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A platform for research: civil engineering, architecture and urbanism
The invention relates to the technical field of automatic control, and discloses a loader control method and device, a loader and a storage medium. The method comprises the steps that a first attitude angle of a movable arm relative to the horizontal direction and a second attitude angle of an inclined bucket rod relative to the horizontal direction are obtained; based on the first attitude angle, the second attitude angle and structural parameters of the loader, a first joint angle between the movable arm and a bucket hydraulic push rod and a second joint angle between the bucket and the movable arm are obtained; the boom and the bucket are controlled based on the first joint angle and the second joint angle. The first attitude angle of the movable arm relative to the horizontal direction and the second attitude angle of the inclined bucket rod relative to the horizontal direction are obtained, the joint angle of the working arm of the loading machine is calculated in real time according to the structural parameters of the loading machine, and therefore the movable arm and the bucket of the loading machine are controlled.
本发明涉及自动控制技术领域，公开了装载机控制方法、装置、装载机及存储介质，该方法包括：获取动臂相对于水平方向的第一姿态角以及倾斜斗杆相对于水平方向的第二姿态角；基于第一姿态角、第二姿态角以及装载机的结构参数，得到动臂与铲斗液压推杆之间的第一关节角，以及铲斗与动臂之间的第二关节角；基于第一关节角和第二关节角，对动臂和铲斗进行控制。本发明通过获取动臂相对于水平方向的第一姿态角以及倾斜斗杆相对于水平方向的第二姿态角，并根据装载机的结构参数，来实时计算装载机作业臂的关节角，从而对装载机动臂和铲斗进行控制。
The invention relates to the technical field of automatic control, and discloses a loader control method and device, a loader and a storage medium. The method comprises the steps that a first attitude angle of a movable arm relative to the horizontal direction and a second attitude angle of an inclined bucket rod relative to the horizontal direction are obtained; based on the first attitude angle, the second attitude angle and structural parameters of the loader, a first joint angle between the movable arm and a bucket hydraulic push rod and a second joint angle between the bucket and the movable arm are obtained; the boom and the bucket are controlled based on the first joint angle and the second joint angle. The first attitude angle of the movable arm relative to the horizontal direction and the second attitude angle of the inclined bucket rod relative to the horizontal direction are obtained, the joint angle of the working arm of the loading machine is calculated in real time according to the structural parameters of the loading machine, and therefore the movable arm and the bucket of the loading machine are controlled.
本发明涉及自动控制技术领域，公开了装载机控制方法、装置、装载机及存储介质，该方法包括：获取动臂相对于水平方向的第一姿态角以及倾斜斗杆相对于水平方向的第二姿态角；基于第一姿态角、第二姿态角以及装载机的结构参数，得到动臂与铲斗液压推杆之间的第一关节角，以及铲斗与动臂之间的第二关节角；基于第一关节角和第二关节角，对动臂和铲斗进行控制。本发明通过获取动臂相对于水平方向的第一姿态角以及倾斜斗杆相对于水平方向的第二姿态角，并根据装载机的结构参数，来实时计算装载机作业臂的关节角，从而对装载机动臂和铲斗进行控制。
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