A method and system for identifying a loading condition of a loader equipped with an at transmission

Abstract

The application provides a loader with an AT transmission shovel loading condition identification method and system, the method comprising: obtaining the turbine speed and the pump speed of the hydraulic torque converter in the loader; determining the stall torque of the loader according to the turbine speed and the pump speed; obtaining the input shaft speed of the AT transmission; when the stall torque and the input shaft speed both satisfy the preset condition, determining that the current condition of the loader is the shovel loading condition; and then the shovel loading condition of the loader can be identified through the determination logic according to the turbine speed, the pump speed and the input shaft speed, the turbine speed, the pump speed and the input shaft speed are relatively stable and continuous, and are less affected by environmental factors, so that the influence of the unstable change rate caused by the output shaft speed fluctuation is avoided; the identification error is reduced, and the accuracy of the condition identification is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicles, and more particularly relates to a shovel loading condition recognition method and system for a loader equipped with an AT transmission. BACKGROUND

[0002] The loader is a kind of earthwork construction machinery for highway and other construction projects, which is mainly used for shoveling and loading loose materials such as soil. The loader can be in different working conditions. In order to improve the service efficiency and service life of the loader, it is necessary to identify the current working condition of the loader, and then perform different controls such as gear adjustment according to the current working condition.

[0003] At present, the method for determining the working condition recognition and gear control of the loader equipped with the AT transmission is as follows: the current acceleration of the whole vehicle is calculated according to the current torque of the engine and the input shaft speed and output shaft speed of the AT transmission; and then the current load of the whole vehicle is calculated according to the acceleration. When the whole vehicle load is too high flag is triggered and the current load of the whole vehicle exceeds the calibrated value, and remains for a period of time, it is determined that the current working condition of the loader is the shovel loading condition, and the loader is controlled to downshift subsequently.

[0004] However, due to the poor working environment of the loader, such as bumpy road surface, the randomness of the output shaft speed is also large. Even if filtering is used for holding, the final output shaft speed change rate still has large fluctuations, which leads to errors in the working condition recognition of the loader according to the output shaft speed, and the accuracy of the working condition recognition is low. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a shovel loading condition recognition method and system for a loader equipped with an AT transmission, which can reduce the working condition recognition error and improve the accuracy of working condition recognition.

[0006] The first aspect of the present application discloses a shovel loading condition recognition method for a loader equipped with an AT transmission, comprising:

[0007] obtaining the turbine speed and the pump speed of the hydraulic torque converter in the loader;

[0008] determining the stall torque of the loader according to the turbine speed and the pump speed;

[0009] obtaining the input shaft speed of the AT transmission;

[0010] when the stall torque and the input shaft speed both meet the preset condition, determining that the current working condition of the loader is the shovel loading condition.

[0011] Optionally, the step of determining the stall torque of the loader according to the turbine speed and the pump speed comprises:

[0012] Subtracting the pump wheel rotating speed from the turbine rotating speed, a stall rotating speed of the hydraulic torque converter is obtained;

[0013] According to the stall rotating speed and the capacity coefficient of the hydraulic torque converter, the stall torque is determined.

[0014] Optionally, the formula used for determining the stall torque is:

[0015] T=N2 / K;

[0016] Wherein, T is the stall torque; N is the stall rotating speed; K is the capacity coefficient.

[0017] Optionally, when the stall torque and the input shaft rotating speed both satisfy preset conditions, it is determined that the loader currently is in a loading working condition, comprising:

[0018] Determining whether the stall torque is greater than a preset torque, and whether the input shaft rotating speed is less than a preset rotating speed;

[0019] If the stall torque is greater than the preset torque, and the input shaft rotating speed is less than the preset rotating speed, it is determined that the loader currently is in the loading working condition.

[0020] Optionally, before determining that the loader currently is in the loading working condition, further comprising:

[0021] Obtaining a brake signal and a gear lever position signal;

[0022] Determining whether the brake signal indicates that the user does not step on the brake, and whether the gear lever position signal is a forward gear signal;

[0023] If yes, the step of determining that the loader currently is in the loading working condition is executed.

[0024] Optionally, after determining that the loader currently is in the loading working condition, further comprising:

[0025] Controlling the loader to downshift.

[0026] The second aspect of the present application discloses a loading working condition identification system of a loader carrying an AT transmission, comprising:

[0027] An obtaining module is configured to obtain a turbine rotating speed and a pump wheel rotating speed of a hydraulic torque converter in the loader, and obtain an input shaft rotating speed of the AT transmission;

[0028] A torque determining module is configured to determine a stall torque of the loader according to the turbine rotating speed and the pump wheel rotating speed;

[0029] The working condition recognition module is configured to determine that the loader currently works in the loading working condition when the stall torque and the input shaft speed both satisfy preset conditions.

[0030] Optionally, the determining torque module is configured to determine the stall torque of the loader according to the turbine speed and the pump speed, and specifically configured to:

[0031] subtract the turbine speed from the pump speed to obtain the stall speed of the torque converter;

[0032] determine the stall torque according to the stall speed and the capacity factor of the torque converter.

[0033] Optionally, the working condition recognition module is configured to determine that the loader currently works in the loading working condition when the stall torque and the input shaft speed both satisfy preset conditions, and specifically configured to:

[0034] determine whether the stall torque is greater than a preset torque and whether the input shaft speed is less than a preset speed;

[0035] if the stall torque is greater than the preset torque and the input shaft speed is less than the preset speed, it is determined that the loader currently works in the loading working condition.

[0036] Optionally, the method further comprises:

[0037] a gear control module configured to control the loader to downshift after it is determined that the loader currently works in the loading working condition.

[0038] According to the above technical solution, the loading working condition recognition method of the loader with the AT transmission provided by the application obtains the turbine speed and the pump speed of the torque converter in the loader, determines the stall torque of the loader according to the turbine speed and the pump speed, obtains the input shaft speed of the AT transmission, and determines that the loader currently works in the loading working condition when the stall torque and the input shaft speed both satisfy preset conditions. Then, the loading working condition of the loader can be recognized through the determination logic according to the turbine speed, the pump speed and the input shaft speed. The turbine speed, the pump speed and the input shaft speed are relatively stable and continuous, and are less affected by environmental factors, so that the influence of the unstable change rate caused by the fluctuation of the output shaft speed is avoided. The recognition error is reduced, and the accuracy of the working condition recognition is improved. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0040] Figure 1 is a schematic diagram of a loading condition identification method of a loader with an AT transmission provided by an embodiment of the present application;

[0041] Figure 2 is a schematic diagram of another loading condition identification method of a loader with an AT transmission provided by an embodiment of the present application;

[0042] Figure 3 is a schematic diagram of another loading condition identification method of a loader with an AT transmission provided by an embodiment of the present application;

[0043] Figure 4 is a schematic diagram of another loading condition identification method of a loader with an AT transmission provided by an embodiment of the present application;

[0044] Figure 5 is a schematic diagram of another loading condition identification method of a loader with an AT transmission provided by an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0046] In this application, the terms "comprise", "contain", or any other variant thereof, are intended to cover non-exclusive inclusions, so that a process, method, article or device that includes a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of additional identical elements in the process, method, article or device comprising the element. In addition, the terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein.

[0047] The embodiment of the present application provides a loader with an AT transmission shovel loading condition identification method, which is used for solving the problem that the randomness of the output shaft speed is also large in the prior art, even if filtering is used for holding, the final output shaft speed change rate still has large fluctuation, and then error exists in the loader working condition identification according to the output shaft speed, and the accuracy of working condition identification is low.

[0048] Referring to Figure 1 The loader with an AT transmission shovel loading condition identification method comprises the following steps.

[0049] S101, acquiring the turbine speed and the pump speed of the hydraulic torque converter in the loader.

[0050] The hydraulic torque converter (Fluid Torque Converter) is a hydraulic element composed of a pump wheel, a turbine and a guide wheel. It is installed between the engine and the transmission, uses hydraulic oil (ATF) as the working medium, and plays the role of torque transmission, torque conversion, speed conversion and clutching.

[0051] The turbine speed is the rotating speed of the turbine in the hydraulic torque converter; and the pump speed is the rotating speed of the pump in the hydraulic torque converter.

[0052] The turbine speed and the pump speed can be collected by a sensor or the like collecting device; specifically, the turbine speed can be collected by a first sensor; and the pump speed can be collected by a second sensor.

[0053] Collecting the turbine speed and the pump speed can be one step in the shovel loading condition identification method provided by the present application, or can be obtained by other methods and then directly obtained by the shovel loading condition identification method; here, no specific limitation is made, which can be determined according to the actual situation, and all are within the protection scope of the present application.

[0054] S102, determine the stall torque of the loader according to the turbine speed and the pump wheel speed.

[0055] The stall torque refers to the maximum torque that can be generated when the machine or equipment stalls. When the machine is running, if the resistance is greater than the torque provided by the machine, the machine will stall and stop running. At this time, the stall torque is the maximum torque that the machine can generate.

[0056] That is, the speed and torque are related; that is, the faster the speed, the smaller the torque; the slower the speed, the greater the torque.

[0057] The turbine speed and the pump wheel speed can be understood as the speed of the output end and the input end of the torque converter, and then the stall torque can be determined according to the pump wheel speed and the turbine speed.

[0058] S103, obtain the input shaft speed of the AT transmission.

[0059] The transmission is a mechanism used to change the speed and torque of the engine, which can fix or step change the transmission ratio of the output shaft and the input shaft, also known as the transmission box. The transmission is composed of a transmission mechanism and a control mechanism, and some cars also have a power output mechanism. The transmission mechanism is mostly ordinary gear transmission, and some use planetary gear transmission. The ordinary gear transmission mechanism generally uses sliding gears and synchronizers.

[0060] It should be noted that the loader used in the present application is equipped with an AT transmission; the AT transmission is a hydraulic transmission type automatic transmission, which is a device that can automatically shift gears according to the engine speed. Specifically, the hydraulic automatic transmission realizes automatic transmission through the combination of hydraulic transmission and planetary gear, and is generally composed of a hydraulic torque converter, a planetary gear mechanism, a gear shifting execution mechanism, a gear shifting control system, a gear shifting control mechanism, etc.; the specific transmission process is not limited here.

[0061] The input shaft is visible, which is arranged outside the AT transmission; the output shaft is inside the AT transmission, which needs to open the shell of the AT transmission to be seen.

[0062] The input shaft is the shaft through which power enters the AT transmission, and the power enters the transmission from the engine through the input shaft, and then the input gear on the input shaft transmits power to the output gear to drive the output shaft to rotate, and drives the differential to move, so that the car can move forward or backward.

[0063] Therefore, the input shaft speed and the output shaft speed are not exactly the same. Environmental factors have less effect on the input shaft speed, and the input shaft speed is relatively stable, thereby improving the accuracy of collecting the input shaft speed.

[0064] Specifically, the input shaft speed can be collected by a sensor or other collection device.

[0065] The input shaft speed can be a step in the provided shovel loading condition identification method, or can be obtained by other methods and then directly obtained by the shovel loading condition identification method. Here, no specific limitation is made, and it can be determined according to the actual situation, which is within the protection scope of the present application.

[0066] It should be noted that step S103 can be combined with step S101, that is, step S101 can obtain the turbine speed and the pump speed, and the input shaft speed.

[0067] Step S103 can be set before step S104, and details are not repeated here, which is within the protection scope of the present application.

[0068] S104, when the stall torque and the input shaft speed both satisfy the preset condition, it is determined that the loader currently works in the shovel loading condition.

[0069] The preset condition can include two sub-conditions, which correspond to the stall torque and the input shaft speed one by one.

[0070] Specifically, when the stall torque satisfies the first sub-condition and the input shaft speed satisfies the second sub-condition, the stall torque and the input shaft speed both satisfy the preset condition.

[0071] The specific content of the first sub-condition and the second sub-condition is not limited here, which is within the protection scope of the present application.

[0072] The stall torque and the input shaft speed used to identify the working condition of the loader are relatively stable and continuous, so the error generated in the identification process is small, avoiding the condition triggering instability.

[0073] It should be noted that the typical working conditions of the loader mainly include the following:

[0074] Shovel loading and transportation: the main function of the loader is to shovel, transport and unload bulk materials. A complete operation cycle includes six working sections: forward, shovel loading, backward, forward (boom lifting), unloading, and backward (boom lowering). In this condition, the operation cycle time of the loader is short, and the load changes quickly.

[0075] Earth moving condition: In this condition, the dozer plate of the loader contacts the ground, which is mainly used for pushing, compacting and leveling. Common application scenarios include road construction and flat ground. This condition requires high quality of the rubber belt wheel, track and other components of the loader.

[0076] Insertion condition: When the loader's boom is lowered until the bucket tip touches the ground and the angle between the bucket bottom plate and the ground is 3° to 4°, it moves toward the pile of materials to be transported, and the bucket is inserted into the pile with the help of the machine's traction force.

[0077] Loading: The loader plunges into the pile with full force. The operator controls the boom's height and rotation angle to scoop material until the bucket is nearly full. Heavy-load hauling: After the bucket has scooped enough material, the operator lifts the bucket, moves it to the transport position, and then drives the loader in the desired direction. Lifting: The bucket maintains its inclination angle to the ground, and the boom cylinder piston extends, pushing the boom up to the upper unloading position in preparation for unloading.

[0078] Empty transport condition: After the loader unloads and drops the bucket, it turns and returns to the loading area.

[0079] The method provided in this embodiment is mainly used to identify the shoveling condition of the loader; in addition, the shoveling condition may be a shoveling condition; that is, whether it belongs to the shoveling condition is determined by judging the stall state of the torque converter.

[0080] When the loader is matched with an AT transmission, the transmission gear needs to be automatically adjusted to an appropriate value under different working conditions in order to output appropriate wheel-end drive torque, thereby enhancing the adaptability of the entire machine under different working conditions, reducing the fuel consumption of the entire machine, increasing the shoveling volume during the working process, and improving work efficiency; and in this process, it is necessary to accurately judge the specific working conditions of the current loader operation so as to output the appropriate working gear; the method provided in this application can accurately identify the shoveling working conditions of the loader, thereby improving the working efficiency of the loader.

[0081] In this embodiment, the turbine speed and the impeller speed of the torque converter in the loader are obtained; based on the turbine speed and the impeller speed, the stall torque of the loader is determined; the input shaft speed of the AT transmission is obtained; when the stall torque and the input shaft speed both meet the preset conditions, it is determined that the current working condition of the loader is the shoveling working condition; then, based on the turbine speed, the impeller speed and the input shaft speed, the shoveling working condition of the loader can be identified by determining the logic, the turbine speed, the impeller speed and the input shaft speed are relatively stable and continuous, and are less affected by environmental factors, thereby avoiding the influence of the unstable rate of change caused by the fluctuation of the output shaft speed; reducing the recognition error and improving the accuracy of the working condition recognition.

[0082] Optional, see Figure 2 The specific process of determining the stall torque of the loader according to the turbine speed and the pump speed in step S102 may include:

[0083] S201. Subtract the turbine speed from the pump impeller speed to obtain the stall speed of the torque converter.

[0084] The slip value of the torque converter can be obtained by subtracting the turbine speed from the pump speed, and the stall speed of the torque converter can be directly obtained by the slip value.

[0085] Stall: The turbine is overloaded and stalls (e.g., at idle), the pump is still rotating but at a low speed, the torque converter only inputs but does not output, and the torque obtained by the turbine is insufficient to overcome the resistance torque. The vortex speed is minimum, the circulation speed is maximum, the direction of the combined flow is perpendicular to the back of the guide wheel, the torque of the guide wheel is reversed and substantially equal to the torque of the pump, the output torque of the turbine is minimum, and is still used to overcome the friction.

[0086] The stall speed is the pump speed of the torque converter in the stall state.

[0087] S202, according to the stall speed and the capacity coefficient of the torque converter, the stall torque is determined.

[0088] The capacity coefficient of the torque converter is an important indicator for measuring the performance of the torque converter; it is the ratio of the maximum torque that the torque converter can withstand to the rated torque; that is, the coefficient for measuring the torque transmission capacity. In simple terms, it is the "overload capacity" of the torque converter. For example, a torque converter with a rated torque of 100 N·m has a capacity coefficient of 1.2, and its maximum torque is 120 N·m.

[0089] The capacity coefficient directly affects the service life and reliability of the torque converter. If the capacity coefficient of the torque converter is too small, it may be damaged due to excessive load during operation, and even cause the entire mechanical system to fail. Therefore, when selecting a torque converter, the rated torque and capacity coefficient need to be determined according to the actual working load.

[0090] The specific value of the capacity coefficient is not specifically limited here and can be determined according to the actual situation, which is within the scope of the present application.

[0091] According to the stall speed and the capacity coefficient of the torque converter, the torque of the input shaft of the torque converter, i.e., the stall torque, can be obtained; the stall torque acts on the input shaft of the torque converter to drive the vehicle to run, and thus the wheel-end driving torque of the vehicle can be obtained; that is, the stall torque and the wheel-end driving torque are positively correlated; the wheel-end driving torque reflects the current load capacity of the vehicle.

[0092] Specifically, the stall torque at the current stall speed can be calculated according to the stall speed and the capacity coefficient of the torque converter.

[0093] Optionally, the formula used to determine the stall torque is:

[0094] T=N 2 / K;

[0095] Wherein, T is the stall torque; N is the stall speed; K is the capacity coefficient.

[0096] The preset torque for determining the stall torque is determined, and when the stall torque is greater than the preset torque, it is determined that the wheel end driving torque of the loader is large, that is, the load is large, and when the stall torque is less than the preset torque, it is determined that the wheel end driving torque of the loader is small, that is, the load is small.

[0097] The way to determine the stall torque can also be other determination ways, which will not be described one by one here, and are all within the protection scope of the present application.

[0098] In the embodiment, the stall torque is used to determine the size of the wheel end driving torque, which is more suitable for the current working condition of the loader, so that the calculation amount is small in the determination process, the work efficiency is improved, and the software running load is reduced.

[0099] Optionally, referring to Figure 3 The step S104 includes:

[0100] S301, determining whether the stall torque is greater than a preset torque and whether the input shaft speed is less than a preset speed.

[0101] If the stall torque is greater than the preset torque and the input shaft speed is less than the preset speed, step S302 is performed.

[0102] S302, determining that the current working condition of the loader is the loading working condition.

[0103] Specifically, the preset speed and the preset torque can be set in advance, and the specific setting process is not limited here. The preset speed can be an input shaft limit value.

[0104] When the input shaft speed is lower than the preset torque, it is determined that the current forward speed of the loader is low, and when the stall torque is greater than the preset torque, it is determined that the output torque of the loader is large.

[0105] If the stall torque of the loader is greater than the preset torque and the input shaft speed is lower than the preset speed, it indicates that when the loader has a large output torque, but the vehicle speed is low, it can be determined that the loader is in the loading working condition.

[0106] In the embodiment, the speed difference between the turbine and the pump of the hydraulic torque converter is used to determine that the current output torque of the vehicle is in a high state. Under normal state of the vehicle, when the output torque is high, the vehicle speed will also increase, so at this time, if the input shaft speed is low, it proves that the load of the whole vehicle is high and it is difficult to advance, which indicates that the whole vehicle is in the loading working condition.

[0107] Optionally, referring to Figure 4 Before the step S302 of determining that the current working condition of the loader is the loading condition, the method further comprises:

[0108] S401, acquiring a brake signal and a gear lever position signal.

[0109] Specifically, the brake signal and the gear lever position signal can be acquired by a signal receiver.

[0110] The brake signal can be generated when the user steps on the brake pedal, and the gear lever position signal can be generated when the gear is shifted. Different gears correspond to different gear lever position signals, and thus the current gear of the loader can be determined through the gear lever position signal.

[0111] S402, determining whether the brake signal indicates that the user does not step on the brake and the gear lever position signal is a forward gear signal.

[0112] If the brake signal indicates that the user does not step on the brake and the gear lever position signal is the forward gear signal, it indicates that the user controls the loader to move forward, and the loading condition recognition process in the step S301 determines that the loader is in the loading condition when the output torque is large and the actual forward speed is low.

[0113] Therefore, if the brake signal indicates that the user does not step on the brake and the gear lever position signal is the forward gear signal, the step S302 of determining that the current working condition of the loader is the loading condition is performed.

[0114] Optionally, after determining that the current working condition of the loader is the loading condition, the method further comprises:

[0115] Controlling the loader to downshift the AT transmission.

[0116] That is, the output torque at the current gear is greater than the actual required torque, and thus the loader can be controlled to downshift the AT transmission, so that the gear of the loader after downshifting matches the working condition of the loader.

[0117] Specifically, the AT transmission of the loader can be controlled to downshift by one gear, and then the working condition recognition is performed. If the working condition recognition is still the loading condition, the downshifting is continued. Of course, other downshifting modes can also be used, which are not described here and can be determined according to actual conditions and are within the protection scope of the present application.

[0118] In the embodiment, controlling the loader to downshift the AT transmission can make the gear of the loader match the working condition, reduce the fuel consumption of the whole machine, and increase the loading amount in the working process and improve the working efficiency. That is, the AT transmission is downshifted after the loading condition is triggered, the wheel end driving torque of the loader is enhanced, and thus the loading amount of the bucket is increased, the working efficiency is improved, and the fuel consumption is reduced.

[0119] It should be noted that the working condition identification method of the hydraulic unit and other types of loaders cannot be directly applied to the loader with the AT transmission due to different structures, and therefore the application provides a shovel loading working condition identification method for the loader with the AT transmission, which is used for identifying the shovel loading working condition of the loader with the AT transmission.

[0120] Another embodiment of the application provides a shovel loading working condition identification system for a loader with an AT transmission.

[0121] Referring to Figure 5 The shovel loading working condition identification system for the loader with the AT transmission comprises:

[0122] The acquisition module 101 is configured to acquire the turbine speed and the pump speed of the hydraulic torque converter in the loader, and acquire the input shaft speed of the AT transmission.

[0123] The torque determination module 102 is configured to determine the stall torque of the loader according to the turbine speed and the pump speed.

[0124] The working condition identification module 103 is configured to determine that the loader currently stays in the shovel loading working condition when the stall torque and the input shaft speed both satisfy preset conditions.

[0125] Optionally, when the torque determination module 102 is configured to determine the stall torque of the loader according to the turbine speed and the pump speed, the torque determination module 102 is specifically configured to:

[0126] Subtract the turbine speed from the pump speed to obtain the stall speed of the hydraulic torque converter.

[0127] Determine the stall torque according to the stall speed and the capacity coefficient of the hydraulic torque converter.

[0128] Optionally, when the working condition identification module 103 is configured to determine that the loader currently stays in the shovel loading working condition when the stall torque and the input shaft speed both satisfy preset conditions, the working condition identification module 103 is specifically configured to:

[0129] Determine whether the stall torque is greater than a preset torque and whether the input shaft speed is less than a preset speed.

[0130] If the stall torque is greater than the preset torque and the input shaft speed is less than the preset speed, it is determined that the loader currently stays in the shovel loading working condition.

[0131] Optionally, the shovel loading working condition identification system further comprises:

[0132] The gear control module is configured to control the loader to downshift the AT transmission after determining that the loader currently stays in the shovel loading working condition.

[0133] The specific working process and principle of each module are described in detail in the above embodiments, and will not be repeated here. Figure 1 The shovel loading condition identification method of the loader with the AT transmission is not described one by one here, and can be determined according to actual conditions, and is within the protection scope of the present application.

[0134] In the embodiment, the acquisition module 101 acquires the turbine speed and the pump speed of the hydraulic torque converter in the loader, and acquires the input shaft speed of the AT transmission; the torque determination module 102 determines the stall torque of the loader according to the turbine speed and the pump speed; the condition identification module 103 determines that the current condition of the loader is the shovel loading condition when the stall torque and the input shaft speed both satisfy the preset condition; and then the current condition of the loader can be determined according to the turbine speed, the pump speed and the input shaft speed. The turbine speed, the pump speed and the input shaft speed are relatively stable and continuous, and are less affected by environmental factors, so as to reduce the identification error and improve the accuracy of the condition identification.

[0135] The features described in each of the embodiments in the specification can be replaced or combined with each other, and the same or similar parts between each of the embodiments can be referred to each other. Each of the embodiments focuses on the difference from other embodiments. Especially, for the system or system embodiment, since it is basically similar to the method embodiment, it is described more simply, and the related part can be referred to the part of the method embodiment. The system and system embodiment described above are only illustrative, and the units described as separate components can be or can not be physically separated, and the components displayed as units can be or can not be physical units, that is, they can be located in one place or distributed on multiple network units. According to actual needs, part or all of the modules can be selected to achieve the purpose of the embodiment. Those skilled in the art can understand and implement without creative labor.

[0136] The skilled person can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware, computer software or combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been described in general in the above description. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0137] The foregoing description of the disclosed embodiments enables a person skilled in the art to make or use the application. Modifications of these embodiments will occur to persons of skill in the art, and that the appended claims are intended to cover all such modifications that do not depart from the true spirit and scope of the application. Therefore, the application is not limited to the embodiments shown but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method of identifying a loading condition of a loader equipped with an AT transmission, characterized by, The method comprises: acquiring turbine speed and pump speed of a hydraulic torque converter in the loader; determining stall torque of the loader according to the turbine speed and the pump speed; acquiring input shaft speed of the AT transmission; determining that the loader is currently in a loading working condition when the stall torque and the input shaft speed both satisfy preset conditions; wherein the determining of the stall torque of the loader according to the turbine speed and the pump speed comprises: subtracting the turbine speed from the pump speed to obtain stall speed of the hydraulic torque converter; determining the stall torque according to the stall speed and the capacity factor of the hydraulic torque converter; the formula for determining the stall torque is: T = N 2 / K; wherein T is the stall torque, N is the stall speed, and K is the capacity factor.

2. The method of identifying a loader work condition of a loader with an AT transmission according to claim 1, characterized by, The determining that the loader is currently in a loading working condition when the stall torque and the input shaft speed both satisfy preset conditions comprises: determining whether the stall torque is greater than a preset torque and whether the input shaft speed is less than a preset speed; if the stall torque is greater than the preset torque and the input shaft speed is less than the preset speed, it is determined that the loader is currently in a loading working condition.

3. The method of identifying a loader work condition of a loader with an AT transmission according to claim 2, characterized in that, Before the determining that the loader is currently in a loading working condition, the method further comprises: acquiring brake signal and gear lever position signal; determining whether the brake signal indicates that the user does not step on the brake and whether the gear lever position signal is a forward gear signal; if yes, the determining that the loader is currently in a loading working condition is performed.

4. The method of identifying a loader work condition of a loader with an AT transmission according to claim 1, characterized in that, After the determining that the loader is currently in a loading working condition, the method further comprises: controlling the loader to downshift.

5. A loader work mode identification system for an AT transmission-equipped loader, characterized by, The method comprises: an acquiring module, configured to acquire turbine speed and pump speed of a hydraulic torque converter in the loader; an input shaft speed acquiring module, configured to acquire input shaft speed of the AT transmission; a torque determining module, configured to determine stall torque of the loader according to the turbine speed and the pump speed; a working condition identifying module, configured to determine that the loader is currently in a loading working condition when the stall torque and the input shaft speed both satisfy preset conditions; wherein the torque determining module is specifically configured to: subtract the turbine speed from the pump speed to obtain stall speed of the hydraulic torque converter; determine the stall torque according to the stall speed and the capacity factor of the hydraulic torque converter; the formula for determining the stall torque is: T = N 2 / K; wherein T is the stall torque, N is the stall speed, and K is the capacity factor.

6. The AT-transmission-equipped loader's shovel loading condition recognition system according to claim 5, characterized by The working condition identifying module is specifically configured to: determine whether the stall torque is greater than a preset torque and whether the input shaft speed is less than a preset speed; if the stall torque is greater than the preset torque and the input shaft speed is less than the preset speed, it is determined that the loader is currently in a loading working condition.

7. The AT-transmission-equipped loader's shovel loading condition recognition system according to claim 5, characterized by The method further comprises: A gear control module is configured to control the loader to downshift when it is determined that the loader is currently in a loading condition.

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