Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Translation and lifting control method, device and equipment for loader accessory and storage medium
The invention discloses a loader accessory translation and lifting control method, device and equipment and a storage medium, and the method comprises the steps: obtaining a first initial detection value of a movable arm included angle before a movable arm acts and a current detection value of the movable arm included angle after the movable arm acts according to an angle conversion corresponding relation between a rocker arm rotation angle and a movable arm rotation angle; obtaining a second initial detection value of the rocker arm included angle before the movable arm acts, and determining a second target angle of the rocker arm included angle when the first target angle of the accessory relative to the front frame is kept unchanged; determining a deviation value according to the second target angle and a rocker arm angle measurement value at the current moment, and performing angle correction on the second target angle through the deviation value according to the sizes of the second target angle and the rocker arm angle measurement value to obtain a corrected target rotation angle; and controlling the rotation angle of the rocker arm to approach or be equal to the corrected target rotation angle. The method can solve the problem that the accessory cannot automatically keep translation when the movable arm of the loader ascends and descends, and improves the fork loading operation efficiency of the loader.
本发明公开装载机属具平移举升控制方法、装置、设备及存储介质，该方法包括：根据摇臂转动角度与动臂转动角度的角度转换对应关系，获取的动臂动作前动臂夹角的第一初始检测值和动作后动臂夹角的当前检测值，获取的动臂动作前摇臂夹角的第二初始检测值，确定令属具相对于前车架的第一目标角度保持不变时摇臂夹角的第二目标角度；根据第二目标角度与当前时刻的摇臂角度测量值确定偏差量，并根据第二目标角度与摇臂角度测量值的大小，通过偏差量对第二目标角度进行角度修正得到修正后目标转动角度；控制摇臂的转动角度趋近或等于修正后目标转动角度。本方法能够解决装载机动臂升降时属具不能自动保持平移的问题，提高装载机叉装作业效率。
Translation and lifting control method, device and equipment for loader accessory and storage medium
The invention discloses a loader accessory translation and lifting control method, device and equipment and a storage medium, and the method comprises the steps: obtaining a first initial detection value of a movable arm included angle before a movable arm acts and a current detection value of the movable arm included angle after the movable arm acts according to an angle conversion corresponding relation between a rocker arm rotation angle and a movable arm rotation angle; obtaining a second initial detection value of the rocker arm included angle before the movable arm acts, and determining a second target angle of the rocker arm included angle when the first target angle of the accessory relative to the front frame is kept unchanged; determining a deviation value according to the second target angle and a rocker arm angle measurement value at the current moment, and performing angle correction on the second target angle through the deviation value according to the sizes of the second target angle and the rocker arm angle measurement value to obtain a corrected target rotation angle; and controlling the rotation angle of the rocker arm to approach or be equal to the corrected target rotation angle. The method can solve the problem that the accessory cannot automatically keep translation when the movable arm of the loader ascends and descends, and improves the fork loading operation efficiency of the loader.
本发明公开装载机属具平移举升控制方法、装置、设备及存储介质，该方法包括：根据摇臂转动角度与动臂转动角度的角度转换对应关系，获取的动臂动作前动臂夹角的第一初始检测值和动作后动臂夹角的当前检测值，获取的动臂动作前摇臂夹角的第二初始检测值，确定令属具相对于前车架的第一目标角度保持不变时摇臂夹角的第二目标角度；根据第二目标角度与当前时刻的摇臂角度测量值确定偏差量，并根据第二目标角度与摇臂角度测量值的大小，通过偏差量对第二目标角度进行角度修正得到修正后目标转动角度；控制摇臂的转动角度趋近或等于修正后目标转动角度。本方法能够解决装载机动臂升降时属具不能自动保持平移的问题，提高装载机叉装作业效率。
Translation and lifting control method, device and equipment for loader accessory and storage medium
装载机属具平移举升控制方法、装置、设备及存储介质
LUO JIANWEI (Autor:in) / TAO LINYU (Autor:in) / CAI DENGSHENG (Autor:in) / WEI HUILING (Autor:in) / WU JUNZONG (Autor:in) / ZHANG HENG (Autor:in) / XIONG JIANXIN (Autor:in)
06.02.2024
Patent
Elektronische Ressource
Chinesisch
IPC:
E02F
Baggern
,
DREDGING
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