Loader control methods, controllers, control systems, storage media, and loaders

Abstract

This disclosure provides a loader control method, controller, control system, storage medium, and loader, relating to the field of loaders. The control method includes: determining whether wheel slippage exists during loader digging operations; and, if wheel slippage exists, controlling the drive motor to reduce output torque and controlling the boom to lift.

Description

Technical Field

[0001] This disclosure relates to the field of loaders, and more particularly to a loader control method, controller, control system, storage medium, and loader. Background Technology

[0002] A loader is a large piece of construction machinery, frequently used in construction sites, mines, ports, and other similar locations. Loaders use a bucket and linkage mounted at the front to load materials such as earth, sand, and gravel into a loading vehicle, completing earthwork excavation, sand and gravel transportation, and loading / unloading operations.

[0003] In related technologies, wheeled loaders largely use internal combustion engines for their transmission systems. However, with the development of new energy technologies and the increasing emphasis placed on energy efficiency and the environment by various countries, pure electric loaders with electric motors as their drive system have been successively developed and mass-produced by various construction machinery manufacturers. Pure electric loaders are increasingly favored by the market due to their advantages of low operating costs, zero pollution, low noise, energy saving, and environmental protection, and their market application prospects are very broad.

[0004] When a traditional internal combustion engine-driven loader is digging, the driver often subconsciously presses the accelerator pedal harder to gain more digging force due to the resistance of the load, making wheel slippage a normal and common phenomenon. However, in a pure electric loader, wheel slippage may cause the motor controller to malfunction and stop the machine. In severe cases, it may even require a power interruption and restart to restore operation, seriously affecting the entire operation of the loader. Summary of the Invention

[0005] One technical problem this disclosure aims to solve is to provide a loader control method, controller, control system, storage medium, and loader that can reduce the risk of wheel slippage.

[0006] According to one aspect of this disclosure, a loader control method is proposed, comprising: determining whether the loader's wheels are slipping during digging operations; and, if the loader's wheels are slipping, controlling the drive motor to reduce its output torque and controlling the boom to lift.

[0007] In some embodiments, if the loader still experiences wheel slippage when the output torque of the drive motor decreases and the boom is raised, the gearbox is controlled to downshift to reduce the vehicle speed in response to a digging operation request.

[0008] In some embodiments, the boom is lowered before the transmission is lowered; and after the transmission is lowered, if the loader still experiences wheel slippage, and the output torque of the drive motor decreases and the number of boom lifts is less than a first threshold, the drive motor is lowered to reduce its output torque and the boom is lifted.

[0009] In some embodiments, controlling the drive motor to reduce its output torque includes: controlling the output torque of the drive motor to reduce to a first torque; and if the loader still experiences wheel slippage when the output torque of the drive motor is reduced to the first torque and the boom is raised to its highest position, then controlling the output torque of the drive motor to reduce to a torque threshold.

[0010] In some embodiments, controlling the output torque of the drive motor to decrease to a first torque includes: determining a torque reduction coefficient based on the wheel slip ratio; determining a first torque based on the torque reduction coefficient and the requested torque; and reducing the output torque of the drive motor based on the first torque.

[0011] In some embodiments, controlling boom lifting includes: controlling the extension of the boom cylinder based on the opening current of the control valve of the boom cylinder to lift the boom.

[0012] In some embodiments, if the loader still experiences wheel slippage when the output torque of the drive motor decreases and the boom is raised, the loader is controlled to perform an unloading operation in response to an unloading operation request.

[0013] In some embodiments, determining whether the loader is experiencing wheel slippage during digging operations includes: acquiring the loader's actual operating speed and wheel speed; determining the wheel slip ratio based on the actual operating speed and wheel speed; determining that the loader is experiencing wheel slippage if the slip ratio is greater than a second threshold; and determining that the loader is not experiencing wheel slippage if the slip ratio is less than or equal to the second threshold.

[0014] In some embodiments, obtaining the actual operating speed of the loader includes: obtaining the actual operating speed using a GPS sensor; obtaining the wheel speed includes: obtaining the wheel speed using a wheel speed sensor; or determining the wheel speed based on the loader's gear signal.

[0015] According to another aspect of this disclosure, a loader controller is also proposed, comprising: a judgment module configured to determine whether wheel slippage exists in the loader during digging operations; and a control module configured to control the drive motor to reduce the output torque and control the boom to lift when wheel slippage exists in the loader.

[0016] According to another aspect of this disclosure, a loader controller is also proposed, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the loader control method as described above based on instructions stored in the memory.

[0017] According to another aspect of this disclosure, a loader control system is also provided, comprising: the loader controller described above; an electric drive system configured to control the motor to reduce torque according to a command from the loader controller to reduce the output torque of the drive motor; and a working hydraulic device configured to control the boom cylinder to extend to lift the boom according to a command from the loader controller to lift the boom.

[0018] In some embodiments, the transmission actuator is configured to downshift the transmission according to a downshift command from the loader controller; the GPS sensor is configured to send a signal related to the actual operating speed of the loader to the loader controller; and the wheel speed sensor is configured to send a signal related to the wheel speed to the loader controller.

[0019] According to another aspect of this disclosure, a loader is also provided, comprising: the loader controller described above; or the loader control system described above.

[0020] According to another aspect of this disclosure, a computer-readable storage medium is also proposed, on which computer program instructions are stored, which, when executed by a processor, implement the loader control method as described above.

[0021] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0022] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0023] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0024] Figure 1 This is a schematic flowchart of some embodiments of the loader control method disclosed herein;

[0025] Figure 2 The following are schematic flowcharts illustrating other embodiments of the loader control method disclosed herein;

[0026] Figure 3 The following are schematic flowcharts illustrating other embodiments of the loader control method disclosed herein;

[0027] Figure 4 The following are schematic flowcharts illustrating other embodiments of the loader control method disclosed herein;

[0028] Figure 5 This is a schematic diagram of the structure of some embodiments of the loader controller disclosed herein;

[0029] Figure 6 Schematic diagrams of other embodiments of the loader controller disclosed herein;

[0030] Figure 7 This is a schematic diagram of the structure of some embodiments of the loader control system disclosed herein;

[0031] Figure 8 This is a schematic diagram of the structure of some other embodiments of the loader control system disclosed herein. Detailed Implementation

[0032] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0033] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0034] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0035] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0036] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0037] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0038] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0039] In related technologies, when a pure electric loader experiences slippage, it often relies on the driver to manually avoid it. This method easily increases the complexity of the driver's operation and makes it difficult to adapt to road conditions and other factors in real time. Preventing and reducing slippage of loaders during operation and improving the stability and safety of digging work is a problem that urgently needs to be solved.

[0040] Figure 1This is a flowchart illustrating some embodiments of the loader control method disclosed herein, which are executed by a loader controller, such as a safety control unit.

[0041] In step 110, it is determined whether the loader's wheels are slipping during the digging operation.

[0042] In some embodiments, the loader is a wheel loader, such as an electric wheel loader. The loader includes a gearbox.

[0043] In some embodiments, wheel slippage is determined based on the wheel slip ratio of the loader. For example, if the slip ratio is greater than a threshold, it indicates that the loader is slipping, and the loader controller should adopt appropriate control strategies to prevent slippage.

[0044] In step 120, if the loader's wheels slip, the drive motor is controlled to reduce its output torque, and the boom is controlled to lift.

[0045] In some embodiments, the output torque control of the drive motor is achieved through an electric drive system. For example, the electric drive system includes a motor controller and a drive motor. By adjusting the torque output to the motor controller, the output power of the drive motor is reduced, thereby reducing the output torque of the drive motor.

[0046] When a loader is scooping up material and gets stuck and slips, the wheels will rotate faster. The force applied to the wheels is greater than the reaction force from the road surface. Therefore, reducing the motor torque and the driving force on the wheels will change the friction between the wheels and the ground, thereby reducing the risk of wheel slippage and also preventing wheel wear.

[0047] In some embodiments, the boom is raised by controlling the working hydraulic system. After the boom is raised, the resistance between the bucket and the material is reduced, thereby reducing the risk of wheel slippage and ensuring that the loader does not slip when digging for material.

[0048] In the above embodiments, by controlling the drive motor to reduce the output torque and controlling the boom lifting, the risk of wheel slippage can be reduced, thereby improving the operating efficiency and safety of the loader under different terrains and working conditions.

[0049] Figure 2 This is a flowchart illustrating another embodiment of the loader control method disclosed herein, which is executed by a loader controller.

[0050] In step 110, it is determined whether the loader's wheels are slipping during the digging operation.

[0051] In step 120, if the loader's wheels slip, the drive motor is controlled to reduce its output torque, and the boom is controlled to lift.

[0052] In some embodiments, the output torque of the drive motor is controlled to be reduced to a first torque; if the wheel slippage of the loader still occurs when the output torque of the drive motor is reduced to the first torque and the boom is raised to the highest position, the output torque of the drive motor is controlled to be reduced to a torque threshold.

[0053] In some embodiments, a torque reduction coefficient is determined based on the wheel slip ratio, a first torque is determined based on the torque reduction coefficient and the requested torque, and the output torque of the drive motor is reduced based on the first torque.

[0054] In this embodiment, the driver's torque requests are limited. For example, the driver's throttle opening requests are no longer fully responded to; instead, a torque reduction coefficient is multiplied by the current torque to prevent the driver from subconsciously pressing the accelerator too hard, which would exacerbate vehicle slippage. After determining the wheel slip ratio, the current torque reduction coefficient is determined based on the correspondence between the slip ratio and the torque reduction coefficient, which is obtained, for example, by looking up a table. The value of this torque reduction coefficient is, for example, greater than or equal to 40% and less than 100%.

[0055] In some embodiments, the extension of the boom cylinder is controlled based on the opening current of the control valve of the boom cylinder to lift the boom.

[0056] For example, the loader controller outputs lifting control commands to the boom. The current to the solenoid proportional valve in the boom cylinder is the valve's opening current, ensuring the boom can be raised slowly and avoiding excessive speed. The solenoid proportional valve can only open after the input current reaches a predetermined current; that is, the opening current is the minimum current that the solenoid proportional valve can open. Because the current is not input to the solenoid proportional valve from zero, the opening time of the solenoid proportional valve can be improved.

[0057] In some embodiments, when the boom is raised to its highest position, the system determines whether the boom has been raised to its highest position by detecting whether the boom cylinder is fully extended.

[0058] In step 230, it is determined whether the loader still has wheel slippage.

[0059] In step 240, if the loader still has wheel slippage, in response to the digging operation request, the transmission is controlled to downshift to reduce the vehicle speed.

[0060] In some embodiments, the boom is lowered before the gearbox is downshifted. Since the boom has been raised in step 120 and the bucket has disengaged from the cargo, the boom needs to be lowered so that the bucket contacts the cargo again if digging is to be performed again.

[0061] In some embodiments, if the loader is still slipping when the output torque of the drive motor decreases to the torque threshold and the boom cylinders are fully extended, the control display outputs a signal prompting the driver to select either "Unload" or "Re-dig". If the driver selects the "Re-dig" option, the loader controller sends a signal to the transmission actuator and simultaneously outputs a control signal to lower the boom. The transmission actuator shifts the transmission to neutral, and the boom lowers. Then, the transmission actuator sends a reverse signal to make the loader travel a certain distance before returning to neutral. The loader controller then downshifts one gear from the previous forward gear and outputs a shift signal to the transmission actuator to reduce the loader's speed.

[0062] When a vehicle slips, the wheels spin idly, resulting in a significant amount of wasted energy. Therefore, by downshifting the transmission and reducing the vehicle speed, the energy waste caused by this wasted energy during slippage can be reduced, thus lowering the energy consumption required for material transport and saving operating costs. Furthermore, the reduced speed increases the motor's output torque, resulting in stronger power. When the loader resumes digging, it's desirable to start with stronger power, hence the increased torque, enabling the loader to perform another digging action.

[0063] In the above embodiment, by adjusting the loader's torque output in real time, changing the resistance between the bucket and the material, and adjusting the loader's speed, the risk of wheel slippage is reduced. Furthermore, adjusting the loader's speed reduces the occurrence of motor controller malfunctions, ensuring smooth operation of the loader. Additionally, this embodiment reduces the risk of tire wear and machine damage, lowers maintenance and downtime, and improves the loader's working efficiency.

[0064] In some embodiments, after controlling the gearbox to downshift, if the loader still experiences wheel slippage, and the output torque of the drive motor decreases and the number of boom lifts is less than a first threshold, then the drive motor is controlled to reduce its output torque and the boom is controlled to lift.

[0065] For example, if the loader has already performed an anti-slip operation—limiting motor torque, controlling boom lifting, and downshifting the gearbox—then digging operations are permitted again. If slippage occurs, torque is again limited and boom lifting is controlled. If slippage still exists, there's no need to attempt to eliminate slippage again. The operator then moves the loader to the unloading point to perform the unloading operation. This completes the digging and unloading cycle for the slippage incident, ensuring the overall system efficiency is not significantly affected.

[0066] In some embodiments, if the loader still experiences wheel slippage when the output torque of the drive motor decreases and the boom is raised, the loader is controlled to perform an unloading operation in response to an unloading operation request.

[0067] For example, if the loader is still slipping when the output torque of the drive motor drops to the torque threshold and the boom cylinders are fully extended, the control display will output a signal prompting the driver to choose between "unload" or "dig again". If the driver selects the "unload" option, the driver will operate the loader to the unloading point to perform the unloading operation, and the digging and unloading operation will be completed.

[0068] Figure 3 This is a flowchart illustrating another embodiment of the loader control method disclosed herein, which is executed by a loader controller.

[0069] In step 310, the actual operating speed and wheel speed of the loader are obtained.

[0070] In some embodiments, a GPS (Global Positioning System) sensor is used to obtain the actual operating speed. This GPS sensor is mounted on the roof of the loader and is used to measure the loader's actual operating speed V1 (km / h). If the GPS sensor transmits a frequency signal, the manufacturer will provide a pre-defined conversion relationship between frequency and speed. After receiving the frequency signal, the loader controller converts the frequency signal to obtain the actual speed.

[0071] In some embodiments, a wheel speed sensor is used to acquire the wheel speed. This wheel sensor, such as a photoelectric encoder, is mounted on the steering tie rod at the wheel end. The circular surface of the wheel hub is divided into X equal parts, each covered with reflective material. The wheel speed sensor detects the number of reflective materials as the wheel rotates and sends a count to the loader controller, for example, by sending a frequency signal f2. The loader controller calculates the wheel speed V2 using the formula V2(km / h) = 2 * 3.14 * R * 3.6 * f2 / X, where R is the tire rolling radius, f2 is the frequency value sent by the wheel speed sensor, and the larger the value of X, the more accurate the calculated V2. In some embodiments, X is, for example, 50.

[0072] In some embodiments, wheel speed is determined based on the loader's gear position signal. In this embodiment, wheel speed sensors are not required; instead, the gear position information from the transmission is used to determine the wheel speed. For example, wheel speed V2 = 0.377*n*R / (ig*i0), where n is the motor speed, R is the tire rolling radius, ig is the gear ratio of the transmission, and i0 is the total reduction ratio of the rear axle. The loader obtains n via the CAN (Controller Area Network) bus.

[0073] The loader controller can obtain the gear ratio of each gear in the transmission and the motor speed. By obtaining the gear ratio of each gear in the transmission and the motor speed, the speed of the transmission output shaft can be obtained. Based on the vehicle structure and the rear axle reduction ratio, the wheel speed can be calculated.

[0074] In this step, the GPS sensor and wheel speed sensor convert the detected data into electrical signals and send them to the loader controller for analysis. Since the GPS sensor and wheel speed sensor are affected by vibration and excitation, signal filtering methods and data processing techniques are required to reduce interference.

[0075] In step 320, the wheel slip ratio is determined based on the actual running speed and wheel speed.

[0076] In some embodiments, the ratio of the difference between the wheel speed and the actual operating speed to the wheel speed is the slip ratio.

[0077] In step 330, if the slip ratio is greater than the second threshold, it is determined that the loader is experiencing wheel slippage.

[0078] For example, the slip ratio Sr = (V2-V1) / V2, and the slip ratio Sr does not exceed 20%. When Sr is greater than 20%, the loader controller determines that the loader is in a slipping state and then takes corresponding control strategies to prevent the wheels from slipping.

[0079] In step 340, if the slip ratio is less than or equal to the second threshold, it is determined that there is no wheel slippage on the loader.

[0080] In the above embodiment, the signal of the wheel losing traction is detected by the actual operating speed of the loader and the wheel speed, and then the slip rate of the vehicle is calculated. The calculated slip rate is compared with a threshold to determine whether the loader is in a wheel slipping state.

[0081] Figure 4 This is a flowchart illustrating some other embodiments of the loader control method disclosed herein.

[0082] In step 410, relevant signals are acquired.

[0083] For example, collecting data from various sensors.

[0084] In step 420, the signal is smoothed.

[0085] In step 430, signal acquisition and calculation are performed.

[0086] In step 440, the slip ratio is calculated.

[0087] In step 450, it is determined whether the loader is slipping. If so, step 4140 is executed; otherwise, step 460 is executed.

[0088] In step 460, the torque is limited and the boom is controlled to lift slowly.

[0089] In step 470, it is determined whether a slippage operation has been performed. If so, step 4140 is executed; otherwise, step 480 is executed.

[0090] In step 480, determine whether the slippage phenomenon has been eliminated. If yes, proceed to step 4140; otherwise, proceed to step 490.

[0091] In step 490, the torque is reduced to the torque threshold, and the boom cylinder is fully extended.

[0092] In step 4100, it is determined whether the slippage phenomenon has been eliminated. If so, step 4140 is executed; otherwise, step 4110 is executed.

[0093] In step 4110, the driver is prompted by the display screen to perform either "unload" or "dig again". If unloading is performed, step 4140 is performed; if digging is performed, step 4120 is performed.

[0094] In step 4120, the gearbox is downshifted and the vehicle speed is reduced before the digging operation is carried out.

[0095] The transmission actuator returns to neutral, and the boom lowers simultaneously. The transmission actuator then sends a reverse signal, causing the loader to travel a certain distance before returning to neutral again. It then downshifts one gear from the previous forward gear to reduce the loader's speed and resumes the digging action. If no slippage occurs subsequently, it indicates that the slip ratio has returned to normal, and the loader can then perform normal digging and unloading operations.

[0096] In step 4130, determine whether the slippage phenomenon has been eliminated. If yes, proceed to step 4140; otherwise, proceed to step 460.

[0097] In step 4140, the driver operates the loader to the unloading point to unload the material, thus completing the digging and unloading operation.

[0098] In the above embodiments, the motor control and boom cylinder work together, combined with gear control measures to prevent slippage. The entire process can be automated, assisting the driver in safe and reliable operation, reducing the driver's workload, improving the stability and reliability of the entire system, reducing the risk of accidents, achieving the optimal operating state of the loader, meeting the operational needs of loaders of different sizes and types, and having broad application prospects.

[0099] Figure 5 This is a schematic diagram of the structure of some embodiments of the loader controller disclosed herein, which includes a judgment module 510 and a control module 520.

[0100] The judgment module 510 is configured to determine whether the loader's wheels are slipping during digging operations.

[0101] In some embodiments, the actual operating speed and wheel speed of the loader are obtained; the wheel slip ratio is determined based on the actual operating speed and wheel speed; if the slip ratio is greater than a second threshold, it is determined that the loader has wheel slippage; and if the slip ratio is less than or equal to the second threshold, it is determined that the loader does not have wheel slippage.

[0102] For example, the actual operating speed can be obtained via GPS. Wheel speed sensors can be used to obtain wheel speed; or the wheel speed can be determined based on the loader's gear signal.

[0103] The control module 520 is configured to control the drive motor to reduce the output torque and control the boom to lift when the loader's wheels slip.

[0104] In some embodiments, the output torque of the drive motor is controlled to decrease to a first torque; and if the loader still experiences wheel slippage when the output torque of the drive motor decreases to the first torque and the boom is raised to the highest position, the output torque of the drive motor is controlled to decrease to a torque threshold.

[0105] Based on the wheel slip ratio, determine the torque reduction coefficient; based on the torque reduction coefficient and the requested torque, determine the first torque; and based on the first torque, reduce the output torque of the drive motor.

[0106] In some embodiments, the control module 520 is further configured to, in response to a digging operation request, control the gearbox to downshift to reduce the vehicle speed if the loader's wheels still slip when the output torque of the drive motor decreases and the boom is raised.

[0107] The control module 520 is also configured to control the boom to descend before controlling the gearbox to downshift; and after controlling the gearbox to downshift, if the loader still experiences wheel slippage, and the output torque of the drive motor decreases and the number of boom lifts is less than a first threshold, then control the drive motor to reduce its output torque and control the boom to lift.

[0108] In some embodiments, the extension of the boom cylinder is controlled based on the opening current of the control valve of the boom cylinder to raise the boom. This reduces the risk of tire wear and machine damage, decreases maintenance and downtime, and improves the loader's working efficiency.

[0109] In the above embodiments, when the loader experiences wheel slippage, the drive motor is controlled to reduce its output torque, and the boom is controlled to lift. This solves the problem of wheel slippage that may occur when the pure electric loader is performing digging work, reduces the occurrence of motor controller malfunctions, and ensures smooth operation of the loader.

[0110] Figure 6 The diagram below illustrates the structure of another embodiment of the loader controller 600 disclosed herein. The loader controller 600 includes a memory 610 and a processor 620. The memory 610 may be a disk, flash memory, or any other non-volatile storage medium. The memory 610 is used to store instructions from the embodiments described above. The processor 620 is coupled to the memory 610 and may be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 620 is used to execute the instructions stored in the memory.

[0111] In some embodiments, the processor 620 is coupled to the memory 610 via a BUS bus 630. The loader controller 600 can also be connected to an external storage device 650 via a storage interface 640 to access external data, and can also be connected to a network or another computer system (not shown) via a network interface 660, which will not be described in detail here.

[0112] In this embodiment, data instructions are stored in a memory and then processed by a processor, which reduces the risk of wheel slippage and improves the operating efficiency and safety of the loader under different terrains and working conditions.

[0113] Figure 7 This is a schematic diagram of the structure of some embodiments of the loader control system disclosed herein. The loader control system includes the loader controller 600 in the above embodiments, as well as an electric drive system 710 and a working hydraulic device 720. The loader controller 600, as the signal processing device of the entire system, is the main device for managing and processing data provided by sensors. The loader controller 600 has been described in detail in the above embodiments and will not be further elaborated here.

[0114] The electric drive system 710 is configured to control the motor to reduce torque according to the loader controller's command to reduce the output torque of the drive motor.

[0115] The electric drive system consists of a motor and a motor controller, which provides power to the loader. The motor controller responds to torque request signals sent by the loader controller via a CAN bus and also feeds back the motor's speed to the loader controller via the CAN bus. The motor's output shaft is splined to the gearbox's input shaft, thus transmitting power to the front and rear axles to drive the vehicle.

[0116] The working hydraulic unit 720 is configured to control the extension of the boom cylinder to lift the boom according to the boom lifting command of the loader controller.

[0117] The working hydraulic unit is equipped with a multi-way valve that receives current signals from the loader controller. By controlling the opening degree of the valves, it controls the flow rate of the hydraulic system, thereby achieving the extension and retraction of the boom cylinder and bucket cylinder. This working hydraulic unit and the steering hydraulic system share a large-displacement gear pump.

[0118] In the above embodiments, the electric drive system and the working hydraulic device cooperate with each other to automatically adjust the torque output and boom lifting of the loader, reduce the risk of slippage, reduce the risk of accidents, reduce the occurrence of motor controller malfunctions, and ensure smooth operation of the loader.

[0119] In some embodiments of this disclosure, such as Figure 8 As shown, the loader control system also includes a gearbox actuator 810, configured to downshift the gearbox according to a downshift command from the loader controller.

[0120] Pure electric loaders typically lack the gearbox found in traditional fuel-powered loaders, operating directly through a motor-driven transmission system. This approach is simple in structure and easy to implement. In this embodiment, a gearbox is introduced into the control system to adjust and optimize the motor's efficiency distribution. By adjusting the speed ratio, the motor's operating point is positioned more frequently within its high-efficiency range, saving on motor costs, improving performance, and better meeting the requirements for climbing slopes. Adjusting the loader's speed and torque output via the gearbox not only provides more flexible speed regulation but also improves transmission efficiency, resulting in more flexible and efficient power distribution and usage.

[0121] In some embodiments, the loader control system further includes a GPS sensor 820 configured to send a signal related to the actual operating speed of the loader to the loader controller.

[0122] The GPS sensor, mounted on the roof of the loader, obtains the loader's actual operating speed and sends the data to the loader controller to determine if the loader is slipping. The GPS sensor can also transmit frequency signals, with a correlation between frequency and vehicle speed. Based on this correlation, the loader controller can determine the loader's actual operating speed.

[0123] In some embodiments, the loader control system further includes a wheel speed sensor 830, configured to send a wheel speed-related signal to the loader controller.

[0124] The wheel speed sensor is installed at the wheel end to obtain the real-time speed of the wheel and send the obtained data to the loader controller to determine whether the loader is slipping.

[0125] By detecting whether the loader is slipping and executing corresponding control strategies when slippage occurs, the risk of wheel slippage can be reduced, as can the risk of tire wear and machine damage. This, in turn, can reduce maintenance and downtime, and improve the loader's working efficiency. Furthermore, through intelligent control algorithms and real-time adjustment of motor torque output, energy waste caused by wasted effort during slippage can be reduced, lowering the energy consumption required for material transportation and saving operating costs.

[0126] In other embodiments of this disclosure, a loader is also protected, which is an electric loader, specifically a wheeled electric loader. This loader includes the loader controller or loader control system described in the above embodiments. It can prevent or reduce wheel slippage, improve the loader's traction capability, and enhance its operational stability.

[0127] In other embodiments, a computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the steps of the methods described above. Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, apparatus, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0128] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0129] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0130] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0131] This concludes the detailed description of the present disclosure. To avoid obscuring the concept of the disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0132] While specific embodiments of this disclosure have been described in detail by way of example, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A loader control method, comprising: Determine if the loader's wheels are slipping during digging operations; If the loader experiences wheel slippage, the drive motor is controlled to reduce its output torque, and the boom is controlled to lift. If the output torque of the drive motor decreases and the boom is raised, and the loader still experiences wheel slippage, then in response to a request for another digging operation, the transmission is shifted to neutral, the boom is lowered, the transmission is then shifted to reverse to allow the loader to travel a certain distance, the transmission is returned to neutral, and the transmission is downshifted from the gear it was in before the request for another digging operation to reduce the vehicle speed.

2. The loader control method according to claim 1 further includes: If, after controlling the gearbox to downshift, the loader still experiences wheel slippage, and the output torque of the drive motor decreases and the number of boom lifts is less than a first threshold, then the drive motor is controlled to reduce its output torque and the boom is controlled to lift.

3. The loader control method according to claim 1, wherein, Controlling the drive motor to reduce output torque includes: Controlling the output torque of the drive motor to decrease to a first torque; and If the loader still experiences wheel slippage when the output torque of the drive motor is reduced to a first torque and the boom is raised to its highest position, then the output torque of the drive motor is controlled to be reduced to a torque threshold.

4. The loader control method according to claim 3, wherein, Controlling the output torque of the drive motor to decrease to a first torque includes: The torque reduction coefficient is determined based on the slip ratio of the wheel. The first torque is determined based on the torque reduction coefficient and the requested torque; and Based on the first torque, the output torque of the drive motor is reduced.

5. The loader control method according to claim 1, wherein, Controlling the lifting of the boom includes: The extension of the boom cylinder is controlled by the opening current of the control valve of the boom cylinder to lift the boom.

6. The loader control method according to claim 1 further includes: If the loader still experiences wheel slippage when the output torque of the drive motor decreases and the boom is raised, the loader is controlled to perform an unloading operation in response to the unloading operation request.

7. The loader control method according to any one of claims 1 to 6, wherein, Determining whether the loader experiences wheel slippage during digging operations includes: Obtain the actual operating speed and wheel speed of the loader; The slip ratio of the wheel is determined based on the actual operating speed and wheel speed. If the slip ratio is greater than a second threshold, it is determined that the loader is experiencing wheel slippage; and If the slip ratio is less than or equal to the second threshold, it is determined that the loader does not have wheel slippage.

8. The loader control method according to claim 7, wherein, Obtaining the actual operating speed of the loader includes: The actual operating speed is obtained using GPS sensors; Obtaining the wheel speed includes: The wheel speed is obtained using a wheel speed sensor; or The wheel speed is determined based on the gear position signal of the loader.

9. A loader controller, comprising: The judgment module is configured to determine whether the loader's wheels are slipping during digging operations; as well as The control module is configured to, in the event of wheel slippage of the loader, control the drive motor to reduce the output torque and control the boom to lift. If wheel slippage still exists on the loader when the output torque of the drive motor is reduced and the boom is lifted, then, in response to a request for another digging operation, control the transmission to shift to neutral and control the boom to lower. Subsequently, control the transmission to engage reverse gear to make the loader travel a certain distance, control the transmission to return to neutral, and control the transmission to downshift from the gear position before the request for another digging operation to reduce the vehicle speed.

10. A loader controller, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the loader control method as described in any one of claims 1 to 8 based on instructions stored in the memory.

11. A loader control system, comprising: The loader controller as described in claim 9 or 10; The electric drive system is configured to control the motor to reduce torque according to the loader controller's command to reduce the output torque of the drive motor; as well as The working hydraulic device is configured to control the boom cylinder to extend in accordance with the boom lifting command of the loader controller, so as to lift the boom.

12. The loader control system according to claim 11, further comprising at least one of the following: The transmission actuator is configured to downshift the transmission gear according to the downshift command from the loader controller; A global positioning system sensor is configured to send a signal to the loader controller that is related to the actual operating speed of the loader. A wheel speed sensor is configured to send a signal related to the wheel speed to the loader controller.

13. A loader, comprising: The loader controller as described in claim 9 or 10; or The loader control system as described in claim 11 or 12.

14. A computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the loader control method as described in any one of claims 1 to 8.

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