Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
The invention relates to the technical field of loader excavation, and discloses a loader bucket control method, device and system and an unmanned loader.When a loader bucket cuts in materials, the torque of the loader bucket is increased to the maximum torque, the speed of the loader bucket is reduced to zero, and the loader bucket is driven to rotate; if the speed of the loader bucket is zero and the state that the torque of the loader bucket is the maximum torque is maintained for a certain period of time, the loader bucket is controlled to be retracted on the basis of the relation curve of the angle of the loader bucket and the torque of the bucket, the situation that the bucket cannot be full due to the fact that the bucket is inserted into the position where materials are shallow can be prevented, and the bucket can be adjusted according to the actual angle of the bucket. The torque of the chassis is dynamically distributed, the bucket fullness rate in the spading process is guaranteed, in the bucket retracting process of the bucket, when the loader bucket is parallel to a loader movable arm, the torque of the loader bucket is controlled to be zero, it is guaranteed that torque is not applied to the chassis after bucket retracting, and the safety of a vehicle after bucket retracting is completed is guaranteed.
本发明涉及装载机挖掘技术领域，公开了一种装载机铲斗控制方法、装置、系统及无人装载机，本发明在装载机铲斗切入物料时，通过增加装载机铲斗的扭矩直至最大扭矩，装载机铲斗的速度降为零，若装载机铲斗的速度为零且装载机铲斗扭矩为最大扭矩的状态维持一定时间，基于装载机铲斗的角度与铲斗扭矩的关系曲线，控制装载机铲斗进行收斗操作，可防止铲斗插入物料较浅位置，导致无法满斗的情况，且根据铲斗的实际角度，动态分配底盘的扭矩，保证铲掘过程中的满斗率，在铲斗收斗过程中，当装载机铲斗平行于装载机动臂时，控制装载机铲斗的扭矩为零，保证收斗后底盘不再施加力矩，保证收斗完成后车辆的安全性。
The invention relates to the technical field of loader excavation, and discloses a loader bucket control method, device and system and an unmanned loader.When a loader bucket cuts in materials, the torque of the loader bucket is increased to the maximum torque, the speed of the loader bucket is reduced to zero, and the loader bucket is driven to rotate; if the speed of the loader bucket is zero and the state that the torque of the loader bucket is the maximum torque is maintained for a certain period of time, the loader bucket is controlled to be retracted on the basis of the relation curve of the angle of the loader bucket and the torque of the bucket, the situation that the bucket cannot be full due to the fact that the bucket is inserted into the position where materials are shallow can be prevented, and the bucket can be adjusted according to the actual angle of the bucket. The torque of the chassis is dynamically distributed, the bucket fullness rate in the spading process is guaranteed, in the bucket retracting process of the bucket, when the loader bucket is parallel to a loader movable arm, the torque of the loader bucket is controlled to be zero, it is guaranteed that torque is not applied to the chassis after bucket retracting, and the safety of a vehicle after bucket retracting is completed is guaranteed.
本发明涉及装载机挖掘技术领域，公开了一种装载机铲斗控制方法、装置、系统及无人装载机，本发明在装载机铲斗切入物料时，通过增加装载机铲斗的扭矩直至最大扭矩，装载机铲斗的速度降为零，若装载机铲斗的速度为零且装载机铲斗扭矩为最大扭矩的状态维持一定时间，基于装载机铲斗的角度与铲斗扭矩的关系曲线，控制装载机铲斗进行收斗操作，可防止铲斗插入物料较浅位置，导致无法满斗的情况，且根据铲斗的实际角度，动态分配底盘的扭矩，保证铲掘过程中的满斗率，在铲斗收斗过程中，当装载机铲斗平行于装载机动臂时，控制装载机铲斗的扭矩为零，保证收斗后底盘不再施加力矩，保证收斗完成后车辆的安全性。