Distributed electric drive unmanned loader and torque control method thereof

Abstract

The application discloses a kind of distributed electric drive unmanned loaders, it is related to engineering machinery technical field, the loader includes working device electric drive module, frame, distributed control module, vehicle body state detection module, power battery module, rear frame electric drive module, central control module, remote control module, electric steering module and front frame electric drive module;The working device electric drive module, front frame electric drive module, electric steering module and rear frame electric drive module are electrically connected with the output end of distributed control module;The input end of distributed control module and central control module output end and power battery module are electrically connected.The application is overall with distributed control, both can quickly realize the coordinated control of working device and walking device under specific working condition, also convenient to realize the optimal distribution of torque according to different optimization targets under different working conditions, both can improve power index, also can reduce energy consumption.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, specifically a distributed electric drive unmanned loader and its torque control method. Background Technology

[0002] As a widely used earthmoving machine, wheel loaders are extensively used for earth and rock transportation and some light digging work. However, because loaders typically operate in harsh conditions, driving a traditional loader presents a significant challenge to the operator's skill level, and the dusty environment at earthmoving sites can also have a major impact on the operator's health. Furthermore, traditional loaders use diesel engines, which have low efficiency and generate significant energy consumption. Therefore, the development of electric loaders is of paramount importance.

[0003] Currently, distributed drive is widely used in the passenger vehicle field. Distributed electric drive vehicles have the characteristics of high control flexibility, short transmission chain, compact structure, high transmission efficiency, and high space utilization. Their unique structural features and drive method bring about significant technological innovations in fully exploring the potential of vehicle dynamics control, enhancing vehicle safety, improving drive efficiency, and simplifying chassis structure, providing a hardware carrier for high-performance vehicle control technology. Summary of the Invention

[0004] The purpose of this invention is to provide a distributed electric drive unmanned loader and its torque control method to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A torque control method for a distributed electric drive loader, based on a distributed electric drive unmanned loader, includes the following steps:

[0007] Step 1: The central control module issues control commands to the vehicle via the remote control module. The central control module then distributes the initial torque required by the control commands evenly to the front frame electric drive module and the rear frame electric drive module.

[0008] Step 2: The vehicle status monitoring module acquires real-time status information of the vehicle and its surroundings, and feeds the acquired information back to the central control module;

[0009] Step 3: Estimate the vehicle's status based on the status information obtained from the vehicle body status monitoring module and identify the vehicle's real-time operating scenario;

[0010] Step 4: Calculate the total torque required by the vehicle based on the pre-built loader model;

[0011] Step 5: Match different torque control strategies for the typical working conditions of the loader, and calculate the torque distribution coefficients of the front and rear axle motors based on the optimization function;

[0012] Step 6: Combining the calculated total required torque with the torque distribution coefficients of the front and rear axle motors, the central control module transmits control commands to the front frame electric drive module and the rear frame electric drive module respectively, and then transmits the commands to the drive motors to complete the torque control task; if the operator does not issue a stop command, the control program steps 2-6 are repeated; if a stop command is issued, the control program ends.

[0013] When a loader performs a digging task, its torque control method specifically includes the following steps:

[0014] The vehicle condition monitoring module acquires the depth information and real-time image information of the target being shoveled and transmits it to the central control module;

[0015] The central control module determines the distance between the loader and the material pile based on the acquired environmental depth information, and determines whether to enter the loading stage.

[0016] The central control module extracts features from the acquired image information and depth information to identify the type of shoveled object, particle size, and three-dimensional information of the material pile.

[0017] The obtained material type, particle size, three-dimensional information of the stockpile, and real-time vehicle speed are used as inputs to the trained model to obtain the initial torque required before loading.

[0018] The initial torque required for the working device to insert into the material pile is calculated based on the data matching between the vehicle mathematical model and the central control module, and the front and rear axle torque distribution coefficient is calculated with the goal of optimal power performance.

[0019] During the process of the bucket inserting into the material pile, when the slip ratio fed back to the central control module reaches a certain value, a flipping command is issued to the boom and bucket electric cylinder in the working device electric drive module to break the material compaction core formed at the bucket tip. During the bucket flipping process, the pressure value of the boom and bucket electric cylinder is obtained, and the required torque is obtained according to the loader dynamics model, kinematic model and tire force model and distributed to the front frame electric drive module and the rear frame electric drive module to drive the bucket to continue inserting into the material pile. This process is repeated to achieve the preset full bucket ratio.

[0020] Based on the above technical solutions, the present invention also provides the following optional technical solutions:

[0021] In one alternative: the distributed electric drive unmanned loader includes a working device electric drive module, a frame, a distributed control module, a vehicle body status detection module, a power battery module, a rear frame electric drive module, a central control module, a remote control module, an electric steering module, and a front frame electric drive module;

[0022] The electric drive module of the working device, the electric drive module of the front frame, the electric steering module, and the electric drive module of the rear frame are all electrically connected to the output terminal of the distributed control module; the input terminal of the distributed control module, the output terminal of the central control module, and the power battery module are electrically connected.

[0023] The output terminal of the power supply module is electrically connected to the working device electric drive module, the front frame electric drive module, the rear frame electric drive module, and the electric steering module.

[0024] In one alternative: the electric drive module of the working device includes a mechanical structure of the working device and an electrically controlled power element, wherein the electrically controlled power element is a roller screw electric cylinder, the electric push rod of which is hinged to the mechanical structure of the working device via a pin, and the input end of the roller screw electric cylinder is electrically connected to the output end of the distributed control module.

[0025] In one alternative: the front frame electric drive module includes a front drive axle permanent magnet synchronous motor, a front drive axle, a tire assembly, and a braking assembly;

[0026] The rear frame electric drive module consists of a rear drive axle permanent magnet synchronous motor, a rear drive axle, and a tire assembly. The input of the rear drive axle permanent magnet synchronous motor is connected to the output of the motor controller, while the front drive axle permanent magnet synchronous motor and the rear drive axle permanent magnet synchronous motor are both electrically connected to the output of the distributed control module.

[0027] In one alternative: the electric steering module consists of a left steering cylinder and a right steering cylinder, wherein the cylinder push rod and cylinder barrel of the left and right steering cylinders are respectively hinged to the front and rear sides of the vehicle frame via pins, and the input ends of the left and right steering cylinders are electrically connected to the output end of the distributed control module.

[0028] In one alternative embodiment: the vehicle body state detection module includes a camera, a lidar, and an inertial measurement unit;

[0029] The camera and lidar are respectively arranged on the side of the vehicle frame and are used to detect the surrounding environment of the vehicle in real time. The camera and lidar are arranged on the same vertical axis, the inertial measurement unit is arranged directly above the center of gravity of the vehicle frame, and the output of the vehicle body detection module is connected to the central control module through the CAN bus.

[0030] In one alternative: the distributed control module consists of a working device power element controller, an electric steering controller, and a motor power element controller, wherein the electric steering controller comprises left and right electric cylinder controllers and an electric cylinder synchronization controller.

[0031] In one alternative: the remote control module includes a remote controller and a receiving unit, and the remote controller includes a command unit and a video display unit;

[0032] The video display unit receives images of the vehicle's surroundings and materials captured by the camera, allowing the operator to observe the work site status in real time; the command unit is used by the operator to control the loader for operation.

[0033] The video display unit can display vehicle information acquired by sensors in real time, including vehicle pitch angle, front and rear yaw rate, longitudinal speed, acceleration information, and front and rear axle drive motor operating status acquired by the inertial measurement unit.

[0034] In one alternative approach: when the loader is in transport mode, its torque control method specifically includes the following steps:

[0035] The vehicle body state detection modules distributed on the front and rear sides of the vehicle frame acquire the vehicle body attitude information of the front and rear frames;

[0036] A vehicle body condition detection module mounted on the roof acquires image information of the loader's driving area;

[0037] The CAN bus reads information about the actual output speed of the motor and the extension length of the steering cylinder.

[0038] The obtained image information is sharpened, and the road surface moisture condition is identified by comparing the sharpened image with the images in the training sample set.

[0039] 3D point cloud information of the road surface is acquired, and distortion processing is performed on the information by combining it with vehicle posture information returned by the IMU. The processed information is then fused with the image to obtain the road surface terrain condition.

[0040] The road surface moisture information, the actual output speed of the motor, the extension of the steering cylinder, and the yaw rate of the front and rear frames are transmitted to the central processing module to identify the vehicle's driving status. After processing by the central processing module, the torque values ​​of the front and rear motors are obtained.

[0041] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0042] The distributed electric drive unmanned loader of this invention features an aluminum alloy profile frame, reducing vehicle weight; it adopts a modular structure, allowing for the expansion of various modules according to usage scenarios; the distributed electric drive replaces the hydraulic system and diesel engine of traditional loaders, reducing fuel consumption; the electric drive system has a faster response speed than the hydraulic system, providing a platform for intelligent control of the loader; the overall distributed control enables rapid coordinated control of the working and traveling devices under specific working conditions, and facilitates optimal torque distribution according to different optimization objectives under different working conditions, thereby improving power performance and reducing energy consumption. Attached Figure Description

[0043] Figure 1 This is a schematic diagram illustrating the structure of a distributed-drive unmanned loader according to an embodiment of the present invention.

[0044] Figure 2 This is a schematic diagram of the electric drive module for the working device;

[0045] Figure 3 This is a schematic diagram of the overall electric drive module for the front and rear vehicle frames;

[0046] Figure 4 This is a schematic diagram of the overall torque control steps of a distributed electric drive loader.

[0047] Figure 5 Flowchart of torque control steps during the loading phase of a distributed electric drive loader;

[0048] Figure 6 This is a flowchart of the torque control steps for a distributed electric drive loader during the transportation phase.

[0049] Figure reference numerals: 1. Working device electric drive module; 101. Working device mechanical structure; 102. Electric control power element; 103. Pin shaft; 2. Frame; 3. Distributed control module; 4. Vehicle body status detection module; 5. Power battery module; 6. Rear frame electric drive module; 6. Rear drive axle permanent magnet synchronous motor; 601. Rear drive axle; 602. Tire assembly; 603. Central control module; 7. Remote control module; 8. Electric steering module; 9. Left steering cylinder; 901. Right steering cylinder; 902. Front frame electric drive module; 10. Front drive axle permanent magnet synchronous motor; 1001. Front drive axle; 1002. Tire assembly; 1003. Braking assembly; 1004. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. In the drawings or description, similar or identical parts are referred to by the same reference numerals, and in practical applications, the shape, thickness, or height of each component may be enlarged or reduced. The embodiments listed in this invention are merely illustrative and not intended to limit the scope of the invention. Any obvious modifications or changes made to this invention do not depart from the spirit and scope of the invention.

[0051] like Figures 1-3 As shown, the present invention discloses a distributed electric drive unmanned loader, which aims to provide a hardware carrier for high-performance vehicle control technology. The unmanned loader includes a frame 2, a working device electric drive module 1, a front frame electric drive module 10, a rear frame electric drive module 6, an electric steering module 9, a power battery module 5, a distributed control module 3, a remote control module 8, a vehicle body status detection module 4, and a central control module 7.

[0052] The working device electric drive module 1, the front frame electric drive module 10, the electric steering module 9, and the rear frame electric drive module 6 are electrically connected to the output of the distributed control module 3. The input of the distributed control module 3 is electrically connected to the central control module 7 and the power battery module 5. The output of the power supply module 5 is electrically connected to the working device electric drive module 1, the front frame electric drive module 10, the rear frame electric drive module 6, and the electric steering module 9.

[0053] The distributed electric drive unmanned loader chassis is assembled from aluminum alloy profile frames.

[0054] It should be noted that most of the power systems for loader working devices currently use hydraulic systems. Due to the inherent characteristics of fluids, hydraulic systems have a slow response speed, poor resistance to contamination, and a risk of leakage. High-precision hydraulic components are also expensive. Therefore, in this embodiment, considering factors such as system response speed and economy, an electronic control system is used to replace the traditional hydraulic system as the power source for the working device.

[0055] In this embodiment, the working device electric drive module 1 includes a working device mechanical structure 101 and an electric control power element 102; the electric control power element is a roller screw electric cylinder, whose electric push rod is hinged to the working device mechanical structure through a pin 103, and the input end of the roller screw electric cylinder is electrically connected to the output end of the controller.

[0056] The electric steering module 9 consists of a left steering cylinder 901 and a right steering cylinder 902;

[0057] In one possible embodiment of the present invention, the electric cylinder is a ball screw electric cylinder, and the electric cylinder push rod and the electric cylinder barrel are respectively hinged to the front and rear frames by pins. The input end of the left and right steering electric cylinder is electrically connected to the output end of the distributed control module.

[0058] It should be noted that other types of electric cylinders may be used in other embodiments, which will not be specifically described here, but these solutions are all within the protection scope of this invention.

[0059] The distributed control module 3 consists of a working device power element controller, an electric steering controller, and a motor power element controller. The electric steering controller comprises left and right electric cylinder controllers and an electric cylinder synchronization controller.

[0060] The remote control module included in this embodiment consists of a remote controller and a receiving unit.

[0061] In this system, the operator issues control commands via a remote control, and the remote control signal is transmitted wirelessly to the receiver. The receiver is connected to the vehicle's central control module 7 and transmits the commands to the vehicle.

[0062] In one possible embodiment of the present invention, the vehicle body state detection module 4 includes a camera, a lidar and an inertial measurement unit (IMU).

[0063] The camera and lidar are respectively arranged on the front side above the rear frame to detect the surrounding environment of the vehicle in real time. The camera and lidar are arranged on the same vertical axis, and the inertial measurement unit (IMU) is arranged directly above the center of mass on the front and rear sides of the vehicle body 2.

[0064] The output of the vehicle body detection module is connected to the central control module via a CAN bus.

[0065] It should be noted that other types of sensors may be included in possible embodiments. In addition, the output signal of the vehicle body condition detection module 4 may be connected to the central control module 7 through other communication methods, which will not be specifically described here, but these solutions are all within the protection scope of this invention.

[0066] In this embodiment, the central control module 7 consists of a VCU and an industrial computer. The rear frame is equipped with a controller mounting plate, and the control plate is designed with several through holes for fixing the controller.

[0067] In one possible embodiment of the present invention, the power battery module 5 includes a lithium battery and an inverter, the rear frame is provided with a battery compartment, the battery compartment is provided with a plurality of pressure plates for fixing the battery, and the battery is provided with three counterweights to balance the mass of the front and rear frames.

[0068] It should be noted that in possible embodiments of the present invention, the power battery may be of other types, which will not be specifically described here, but these solutions are all within the protection scope of the present invention.

[0069] In this embodiment, the remote control includes an instruction unit and a video display unit.

[0070] The video display unit receives images of the vehicle's surroundings and materials captured by the camera, allowing the operator to monitor the work site in real time. The command unit is used by the driver to operate the loader, with the following specific control functions: controlling the loader's starting, braking, steering, and parking during travel; controlling the lifting and lowering of the loader's boom and the tilting of the bucket during operation; and the automatic loading switch for switching between automatic and manual working modes.

[0071] It should be noted that in possible embodiments of the present invention, the remote control may have other instruction types, which will not be specifically described here.

[0072] In one possible embodiment of the present invention, the video display terminal of the remote control can display vehicle body information acquired by the sensor in real time, specifically including vehicle body pitch angle, front and rear vehicle body yaw rate and longitudinal vehicle speed, acceleration information, and front and rear axle drive motor operating status, including power information, motor output speed and torque, etc., acquired by the inertial measurement unit (IMU).

[0073] It should be noted that, in possible embodiments of the present invention, the display port may display feedback data from various other sensors, which will not be specifically described here, but these solutions are all within the protection scope of the present invention.

[0074] In this embodiment, the industrial control computer (ICC) processes various information fed back from each module, specifically including material information acquired by the camera module, vehicle attitude information acquired by the inertial measurement unit (IMU), and information from the motors and cylinders fed back via the CAN bus. The information fed back to the ICC undergoes a series of algorithmic processing to obtain the required target material and macroscopic parameters of the terrain surrounding the vehicle. Based on this, a series of algorithms are incorporated, and combined with relevant experimental results, to obtain the optimal driving torque for the vehicle under different operating conditions. Then, control commands are transmitted to the controllers of each module via the CAN bus, issuing corresponding control commands to each module.

[0075] In this embodiment, the power battery module 5 according to claim 7 includes a safety button for timely stopping the loader when the control command fails.

[0076] like Figure 4 As shown, in this embodiment, the torque control method for a distributed electric drive loader includes the following steps:

[0077] The driver issues control commands to the vehicle via a remote control terminal. The central control module calculates the initial torque required for the vehicle to start based on the vehicle speed signal issued by the driver and distributes it evenly to the front and rear axle control modules.

[0078] The vehicle status monitoring module acquires real-time status information of the vehicle and its surroundings, and feeds the information back to the central control module.

[0079] The vehicle's state is estimated based on the state information acquired by the sensors, and the vehicle's real-time operating scenario is identified.

[0080] The total torque required by the vehicle is calculated based on the pre-built loader model.

[0081] Different torque control strategies are matched for typical working conditions of loaders, and the torque distribution coefficients of the front and rear axle motors are calculated based on the optimization function.

[0082] Based on the calculated total required torque and the torque distribution coefficients of the front and rear axle motors, the central control module transmits control commands to the front and rear axle motor controllers, and then to the drive motors, completing the torque control task. If the operator does not issue a stop command, steps 2 to 7 of the control program are repeated; if a stop command is issued, the control program ends.

[0083] like Figure 5 As shown, in one possible embodiment of the present invention, when the loader performs a digging task, its torque control method specifically includes the following steps:

[0084] The lidar and infrared camera in the vehicle condition monitoring module acquire depth information and real-time image information of the shoveled target, respectively, and transmit them to the central control module.

[0085] The central control module determines the distance between the loader and the material pile based on the acquired environmental depth information, and then determines whether to enter the loading stage.

[0086] The image processing unit of the central control module extracts features from the acquired image information and depth information to identify the type of shoveled object, particle size, and three-dimensional information of the material pile.

[0087] The obtained material type, particle size, three-dimensional information of the stockpile, and real-time vehicle speed are used as inputs to the prediction model. These parameters are then input into the trained model to obtain the initial torque required before loading.

[0088] The initial torque required for the working device to insert into the material pile is calculated based on the data matching between the vehicle mathematical model and the central control module, and the front and rear axle torque distribution coefficient is calculated with the goal of optimal power performance.

[0089] During the process of the bucket inserting into the material pile, when the slip ratio fed back to the central control module reaches a certain value, a flipping command is issued to the boom and bucket electric cylinder to break the material compaction core formed at the bucket tip. During the bucket flipping process, the pressure value of the boom and bucket electric cylinder is obtained, and the required torque is obtained according to the vehicle dynamics and kinematic model and distributed to the front and rear drive motors to drive the bucket to continue inserting into the material pile. This process is repeated to achieve the preset full bucket ratio.

[0090] like Figure 6 As shown, in one possible embodiment of the present invention, when the loader is in a transport state, its torque control method specifically includes the following steps:

[0091] Inertial measurement units (IMUs) distributed on the front and rear frames of the vehicle acquire the vehicle's attitude information, including three-axis attitude angles and acceleration information.

[0092] A monocular camera mounted on the roof acquires image information of the loader's driving area;

[0093] The CAN bus reads information about the actual output speed of the motor and the extension length of the steering cylinder.

[0094] The obtained image information is sharpened, and the road surface moisture condition is identified by comparing the sharpened image with the images in the training sample set.

[0095] The system acquires 3D point cloud information of the road surface and performs distortion processing on the information by combining it with vehicle posture information returned by the IMU. The processed information is then fused with the image to obtain the road surface terrain condition.

[0096] The road condition information, the actual output speed of the motor, the extension of the steering cylinder, and the yaw rate of the front and rear frames are transmitted to the central processing module to identify the vehicle's driving status. After processing by the torque preprocessing unit and the optimal control coefficient unit, the torque values ​​of the front and rear motors are obtained.

[0097] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure 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 this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A distributed electric drive loader torque control method, characterized by, This torque control method is based on a distributed electric drive unmanned loader and includes the following steps: Step 1: The central control module issues control commands to the vehicle via the remote control module. The central control module then distributes the initial torque required by the control commands evenly to the front frame electric drive module and the rear frame electric drive module. Step 2: The vehicle status monitoring module acquires real-time status information of the vehicle and its surroundings, and feeds the acquired information back to the central control module; Step 3: Estimate the vehicle's status based on the status information obtained from the vehicle body status monitoring module and identify the vehicle's real-time operating scenario; Step 4: Calculate the total torque required by the vehicle based on the pre-built loader model; Step 5: Match different torque control strategies for the typical working conditions of the loader, and calculate the torque distribution coefficients of the front and rear axle motors based on the optimization function; Step 6: Combining the calculated total required torque with the torque distribution coefficients of the front and rear axle motors, the central control module transmits control commands to the front frame electric drive module and the rear frame electric drive module respectively, and then transmits the commands to the drive motors to complete the torque control task; if the operator does not issue a stop command, the control program steps 2-6 are repeated; if a stop command is issued, the control program ends. When a loader performs a digging task, its torque control method specifically includes the following steps: The vehicle condition monitoring module acquires the depth information and real-time image information of the target being shoveled and transmits it to the central control module; The central control module determines the distance between the loader and the material pile based on the acquired environmental depth information, and determines whether to enter the loading stage. The central control module extracts features from the acquired image information and depth information to identify the type of shoveled object, particle size, and three-dimensional information of the material pile. The obtained material type, particle size, three-dimensional information of the stockpile, and real-time vehicle speed are used as inputs to the trained model to obtain the initial torque required before loading. The initial torque required for the working device to insert into the material pile is calculated based on the data matching between the vehicle mathematical model and the central control module, and the front and rear axle torque distribution coefficient is calculated with the goal of optimal power performance. During the process of the bucket inserting into the material pile, when the slip ratio fed back to the central control module reaches a certain value, a flipping command is issued to the boom and bucket electric cylinder in the working device electric drive module to break the material compaction core formed at the bucket tip. During the bucket flipping process, the pressure value of the boom and bucket electric cylinder is obtained, and the required torque is obtained according to the loader dynamics model, kinematic model and tire force model and distributed to the front frame electric drive module and the rear frame electric drive module to drive the bucket to continue inserting into the material pile. This process is repeated to achieve the preset full bucket ratio.

2. The distributed electric drive loader torque control method of claim 1, wherein, The distributed electric drive unmanned loader includes a working device electric drive module, a frame, a distributed control module, a vehicle body status detection module, a power battery module, a rear frame electric drive module, a central control module, a remote control module, an electric steering module, and a front frame electric drive module. The electric drive module of the working device, the electric drive module of the front frame, the electric steering module, and the electric drive module of the rear frame are all electrically connected to the output terminal of the distributed control module; the input terminal of the distributed control module, the output terminal of the central control module, and the power battery module are electrically connected. The output terminal of the power supply module is electrically connected to the working device electric drive module, the front frame electric drive module, the rear frame electric drive module, and the electric steering module.

3. The distributed electric drive loader torque control method of claim 2, wherein, The electric drive module of the working device includes a mechanical structure of the working device and an electrically controlled power element. The electrically controlled power element is a roller screw electric cylinder, whose electric push rod is hinged to the mechanical structure of the working device through a pin shaft. The input end of the roller screw electric cylinder is electrically connected to the output end of the distributed control module.

4. The distributed electric drive loader torque control method of claim 2, wherein, The front frame electric drive module includes a front drive axle permanent magnet synchronous motor, a front drive axle, tire components, and braking components; The rear frame electric drive module consists of a rear drive axle permanent magnet synchronous motor, a rear drive axle, and a tire assembly. The input of the rear drive axle permanent magnet synchronous motor is connected to the output of the motor controller, while the front drive axle permanent magnet synchronous motor and the rear drive axle permanent magnet synchronous motor are both electrically connected to the output of the distributed control module.

5. The distributed electric drive loader torque control method of claim 2, wherein, The electric steering module consists of a left steering cylinder and a right steering cylinder. The cylinder push rod and cylinder barrel of the left and right steering cylinders are respectively hinged to the front and rear sides of the vehicle frame via pins. The input ends of the left and right steering cylinders are electrically connected to the output end of the distributed control module.

6. The distributed electric drive loader torque control method of claim 2, wherein, The vehicle body condition detection module includes a camera, a lidar, and an inertial measurement unit; The camera and lidar are respectively arranged on the side of the vehicle frame and are used to detect the surrounding environment of the vehicle in real time. The camera and lidar are arranged on the same vertical axis, the inertial measurement unit is arranged directly above the center of gravity of the vehicle frame, and the output of the vehicle body detection module is connected to the central control module through the CAN bus.

7. The distributed electric drive loader torque control method of claim 2, wherein, The distributed control module consists of a working device power element controller, an electric steering controller, and a motor power element controller, wherein the electric steering controller includes left and right electric cylinder controllers and an electric cylinder synchronization controller.

8. The torque control method for a distributed electric drive loader according to claim 2, characterized in that, The remote control module includes a remote controller and a receiving unit, and the remote controller includes a command unit and a video display unit; The video display unit receives images of the vehicle's surroundings and materials captured by the camera, allowing the operator to observe the work site status in real time; the command unit is used by the operator to control the loader for operation. The video display unit can display vehicle information acquired by sensors in real time, including vehicle pitch angle, front and rear yaw rate, longitudinal speed, acceleration information, and front and rear axle drive motor operating status acquired by the inertial measurement unit.

9. The torque control method for a distributed electric drive loader according to claim 1, characterized in that, When the loader is in transport mode, its torque control method specifically includes the following steps: The vehicle body state detection modules distributed on the front and rear sides of the vehicle frame acquire the vehicle body attitude information of the front and rear frames; A vehicle body condition detection module mounted on the roof acquires image information of the loader's driving area; The CAN bus reads information about the actual output speed of the motor and the extension length of the steering cylinder. The obtained image information is sharpened, and the road surface moisture condition is identified by comparing the sharpened image with the images in the training sample set. The road surface 3D point cloud information is acquired, and the vehicle body posture information returned by the vehicle body state detection module is combined to perform distortion processing on the information. The processed information is then fused with the image to obtain the road surface terrain condition. The road surface moisture information, the actual output speed of the motor, the extension of the steering cylinder, and the yaw rate of the front and rear frames are transmitted to the central processing module to identify the vehicle's driving status. After processing by the central processing module, the torque values ​​of the front and rear motors are obtained.

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