led out from the vehicle control unit 2 to the engine control unit 18, the transmission control unit 19, the hydraulic control unit 20 and the intelligent control handle 21.
Including but not limited to a CAN bus, a LIN bus, an ISO bus, and an SAE bus.
In the embodiment of the present invention, in order to adapt to the above structure, adaptive description and modification are performed on the vehicle control unit 2, which specifically include:
as shown in fig. 4, the vehicle control unit 2 includes:
a relevant data receiving module 22, configured to receive relevant data acquired by the loader relevant data acquiring device 1;
the analysis and evaluation module 23 is configured to analyze and evaluate the relevant data acquired by the plurality of loader-related data acquisition devices 1, and generate an alarm data parameter for defining an operation fault state of the loader;
and the alarm data parameter output module 24 is used for outputting the generated alarm data parameters through the signal bus.
Of course, the vehicle control unit 2 may further include other modules to implement other functions or implement the same functions, which are not described herein again.
In the embodiment of the present invention, as shown in fig. 5, the smart control handle 4 is arranged in an arc, and the smart control handle 4 is provided with a handle head 25, a transition portion 26 and a bottom end mounting portion 21;
the handle head part 25 is provided with a plurality of keys, the keys comprise a number key 1, a number key 2, a number key 3, a number key 4, a number key 5 and a number key 6, the six number keys are distributed in a Sudoku mode, the number key 3 and the number key 4 are positioned in the middle, and the number key 1, the number key 2, the number key 5 and the number key 6 are positioned on two sides;
the transition part 26 is used for connecting the handle head part 25 and the bottom end mounting part 21, the transition part 26 is of a hollow structure, a boosting button (not shown in the figure) is mounted on the transition part 26, and the boosting button is used for improving the walking power of the loader;
the bottom installation department be used for with intelligent control handle 4 fixed mounting in the driver's cabin of loader to provide follow vehicle control unit 2 is drawn forth with a plurality of number keys and the signal bus who steps up the button and be connected.
The bottom end mounting part is internally provided with a sensor used for sensing the swinging motion of the handle head part 25 in four directions, forming corresponding electric signals by the sensed swinging motion and sending the electric signals to the vehicle control unit 2;
the swing direction of the handle head 25 includes a forward direction, a backward direction, a left direction and a right direction, the forward direction indicates that the boom of the loader moves upward, the backward direction indicates that the boom of the loader moves downward, the left direction indicates that the bucket of the loader is lifted, and the right direction indicates that the bucket of the loader is dumped.
Of course, other modes can be adopted, and the installation mode can be set according to the actual sensing position and the requirement of the loader cab, and the description is omitted.
In this embodiment, the number 1 key represents clear and vibrate, the number 2 key represents call programming sequence, the number 3 key represents forward drive, the number 4 key represents backward drive, the number 5 key represents programming button, the number 6 key represents call programming position;
during the running process of the loader, the automatic mode is adopted during normal driving, the vehicle control unit 2 is automatically switched to the next gear, the driver can also request a higher gear at any time, the downshift is also accompanied with the automatic mode, and under special conditions, the automatic mode can be disabled by simultaneously pressing the programming button 5 and the button 4 and is activated again by using the button 3;
manual downshifts are carried out at correspondingly low speeds, and the direction of travel can only be switched in all operating modes when the vehicle is almost stationary (less than 3 km/h).
In the embodiment of the present invention, the intelligent control handle 4 has a programming learning capability, which specifically includes:
the intelligent control handle 4 has two programming modes and two programmable function keys (a numeric key 2 and a numeric key 6);
both programming modes are temporary programming, in which the stored program is lost when the ignition is switched off, and permanent programming, this type of programming being particularly suitable for rapid program changes; the permanent programming will remain the same when the ignition switch is turned off, particularly for fixed locations and sequences of repeated use.
(1) Number keys are 6 temporary programmed positions:
1) pressing and holding the number key 5 and the touch number key 6
2) Lifting the boom and bucket to the desired position
3) Number 5 keys save and complete programming
(2) Number 2 key temporary programming process
1) Pressing the number key 5 and touching the number key 2
2) Lifting the boom and bucket to the desired position
3) Pressing number 2 remembers the position, continue 2)
4) The number key 1 adds a shock to the process
5) Number 5 keys save and complete programming
-number keys 6 do not save cancel programming
(3) Number key 6 permanent programming position
1) Pressing the number 5 and number 6 keys simultaneously (at least 3 seconds)
2) Lifting the boom and bucket to the desired position
3) Number 5 keys save and complete programming
-number keys 6 do not save cancel programming
(4) Number 2 key permanent programming process
1) Pressing the number 5 and number 6 keys simultaneously (at least 3 seconds)
2) Lifting the boom and bucket to the desired position
3) Pressing number 2 remembers the position, continue 2)
4) The number key 1 adds a shock to the process
5) Number 5 keys save and complete programming
In this embodiment, the smart control handle 4 is used to display human interaction with the operator.
In the embodiment of the invention, the intelligent control system of the loader comprises a plurality of loader-related data acquisition devices 1, a vehicle control unit 2, a plurality of execution components 3, an intelligent control handle 4, a touch display screen 5 and a plurality of indicator lamps 6 for indicating the running state of the loader, wherein the vehicle control unit 2 analyzes and evaluates the related data acquired by the plurality of loader-related data acquisition devices 1 to generate alarm data parameters for defining the running fault state of the loader, the generated alarm data parameters are output to the execution component 3 through the signal bus, the execution component 3 makes supplementary actions, and meanwhile, the intelligent control handle 4 is utilized to realize programming learning and intelligent control, therefore, automatic compensation through the electronic equipment is realized, and errors caused by fatigue and tension of an operator are avoided. Safe operation is significantly increased, preventing damage to the machine. This work also greatly improves the work efficiency. The network solution also simplifies the wiring of the machine.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. An intelligent control system of a loader is characterized by comprising:
the system comprises a plurality of loader-related data acquisition devices, a plurality of control devices and a plurality of control modules, wherein the loader-related data acquisition devices are used for acquiring the data of each running state of a loader to form loader-related data, and the related data comprises boom position information, boom angular velocity, boom steering angle, vehicle speed, vehicle traveling direction, selected gear or gear, engine speed, accelerator pedal position, hydraulic pressure, lifting load, valve position, brake signal and oil temperature;
the vehicle control unit is respectively in communication connection with the plurality of loader-related data acquisition devices through a signal bus, and is used for analyzing and evaluating the related data acquired by the plurality of loader-related data acquisition devices, generating an alarm data parameter for defining the operation fault state of the loader, and outputting the generated alarm data parameter through the signal bus;
the executing components are connected with the vehicle control unit through a signal bus and used for receiving the alarm data parameters sent by the vehicle control unit, analyzing the alarm data parameters, generating compensation data for controlling and compensating the fault content of the loader and executing compensation action according to the compensation data;
the intelligent control handle, the touch display screen and a plurality of indicating lamps are connected with the vehicle control unit and used for indicating the running state of the loader.
2. The loader intelligent control system of claim 1, wherein the loader related data acquisition devices comprise a rotational speed sensor located on an engine, a first position sensor located in the loader cab, a second position sensor and a first angle sensor located on a bucket, a second angle sensor located on a boom, a speed sensor located on a vehicle wheel, a gearbox, an accelerator pedal, a hydraulic valve, a brake, and an oil temperature sensor.
3. The intelligent loader control system of claim 2 wherein the signal bus comprises a plurality of buses from the vehicle control unit to a speed sensor on the engine, a first position sensor in the loader cab, a second position sensor and a first angle sensor on the bucket, a second angle sensor on the boom, a speed sensor on the vehicle wheels, a transmission, an accelerator pedal, a hydraulic valve, a brake, and an oil temperature sensor.
4. The intelligent loader control system of claim 3 wherein the bus comprises a CAN bus, a LIN bus, an ISO bus, and a SAE bus.
5. The loader intelligent control system of claim 1, wherein the vehicle control unit comprises:
the relevant data receiving module is used for receiving relevant data acquired by the loader relevant data acquisition equipment;
the analysis and evaluation module is used for analyzing and evaluating the relevant data acquired by the relevant data acquisition equipment of the plurality of loaders and generating alarm data parameters for defining the operation fault state of the loaders;
and the alarm data parameter output module is used for outputting the generated alarm data parameters through the signal bus.
6. The intelligent loader control system of claim 1 wherein the implement components comprise an engine control unit, a transmission control unit, and a hydraulic control unit.
7. The intelligent loader control system of claim 6 wherein the signal bus is comprised of a plurality of buses from the vehicle control unit to the engine control unit, the transmission control unit, the hydraulic control unit, and the intelligent control handle.
8. The intelligent control system of a loader of claim 1, wherein the intelligent control handle is arranged in an arc, the intelligent control handle having a handle head, a transition section and a bottom end mounting section;
the handle is characterized in that a plurality of keys are arranged at the head of the handle, the keys comprise a number key 1, a number key 2, a number key 3, a number key 4, a number key 5 and a number key 6, the six number keys are distributed in a Sudoku mode, the number key 3 and the number key 4 are positioned in the middle, and the number key 1, the number key 2, the number key 5 and the number key 6 are positioned on two sides;
the transition part is used for connecting the handle head and the bottom end mounting part, the transition part is of a hollow structure, a boosting button is mounted on the transition part, and the boosting button is used for improving the walking power of the loader;
the bottom installation department be used for with intelligent control handle fixed mounting in the driver's cabin of loader to provide follow vehicle control unit draws forth with a plurality of number keys and the signal bus who steps up the button and be connected.
9. The intelligent control system of the loader according to claim 8, characterized in that the bottom end mounting part is provided with a sensor for sensing the swinging motion of the handle head in four directions, and the sensed swinging motion is formed into a corresponding electric signal and sent to the vehicle control unit;
the swing direction of the handle head comprises a forward direction, a backward direction, a left direction and a right direction, wherein the forward direction represents that a boom of the loader moves upwards, the backward direction represents that the boom of the loader moves downwards, the left direction represents that a bucket of the loader is lifted, and the right direction represents that the bucket of the loader is poured.
10. The intelligent loader control system of claim 9 wherein the number 1 keys represent clear and vibrate, the number 2 keys represent a call programming sequence, the number 3 keys represent forward travel, the number 4 keys represent backward travel, the number 5 keys represent programming buttons, and the number 6 keys represent call programming positions.
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| CN201811633299.9A CN109853660B (en) | 2018-12-29 | 2018-12-29 | Intelligent control system of loader |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0258641A (en) * | 1989-07-03 | 1990-02-27 | Iseki & Co Ltd | Safety device for mounting/demounting of front loader |
| DE102004033315A1 (en) * | 2004-07-09 | 2006-02-09 | Bosch Rexroth Aktiengesellschaft | lifting gear |
| JP4899791B2 (en) * | 2006-10-30 | 2012-03-21 | 株式会社デンソー | FUEL INJECTION CONTROL DEVICE AND FUEL SUPPLY SYSTEM DIAGNOSIS METHOD |
| JP5161386B1 (en) * | 2012-06-22 | 2013-03-13 | 株式会社小松製作所 | Wheel loader and wheel loader control method |
| CA2897097C (en) * | 2014-07-15 | 2022-07-26 | Harnischfeger Technologies, Inc. | Adaptive load compensation for an industrial machine |
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