Loader control method and controller

Abstract

This invention belongs to the field of loader control technology, specifically relating to a loader control method and controller. The loader control method of this invention includes determining the loader's operating condition; if the operating condition is light-load, controlling the loader to enter an intelligent adjustment mode; adjusting the loader to a first required gear based on the intelligent adjustment mode; obtaining a first target speed based on the first required gear; obtaining an action signal of the loader at the first required gear; and identifying the loader's unloaded forward movement and controlling the loader to perform operations based on the action signal and the first target speed. By using the loader control method of this technical solution, the loader can be adjusted to a non-fixed gear when encountering light-load conditions, thereby changing the relevant performance parameters of the loader under light-load conditions, making the power and pump displacement efficiency of the loader more economical during operation.

Description

Technical Field

[0001] This invention belongs to the field of loader control technology, specifically relating to a loader control method and controller. Background Technology

[0002] Current loader vehicles only have fixed gears during operation. Once the loader is set to a fixed gear, the engine speed and pump displacement cannot be adjusted. This design covers various working conditions, including light and heavy loads. However, in some light-load operations, the power is too abundant, and the pump displacement is not utilized to its maximum. This lack of optimal economic design results in a certain degree of waste of power or displacement. Summary of the Invention

[0003] The purpose of this invention is to at least solve the problem of poor power economy under light load conditions caused by the fixed gear position and inability to adjust parameters in existing loaders. This purpose is achieved through the following technical solution:

[0004] A first aspect of the present invention provides a loader control method, comprising:

[0005] Determine the operating condition of the loader;

[0006] Based on the loader's operating condition being light-load, the loader is controlled to enter intelligent adjustment mode;

[0007] Based on the loader being in intelligent adjustment mode, adjust the loader to the first required gear;

[0008] Based on the first required gear, obtain the loader's first target speed;

[0009] Obtain the action signal indicating that the loader is in the first required gear;

[0010] Based on the loader's action signals and the first target speed, the unloaded forward movement of the loader is identified and the loader is controlled to perform operations.

[0011] By using the loader control method in this technical solution, when encountering light load conditions during operation, the loader can enter an intelligent adjustment mode and adjust to the first required gear. That is, the loader can be adjusted to a non-fixed gear. Then, by using the first target speed and the loader's action signal, the loader's unloaded forward movement is identified and the loader is controlled to perform operation. The control method of this invention can adjust the loader to a non-fixed gear when encountering light load conditions, thereby realizing the change of relevant performance parameters of the loader in light load conditions. This makes the power effect and pump displacement effect of the loader more economical during operation, reduces power waste in light load conditions, and further improves operation efficiency and reliability.

[0012] In addition, the loader control method according to the present invention may also have the following additional technical features:

[0013] In some embodiments of the present invention, acquiring the loader's action signal includes:

[0014] Obtain the hydraulic cylinder pressure signal and the direction signal of the first required gear of the loader.

[0015] In some embodiments of the present invention, identifying the unloaded forward movement of the loader and controlling the loader to perform operations based on the loader's action signal and the first target speed includes:

[0016] Based on the loader's cylinder pressure signal being the first average pressure signal and the direction signal of the first required gear being the forward signal, it is determined that the loader is in an unloaded forward motion.

[0017] Based on the first target speed and the loader being in an unloaded forward motion, adjust the engine speed to the first economic speed, adjust the pump displacement to the first economic pump displacement, and adjust the motor displacement to the first economic motor displacement.

[0018] In some embodiments of the present invention, after adjusting the engine speed to a first economic speed, the pump displacement to a first economic pump displacement, and the motor displacement to a first economic motor displacement based on the loader being in an unloaded forward movement, the method further includes:

[0019] Obtain the second required gear and adjust the loader to the second required gear;

[0020] Based on the second required gear, obtain the second target speed;

[0021] Obtain the action signal that the loader is in the second required gear;

[0022] Based on the fact that the loader's cylinder pressure signal is the second average pressure signal, and the direction signal of the second required gear includes forward and reverse signals, it is determined that the loader is in the process of loading materials.

[0023] Based on the second target speed and the loader being in the process of loading materials, adjust the engine speed to the second economic speed, adjust the pump displacement to the second economic pump displacement, and adjust the motor displacement to the second economic motor displacement.

[0024] In some embodiments of the present invention, after adjusting the engine speed to a second economic speed, the pump displacement to a second economic pump displacement, and the motor displacement to a second economic motor displacement according to the loader being in the material loading operation, the method further includes:

[0025] Obtain the third required gear and adjust the loader to the third required gear;

[0026] Based on the third demand level, obtain the third target speed;

[0027] Obtain the action signal that the loader is in the third required gear;

[0028] Based on the fact that the loader's cylinder pressure signal is the third average pressure signal and the direction signal of the third required gear includes forward and reverse signals, it is determined that the loader is in a transfer operation.

[0029] Based on the third target speed and the loader being in a transfer operation, adjust the engine speed to the third economic speed, adjust the pump displacement to the third economic pump displacement, and adjust the motor displacement to the third economic motor displacement.

[0030] In some embodiments of the present invention, after adjusting the engine speed to the third economic speed, the pump displacement to the third economic pump displacement, and the motor displacement to the third economic motor displacement based on the loader being in a transfer operation, the method further includes:

[0031] Obtain the fourth required gear and adjust the loader to the fourth required gear;

[0032] Based on the fourth demand level, obtain the fourth target speed;

[0033] Obtain the action signal that the loader is in the fourth demand gear;

[0034] Based on the fact that the loader's cylinder pressure signal is the fourth average pressure signal and the direction signal of the fourth required gear includes forward and reverse signals, it is determined that the loader is in the unloading action.

[0035] Based on the fourth target speed and the loader being in the unloading action, adjust the engine speed to the fourth economic speed, adjust the pump displacement to the fourth economic pump displacement, and adjust the motor displacement to the fourth economic motor displacement.

[0036] In some embodiments of the present invention, after adjusting the engine speed to the fourth economic speed, the pump displacement to the fourth economic pump displacement, and the motor displacement to the fourth economic motor displacement according to the loader being in the unloading operation, the method further includes:

[0037] Obtain the fifth required gear and adjust the loader to the fifth required gear;

[0038] Based on the fifth demand level, obtain the fifth target speed;

[0039] Obtain the action signal that the loader is in the fifth required gear;

[0040] Based on the fact that the loader's cylinder pressure signal is the fifth average pressure signal and the direction signal of the fifth required gear is the reverse signal, it is determined that the loader is in the unloaded reverse action.

[0041] Based on the fifth target speed and the loader being in a no-load reverse motion, adjust the engine speed to the fifth economic speed, adjust the pump displacement to the fifth economic pump displacement, and adjust the motor displacement to the fifth economic motor displacement.

[0042] In some embodiments of the present invention, after adjusting the engine speed to the fifth economic speed, the pump displacement to the fifth economic pump displacement, and the motor displacement to the fifth economic motor displacement based on the loader being in an unloaded reverse movement, the method further includes:

[0043] Based on the completion of the loader's work, the loading operation condition is reassessed, and the loader is controlled accordingly.

[0044] In some embodiments of the present invention, the loader control method further includes:

[0045] Based on the loader's operating condition being heavy-load, control the loader to enter a fixed gear mode;

[0046] If the loader is in a fixed gear mode, adjust the loader to the fixed gear and control the loader to perform the operation.

[0047] A second aspect of the present invention provides a controller, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described loader control method. Attached Figure Description

[0048] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0049] Figure 1 The schematic diagram illustrates the control flow of the loader control method according to an embodiment of the present invention for unloaded forward movement under light load conditions.

[0050] Figure 2 The schematic diagram illustrates the control flow of the loader control method according to an embodiment of the present invention for loading material under light load conditions.

[0051] Figure 3 A schematic diagram illustrating the control flow of a loader control method according to an embodiment of the present invention for a field transfer operation under light load conditions is shown.

[0052] Figure 4A schematic diagram illustrating the control flow of the loader control method according to an embodiment of the present invention for unloading operation under light load conditions is shown.

[0053] Figure 5 A schematic diagram illustrating the control flow of the loader control method according to an embodiment of the present invention for the unloaded reverse action under light load conditions is shown.

[0054] Figure 6 A schematic diagram illustrating the control flow of the loader control method according to an embodiment of the present invention under heavy load conditions is shown. Detailed Implementation

[0055] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0056] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0057] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0058] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure is flipped, an element described as "below other elements or features" or "below other elements or features" would subsequently be oriented as "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0059] Current loader vehicles only have fixed gears during operation. Once the loader is set to a fixed gear, the engine speed and pump displacement cannot be adjusted. This design covers various working conditions, including light and heavy loads. However, in some light-load operations, the power is too abundant, and the pump displacement is not utilized to its maximum. This lack of optimal economic design results in a certain degree of waste of power or displacement.

[0060] Figure 1 A schematic diagram illustrating the control flow of a loader control method according to an embodiment of the present invention for unloaded forward movement under light load conditions is shown. Figure 1 As shown, this invention proposes a loader control method and controller. The loader control method of this invention includes:

[0061] S110: Determine the operating condition of the loader;

[0062] S120: Based on the loader's working condition being light-load, control the loader to enter intelligent adjustment mode;

[0063] S130: Based on the loader being in intelligent adjustment mode, adjust the loader to the first required gear;

[0064] S140: Obtain the first target speed of the loader based on the first required gear;

[0065] S150: Obtain the action signal that the loader is in the first required gear;

[0066] S160: Based on the loader's action signal and the first target speed, identify the loader's unloaded forward movement and control the loader to perform operations.

[0067] By using the loader control method in this technical solution, when encountering light load conditions during operation, the loader can enter an intelligent adjustment mode and adjust to the first required gear. That is, the loader can be adjusted to a non-fixed gear. Then, by using the first target speed and the loader's action signal, the loader's unloaded forward movement is identified and the loader is controlled to perform operation. The control method of this invention can adjust the loader to a non-fixed gear when encountering light load conditions, thereby realizing the change of relevant performance parameters of the loader in light load conditions. This makes the power effect and pump displacement effect of the loader more economical during operation, reduces power waste in light load conditions, and further improves operation efficiency and reliability.

[0068] Specifically, in some embodiments of the present invention, obtaining the first target speed according to the first demand level includes:

[0069] Based on the first demand level, obtain the operating speed of the first demand level;

[0070] Obtain the first target speed based on the operating speed of the first required gear.

[0071] In this embodiment, the intelligent adjustment mode includes forward and reverse gears, each with multiple adjustment levels (the first required level can be any one of these adjustment levels). Each adjustment level corresponds to a different operating speed. The selection of these multiple adjustment levels requires the operator to initially determine the required level based on light load conditions, thereby obtaining the corresponding operating speed. Since there is a certain correlation between the operating speed and the first target speed, the first target speed can then be obtained.

[0072] In some embodiments of the present invention, obtaining the loader's action signal includes:

[0073] Obtain the hydraulic cylinder pressure signal and the direction signal of the first required gear of the loader.

[0074] Specifically, in this embodiment, after obtaining the operating speed of the first required gear, the loader will obtain the cylinder pressure signal and the direction signal of the first required gear in real time to identify the action of the loader and control and adjust the engine speed, pump displacement and motor displacement of the corresponding action.

[0075] Specifically, in this embodiment, the direction signal of the first required gear includes a forward signal and a reverse signal. The direction signal of the first required gear in the unloaded forward movement is a forward signal, which can be detected by the corresponding direction sensor or position sensor.

[0076] Specifically, in this embodiment, the cylinder pressure signal can be detected by a corresponding pressure sensor, wherein the cylinder pressure signal corresponding to the no-load forward movement is the first average pressure.

[0077] In some embodiments of the present invention, identifying the loader's unloaded forward movement and controlling the loader to perform operations based on the loader's action signal and a first target speed includes:

[0078] Based on the loader's cylinder pressure signal being the first average pressure signal and the direction signal of the first required gear being the forward signal, it is determined that the loader is in an unloaded forward motion.

[0079] Based on the first target speed and the loader being in an unloaded forward motion, the engine speed is adjusted to the first economic speed, the pump displacement is adjusted to the first economic pump displacement, and the motor displacement is adjusted to the first economic motor displacement.

[0080] Specifically, in this embodiment, when the cylinder pressure signal of the loader is simultaneously detected as the first average pressure signal and the direction signal of the first required gear is a forward signal, it can be determined that the loader is in an unloaded forward movement. At the same time, the loader controls the engine speed to adjust to the first economic speed, the pump displacement to the first economic pump displacement, and the motor displacement to the first economic motor displacement, thereby achieving the final first target speed (since the target speed has a corresponding relationship with the engine speed, pump displacement, and motor displacement, respectively). This makes the first target speed adjustable, thereby making the power effect and pump displacement effect of the loader more economical during this movement, reducing the power waste of the loader, and further improving the operating efficiency and reliability.

[0081] In some embodiments of the present invention, such as Figure 2 As shown, after adjusting the engine speed to the first economic speed, the pump displacement to the first economic pump displacement, and the motor displacement to the first economic motor displacement, based on the loader being in an unloaded forward motion, the process also includes:

[0082] S210: Obtain the second required gear and adjust the loader to the second required gear;

[0083] S220: Obtain the second target speed based on the second required gear;

[0084] S230: Obtain the action signal that the loader is in the second required gear;

[0085] S240: Based on the fact that the loader's cylinder pressure signal is the second average pressure signal and the direction signal of the second required gear includes forward and reverse signals, it is determined that the loader is in the process of loading materials.

[0086] S250: Based on the second target speed and the loader being in the process of loading materials, adjust the engine speed to the second economic speed, adjust the pump displacement to the second economic pump displacement, and adjust the motor displacement to the second economic motor displacement.

[0087] Specifically, in this embodiment, after completing the unloaded forward movement, the second required gear for the next movement (i.e., loading material movement) is obtained. Then, the operating speed of the second required gear is obtained, and the second target speed is obtained through the operating speed of the second required gear. Subsequently, when the loader's cylinder pressure signal is simultaneously detected as the second average pressure signal, and the direction signal of the second required gear includes both forward and reverse signals, it can be determined that the loader is currently in the loading material movement. At the same time, the loader controls the engine speed to adjust to the second economic speed, the pump displacement to adjust to the second economic pump displacement, and the motor displacement to adjust to the second economic motor displacement, thereby achieving the final second target speed (since the target speed has a corresponding relationship with the engine speed, pump displacement, and motor displacement, respectively). This makes the second target speed adjustable, thereby making the loader's power and pump displacement effects more economical during this movement, reducing the loader's power waste, and further improving operating efficiency and reliability.

[0088] In some embodiments of the present invention, such as Figure 3 As shown, after adjusting the engine speed to the second economic speed, the pump displacement to the second economic pump displacement, and the motor displacement to the second economic motor displacement according to the loader being in the material loading operation, the following steps are also included:

[0089] S310: Obtain the third required gear and adjust the loader to the third required gear;

[0090] S320: Obtain the third target speed based on the third required gear;

[0091] S330: Obtain the action signal that the loader is in the third required gear;

[0092] S340: Based on the fact that the loader's cylinder pressure signal is the third average pressure signal and the direction signal of the third required gear includes forward and reverse signals, it is determined that the loader is in a transfer operation.

[0093] S350: Based on the third target speed and the loader being in a transfer operation, adjust the engine speed to the third economic speed, adjust the pump displacement to the third economic pump displacement, and adjust the motor displacement to the third economic motor displacement.

[0094] Specifically, in this embodiment, when the loading action is completed, the third demand gear for the next action (i.e., the transfer action) is obtained. Then, the operating speed of the third demand gear is obtained through the operating speed of the third demand gear, and the third target speed is obtained through the operating speed of the third demand gear. Subsequently, when the cylinder pressure signal of the loader is simultaneously detected to be the third average pressure signal, and the direction signal of the third demand gear includes forward and reverse signals, it can be determined that the loader is in the transfer action. At the same time, the loader controls the engine speed to adjust to the third economic speed, the pump displacement to the third economic pump displacement, and the motor displacement to the third economic motor displacement, thereby achieving the final third target speed (since the target speed has a corresponding relationship with the engine speed, pump displacement, and motor displacement, respectively), making the third target speed adjustable. This makes the power effect and pump displacement effect of the loader more economical during this action, reduces the power waste of the loader, and further improves the operating efficiency and reliability.

[0095] In some embodiments of the present invention, such as Figure 4 As shown, after adjusting the engine speed to the third economic speed, the pump displacement to the third economic pump displacement, and the motor displacement to the third economic motor displacement, based on the loader being in a transfer operation, the following steps are also included:

[0096] S410: Obtain the fourth required gear and adjust the loader to the fourth required gear;

[0097] S420: Obtain the fourth target speed based on the fourth required gear;

[0098] S430: Receive the action signal that the loader is in the fourth demand gear;

[0099] S440: Based on the fact that the loader's cylinder pressure signal is the fourth average pressure signal and the direction signal of the fourth required gear includes forward and reverse signals, it is determined that the loader is in the unloading action.

[0100] S450: Based on the fourth target speed and the loader is in the unloading action, adjust the engine speed to the fourth economic speed, adjust the pump displacement to the fourth economic pump displacement, and adjust the motor displacement to the fourth economic motor displacement.

[0101] Specifically, in this embodiment, when the transfer operation is completed, the fourth required gear for the next operation (i.e., unloading operation) is obtained. Then, the operating speed of the fourth required gear is obtained through the operating speed of the fourth required gear, and the fourth target speed is obtained through the operating speed of the fourth required gear. Subsequently, when the cylinder pressure signal of the loader is simultaneously detected to be the fourth average pressure signal, and the direction signal of the fourth required gear includes forward and reverse signals, it can be determined that the loader is currently in the unloading operation. At the same time, the loader controls the engine speed to adjust to the fourth economic speed, the pump displacement to the fourth economic pump displacement, and the motor displacement to the fourth economic motor displacement, thereby achieving the final fourth target speed (since the target speed has a corresponding relationship with the engine speed, pump displacement, and motor displacement, respectively). This makes the fourth target speed adjustable, thereby making the power effect and pump displacement effect of the loader more economical during this operation, reducing the power waste of the loader, and further improving the operating efficiency and reliability.

[0102] In some embodiments of the present invention, such as Figure 5 As shown, after adjusting the engine speed to the fourth economic speed, the pump displacement to the fourth economic pump displacement, and the motor displacement to the fourth economic motor displacement, based on the loader being in the unloading operation, the following steps are also included:

[0103] S510: Obtain the fifth required gear and adjust the loader to the fifth required gear;

[0104] S520: Obtain the fifth target speed based on the fifth required gear;

[0105] S530: Obtain the action signal that the loader is in the fifth required gear;

[0106] S540: Based on the fifth target speed and the loader's cylinder pressure signal being the fifth average pressure signal, and the direction signal for the fifth required gear being the reverse signal, it is determined that the loader is in an unloaded reverse action.

[0107] S550: Based on the loader being in the unloaded reverse action, adjust the engine speed to the fifth economic speed, adjust the pump displacement to the fifth economic pump displacement, and adjust the motor displacement to the fifth economic motor displacement.

[0108] Specifically, in this embodiment, when the unloading action is completed, the fifth required gear for the next action (i.e., the no-load reverse action) is obtained. Then, the operating speed of the fifth required gear is obtained through the operating speed of the fifth required gear, and the fifth target speed is obtained through the operating speed of the fifth required gear. Subsequently, when the cylinder pressure signal of the loader is simultaneously detected to be the fifth average pressure signal, and the direction signal of the fifth required gear is a reverse signal, it can be determined that the loader is in the no-load reverse action. At the same time, the loader controls the engine speed to adjust to the fifth economic speed, the pump displacement to the fifth economic pump displacement, and the motor displacement to the fifth economic motor displacement, thereby achieving the final fifth target speed (since the target speed has a corresponding relationship with the engine speed, pump displacement, and motor displacement, respectively), making the fifth target speed adjustable. This makes the power effect and pump displacement effect of the loader more economical during this action, reduces the power waste of the loader, and further improves the operating efficiency and reliability.

[0109] Specifically, in this embodiment, the actions of the loader include unloaded forward movement, loading material movement, transfer movement, unloading movement, and unloaded reverse movement in sequence. These five actions are mostly performed sequentially. If the final unloaded reverse movement is completed, the loader's cycle movement (i.e., unloaded forward movement, loading material movement, transfer movement, unloading movement, and unloaded reverse movement) can be performed again. Alternatively, the loader's cycle movement can be stopped after the unloaded reverse movement is completed, thus completing the operation.

[0110] In some embodiments of the present invention, such as Figure 6 As shown, after adjusting the engine speed to the fifth economic speed, the pump displacement to the fifth economic pump displacement, and the motor displacement to the fifth economic motor displacement, based on the loader being in the unloaded reverse action, the following steps are also included:

[0111] Based on the completion of the loader's work, the loading operation condition is reassessed, and the loader is controlled accordingly.

[0112] Specifically, when the loader completes a cycle of operations, if further operation is required, the loading condition needs to be reassessed as either light or heavy load. If the loading condition is light load, the loader is re-entered into intelligent adjustment mode, and then the five loader actions mentioned above are performed again (details omitted here). If the loading condition is heavy load, the loader is controlled to enter fixed gear mode. Based on the fixed gear mode, the loader is adjusted to the specified gear and then controlled to perform the operation.

[0113] In some embodiments of the present invention, the loader control method further includes:

[0114] S10: Based on the loader's operating condition being heavy-load, control the loader to enter a fixed gear mode;

[0115] S20: If the loader is in a fixed gear mode, adjust the loader to the fixed gear and control the loader to perform the operation.

[0116] Specifically, in this embodiment, the light load condition and the heavy load condition are determined by the operator, and the criteria for determining them are relatively simple. The condition that allows the loader to operate at full load is the heavy load condition, and the condition that does not require the loader to operate at full load is the light load condition.

[0117] The loader control method of this invention can implement different control methods for light-load and heavy-load conditions. When encountering a light-load condition, the loader can enter an intelligent adjustment mode, thereby changing the loader's action requirement parameters according to the required gear, and thus changing the engine speed, pump rotary motor displacement, etc., of the loader under light-load conditions. When the loading operation is under heavy-load conditions, the loader is controlled to enter a fixed gear mode. Based on the loader being in the fixed gear mode, the loader is adjusted to the fixed gear and controlled to perform the operation. The different selection of light-load and heavy-load conditions allows the loader to adjust the load accordingly. By accurately identifying the action and load, the engine speed and pump rotary motor displacement are intelligently adjusted to achieve optimal economy.

[0118] In addition, the required gear for each action in the light-load condition in this invention can be different or the same. The specific gear needs to be determined by the operator based on the specific working conditions.

[0119] The present invention also proposes a controller, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-described steps.

[0120] The present invention also proposes a storage medium that stores a computer program or instructions that cause a computer to perform the steps of the vehicle traction control method described above.

[0121] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps are described above in a generalized manner in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Those skilled in the art may implement the described functionality in different ways for each specific application, but such implementation decisions should not be construed as departing from the scope of the invention.

[0122] The various illustrative logic modules and circuits described in conjunction with the embodiments disclosed herein may be implemented or performed using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The general-purpose processor may be a microprocessor, but in alternatives, it may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.

[0123] In one or more exemplary embodiments, the described functionality may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functionality may be stored or transmitted as one or more instructions or code on or through a computer-readable medium. A computer-readable medium includes both computer storage media and communication media, encompassing any medium that facilitates the transfer of a computer program from one location to another. A storage medium may be any available medium accessible to a computer. By way of example and not limitation, such a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and is accessible to a computer. Any connection is also legitimately referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of a medium. As used in this article, disks and discs include compact discs (CDs), laser discs, optical discs, digital multi-purpose discs (DVDs), floppy disks, and Blu-ray discs. Disks typically reproduce data magnetically, while discs reproduce data optically using lasers. Combinations of these should also be included within the scope of storage media.

[0124] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A loader control method, characterized in that, include: Determine the operating condition of the loader; Based on the light-load condition of the loader, the loader is controlled to enter the intelligent adjustment mode. The loader's actions include unloaded forward movement, loading material movement, transfer movement, unloading movement, and unloaded reverse movement in sequence. Based on the loader being in intelligent adjustment mode, adjust the loader to the first required gear; Based on the first required gear, obtain the loader's first target speed; Obtain the action signal indicating that the loader is in the first required gear; Based on the loader's action signals and the first target speed, identify the loader's unloaded forward movement and control the loader to perform operations; The acquisition of the loader's action signal includes: Acquire the hydraulic cylinder pressure signal and the direction signal of the first required gear of the loader; The step of identifying the loader's unloaded forward movement and controlling the loader to perform operations based on the loader's action signal and the first target speed includes: Based on the loader's cylinder pressure signal being the first average pressure signal and the first required gear's direction signal being the forward signal, it is determined that the loader is in an unloaded forward motion. Based on the first target speed and the loader being in an unloaded forward motion, adjust the engine speed to the first economic speed, adjust the pump displacement to the first economic pump displacement, and adjust the motor displacement to the first economic motor displacement.

2. The loader control method according to claim 1, characterized in that, The process of adjusting the engine speed to the first economic speed, the pump displacement to the first economic pump displacement, and the motor displacement to the first economic motor displacement based on the loader being in an unloaded forward motion also includes: Obtain the second required gear and adjust the loader to the second required gear; Based on the second required gear, obtain the loader's second target speed; Obtain the action signal that the loader is in the second required gear; Based on the fact that the loader's cylinder pressure signal is the second average pressure signal, and the direction signal of the second required gear includes forward and reverse signals, it is determined that the loader is in the process of loading materials. Based on the second target speed and the loader being in the process of loading materials, adjust the engine speed to the second economic speed, adjust the pump displacement to the second economic pump displacement, and adjust the motor displacement to the second economic motor displacement.

3. The loader control method according to claim 2, characterized in that, The process of adjusting the engine speed to the second economic speed, the pump displacement to the second economic pump displacement, and the motor displacement to the second economic motor displacement based on the loader being in the material loading operation also includes: Obtain the third required gear and adjust the loader to the third required gear; Based on the third demand gear, obtain the loader's third target speed; Obtain the action signal that the loader is in the third required gear; Based on the fact that the loader's cylinder pressure signal is the third average pressure signal and the direction signal of the third required gear includes forward and reverse signals, it is determined that the loader is in a transfer operation. Based on the third target speed and the loader being in a transfer operation, adjust the engine speed to the third economic speed, adjust the pump displacement to the third economic pump displacement, and adjust the motor displacement to the third economic motor displacement.

4. The loader control method according to claim 3, characterized in that, The process of adjusting the engine speed to the third economic speed, the pump displacement to the third economic pump displacement, and the motor displacement to the third economic motor displacement based on the loader being in a transfer operation also includes: Obtain the fourth required gear and adjust the loader to the fourth required gear; Based on the fourth demand gear, obtain the fourth target speed of the loader; Obtain the action signal that the loader is in the fourth demand gear; Based on the fact that the loader's cylinder pressure signal is the fourth average pressure signal and the direction signal of the fourth required gear includes forward and reverse signals, it is determined that the loader is in the unloading action. Based on the fourth target speed and the loader being in the unloading action, adjust the engine speed to the fourth economic speed, adjust the pump displacement to the fourth economic pump displacement, and adjust the motor displacement to the fourth economic motor displacement.

5. The loader control method according to claim 4, characterized in that, The process of adjusting the engine speed to the fourth economic speed, the pump displacement to the fourth economic pump displacement, and the motor displacement to the fourth economic motor displacement based on the loader being in the unloading operation also includes: Obtain the fifth required gear and adjust the loader to the fifth required gear; Based on the fifth demand gear, obtain the fifth target speed of the loader; Obtain the action signal that the loader is in the fifth required gear; Based on the fact that the loader's cylinder pressure signal is the fifth average pressure signal and the direction signal of the fifth required gear is the reverse signal, it is determined that the loader is in the unloaded reverse action. Based on the fifth target speed and the loader being in a no-load reverse motion, adjust the engine speed to the fifth economic speed, adjust the pump displacement to the fifth economic pump displacement, and adjust the motor displacement to the fifth economic motor displacement.

6. The loader control method according to claim 5, characterized in that, The process of adjusting the engine speed to the fifth economic speed, the pump displacement to the fifth economic pump displacement, and the motor displacement to the fifth economic motor displacement based on the loader being in an unloaded reverse motion also includes: Based on the completion of the loader's work, the loading operation condition is reassessed, and the loader is controlled accordingly.

7. The loader control method according to claim 1, characterized in that, The loader control method further includes: Based on the loader's operating condition being heavy-load, control the loader to enter a fixed gear mode; If the loader is in a fixed gear mode, adjust the loader to the fixed gear and control the loader to perform the operation.

8. A controller, characterized in that, It includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the loader control method according to any one of claims 1-7.

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