Loader control method and system, loader, electronic device, and storage medium

Abstract

The application provides a loader control method, system, loader, electronic equipment and storage medium, and belongs to the technical field of loaders, wherein the control method comprises the following steps: after the loader enters an obstacle removal mode, adjusting the boom angle and the bucket angle of the loader to a target boom angle and a target bucket angle respectively; acquiring the hydraulic oil pressure of the loader; determining the resistance suffered by the bucket in the direction parallel to the road surface based on the target boom angle, the target bucket angle and the hydraulic oil pressure; when the resistance is greater than a critical resistance, providing an upward force perpendicular to the road surface to the bucket to reduce the resistance to less than or equal to the critical resistance. The application is used to solve the defects in the prior art that the output power of the engine increases, the bucket is severely worn and the obstacle removal function does not achieve the expected effect when the loader is used to remove obstacles on the road surface, because the influence of factors such as sand accumulation and road undulation on the resistance of the bucket in the horizontal direction of the road surface is not considered.

Description

Technical Field

[0001] This invention relates to the field of loader technology, and in particular to a loader control method, system, loader, electronic device and storage medium. Background Technology

[0002] In practical applications, loaders are needed to clean up gravel and sand on construction sites or roads to achieve a smooth and clean working area.

[0003] When clearing roads, it's crucial to ensure the bucket bottom is level with the road surface to guarantee a smooth finish. However, most current loader road clearing systems rely on passive compliance control, where releasing the main bucket valve allows it to float with road undulations to achieve the clearing function. However, as the road slopes, the bucket may not maintain a tight seal, resulting in stepped clearing or incomplete clearing. Furthermore, as sand and gravel accumulate in the bucket, or when encountering protruding obstacles, significant road undulations, or even uphill sections, the load inside the bucket increases, increasing gravity and horizontal resistance. This increases engine output power, potentially causing the engine to stall. In these situations, the contact between the bucket and the road is dry friction, leading to severe wear in the contact area. Additionally, as the bucket load increases, the clearing angle changes, increasing the normal pressure and resulting in a stepped clearing effect that fails to meet the desired cleanliness requirements. Summary of the Invention

[0004] This invention provides a loader control method, system, loader, electronic device, and storage medium to solve the defects in the prior art when using loaders for road clearing, which are caused by the failure to consider the influence of factors such as sand and gravel accumulation and road undulation on the horizontal resistance of the bucket along the road surface, resulting in increased engine output power, severe bucket wear, and failure to achieve the expected clearing effect.

[0005] This invention provides a loader control method, comprising:

[0006] After the loader enters the obstacle clearing mode, the boom angle and bucket angle of the loader are adjusted to the target boom angle and target bucket angle respectively. The target boom angle and the target bucket angle are the angles at which the bottom of the bucket of the loader is in contact with the road surface.

[0007] Obtain the hydraulic oil pressure in the hydraulic lines of the loader;

[0008] Based on the target boom angle, the target bucket angle, and the hydraulic oil pressure, determine the resistance experienced by the bucket in the direction parallel to the road surface;

[0009] When the resistance is greater than the critical resistance, an upward force perpendicular to the road surface is applied to the bucket to reduce the resistance to less than or equal to the critical resistance, which is less than or equal to the maximum value of the resistance that would put the bucket in a passive compliant control mode.

[0010] According to the loader control method of the present invention, adjusting the boom angle and bucket angle of the loader to the target boom angle and target bucket angle respectively includes:

[0011] The tilt angle of the loader is acquired in real time;

[0012] Based on the fuselage tilt angle, determine the target boom angle and the target bucket angle;

[0013] Based on the target boom angle and the target bucket angle, the boom angle and bucket angle of the loader are adjusted respectively.

[0014] According to the loader control method of the present invention, providing the bucket with an upward force perpendicular to the road surface to reduce the resistance to less than or equal to the critical resistance includes:

[0015] The opening of the proportional valve controlling the loader is increased until the resistance is less than or equal to the critical resistance.

[0016] According to the loader control method of the present invention, the opening of the proportional valve controlling the loader is increased until the resistance is less than or equal to the critical resistance, including:

[0017] The opening of the proportional valve is gradually increased in preset increments until the resistance is less than or equal to the critical resistance.

[0018] The loader control method according to the present invention further includes:

[0019] Obtain the activation signal of the obstacle clearing mode, which is generated when the obstacle clearing mode is selected via the central control screen or control buttons of the loader;

[0020] Based on the activation signal, it is determined that the loader has entered the obstacle clearing mode.

[0021] The present invention also provides a loader control system, comprising:

[0022] An angle sensor is used to detect the boom angle and bucket angle of the loader in real time after the loader enters the obstacle clearing mode;

[0023] A pressure sensor is used to detect the hydraulic oil pressure in the hydraulic lines in real time after the loader enters the obstacle clearing mode.

[0024] The controller is configured to adjust the boom angle and the bucket angle to target boom angle and target bucket angle, respectively, which are angles at which the bottom of the loader's bucket contacts the road surface; determine the resistance experienced by the bucket in a direction parallel to the road surface based on the target boom angle, the target bucket angle, and the hydraulic oil pressure; and when the resistance is greater than a critical resistance, provide the bucket with an upward force perpendicular to the road surface to reduce the resistance to less than or equal to the critical resistance, which is less than or equal to the maximum value of the resistance that allows the bucket to be in a passive compliant control mode.

[0025] According to the loader control system of the present invention, the controller is specifically used for:

[0026] The opening of the proportional valve controlling the loader is increased until the load weight equals the critical resistance.

[0027] The loader control system according to the present invention further includes:

[0028] A tilt sensor is used to acquire the tilt angle of the loader in real time;

[0029] The controller is further configured to: determine the target boom angle and the target bucket angle based on the fuselage tilt angle; and adjust the boom angle and bucket angle of the loader respectively based on the target boom angle and the target bucket angle. The present invention also provides a loader including the loader control system described above.

[0030] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the loader control method as described above.

[0031] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the loader control method as described above.

[0032] This invention provides a loader control method, system, loader, electronic equipment, and storage medium. After the loader enters the obstacle-clearing mode, the boom angle and bucket angle are first adjusted to target angles that allow the bucket bottom to contact the road surface, thus improving the cleaning effect. Then, the hydraulic oil pressure in the loader's hydraulic lines is acquired. Based on the target boom angle, target bucket angle, and hydraulic oil pressure, the resistance experienced by the bucket along the road surface is determined. When the resistance exceeds a critical resistance, an upward force perpendicular to the road surface is applied to the bucket to reduce the resistance to less than or equal to the critical resistance. This ensures that the resistance experienced by the bucket is kept at or below the maximum resistance value when the bucket is in passive compliant control mode. This not only avoids increasing the engine's output load or even causing the engine to stall, but also reduces wear on the bucket-road contact area and further ensures the loader's cleaning effect on the road surface in obstacle-clearing mode. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 This is a flowchart illustrating a loader control method provided in an embodiment of the present invention;

[0035] Figure 2 This is a force analysis and structural layout diagram of a loader on a horizontal road surface provided in an embodiment of the present invention;

[0036] Figure 3 This is a force analysis and structural layout diagram of a loader on a slope provided in an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of the process of controlling a loader using the loader control method provided by the present invention;

[0038] Figure 5 This is a schematic diagram of the structure of a loader control system provided in an embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention;

[0040] Figure label:

[0041] 1: Boom; 2: Bucket; 3: Angle sensor; 4: Vehicle base; 5: Tilt sensor. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0043] It's understandable that when using a loader for road cleaning, the bucket moves with the road's contours to achieve the cleaning function. However, as the road surface slopes, the bucket may not fit snugly against the road, resulting in a stepped cleaning or incomplete cleaning. Furthermore, as sand and gravel accumulate in the bucket, or when encountering protruding obstacles, significant road undulations, or even uphill sections, the load inside the bucket increases. This increases the resistance in the direction parallel to the road surface, which not only increases the engine's output load but also accelerates bucket wear and reduces cleaning effectiveness.

[0044] Therefore, the present invention provides a loader control method that can ensure real-time contact between the bucket and the road surface. When the load on the bucket is too heavy, there is a risk of engine stalling or severe bucket wear. The method can provide an upward force perpendicular to the road surface to compensate for the load on the bucket, thereby avoiding damage to the engine and bucket and improving the road surface cleaning effect.

[0045] The loader control method provided in this embodiment of the invention can be executed by the loader's controller.

[0046] The following is combined with Figures 1 to 6 The present invention describes a loader control method, system, loader, electronic device, and storage medium.

[0047] This embodiment provides a loader control method, such as Figure 1 As shown, it includes the following steps:

[0048] 101. After the loader enters the obstacle clearing mode, adjust the boom angle and bucket angle of the loader to the target boom angle and target bucket angle respectively. The target boom angle and target bucket angle are the angles at which the bottom of the loader's bucket is in contact with the road surface.

[0049] It is understandable that the slope and undulation of the road surface can cause the bucket to not fit tightly against the ground, thus affecting the cleaning effect.

[0050] Specifically, the target boom angle and the target bucket angle are the angles at which the bottom of the bucket can fit in contact with the road surface. That is, after adjusting the boom angle and the bucket angle of the loader to the target boom angle and the target bucket angle, the bucket posture can be made to match the posture of the machine body.

[0051] It should be noted that the target boom angle and target bucket angle are angles that change in real time according to the slope and undulation of the road surface where the loader is located. Specifically, this can be achieved by writing a bucket posture adjustment algorithm in the controller, and then using the bucket posture adjustment algorithm to obtain the target boom angle and target bucket angle after the controller obtains the body tilt angle. Then, the current boom angle and target bucket angle of the loader can be adjusted based on the target boom angle and target bucket angle.

[0052] More specifically, by setting a clearing mode on the loader, and then adjusting the boom angle and bucket angle of the loader in real time after the loader enters the clearing mode, the bucket posture is made to match the body posture, that is, the bottom of the bucket can keep in real time contact with the road surface, thereby ensuring the clearing effect on the road surface.

[0053] Furthermore, considering the harsh working conditions of the loader bucket, it is impossible to measure the contact force between the bucket and the ground by directly installing a force sensor at the bottom of the bucket. Therefore, if... Figure 2 and Figure 3 As shown, the boom angle α and bucket angle β can be collected and fed back by installing angle sensors 3 at the hinges of the boom 1 and bucket 2 of the loader, respectively. Then, the body tilt angle θ of the loader can be collected and fed back by installing tilt sensor 5 on the chassis base 4 of the loader.

[0054] 102. Obtain the hydraulic oil pressure in the hydraulic lines of the loader.

[0055] Specifically, pressure sensors can be installed in the hydraulic lines of the loader to collect feedback on the hydraulic oil pressure F. y .

[0056] 103. Based on the target boom angle, target bucket angle, and hydraulic oil pressure, determine the resistance experienced by the bucket in the direction parallel to the road surface.

[0057] In this embodiment, since the bottom of the bucket is in direct contact with the road surface when the bucket is clearing obstacles, therefore, by Figure 2 and Figure 3 The force analysis shows that the pressure sensor value F can be obtained by calculating using a homogeneous transformation matrix. y The relationship between boom angle α, bucket angle β, and bucket resistance F f The relationship between F f =f(F y,α,β), thus the resistance experienced by the bucket in the direction parallel to the road surface can be determined.

[0058] 104. When the resistance is greater than the critical resistance, provide the bucket with an upward force perpendicular to the road surface to reduce the resistance to less than or equal to the critical resistance. The critical resistance is less than or equal to the maximum value of the resistance that allows the bucket to be in passive compliant control mode.

[0059] In this embodiment, the resistance experienced by the bucket in the direction parallel to the road surface is calculated using hydraulic oil pressure, target boom angle, and target bucket angle, i.e., satisfying F f =f(F y The relationship between α and β is such that a critical resistance F is set. e The resistance F acting on the bucket during loader operation can be maintained by applying an upward force perpendicular to the road surface to the bucket. f Always less than or equal to the critical resistance F e That is, F f =f(F y ,α,β)≤F e .

[0060] In this embodiment, the specific value of the critical resistance can be determined experimentally. It is equal to or slightly less than the maximum resistance that allows the bucket to be in passive compliant control mode, thereby ensuring the cleaning effect of the bucket on the road surface while avoiding excessive force on the engine and increasing wear on the bucket.

[0061] In one specific embodiment, the bucket is provided with an upward force perpendicular to the road surface by providing an incremental switch to the loader's proportional valve.

[0062] The loader control method provided in the above embodiments of the present invention sets a clearing mode on the loader. After the loader enters the clearing mode, the boom angle and bucket angle are adjusted to target boom angles and target bucket angles so that the bottom of the loader bucket is in contact with the road surface, thereby improving the cleaning effect. Then, the hydraulic oil pressure in the hydraulic pipeline is obtained. Based on the target boom angle, target bucket angle, and hydraulic oil pressure, the real-time resistance of the bucket along the parallel road surface direction is calculated through pressure decomposition and matrix transformation. When the real-time resistance is greater than the critical resistance, a force perpendicular to the road surface is provided to the bucket to compensate for the bucket weight. This achieves closed-loop control of the load weight of the bucket in the clearing mode, thereby improving the work efficiency of road cleaning by reducing the friction between the bucket and the ground. At the same time, it reduces the wear of the loader bucket, as well as the engine wear and failure rate, and makes the loader adaptable to more severe terrain.

[0063] Based on the above embodiments, adjusting the loader's boom angle and bucket angle to the target boom angle and target bucket angle respectively includes:

[0064] Real-time acquisition of the loader's body tilt angle;

[0065] Based on the fuselage tilt angle, determine the target boom angle and the target bucket angle;

[0066] Based on the target boom angle and target bucket angle, adjust the boom angle and bucket angle of the loader respectively.

[0067] In this embodiment, the loader's body tilt angle is acquired in real time, and the bucket's position is determined based on the body tilt angle, thereby obtaining the target boom angle and the target bucket angle. Based on the target boom angle and the target bucket angle, the loader's boom angle and bucket angle are adjusted respectively, so that the bucket bottom can maintain contact with the road surface in real time.

[0068] Based on the above embodiments, providing the bucket with an upward force perpendicular to the road surface to reduce resistance to less than or equal to the critical resistance includes:

[0069] The opening of the proportional valve controlling the loader is increased until the resistance is less than or equal to the critical resistance.

[0070] In this embodiment, after the loader's proportional valve starts working, the force F can be output by increasing the opening of the proportional valve. c The bucket is lifted to compensate for the weight of the bucket load. After compensation, the resistance decreases, becoming F. f1 =f(F y1 ,α,β), where F y1 This is the compensated pressure sensor value. Then, compare F... f1 and critical resistance F e The size of F f1 >F e At that time, the force F c Continue to increase, when F f1 ≤F e At that time, the force F c This is maintained to achieve dynamic compensation of the bucket's weight, thereby keeping the resistance at a set constant value.

[0071] Based on the above embodiments, controlling the opening of the loader's proportional valve to increase until the resistance is less than or equal to the critical resistance includes:

[0072] The opening of the proportional valve is gradually increased in preset increments until the resistance is less than or equal to the critical resistance.

[0073] In this embodiment, when it is determined that the resistance experienced by the bucket is greater than the critical resistance, the controller outputs a control command to the hydraulic system of the loader, causing the proportional valve to start working and the opening of the proportional valve to increase by an increment of Δ (pre-set). Then, it continues to collect the body tilt angle, boom angle, bucket angle, and hydraulic oil pressure to adjust the bucket's posture in real time and calculate the current resistance experienced by the bucket. Then, it compares whether the current resistance is less than or equal to the critical resistance. If not, it continues to adjust and cycle to achieve dynamic force compensation.

[0074] In this embodiment, the magnitude of the increment can be predetermined through experiments. Then, the opening of the proportional valve is gradually increased in increments to gradually compensate for the load weight of the bucket, avoiding excessive compensation that could affect the road cleaning effect and improving the user experience.

[0075] The loader control method according to the present invention further includes:

[0076] Obtain the activation signal for the obstacle clearing mode. The activation signal is generated when the obstacle clearing mode is selected via the loader's central control screen or control buttons.

[0077] Based on the activation signal, it is determined that the loader has entered the obstacle clearing mode.

[0078] In this embodiment, when the user enters the obstacle clearing mode via the display screen or control buttons, the bucket descends to its position and automatically levels itself under the action of the limit block, adjusting its posture to begin operation. At this time, by enabling the controller to obtain the obstacle clearing mode activation signal, and then determining that the loader has entered the obstacle clearing mode based on the activation signal, the controller can automatically acquire the body tilt angle, boom angle, bucket angle, and hydraulic oil pressure after the loader enters the obstacle clearing mode, thereby realizing automatic control of the loader after entering the obstacle clearing mode.

[0079] Figure 4 The specific process of controlling a loader using the loader control method provided in the above embodiments of the present invention is as follows: Figure 4 As shown, the process includes the following steps:

[0080] 401. Loader starts obstacle clearing mode;

[0081] 402. Real-time acquisition of machine tilt angle, boom angle, bucket angle, and hydraulic oil pressure;

[0082] 403. Determine if the bucket posture matches the vehicle posture; if it matches, proceed to step 4041; if it does not match, proceed to step 4042.

[0083] 4041. Determine the resistance experienced by the bucket in the direction parallel to the road surface in real time, and proceed to step 405;

[0084] 4042. Adjust the bucket position and return to step 403;

[0085] 405. Determine whether the resistance is greater than the critical resistance; if yes, proceed to step 4061; if no, proceed to step 4062.

[0086] 4061. Output gravity compensation command and proceed to step 407;

[0087] 4062. The bucket enters passive compliant control mode, and mechanical floating is used to clear the road surface;

[0088] 407. After the opening of the proportional valve is increased and a force perpendicular to the road surface is applied to the bucket, return to step 402.

[0089] The loader control method provided in the above embodiments of the present invention can maintain the bottom of the bucket in real time contact with the road surface through closed-loop control of the bucket posture. By performing gravity compensation through closed-loop force control of the bucket, the resistance experienced by the bucket is balanced. This not only makes the loader suitable for various harsh terrain scenarios, but also reduces the load and wear on the engine, avoids engine stalling due to uneven road surface or excessive friction on the bucket, reduces wear on the bucket's ground surface, and ensures the cleaning effect and efficiency of the road surface.

[0090] Based on the same general inventive concept, this invention also protects a loader control system. The loader control system provided by this invention will be described below. The loader control system described below can be referred to in correspondence with the loader control method described above.

[0091] Figure 5 This is a schematic diagram of the loader control system provided by the present invention, as shown below. Figure 5 As shown, the system includes: an angle sensor 510, a pressure sensor 520, and a controller 530; wherein,

[0092] Angle sensor 510 is used to detect the boom angle and bucket angle of the loader in real time after the loader enters the obstacle clearing mode. In order to improve the detection accuracy, an angle sensor is set at the hinge of the boom and the bucket of the loader in this embodiment.

[0093] The pressure sensor 520 is installed in the hydraulic line of the loader to detect the hydraulic oil pressure in the hydraulic line in real time after the loader enters the obstacle clearing mode.

[0094] The controller 530 is used to adjust the boom angle and bucket angle to target boom angle and target bucket angle respectively, which are the angles at which the bottom of the loader's bucket is in contact with the road surface; based on the target boom angle, target bucket angle and hydraulic oil pressure, it determines the resistance experienced by the bucket in the direction parallel to the road surface; and when the resistance is greater than the critical resistance, it provides the bucket with an upward force perpendicular to the road surface to reduce the resistance to less than or equal to the critical resistance, which is less than or equal to the maximum value of the resistance that allows the bucket to be in passive compliant control mode.

[0095] The loader control system provided in this embodiment of the invention first adjusts the boom angle and bucket angle to target angles so that the bottom of the bucket is in contact with the road surface after the loader enters the obstacle clearing mode. This allows the bottom of the bucket to be in real-time contact with the road surface, thereby improving the cleaning effect. Then, the hydraulic oil pressure in the loader's hydraulic lines is acquired. Based on the target boom angle, target bucket angle, and hydraulic oil pressure, the resistance experienced by the bucket in the direction parallel to the road surface is determined. When the resistance is greater than the critical resistance, an upward force perpendicular to the road surface is provided to the bucket to reduce the resistance to less than or equal to the critical resistance. This ensures that the resistance experienced by the bucket is kept at or below the maximum value of the resistance when the bucket is in passive compliant control mode. This not only avoids increasing the output load of the engine or even causing the engine to stall, but also reduces the wear of the area where the bucket contacts the road surface, and further ensures the cleaning effect of the loader on the road surface in obstacle clearing mode.

[0096] Based on the above embodiments, the loader control system further includes: a tilt sensor;

[0097] The tilt sensor is mounted on the loader's chassis base to obtain the loader's body tilt angle in real time;

[0098] The controller is also used to: determine the target boom angle and target bucket angle based on the fuselage tilt angle; and adjust the boom angle and bucket angle of the loader respectively based on the target boom angle and target bucket angle.

[0099] Optionally, the controller 530 is specifically used for:

[0100] The opening of the proportional valve controlling the loader is increased until the resistance is less than or equal to the critical resistance.

[0101] Based on the above embodiments, the controller 530 is more specifically used for:

[0102] The opening of the proportional valve is gradually increased in preset increments until the resistance is less than or equal to the critical resistance.

[0103] Optionally, the controller 530 is also used for:

[0104] Obtain the activation signal for the obstacle clearing mode. The activation signal is generated when the obstacle clearing mode is selected via the loader's central control screen or control buttons.

[0105] Based on the activation signal, it is determined that the loader has entered the obstacle clearing mode.

[0106] Based on the same general inventive concept, the present invention also protects a loader that includes a loader control system as provided in any of the above embodiments.

[0107] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640. The processor 610, communication interface 620, and memory 630 communicate with each other via the communication bus 640. The processor 610 can call logical instructions in the memory 630 to execute a loader control method. This method includes: after the loader enters the obstacle-clearing mode, adjusting the loader's boom angle and bucket angle to target boom angle and target bucket angle, which are angles that allow the bottom of the loader's bucket to contact the road surface; acquiring the hydraulic oil pressure in the loader's hydraulic lines; determining the resistance experienced by the bucket along the direction parallel to the road surface based on the target boom angle, target bucket angle, and hydraulic oil pressure; and when the resistance is greater than a critical resistance, providing the bucket with an upward force perpendicular to the road surface to reduce the resistance to less than or equal to the critical resistance, where the critical resistance is less than or equal to the maximum value of the resistance that allows the bucket to be in a passive compliant control mode.

[0108] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0109] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, the computer is able to execute the loader control method provided by the above methods, the method comprising: after the loader enters the obstacle clearing mode, adjusting the boom angle and bucket angle of the loader to target boom angle and target bucket angle respectively, the target boom angle and target bucket angle being the angle at which the bottom of the loader's bucket is in contact with the road surface; obtaining the hydraulic oil pressure in the hydraulic lines of the loader; determining the resistance experienced by the bucket in the direction parallel to the road surface based on the target boom angle, target bucket angle and hydraulic oil pressure; when the resistance is greater than the critical resistance, providing the bucket with an upward force perpendicular to the road surface to reduce the resistance to less than or equal to the critical resistance, the critical resistance being less than or equal to the maximum value of the resistance that allows the bucket to be in a passive compliant control mode.

[0110] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the loader control method provided by the above methods. The method includes: after the loader enters the obstacle clearing mode, adjusting the boom angle and bucket angle of the loader to target boom angle and target bucket angle respectively, the target boom angle and target bucket angle being the angle at which the bottom of the loader's bucket is in contact with the road surface; obtaining the hydraulic oil pressure in the loader's hydraulic lines; determining the resistance experienced by the bucket in the direction parallel to the road surface based on the target boom angle, target bucket angle, and hydraulic oil pressure; when the resistance is greater than the critical resistance, providing the bucket with an upward force perpendicular to the road surface to reduce the resistance to less than or equal to the critical resistance, the critical resistance being less than or equal to the maximum value of the resistance that allows the bucket to be in a passive compliant control mode.

[0111] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0112] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A loader control method characterized by, The method comprises: adjusting the boom angle and the bucket angle of the loader to target boom angle and target bucket angle respectively after the loader enters the obstacle removal mode, the target boom angle and the target bucket angle being angles at which the bottom of the bucket of the loader is in contact with the road surface; acquiring the hydraulic oil pressure in the hydraulic pipeline of the loader; determining the resistance of the bucket in a direction parallel to the road surface based on the target boom angle, the target bucket angle and the hydraulic oil pressure; When the resistance is greater than the critical resistance, the opening of the switch proportional valve of the loader is controlled to increase in units of preset increments, and the output force is output The bucket is lifted to compensate for the gravity of the bucket load, and after compensation, the resistance decreases to , wherein is the pressure sensor value after compensation, is the boom angle, is the bucket angle; comparison and the critical resistance , when , the force continues to increase, when , the force is maintained to achieve dynamic compensation of the bucket gravity; the critical resistance being less than or equal to the maximum value of the resistance at which the bucket is in a passive compliance control mode.

2. The loader control method of claim 1, wherein, The method further comprises: acquiring the body inclination angle of the loader in real time; determining the target boom angle and the target bucket angle based on the body inclination angle; adjusting the boom angle and the bucket angle of the loader based on the target boom angle and the target bucket angle respectively.

3. The loader control method of claim 1, wherein, The method further comprises: acquiring an opening signal of the obstacle removal mode, the opening signal being generated when the obstacle removal mode is selected through a central control screen or a control button of the loader; determining that the loader enters the obstacle removal mode based on the opening signal.

4. A loader control system characterized by, The loader control system for executing the method of any one of claims 1 to 3 comprises: an angle sensor for detecting the boom angle and the bucket angle of the loader in real time after the loader enters the obstacle removal mode; a pressure sensor for detecting the hydraulic oil pressure in the hydraulic pipeline of the loader in real time after the loader enters the obstacle removal mode; a controller for adjusting the boom angle and the bucket angle of the loader to target boom angle and target bucket angle respectively, the target boom angle and the target bucket angle being angles at which the bottom of the bucket of the loader is in contact with the road surface; determining the resistance of the bucket in a direction parallel to the road surface based on the target boom angle, the target bucket angle and the hydraulic oil pressure; and providing an upward force perpendicular to the road surface for the bucket to reduce the resistance to less than or equal to the critical resistance when the resistance is greater than the critical resistance, the critical resistance being less than or equal to the maximum value of the resistance at which the bucket is in a passive compliance control mode.

5. The loader control system of claim 4, wherein, The system further comprises: an inclination sensor for acquiring the body inclination angle of the loader in real time; the controller is further configured to determine the target boom angle and the target bucket angle based on the body inclination angle, and adjust the boom angle and the bucket angle of the loader based on the target boom angle and the target bucket angle respectively.

6. A loader characterized by The loader control system of claim 4 or 5 is included.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the loader control method of any one of claims 1 to 3.

8. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the loader control method of any one of claims 1 to 3.

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