Contour model based shovel steering control method and device and shovel

Abstract

The application discloses a kind of based on profile model's shovel loader steering control method, device and shovel loader, belong to shovel loader control field.The present application obtains the profile information and walking information of shovel loader;According to profile information and walking information determine position deviation and direction deviation;If the position deviation is greater than the first preset threshold value simultaneously the direction deviation is greater than the second preset threshold value, according to walking information whether the vehicle body movement direction is deviated from path direction;If yes, with preset increase strategy adjustment directional control valve opening;If no, with preset decrease strategy adjustment directional control valve opening;If position deviation is greater than the first preset threshold value simultaneously direction deviation is less than or equal to the second preset threshold value or position deviation is less than or equal to the first preset threshold value simultaneously direction deviation is greater than the second preset threshold value, with preset decrease strategy adjustment directional control valve opening.Using shovel loader profile model, set fuzzy model, under the premise of guaranteeing equipment safety, reach the purpose of safe driving.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of shovel control, in particular to a contour model-based shovel steering control method and device and a shovel. BACKGROUND

[0002] Underground metal mine trackless equipment can be roughly divided into two categories according to working conditions. One type of equipment is mainly used for driving, such as shovels and underground cars. The other type of equipment is mainly used for interaction with unknown operating objects in a fixed position, such as rock drilling jumbo, down-the-hole drill, tunneling jumbo, charging jumbo, wet spraying jumbo, and anchor net jumbo. Due to the differences in working conditions and operating objects, the intelligent direction of the two types of equipment has its consistency, and there are also differences in research focus.

[0003] Due to the consistent structure of underground metal mine trackless equipment, the articulated body is mainly used. There are essential differences in model and control theory between the commonly used civil integrated body. Such models have irregular slip when steering, strong time-varying nature of equipment posture, and a large proportion of limited space affecting driving strategy due to safety factors. The current automatic driving technology in the commonly used civil field and the automatic driving of open-pit mine equipment have a high degree of consistency, and both belong to the control problem of good communication positioning conditions, open space, and integrated driving model, but it cannot be applied in this field.

[0004] Due to the structural characteristics of the shovel, the dynamic control model is a fuzzy model. During the control process, there is a large uncertainty and unreliability in the direct precise control of the equipment motion model due to the variability of the correlation between the slip, the starting end of the steering, and the load, as well as the nonlinear correlation between the slope and the ground conditions.

[0005] Therefore, how to safely and accurately control the driving of the shovel has become a technical problem to be solved.

[0006] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0007] The main purpose of the present application is to safely and accurately control the driving of the shovel.

[0008] To achieve the above purpose, the present application provides a contour model-based shovel steering control method, which comprises the following steps:

[0009] Obtain the contour information and walking information of the shovel;

[0010] Determine the position deviation and direction deviation according to the contour information and walking information;

[0011] if the position deviation is greater than a first preset threshold and the direction deviation is greater than a second preset threshold, determining whether the moving direction of the vehicle body is deviating from the path direction according to the walking information;

[0012] if it is determined that the moving direction of the vehicle body is deviating from the path direction, adjusting the opening of the directional valve in a preset increasing strategy;

[0013] if it is determined that the moving direction of the vehicle body is approaching the path direction, adjusting the opening of the directional valve in a preset decreasing strategy;

[0014] if the position deviation is greater than the first preset threshold and the direction deviation is less than or equal to the second preset threshold or the position deviation is less than or equal to the first preset threshold and the direction deviation is greater than the second preset threshold, adjusting the opening of the directional valve in the preset decreasing strategy.

[0015] Optionally, the step of acquiring the contour information and the walking information of the shovel loader comprises:

[0016] acquiring basic information of the shovel loader by reading pre-stored basic data of the shovel loader;

[0017] determining the contour information of the shovel loader in the basic information;

[0018] acquiring the walking information through a corresponding driving recorder of the shovel loader.

[0019] Optionally, the step of determining the position deviation and the direction deviation according to the contour information and the walking information comprises:

[0020] determining the surrounding distance information of the shovel loader through a preset radar device;

[0021] determining the position deviation according to the contour information and the surrounding distance information;

[0022] determining the front and back information of the shovel loader through a preset laser device;

[0023] determining the direction deviation according to the walking information and the front and back information of the shovel loader.

[0024] Optionally, the preset increasing strategy comprises a negative angle increasing strategy or a positive angle increasing strategy.

[0025] Optionally, the preset decreasing strategy comprises a negative angle medium adjustment strategy, a negative angle decreasing strategy, a positive angle decreasing strategy, and a positive angle decreasing strategy.

[0026] Optionally, after the step of adjusting the opening of the directional valve in the preset decreasing strategy, the method further comprises:

[0027] If the position deviation is equal to the first preset threshold value and the direction is equal to greater than the second preset threshold value, the current reversing valve opening is kept unchanged.

[0028] In addition, to achieve the above object, the application further provides a contour model-based shovel steering control device, which comprises:

[0029] an information acquisition module, configured to acquire contour information and walking information of the shovel;

[0030] a deviation acquisition module, configured to determine a position deviation and a direction deviation according to the contour information and the walking information;

[0031] a first judgment module, configured to, if the position deviation is greater than a first preset threshold value and the direction deviation is greater than a second preset threshold value, judge whether the vehicle body movement direction is a path deviating direction according to the walking information;

[0032] a variable increase strategy module, configured to, if it is determined that the vehicle body movement direction is the path deviating direction, adjust the reversing valve opening by a preset variable increase strategy;

[0033] a variable decrease strategy module, configured to, if it is determined that the vehicle body movement direction is a path approaching direction, adjust the reversing valve opening by a preset variable decrease strategy;

[0034] a second judgment module, configured to, if the position deviation is greater than the first preset threshold value and the direction deviation is less than or equal to the second preset threshold value or the position deviation is less than or equal to the first preset threshold value and the direction deviation is greater than the second preset threshold value, adjust the reversing valve opening by the preset variable decrease strategy.

[0035] In addition, to achieve the above object, the application further provides a shovel, which comprises a memory and a processor, wherein the processor executes computer instructions stored in the memory to perform the method as described above.

[0036] In addition, to achieve the above object, the application further provides a medium comprising instructions, which, when executed on a shovel, enable the shovel to perform the method as described above.

[0037] The application acquires the contour information and walking information of the scraper, determines the position deviation and direction deviation according to the contour information and walking information, judges whether the vehicle body movement direction is deviated from the path direction according to the walking information when the position deviation is greater than the first preset threshold value and the direction deviation is greater than the second preset threshold value, adjusts the directional valve opening with a preset increasing strategy if yes, adjusts the directional valve opening with a preset decreasing strategy if no, adjusts the directional valve opening with a preset decreasing strategy when the position deviation is greater than the first preset threshold value and the direction deviation is less than or equal to the second preset threshold value or the position deviation is less than or equal to the first preset threshold value and the direction deviation is greater than the second preset threshold value. The contour model of the scraper is adopted, the fuzzy model based on the equipment shape size and the anti-collision principle is set, the steering PID control algorithm is matched with the equipment running speed under the premise of ensuring the safety of the equipment, and the purpose of safe driving is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 FIG. 1 is a schematic diagram of the hardware running environment of the scraper involved in the embodiment scheme of the application;

[0039] Figure 2 FIG. 3 is a flowchart of the first embodiment of the scraper steering control method based on the contour model of the application;

[0040] Figure 3 FIG. 4 is a schematic diagram of the contour model of the scraper of the first embodiment of the scraper steering control method based on the contour model of the application;

[0041] Figure 4 FIG. 5 is a schematic diagram of the position deviation membership function of the first embodiment of the scraper steering control method based on the contour model of the application;

[0042] Figure 5 FIG. 6 is a schematic diagram of the angle deviation membership function of the first embodiment of the scraper steering control method based on the contour model of the application;

[0043] Figure 6 FIG. 7 is a schematic diagram of the output variable membership function of the first embodiment of the scraper steering control method based on the contour model of the application;

[0044] Figure 7 FIG. 8 is a schematic diagram of the nonlinear control surface of the fuzzy controller of the first embodiment of the scraper steering control method based on the contour model of the application;

[0045] Figure 8 FIG. 9 is a diagram of the angle deviation (di) of the first embodiment of the scraper steering control method based on the contour model of the application;

[0046] Figure 9 FIG. 10 is a diagram of the position deviation (dis) of the first embodiment of the scraper steering control method based on the contour model of the application;

[0047] Figure 10 is a structural block diagram of a first embodiment of a contour model based shovel steering control device of the present application.

[0048] The object, features and advantages of the present application will be further illustrated in conjunction with embodiments, with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] In order to make the object, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and do not limit the present application.

[0050] Referring to Figure 1 , Figure 1 is a structural schematic diagram of a shovel involved in a hardware running environment of an embodiment of the present application.

[0051] As shown in Figure 1 , the shovel can include a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 can include a display, an input unit such as a keyboard, and the optional user interface 1003 can further include a standard wired interface, a wireless interface. The network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 can be a high-speed random access memory (RAM), and can also be a stable non-volatile memory (NVM), such as a disk memory. The memory 1005 can also be an independent storage device from the aforementioned processor 1001.

[0052] Those skilled in the art can understand that Figure 1 the structure shown in the figure does not constitute a limitation on the shovel, and can include more or fewer components than the figure, or combine certain components, or different component arrangements.

[0053] As shown in Figure 1 , the memory 1005 as a storage medium can include an operating system, a network communication module, a user interface module, and a contour model based shovel steering control program.

[0054] In Figure 1The network interface 1004 shown in the scraper is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the scraper of the application can be arranged in the scraper, and the scraper calls the contour model-based scraper turning control program stored in the memory 1005 through the processor 1001, and executes the contour model-based scraper turning control method provided by the embodiment of the application.

[0055] The embodiment of the application provides a contour model-based scraper turning control method, which refers to Figure 2 , Figure 2 The flowchart of the first embodiment of the contour model-based scraper turning control method of the application is shown.

[0056] In the embodiment, the contour model-based scraper turning control method comprises the following steps:

[0057] Step S10: Obtain contour information and walking information of the scraper.

[0058] It should be noted that the dynamics equation of the articulated vehicle is relatively complex, and many parameters in the equation are relatively difficult to obtain. Therefore, it is difficult to design an articulated vehicle automatic walking control system by using a traditional control system design method. Moreover, the model control difficulty and control accuracy have certain differences due to equipment consistency, and there is great uncertainty in accurately controlling the scraper dynamics by using the model. Therefore, it is necessary to adjust the scraper dynamic model control mode. Combined with the running characteristics of the scraper and the actual production demand, the contour model of the scraper is adopted, a fuzzy model based on the equipment shape size and the anti-collision principle is set, and the turning PID control algorithm is matched with the equipment running speed to achieve the purpose of safe driving under the premise of ensuring the safety of the equipment.

[0059] Further, in order to realize the acquisition of the contour information and the walking information, the step of obtaining the contour information and the walking information of the scraper comprises: obtaining basic information of the scraper by reading pre-stored basic data of the scraper; determining contour information of the scraper in the basic information; and obtaining walking information through corresponding driving record equipment of the scraper.

[0060] Step S20: Determine position deviation and direction deviation according to the contour information and the walking information.

[0061] Further, in order to obtain the position deviation and the direction deviation, the step of determining the position deviation and the direction deviation according to the contour information and the walking information comprises: determining surrounding distance information of the scraper through a pre-set radar device; determining the position deviation according to the contour information and the surrounding distance information; determining front and rear information of the scraper through a pre-set laser device; and determining the direction deviation according to the walking information and the front and rear information of the scraper.

[0062] It can be understood that the shovel contour model schematic diagram is as shown in Figure 3 Based on the design principle of the turning radius of the shovel contour size and the walking route of the shovel, the shovel is adjusted according to the vehicle turning angle based on the vehicle contour according to the millimeter wave radar detection and the distance from the double-sided roadway wall, so as to meet the equipment straight running / turning requirement. The front and rear bidirectional roadway is detected by the laser scanner, and the turning angle posture adjustment is guided.

[0063] Step S30: If the position deviation is greater than the first preset threshold value and the direction deviation is greater than the second preset threshold value, it is judged whether the vehicle body movement direction is deviated from the path direction according to the walking information.

[0064] Step S40: If it is judged that the vehicle body movement direction is deviated from the path direction, the opening of the reversing valve is adjusted by a preset increasing strategy.

[0065] It should be noted that the preset increasing strategy includes a negative angle increasing strategy or a positive angle increasing strategy.

[0066] In specific implementation, the initial argument fuzzy control rule is as follows: if the position deviation and the direction deviation are both large, and the vehicle body movement direction is deviated from the path direction, the opening of the reversing valve is large, so that the vehicle body is quickly turned to return to the predetermined path; if the position deviation and the direction deviation are both large, and the vehicle body movement direction is close to the path direction, the opening of the reversing valve is small, so that the vehicle body is quickly turned to return to the predetermined path; if the position deviation is small and the direction deviation is large, or the position deviation is large and the direction deviation is small, the opening of the reversing valve is small or medium; the positive and negative of the reversing valve is determined by the signs of the position deviation and the direction deviation.

[0067] Step S50: If it is judged that the vehicle body movement direction is close to the path direction, the opening of the reversing valve is adjusted by a preset decreasing strategy.

[0068] It should be noted that the preset decreasing strategy includes a negative angle medium adjustment strategy, a negative angle decreasing strategy, a positive angle decreasing strategy, and a positive angle decreasing strategy.

[0069] Step S60: If the position deviation is greater than the first preset threshold value and the direction deviation is less than or equal to the second preset threshold value or the position deviation is less than or equal to the first preset threshold value and the direction deviation is greater than the second preset threshold value, the opening of the reversing valve is adjusted by a preset decreasing strategy.

[0070] In specific implementation, according to the contour model and the walking characteristics of the shovel, the walking interval turning PID control algorithm based on the contour model is simulated to guide the PID parameter adjustment strategy in the application test process.

[0071] 1. Steering hydraulic system simulation model

[0072] The simulation model of hydraulic steering system is established by using simulink / simHydraulic module:

[0073] 2. Establishment of co-simulation model

[0074] Based on the simulink platform, the LMS Virtual Lab motion file is imported into the simulink in the form of cosim for co-simulation. The motion speed of the left and right hydraulic cylinder pistons Ldistd, Rdistd is output from the motion to the hydraulic system. The force of the left and right hydraulic cylinder pistons is output from the hydraulic system to the motion dynamics model. The instantaneous coordinates of the midpoint of the front end of the trolley and the hinge point are output from the motion to the error calculation subroutine. The angle deviation di and the distance deviation dis are calculated by the deviation calculation subroutine.

[0075] The angle deviation di and the distance deviation dis are output to the fuzzy logic controller for calculation to obtain the control parameter xv of the proportional reversing hydraulic valve, and then xv is imported into the PID controller. The xv value adjusted by the PID controller is imported into the hydraulic simulation system, so as to realize the closed-loop control of the articulated vehicle steering. In the simulation calculation, the PID takes P=1, I=0, and D=1. The parameters of the PID controller need to be adjusted on site during the experiment. The control rules of the reversing valve opening X value and the position deviation and the angle deviation are shown in Table 1:

[0076] Table 1 Fuzzy rule inference table of reversing valve opening X value

[0077]

[0078]

[0079] In the table, NB, NM, NS, ZE, PS, PM, and PB represent negative big, negative medium, negative small, zero, positive small, positive medium, and positive big, respectively.

[0080] In the specific implementation, the initial universe of discourse of the fuzzy control azimuth angle deviation is set as [-90, 90] with the unit of degree. The initial universe of discourse of the position deviation is set as [-5000, 5000] with the unit of millimeter. The initial universe of discourse of the proportional reversing valve spool position is set as [-1, 1], 1 indicates that the spool moves to the leftmost end, -1 indicates that the spool moves to the rightmost end, and 0 indicates that the spool is at the center position. The membership function adopts the trapmf function form at the left and right ends, and the rest adopts the gaussmf function form. The initial quantization factor of the position deviation is 200, and the initial quantization factor of the angle deviation is 5. The membership degree functions of the variables are as follows: Figure 4 the position deviation membership degree function, Figure 5 the angle deviation membership degree function, Figure 6Output variable membership functions and Figure 7 The fuzzy controller nonlinear control surface.

[0081] Further, in order to realize the integrity of the scheme, after the step of adjusting the reversing valve opening with the preset small strategy, the method further comprises: if the position deviation is equal to the first preset threshold and the direction is greater than the second preset threshold, keeping the current reversing valve opening unchanged.

[0082] In the specific implementation, since the fuzzy PID control algorithm is used, the control effect cannot be judged by the classical control standard. The instantaneous curves of the angle deviation di and the position deviation dis can be used for judgment. As shown in the angle deviation (di) diagram shown in Figure 8 and the position deviation (dis) diagram shown in Figure 9 .

[0083] It can be seen from the simulation results that the fuzzy PID control system runs stably, the angle steady-state error is controlled within (-0.5, 0.5) degrees, and the position steady-state error is controlled within (-50, 50) mm. Figure 8 The larger steady-state error in the simulation results appears at the corner. This is because the coordinates at the corner in the program are only one coordinate point, and the actual vehicle walks in an arc form. The path at the corner can be discretized into multiple coordinate points, and the error of the simulation results will be reduced to the normal range.

[0084] Based on the simulation results and the PID control effect of the previous project research, the dynamic PID adjustment mode based on the contour model is adopted in the scheme, that is, the low-speed PID entry parameter gradually transits to the high-speed PID entry parameter adjustment, which ensures the safety of the equipment and improves the unmanned operation speed as much as possible.

[0085] The shovel posture adjustment algorithm based on the principle of advanced detection and safe obstacle avoidance. According to the research results described above, on the basis of upgrading the hardware of the previous project research results, the ultrasonic ranging radar is upgraded to a millimeter wave radar with faster response speed, the data utilization depth of the laser scanner is improved, and the obstacle avoidance measurement is upgraded to adjustment ranging. The laser scanner is used to detect the direction in advance, and the entry angle is determined. The millimeter wave radar is used to detect the distance between the equipment contour and the roadway, and guide the steering angle.

[0086] The embodiment obtains profile information and walking information of the scraper, determines position deviation and direction deviation according to the profile information and the walking information, judges whether the vehicle body movement direction is deviated from the path direction according to the walking information when the position deviation is greater than a first preset threshold value and the direction deviation is greater than a second preset threshold value, adjusts the directional valve opening with a preset increasing strategy when the vehicle body movement direction is deviated from the path direction, adjusts the directional valve opening with a preset decreasing strategy when the vehicle body movement direction is not deviated from the path direction, adjusts the directional valve opening with the preset decreasing strategy when the position deviation is greater than the first preset threshold value and the direction deviation is less than or equal to the second preset threshold value or the position deviation is less than or equal to the first preset threshold value and the direction deviation is greater than the second preset threshold value. The profile model of the scraper is adopted, the fuzzy model based on the equipment shape size and the anti-collision principle is set, the steering PID control algorithm is matched with the equipment running speed under the premise of ensuring the safety of the equipment, and the purpose of safe driving is achieved.

[0087] In addition, the embodiment of the present application also provides a medium, and a program for scraper steering control based on a profile model is stored on the storage medium, and the program for scraper steering control based on the profile model is executed by a processor to realize the steps of the method for scraper steering control based on the profile model.

[0088] Reference Figure 10 , Figure 10 The structure block diagram of the first embodiment of the scraper steering control device based on the profile model of the present application is shown in the figure.

[0089] As Figure 10 shown, the scraper steering control device based on the profile model of the embodiment of the present application comprises:

[0090] An information acquisition module 10 is configured to acquire profile information and walking information of the scraper.

[0091] A deviation acquisition module 20 is configured to determine position deviation and direction deviation according to the profile information and the walking information.

[0092] A first judgment module 30 is configured to judge whether the vehicle body movement direction is deviated from the path direction according to the walking information when the position deviation is greater than a first preset threshold value and the direction deviation is greater than a second preset threshold value.

[0093] An increasing strategy module 40 is configured to adjust the directional valve opening with a preset increasing strategy when it is judged that the vehicle body movement direction is deviated from the path direction.

[0094] A decreasing strategy module 50 is configured to adjust the directional valve opening with a preset decreasing strategy when it is judged that the vehicle body movement direction is close to the path direction.

[0095] The second judging module 60 is configured to adjust the opening of the reversing valve according to a preset decreasing strategy if the position deviation is greater than the first preset threshold and the direction deviation is less than or equal to the second preset threshold or the position deviation is less than or equal to the first preset threshold and the direction deviation is greater than the second preset threshold.

[0096] The embodiment obtains the contour information and the walking information of the scraper, determines the position deviation and the direction deviation according to the contour information and the walking information, judges whether the moving direction of the vehicle body is the deviated path direction according to the walking information if the position deviation is greater than the first preset threshold and the direction deviation is greater than the second preset threshold, adjusts the opening of the reversing valve according to a preset increasing strategy if yes, adjusts the opening of the reversing valve according to a preset decreasing strategy if no, and adjusts the opening of the reversing valve according to the preset decreasing strategy if the position deviation is greater than the first preset threshold and the direction deviation is less than or equal to the second preset threshold or the position deviation is less than or equal to the first preset threshold and the direction deviation is greater than the second preset threshold. The contour model of the scraper is adopted, the fuzzy model based on the equipment shape size and the anti-collision principle is set, the turning PID control algorithm is matched with the equipment running speed under the premise of ensuring the safety of the equipment, and the purpose of safe driving is achieved.

[0097] It should be understood that the above is only illustrative, and does not constitute any limitation on the technical solutions of the present application. In specific applications, those skilled in the art can set it up according to the needs, and the present application does not limit it.

[0098] It should be noted that the above-described workflow is only illustrative and does not limit the scope of protection of the present application. In actual application, those skilled in the art can select part or all of them to achieve the purpose of the embodiment scheme according to actual needs, which is not limited here.

[0099] In addition, technical details not described in detail in the embodiment can be referred to the contour model based scraper turning control method provided by any embodiment of the present application, which will not be described here.

[0100] In addition, it should be noted that in this paper, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or system. Without more limitation, the element defined by the sentence "including a" does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0101] The above embodiment numbers of the present application are only for description, not representing the advantages and disadvantages of the embodiments.

[0102] Those skilled in the art can clearly understand the above-mentioned embodiment method can be realized by means of software and necessary general hardware platform, of course, also can be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application essentially or say the part of contribution to the prior art can be embodied in the form of software product, the computer software product is stored in a storage medium (such as read only memory (Read Only Memory, ROM) / RAM, disk, optical disk), including a number of instructions to make a terminal device (may be a mobile phone, computer, server, or network equipment, etc.) executes the method described in various embodiments of the present application.

[0103] The above is only the preferred embodiment of the present application, not therefore limit the patent scope of the present application, any equivalent structure or equivalent flow transformation made by using the content of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for steering control of a loader based on a contour model, characterized in that, The loader steering control method based on the contour model includes: Obtain the outline and travel information of the loader; The positional and directional deviations are determined based on the contour information and the walking information. If the position deviation is greater than a first preset threshold and the direction deviation is greater than a second preset threshold, determine whether the vehicle's movement direction is deviating from the path direction based on the walking information. If it is determined that the direction of the vehicle body movement is deviating from the path direction, the opening of the reversing valve is adjusted according to a preset enlargement strategy. If the vehicle body is determined to be moving towards the path direction, the opening of the reversing valve is adjusted using a preset shrinking strategy. If the position deviation is greater than the first preset threshold and the direction deviation is less than or equal to the second preset threshold, or if the position deviation is less than or equal to the first preset threshold and the direction deviation is greater than the second preset threshold, the opening of the reversing valve is adjusted according to the preset reduction strategy.

2. The method as described in claim 1, characterized in that, The steps for obtaining the outline information and travel information of the loader include: Basic information about the loader is obtained by reading the pre-stored basic data of the loader. The outline information of the loader is determined from the basic information; Travel information is obtained through the driving recorder corresponding to the loader.

3. The method as described in claim 1, characterized in that, The step of determining the positional deviation and directional deviation based on the contour information and the walking information includes: The surrounding distance information of the loader is determined by a preset radar device; The positional deviation is determined based on the contour information and the surrounding distance information; The front and rear information of the loader is determined by pre-set laser equipment information; The directional deviation is determined based on the travel information and the forward and backward information of the loader.

4. The method as described in claim 1, characterized in that, The preset enlargement strategies include: negative angle enlargement or positive angle enlargement strategies.

5. The method as described in claim 1, characterized in that, The preset shrinking strategies include: negative angle medium adjustment strategy, negative angle shrinking strategy, positive angle medium adjustment strategy, and positive angle shrinking strategy.

6. The method as described in claim 1, characterized in that, After the step of adjusting the opening of the reversing valve according to the preset reduction strategy, the method further includes: If the position deviation is equal to the first preset threshold and the direction deviation is equal to or greater than the second preset threshold, the current reversing valve opening remains unchanged.

7. A loader steering control device based on a contour model, characterized in that, The loader steering control device based on the contour model includes: The information acquisition module is used to acquire the outline information and travel information of the loader; The deviation acquisition module is used to determine the position deviation and direction deviation based on the contour information and walking information; The first judgment module is used to determine whether the vehicle's movement direction is deviating from the path direction based on the walking information if the position deviation is greater than a first preset threshold and the direction deviation is greater than a second preset threshold. The enlargement strategy module is used to adjust the opening of the reversing valve according to a preset enlargement strategy when it is determined that the direction of movement of the vehicle body is deviating from the path direction. The shrinking strategy module is used to adjust the opening of the reversing valve according to a preset shrinking strategy when it is determined that the direction of the vehicle body movement is closer to the path direction. The second judgment module is used to adjust the opening of the reversing valve according to the preset reduction strategy when the position deviation is greater than the first preset threshold and the direction deviation is less than or equal to the second preset threshold, or the position deviation is less than or equal to the first preset threshold and the direction deviation is greater than the second preset threshold.

8. A loader, characterized in that, The loader includes a memory and a processor, wherein the processor executes the method as described in any one of claims 1 to 6 when running computer instructions stored in the memory.

9. A medium, characterized in that, Includes instructions that, when executed on the loader, cause the loader to perform the method as described in any one of claims 1 to 6.

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