An automatic loading control method, device and loader

Abstract

An embodiment of the present invention discloses an automatic loading control method, device and loader. The method includes: controlling, by a controller, the boom to be at the height of the first loading preparation position and adjusting the bucket to be in a horizontal state; driving, by the controller at the height of the first loading preparation position, the loader to move towards the direction where the material is located through the travel system, and detecting the distance between the loader and the material in real time through a dual-line lidar; when the distance is within the control range, obtaining the slope of the material pile through the dual-line lidar, obtaining the particle size of the material through an image recognition unit, and determining the height of the second loading preparation position according to the slope of the material pile, the particle size of the material and a preset full-bucket rate; controlling, by the controller, the boom to move from the height of the first loading preparation position to the height of the second loading preparation position, and controlling the bucket and the boom to lift and close the bucket in accordance with a preset action sequence at the height of the second loading preparation position so as to complete the material loading, ensuring the full-bucket rate of loading, reducing the material loading cost and improving the material loading efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic loading, and particularly to an automatic loading control method, device, and loader. Background Art

[0002] A loader is a widely used earthmoving machine mainly for short-distance transfer of materials. When the loader is operating, the operation of shoveling materials into the bucket is a very important step, which directly affects the full-bucket rate and working efficiency of the loader. Material loading refers to the bucket-closing action after the bucket is inserted into the material pile and the boom-lifting action coordinated with the bucket-closing action.

[0003] In the prior art, the loading operation is usually realized by automatic loading technology or the loader driver manually operating the loader. Specifically, the existing automatic loading technology usually places the bucket flat on the ground and then shifts the gear to the forward gear. After detecting that the bucket contacts the material, the bucket is inserted into the material pile, and multiple bucket-closing and boom-lifting actions are performed according to the preset loading action parameters until the bucket is closed to the limit position and the boom is lifted to the preset height.

[0004] However, when the loader driver operates the loader for loading operations, it is necessary to operate the control handles of the bucket and the boom several times to complete one loading operation. The loading operation has high requirements for the driver's technical level, the driver's operation intensity is too high, and the cost is high. Secondly, for various loading conditions, the existing technology sets the bucket in a flat state on the ground and performs the loading action through the flat bucket on the ground, resulting in poor control of the full-bucket rate required for the loading action. Finally, since the loading action parameters corresponding to the existing automatic loading technology are relatively fixed, the adaptability to the loading conditions is not strong. Summary of the Invention

[0005] The present invention provides an automatic loading control method, device, and loader, which ensure the full-bucket rate of loading, reduce the material loading cost, and improve the material loading efficiency.

[0006] In a first aspect, an embodiment of the present invention provides an automatic loading control method, which is applied to a loader. The loader includes a bucket, a boom, a controller, a dual-line lidar, an image recognition unit, and a traveling system. The method includes:

[0007] Controlling, by the controller, the boom to be at the height of the first loading preparation position and adjusting the bucket to be in a horizontal state;

[0008] At the height of the first loading preparation position, controlling, by the controller, the traveling system to drive the loader to travel in the direction of the material, and real-time detecting, by the dual-line lidar, the distance between the loader and the material;

[0009] When it is determined that the distance is within the operation range, obtain the slope of the material pile through a dual-line lidar, obtain the particle size of the material through an image recognition unit, and determine the height of the second loading preparation position according to the slope of the material pile, the particle size of the material, and a preset full-bucket rate;

[0010] Control the boom to adjust from the height of the first loading preparation position to the height of the second loading preparation position through a controller, and control the bucket and the boom to lift and close the bucket according to a preset action sequence at the height of the second loading preparation position to complete the material loading.

[0011] Optionally, the traveling system includes a traveling motor and a traveling motor controller. Controlling the loader to travel in the direction of the material through the traveling system includes:

[0012] Obtain the vehicle speed of the loader and determine a preset limit vehicle speed according to the preset full-bucket rate;

[0013] If the vehicle speed is greater than the preset limit vehicle speed, send a torque change instruction to the traveling motor controller through the controller so that the traveling motor controller reduces the driving torque corresponding to the traveling motor according to the torque change instruction until the vehicle speed is equal to the preset limit vehicle speed;

[0014] Control the loader to travel in the direction of the material according to the preset limit vehicle speed.

[0015] Optionally, the dual-line lidar includes a first laser transceiver module and a second laser transceiver module. Obtaining the slope of the material pile through the dual-line lidar includes:

[0016] When the dual-line lidar detects the material, obtain the first distance between the loader and the material through the first laser transceiver module, and obtain the second distance between the loader and the material through the second laser transceiver module;

[0017] Obtain the difference between the first distance and the second distance, and determine the slope of the material pile according to the difference.

[0018] Optionally, determining the height of the second loading preparation position according to the slope of the material pile, the particle size of the material, and the preset full-bucket rate includes:

[0019] When the particle size of the material is greater than or equal to the preset particle size value, obtain the position of the boom when the bucket is placed flat on the ground and the preset height position, determine the target position height between the position of the boom and the preset height position, and use the target position height as the height of the second loading preparation position;

[0020] When the particle size of the material is less than the preset particle size value and the slope of the material pile is greater than or equal to the preset slope value, determine the height of the second loading preparation position according to the preset full-bucket rate and a preset calibration table under the slope of the material pile, where the preset calibration table includes the corresponding relationship between the preset full-bucket rate and the height of the second loading preparation position.

[0021] Optionally, the loader further includes a pressure sensor and a boom cylinder;

[0022] Before controlling the bucket and the boom to lift and close the bucket according to a preset action sequence, it further includes:

[0023] Obtaining the pressure change amount of the large chamber of the boom cylinder through the pressure sensor;

[0024] If the pressure change amount is greater than or equal to a preset pressure value, trigger the automatic loading control program.

[0025] Optionally, the loader further includes a working device position sensor, a hydraulic system, a boom solenoid valve group, and a bucket solenoid valve group;

[0026] Controlling the bucket and the boom to lift and close the bucket according to a preset action sequence at the height of the second loading preparation position to complete the material loading, including:

[0027] Executing the automatic loading control program through the controller to adjust the current corresponding to the boom solenoid valve group to achieve boom lifting;

[0028] Obtaining the current boom height in real time through the working device position sensor, and determining the boom lifting height according to the current boom height and the height of the second loading preparation position;

[0029] If the boom lifting height is greater than or equal to a preset lifting distance, adjust the current corresponding to the bucket solenoid valve group through the controller to achieve bucket closing;

[0030] Sequentially repeat the actions of boom lifting and bucket closing until the material loading is completed.

[0031] Optionally, sequentially repeating the actions of boom lifting and bucket closing until the material loading is completed, including:

[0032] Obtaining the bucket closing angle and the boom lifting height in real time through the working device position sensor. If the bucket closing angle is less than a preset closing angle, perform torque increasing control on the loader through the travel motor to insert the bucket into the material pile;

[0033] If the boom lifting height is less than a preset lifting height, increase the output power corresponding to the hydraulic system to achieve boom lifting.

[0034] Optionally, the loader includes a rotational speed sensor; the method further includes:

[0035] Obtaining the rotational speeds of each wheel through the rotational speed sensor, and determining whether the loader is in a slipping state according to the difference between the rotational speeds of each wheel and a preset rotational speed difference;

[0036] If the loader is in a slipping state, intermittent torque increase control is performed on the loader through the travel motor at a preset interval.

[0037] Through the controller, at a preset interval, the currents corresponding to the boom solenoid valve group and the bucket solenoid valve group are adjusted to reduce the tunneling resistance.

[0038] In a second aspect, an embodiment of the present invention further provides an automatic loading control device applied to a loader. The loader includes a bucket, a boom, a controller, a dual-line lidar, an image recognition unit, and a travel system. The device includes:

[0039] An initial state determination module for controlling the boom to be at the height of the first loading preparation position through the controller and adjusting the bucket to be in a horizontal state.

[0040] A loader movement module for driving the loader to travel in the direction of the material through the controller at the height of the first loading preparation position and detecting the distance between the loader and the material in real time through the dual-line lidar.

[0041] A loading height determination module for obtaining the pile slope through the dual-line lidar, obtaining the particle size of the material through the image recognition unit, and determining the height of the second loading preparation position according to the pile slope, the particle size of the material, and a preset full bucket rate when it is determined that the distance is within the control range.

[0042] A material loading module for controlling the boom to be adjusted from the height of the first loading preparation position to the height of the second loading preparation position through the controller and controlling the bucket and the boom to lift and close the bucket in a preset action sequence at the height of the second loading preparation position to complete the material loading.

[0043] In a third aspect, an embodiment of the present invention further provides a loader, which includes:

[0044] At least one processor; and

[0045] A memory communicatively connected to the at least one processor; wherein,

[0046] The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the automatic loading control method provided in any embodiment of the present invention.

[0047] An embodiment of the present invention provides an automatic loading control method, device, and loader. The method includes: controlling, by a controller, the boom to be at a first loading preparation position height and adjusting the bucket to be in a horizontal state; at the first loading preparation position height, controlling, by the controller, the traveling system to drive the loader to move towards the direction where the material is located, and detecting, in real time by a dual-line lidar, the distance between the loader and the material; when it is determined that the distance is within the control range, obtaining, by the dual-line lidar, the slope of the material pile, obtaining, by an image recognition unit, the particle size of the material, and determining, according to the slope of the material pile, the particle size of the material, and a preset full-bucket rate, a second loading preparation position height; controlling, by the controller, the boom to be adjusted from the first loading preparation position height to the second loading preparation position height, and at the second loading preparation position height, controlling the bucket and the boom to lift and close the bucket according to a preset action sequence to complete the material loading technical means, ensuring the full-bucket rate of loading, reducing the material loading cost, and improving the material loading efficiency.

[0048] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0050] Figure 1 is a flowchart of an automatic loading control method according to Embodiment 1 of the present invention;

[0051] Figure 2 is a flowchart of another automatic loading control method according to Embodiment 2 of the present invention;

[0052] Figure 3 is a schematic structural diagram of an automatic loading control system according to Embodiment 2 of the present invention;

[0053] Figure 4 is a flowchart of another automatic loading control method according to Embodiment 3 of the present invention;

[0054] Figure 5 is a schematic structural diagram of an automatic loading control device according to Embodiment 4 of the present invention;

[0055] Figure 6 is a schematic structural diagram of a loader implementing Embodiment 5 of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] In order to enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solution in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0057] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned accompanying drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0058] Embodiment 1

[0059] Figure 1 is a flowchart of an automatic loading control method provided according to Embodiment 1 of the present invention. This embodiment is applicable to the situation of automatic loading of materials. This method can be executed by an automatic loading control device, which can be implemented in the form of hardware and / or software, and the automatic loading control device can be configured in a loader or an oil loading product with an automatic loading function.

[0060] As Figure 1 shown, an automatic loading control method disclosed in this embodiment is applied to a loader. The loader includes a bucket, a boom, a controller, a dual-line lidar, an image recognition unit, and a traveling system. The method includes:

[0061] S110. Control the boom to be at the height of the first loading preparation position through the controller, and adjust the bucket to be in a horizontal state.

[0062] In this embodiment, the height of the first loading preparation position can be used to represent the height between the bottom surface of the boom and the ground. The bucket being in a horizontal state can mean that the bottom surface of the bucket is parallel to the ground.

[0063] S120. At the height of the first loading preparation position, control the traveling system to drive the loader to move in the direction of the material through the controller, and detect the distance between the loader and the material in real time through the dual-line lidar.

[0064] In this embodiment, the traveling system can be used to control the forward or backward movement of the loader. The dual-line lidar is used to measure the distance between the loader and the material through laser beams. The traveling system and the dual-line lidar can be electrically connected to the controller.

[0065] In this step, specifically, the installation position of the dual-line lidar can be determined according to the height of the first loading preparation position, so that the laser beam below in the vertical plane is not blocked by the bucket. Then, the dual-line lidar emits laser beams obliquely downward along the above installation position to determine the distance between the loader and the material.

[0066] S130. When it is determined that the distance is within the control range, the slope of the material pile is obtained through the dual-line lidar, the particle size of the material is obtained through the image recognition unit, and the height of the second loading preparation position is determined according to the slope of the material pile, the particle size of the material, and the preset full-bucket rate.

[0067] In this embodiment, the control range can be the range where the dual-line lidar can obtain the slope of the material pile and the image recognition unit can obtain the particle size of the material. The preset full-bucket rate can be preset according to user requirements.

[0068] In this step, specifically, if the distance between the loader and the material is less than the preset distance, it can be considered that the distance is within the control range. When it is determined that the distance is within the control range, the slope of the material pile can be determined according to the distance measured by the dual-line lidar and the angle between the two laser lines.

[0069] Optionally, the height of the second loading preparation position can be directly determined according to the particle size of the material and the particle size-height calibration table. The particle size-height calibration table includes the corresponding relationship between the particle size of the material and the height of the second loading preparation position. The larger the particle size of the material in the particle size-height calibration table, the lower the height of the second loading preparation position. Or, the height of the second loading preparation position can be determined according to the slope of the material pile and the preset full-bucket rate. The larger the slope of the material pile and the smaller the preset full-bucket rate, the higher the height of the second loading preparation position.

[0070] S140. The controller is used to control the boom to be adjusted from the height of the first loading preparation position to the height of the second loading preparation position, and at the height of the second loading preparation position, the bucket and the boom are controlled to be lifted and retracted according to the preset action sequence to complete the material loading.

[0071] In this embodiment, the preset action sequence can be to lift the arm first and then retract the bucket, or to retract the bucket first and then lift the arm.

[0072] In this step, specifically, after controlling the boom to adjust from the height of the first loading preparation position to the height of the second loading preparation position, the bucket angle can be adjusted to make the bucket in a horizontal state. Then, after controlling the boom to lift to a preset height through the controller, the bucket can be controlled to close to a preset angle to complete the material loading.

[0073] The advantage of such a setting is that, compared with the method of manually operating the loader by the loader driver to achieve material loading, the technical solution of this embodiment controls the boom and the bucket through the controller to achieve automatic loading, reduces the cost of material loading, and improves the material loading efficiency. Secondly, compared with the existing automatic loading control methods, the technical solution of this embodiment determines the height of the second loading preparation position according to the pile slope, the particle size of the material, and the preset full bucket rate, and performs material loading based on the height of the second loading preparation position, which can adapt to various possible loading conditions and well control the full bucket rate required for the loading action.

[0074] The technical solution of this embodiment provides an automatic loading control method. The controller is used to control the boom to be at the height of the first loading preparation position and adjust the bucket to be in a horizontal state; at the height of the first loading preparation position, the controller is used to control the traveling system to drive the loader to move towards the direction where the material is located, and the distance between the loader and the material is detected in real time through a dual-line lidar; when it is determined that the distance is within the control range, the pile slope is obtained through the dual-line lidar, the particle size of the material is obtained through the image recognition unit, and the height of the second loading preparation position is determined according to the pile slope, the particle size of the material, and the preset full bucket rate; the controller is used to control the boom to adjust from the height of the first loading preparation position to the height of the second loading preparation position, and at the height of the second loading preparation position, the bucket and the boom are controlled to lift and close according to a preset action sequence to complete the material loading. By this technical means, the problem that in various loading conditions, the prior art sets the bucket to be in a flat state on the ground and performs the loading action with the flat bucket on the ground, resulting in the inability to well control the full bucket rate required for the loading action is solved. The technical solution of this embodiment ensures the full bucket rate of loading, reduces the cost of material loading, and improves the material loading efficiency.

[0075] Embodiment 2

[0076] Figure 2 It is a flowchart of another automatic loading control method provided according to Embodiment 2 of the present invention. This embodiment is a further optimization and expansion based on the above embodiments and can be combined with each optional technical solution in the above embodiments.

[0077] As Figure 2As shown in the figure, an automatic loading control method disclosed in this embodiment is applied to a loader. The loader includes a bucket, a boom, a controller, a dual-line lidar, an image recognition unit, a traveling system, a pressure sensor, a boom cylinder, a working device position sensor, a hydraulic system, a boom solenoid valve group, and a bucket solenoid valve group. The method includes:

[0078] S210. Control the boom to be at the height of the first loading preparation position through the controller, and adjust the bucket to be in a horizontal state; at the height of the first loading preparation position, control the traveling system to drive the loader to move towards the direction where the material is located through the controller, and detect the distance between the loader and the material in real time through the dual-line lidar.

[0079] S220. When the dual-line lidar detects the material, obtain the first distance between the loader and the material through the first laser transceiver module, and obtain the second distance between the loader and the material through the second laser transceiver module; obtain the difference between the first distance and the second distance, and determine the slope of the material pile according to the difference; obtain the particle size of the material through the image recognition unit.

[0080] In this embodiment, optionally, the current distances measured by the first laser transceiver module and the second laser transceiver module can be obtained in real time. Among them, in the vertical plane, the laser beam emitted by the first laser transceiver module is above the laser beam emitted by the second laser transceiver module, and the two laser beams form a preset angle. Then, the previous distances measured by the first laser transceiver module and the second laser transceiver module at the previous moment can be obtained. After that, the difference between the current distance and the previous distance corresponding to the first laser transceiver module, and the difference between the current distance and the previous distance corresponding to the second laser transceiver module can be calculated. Finally, if each of the above differences is greater than the distance reduction threshold, it can be considered that the dual-line lidar has detected the material. At this time, the current distance measured by the first laser transceiver module can be used as the first distance. The current distance measured by the second laser transceiver module can be used as the second distance.

[0081] In a specific implementation, the slope of the material pile can be determined according to the difference between the first distance and the second distance, and the slope calibration table. The slope calibration table includes the corresponding relationship between the difference between the first distance and the second distance and the slope of the material pile. Among them, when the first distance is greater than the second distance, the greater the difference between the first distance and the second distance, the smaller the slope of the material pile.

[0082] S230. When the particle size of the material is greater than or equal to the preset particle size value, obtain the position of the boom when the bucket is placed flat on the ground and the preset height position, determine the target position height between the position of the boom and the preset height position, and use the target position height as the height of the second loading preparation position.

[0083] In this step, specifically, if the particle size of the material is greater than or equal to the preset particle size value, it can be considered that the current material is heavier. At this time, any height position between the position of the boom when the bucket is placed flat on the ground and the preset height position can be used as the height of the second loading preparation position.

[0084] S240. When the particle size of the material is less than the preset particle size value and the slope of the material pile is greater than or equal to the preset slope value, the height of the second loading preparation position is determined according to the preset full bucket rate and the preset calibration table under the slope of the material pile.

[0085] Among them, the preset calibration table includes the corresponding relationship between the preset full bucket rate and the height of the second loading preparation position.

[0086] In this step, specifically, if the particle size of the material is less than the preset particle size value and the slope of the material pile is greater than or equal to the preset slope value, it can be considered that the current material is lighter and the slope is steeper. At this time, under the above-mentioned slope of the material pile, the height of the second loading preparation position can be determined according to the preset full bucket rate and the preset calibration table. Among them, at the same slope of the material pile, the smaller the preset full bucket rate in the preset calibration table, the higher the height of the second loading preparation position. At different slopes of the material pile, the height of the second loading preparation position corresponding to the same preset full bucket rate is different. For example, when the preset full bucket rate is fixed, the greater the slope of the material pile, the higher the height of the second loading preparation position.

[0087] Optionally, when the particle size of the material is less than the preset particle size value and the slope of the material pile is less than the preset slope value, the height of the position of the boom when the bucket is placed flat on the ground is used as the target position height. In practical applications, the boom can be adjusted within a preset height range, and the adjustment result is used as the height of the second loading preparation position.

[0088] The advantage of such a setting is that by determining the height of the second loading preparation position according to the particle size of the material, the slope of the material pile and the preset full bucket rate, the adaptability to various loading conditions is improved, and the full bucket rate is guaranteed.

[0089] S250. The controller is used to control the boom to be adjusted from the height of the first loading preparation position to the height of the second loading preparation position; the pressure change amount of the large chamber of the boom cylinder is obtained through a pressure sensor; if the pressure change amount is greater than or equal to the preset pressure value, the automatic loading control program is triggered.

[0090] In this embodiment, the automatic loading control program can be a program for controlling the boom and the bucket to complete the material loading. Optionally, the controller can control the corresponding current of the boom solenoid valve group or the output power of the hydraulic system to adjust the boom from the height of the first loading preparation position to the height of the second loading preparation position.

[0091] Specifically, the pressure in the large chamber of the boom cylinder at the current moment and the pressure in the large chamber of the boom cylinder at the previous moment can be obtained in real time. Then, the subtraction can be performed on the pressure in the large chamber of the boom cylinder at the current moment and the pressure in the large chamber of the boom cylinder at the previous moment to obtain the pressure change amount. If the pressure change amount is greater than or equal to the preset pressure value, it can be considered that the bucket has contacted the material. At this time, the automatic loading control program can be triggered.

[0092] S260. Execute the automatic loading control program through the controller to adjust the current corresponding to the boom solenoid valve group to achieve boom lifting.

[0093] Among them, the greater the current corresponding to the boom solenoid valve group, the faster the boom lifting speed.

[0094] S270. Obtain the current boom height in real time through the working device position sensor, and determine the boom lifting height according to the current boom height and the height of the second loading preparation position; if the boom lifting height is greater than or equal to the preset lifting distance, adjust the current corresponding to the bucket solenoid valve group through the controller to achieve bucket closing.

[0095] In this embodiment, the working device position sensor can be used to obtain the rotation angle and / or position of the bucket, and the rotation angle and / or position of the boom.

[0096] In this step, specifically, the boom lifting height can be determined according to the difference between the current boom height and the height of the second loading preparation position.

[0097] Optionally, after the first boom lifting action, if the boom lifting height is greater than or equal to the preset lifting distance, perform instantaneous torque increase control on the loader through the travel motor, so that the corresponding tunneling force of the loader is larger, improving the power performance of the loading operation and increasing the full bucket rate of the bucket.

[0098] S280. Judge whether the loader has completed material loading. If so, execute S290. If not, return to execute S260.

[0099] In this embodiment, if the bucket is closed to the preset angle and the boom is lifted to the preset height, it is considered that the loader has completed material loading. If the bucket is not closed to the preset angle, or the boom is not lifted to the preset height, the actions of boom lifting and bucket closing are repeatedly executed in sequence until the material loading is completed.

[0100] In an alternative embodiment of the embodiment of the present invention, the operations of lifting the boom and retracting the bucket are sequentially repeated until the material loading is completed, including: obtaining the bucket retraction angle and the boom lifting height in real time through the working device position sensor; if the bucket retraction angle is less than the preset retraction angle, performing torque increase control on the loader through the travel motor to insert the bucket into the material pile; if the boom lifting height is less than the preset lifting height, increasing the output power corresponding to the hydraulic system to achieve boom lifting.

[0101] Specifically, if the bucket retraction angle is less than the preset retraction angle, instantaneous torque increase control is performed on the loader through the travel motor to enable the bucket to smoothly insert into the material pile. If the boom lifting height is less than the preset lifting height, it can be considered that the bucket is inserted deeper into the material pile or the material is heavier. At this time, the controller can increase the output power corresponding to the hydraulic system to achieve boom lifting.

[0102] S290. Send a message indicating that the material loading is completed to the user.

[0103] In this step, optionally, after the loading operation is completed, a message indicating that the material loading is completed can be output through the automatic loading control program.

[0104] The technical solution of this embodiment provides an automatic loading control method. When the dual-line lidar detects the material, the first distance between the loader and the material is obtained through the first laser transceiver module, and the second distance between the loader and the material is obtained through the second laser transceiver module; the difference between the first distance and the second distance is obtained, and the slope of the material pile is determined according to the difference; the particle size of the material is obtained through the image recognition unit; when the particle size of the material is greater than or equal to the preset particle size value, the position of the boom when the bucket is placed flat on the ground and the preset height position are obtained, the target position height is determined between the position of the boom and the preset height position, and the target position height is used as the second loading preparation position height; when the particle size of the material is less than the preset particle size value and the slope of the material pile is greater than or equal to the preset slope value, the second loading preparation position height is determined according to the preset full bucket rate and the preset calibration table under the slope of the material pile; the boom is controlled to be adjusted from the first loading preparation position height to the second loading preparation position height; the pressure change amount of the large chamber of the boom cylinder is obtained through the pressure sensor; if the pressure change amount is greater than or equal to the preset pressure value, the automatic loading control program is triggered; the automatic loading control program is executed by the controller to adjust the current corresponding to the boom solenoid valve group to realize the boom lifting; the current boom height is obtained in real time through the working device position sensor, and the boom lifting height is determined according to the current boom height and the second loading preparation position height; if the boom lifting height is greater than or equal to the preset lifting distance, the current corresponding to the bucket solenoid valve group is adjusted by the controller to realize the bucket closing; the actions of boom lifting and bucket closing are sequentially and repeatedly executed until the material loading is completed. By this technical means, the problem that in the prior art, for various loading conditions, the bucket is set to be placed flat on the ground and the loading action is performed through the bucket placed flat on the ground, resulting in the inability to well control the full bucket rate required for the loading action is solved, and the full bucket rate of loading is ensured. Secondly, through the automatic loading control program, the bucket closing and boom lifting are automatically controlled, reducing the material loading cost and improving the material loading efficiency.

[0105] On the basis of the above embodiment, this embodiment provides an automatic loading control system for implementing the technical solution of this embodiment. Figure 3 It is a structural schematic diagram of an automatic loading control system according to Embodiment 2 of the present invention. As Figure 3As shown in the figure, the automatic loading control system of this embodiment includes: a controller, a pressure sensor, a working device position sensor, an accelerator sensor, a ranging unit, an image recognition unit, a traveling system, and a hydraulic system. Among them, the above-mentioned traveling system includes a traveling motor controller and a traveling motor. The hydraulic system includes a bucket solenoid valve group and an arm solenoid valve group. The ranging unit includes a dual-line lidar. The controller is electrically connected to the pressure sensor, the working device position sensor, the accelerator sensor, the ranging unit, the image recognition unit, the traveling system, and the hydraulic system respectively. The controller can activate the automatic loading control program automatically after the bucket contacts the material according to the sensor signals collected, and control the bucket and the arm to automatically complete the material loading according to the preset action sequence.

[0106] Exemplarily, the controller can be electrically connected to the accelerator pedal, and send a corresponding torque command to the traveling motor controller according to the opening of the accelerator pedal, so as to control the operation of the traveling motor through the torque mode. The controller can drive the bucket and the arm to perform corresponding actions by controlling the bucket solenoid valve group and the arm solenoid valve group. Optionally, the hydraulic system further includes a hydraulic pump. The hydraulic pump is driven by an engine or a motor to provide power for the actions of the working device.

[0107] Embodiment III

[0108] Figure 4 is a flowchart of another automatic loading control method provided according to Embodiment III of the present invention. This embodiment is a further optimization and expansion based on the above embodiments, and can be combined with each optional technical solution in the above embodiments.

[0109] As Figure 4 shown, an automatic loading control method disclosed in this embodiment includes:

[0110] S310. Control the arm to be at the height of the first loading preparation position through the controller, and adjust the bucket to be in a horizontal state.

[0111] S320. At the height of the first loading preparation position, obtain the vehicle speed of the loader, and determine a preset limit vehicle speed according to a preset full bucket rate.

[0112] Among them, the larger the preset full bucket rate is, the higher the preset limit vehicle speed is. The preset limit vehicle speed can be the maximum vehicle speed of the whole vehicle.

[0113] S330. If the vehicle speed of the whole vehicle is greater than the preset limit vehicle speed, send a torque change command to the traveling motor controller through the controller, so that the traveling motor controller reduces the driving torque corresponding to the traveling motor according to the torque change command until the vehicle speed of the whole vehicle is equal to the preset limit vehicle speed.

[0114] In this embodiment, the torque change command can be used to cause the traveling motor controller to increase or decrease the driving torque corresponding to the traveling motor.

[0115] S340. Control the loader to travel towards the direction where the material is located according to the preset speed limit, and detect the distance between the loader and the material in real time through the dual-line lidar.

[0116] Optionally, after activating the automatic loading control program, the speed limit of the loader can be cancelled.

[0117] S350. When it is determined that the distance is within the control range, obtain the slope of the material pile through the dual-line lidar, obtain the particle size of the material through the image recognition unit, and determine the height of the second loading preparation position according to the slope of the material pile, the particle size of the material, and the preset full-bucket rate.

[0118] S360. Control the boom to be adjusted from the height of the first loading preparation position to the height of the second loading preparation position through the controller, and control the bucket and the boom to lift and close the bucket in accordance with the preset action sequence at the height of the second loading preparation position to complete the material loading.

[0119] In an alternative embodiment of the embodiment of the present invention, the rotational speeds of each wheel are obtained through a rotational speed sensor, and whether the loader is in a slipping state is determined according to the difference between the rotational speeds of each wheel and the preset rotational speed difference; if the loader is in a slipping state, intermittent torque increase control is performed on the loader through the traveling motor at a preset interval; the currents corresponding to the boom solenoid valve group and the bucket solenoid valve group are adjusted through the controller at a preset interval to reduce the tunneling resistance.

[0120] In this step, specifically, a rotational speed sensor can be set for each wheel, and then the rotational speeds of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel are obtained through each rotational speed sensor respectively. If the difference between the rotational speed of the left front wheel and the rotational speed of the right front wheel is greater than the preset rotational speed difference, or the difference between the rotational speed of the right front wheel and the rotational speed of the right rear wheel is greater than the preset rotational speed difference, it can be determined that the loader is in a slipping state.

[0121] When the loader is in a slipping state, intermittent torque increase control is performed on the loader through the traveling motor. At the same time, the currents of the bucket solenoid valve group and the boom solenoid valve group are adjusted in sequence through the controller at a preset interval to achieve material loading.

[0122] Optionally, when the loader is in a slipping state, if the bucket closing angle is greater than or equal to the preset closing angle, the intermittent torque increase control of the loader is cancelled through the controller.

[0123] The advantage of such a setting is that when the loader is in a slipping state, the traveling motor is controlled to intermittently increase the torque of the loader, and at the same time, the boom is lifted and the bucket is closed in a high-frequency intermittent manner, reducing the tunneling resistance and realizing the material shoveling and loading.

[0124] The technical solution of this embodiment provides an automatic shoveling and loading control method. The controller is used to control the boom to be at the height of the first shoveling and loading preparation position and adjust the bucket to be in a horizontal state; at the height of the first shoveling and loading preparation position, the vehicle speed of the loader is obtained, and the preset limit vehicle speed is determined according to the preset full bucket rate; if the vehicle speed is greater than the preset limit vehicle speed, a torque change instruction is sent to the traveling motor controller through the controller, so that the traveling motor controller reduces the driving torque corresponding to the traveling motor according to the torque change instruction until the vehicle speed is equal to the preset limit vehicle speed; the loader is controlled to travel in the direction of the material according to the preset limit vehicle speed, and the distance between the loader and the material is detected in real time by a dual-line lidar; when it is determined that the distance is within the control range, the slope of the material pile is obtained by the dual-line lidar, the particle size of the material is obtained by the image recognition unit, and the second shoveling and loading preparation position height is determined according to the slope of the material pile, the particle size of the material and the preset full bucket rate; at the height of the second shoveling and loading preparation position, the bucket and the boom are controlled to be lifted and closed in accordance with a preset action sequence to complete the technical means of material shoveling and loading, solving the problem that in various shoveling and loading conditions, the prior art always sets the bucket to be in a flat state on the ground and performs the shoveling and loading action through the bucket in the flat state on the ground, resulting in the inability to well control the full bucket rate required for the shoveling and loading action. The technical solution of this embodiment ensures the full bucket rate of shoveling and loading, reduces the cost of material shoveling and loading, and improves the efficiency of material shoveling and loading. Secondly, by restricting the maximum vehicle speed of the whole vehicle according to the preset full bucket rate before material shoveling and loading, the shoveling of too much material is avoided, and the accuracy of controlling the full bucket rate is improved.

[0125] Embodiment Four

[0126] Figure 5 FIG. is a schematic structural diagram of an automatic shoveling and loading control device provided in Embodiment Four of the present invention. This embodiment is applicable to the situation of automatically shoveling and loading materials. The automatic shoveling and loading control device can be implemented in the form of hardware and / or software and can be configured in a loader.

[0127] As Figure 5 shown, the automatic shoveling and loading control device disclosed in this embodiment is applied to a loader. The loader includes a bucket, a boom, a controller, a dual-line lidar, an image recognition unit, and a traveling system. The device includes:

[0128] An initial state determination module 51, configured to control the boom to be at the height of the first shoveling and loading preparation position through the controller and adjust the bucket to be in a horizontal state;

[0129] The loader moving module 52 is used to control the walking system to drive the loader to move towards the direction where the material is located through the controller at the height of the first loading preparation position, and to detect the distance between the bucket and the material in real time through the dual-line lidar;

[0130] The loading height determination module 53 is used to obtain the slope of the material pile through the dual-line lidar and the particle size of the material through the image recognition unit when it is determined that the distance is within the control range, and to determine the height of the second loading preparation position according to the slope of the material pile, the particle size of the material and the preset full bucket rate;

[0131] The material loading module 54 is used to control the boom to be adjusted from the height of the first loading preparation position to the height of the second loading preparation position through the controller, and to control the bucket and the boom to lift and close the bucket according to the preset action sequence at the height of the second loading preparation position to complete the material loading.

[0132] In the technical solution of this embodiment, through the mutual cooperation of the initial state determination module, the loader moving module, the loading height determination module and the material loading module, the problem that in the prior art, for various loading conditions, the bucket is set to be flat on the ground and the loading action is performed through the flat bucket on the ground, resulting in the inability to well control the full bucket rate required for the loading action is solved. The technical solution of this embodiment ensures the full bucket rate of loading, reduces the material loading cost, and improves the material loading efficiency.

[0133] Optionally, the loader moving module 52 includes:

[0134] The vehicle speed limit determination unit is used to obtain the vehicle speed of the loader and determine the preset vehicle speed limit according to the preset full bucket rate;

[0135] The vehicle speed determination unit is used to, if the vehicle speed is greater than the preset vehicle speed limit, send a torque change instruction to the walking motor controller through the controller, so that the walking motor controller reduces the driving torque corresponding to the walking motor according to the torque change instruction until the vehicle speed is equal to the preset vehicle speed limit;

[0136] The loader traveling unit is used to control the loader to move towards the direction where the material is located according to the preset vehicle speed limit.

[0137] Optionally, the loading height determination module 53 includes:

[0138] The distance acquisition unit is used to, when the dual-line lidar detects the material, obtain the first distance between the loader and the material through the first laser transceiver module and the second distance between the loader and the material through the second laser transceiver module;

[0139] The material pile slope determination unit is used to obtain the difference between the first distance and the second distance and determine the slope of the material pile according to the difference;

[0140] The first loading position determination unit is configured to, when the particle size of the material is greater than or equal to the preset particle size value, obtain the position of the boom when the bucket is placed flat on the ground and the preset height position, determine the target position height between the position of the boom and the preset height position, and use the target position height as the second loading preparation position height;

[0141] The second loading position determination unit is configured to, when the particle size of the material is less than the preset particle size value and the slope of the material pile is greater than or equal to the preset slope value, determine the second loading preparation position height according to the preset full bucket rate and the preset calibration table under the slope of the material pile, where the preset calibration table includes the corresponding relationship between the preset full bucket rate and the second loading preparation position height.

[0142] Optionally, the material loading module 54 includes:

[0143] The pressure change amount acquisition unit is configured to acquire the pressure change amount of the large chamber of the boom cylinder through a pressure sensor;

[0144] The control program trigger unit is configured to trigger the automatic loading control program if the pressure change amount is greater than or equal to the preset pressure value;

[0145] The first boom lifting unit is configured to execute the automatic loading control program through a controller to adjust the current corresponding to the boom solenoid valve group to achieve boom lifting;

[0146] The boom lifting height determination unit is configured to continuously acquire the current boom height through a working device position sensor and determine the boom lifting height according to the current boom height and the second loading preparation position height;

[0147] The bucket closing unit is configured to, if the boom lifting height is greater than or equal to the preset lifting distance, adjust the current corresponding to the bucket solenoid valve group through a controller to achieve bucket closing;

[0148] The travel drive torque adjustment unit is configured to continuously acquire the bucket closing angle and the boom lifting height through a working device position sensor, and if the bucket closing angle is less than the preset closing angle, perform torque increasing control on the loader through a travel motor;

[0149] The second boom lifting unit is configured to, if the boom lifting height is less than the preset lifting height, increase the output power corresponding to the hydraulic system to achieve boom lifting;

[0150] The state determination unit is configured to acquire the rotational speeds of the wheels through a rotational speed sensor and determine whether the loader is in a slipping state according to the difference between the rotational speeds of the wheels and the preset rotational speed difference;

[0151] A torque increasing control unit is configured to, if the loader is in a slipping state, perform intermittent torque increasing control on the loader through a travel motor at a preset interval.

[0152] An intermittent control unit is configured to adjust the currents corresponding to the boom solenoid valve group and the bucket solenoid valve group through a controller at a preset interval to reduce the tunneling resistance.

[0153] A control cycle unit is configured to sequentially repeat the actions of lifting the boom and closing the bucket until the material loading is completed.

[0154] The automatic loading control device provided by the embodiment of the present invention can execute the automatic loading control method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method. The content not described in detail in this embodiment can be referred to the description in any method embodiment of this application.

[0155] Embodiment Five

[0156] Figure 6 FIG. shows a schematic structural diagram of a loader 10 that can be used to implement the embodiments of the present invention. As Figure 6 shown, the loader 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the loader 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0157] Multiple components in the loader 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the loader 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0158] The processor 11 may be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the automatic loading control method.

[0159] In some embodiments, the automatic loading control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the loader 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the automatic loading control method described above may be executed. Alternatively, in other embodiments, the processor 11 may be configured to execute the automatic loading control method by any other suitable means (e.g., by means of firmware).

[0160] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0161] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processors of general-purpose computers, special-purpose computers, or other programmable data processing devices, such that when the computer programs are executed by the processors, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0162] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0163] In order to provide interaction with a user, the systems and techniques described herein can be implemented on a loader that has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the loader. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0164] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0165] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0166] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0167] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic loading control method, characterized in that, Applied to a loader, the loader includes a bucket, a boom, a controller, a dual-line lidar, an image recognition unit, and a traveling system. The method includes: Controlling, by the controller, the boom to be at the height of the first loading preparation position and adjusting the bucket to be in a horizontal state; At the height of the first loading preparation position, controlling, by the controller, the traveling system to drive the loader to travel in the direction of the material, and detecting, in real time by the dual-line lidar, the distance between the loader and the material; When it is determined that the distance is within the control range, obtaining the slope of the material pile by the dual-line lidar and obtaining the particle size of the material by the image recognition unit; When the particle size of the material is greater than or equal to the preset particle size value, obtaining the position of the boom when the bucket is placed flat on the ground and the preset height position, determining the target position height between the position of the boom and the preset height position, and taking the target position height as the height of the second loading preparation position; When the particle size of the material is less than the preset particle size value and the slope of the material pile is greater than or equal to the preset slope value, determining the height of the second loading preparation position according to the preset full bucket rate and the preset calibration table at the slope of the material pile; Wherein, the preset calibration table includes the corresponding relationship between the preset full bucket rate and the height of the second loading preparation position, and at the same slope of the material pile, the smaller the preset full bucket rate in the preset calibration table, the higher the height of the second loading preparation position; Controlling, by the controller, the boom to be adjusted from the height of the first loading preparation position to the height of the second loading preparation position, and controlling the bucket and the boom to lift and close the bucket according to the preset action sequence at the height of the second loading preparation position to complete the material loading.

2. The method according to claim 1, wherein The traveling system includes a traveling motor and a traveling motor controller. The controlling, by the controller, the traveling system to drive the loader to travel in the direction of the material includes: Obtaining the vehicle speed of the loader and determining the preset limit speed according to the preset full bucket rate; If the vehicle speed of the whole vehicle is greater than the preset limit speed, sending a torque change instruction to the traveling motor controller by the controller, so that the traveling motor controller reduces the driving torque corresponding to the traveling motor according to the torque change instruction until the vehicle speed of the whole vehicle is equal to the preset limit speed; Controlling the loader to travel in the direction of the material according to the preset limit speed.

3. The method according to claim 1, characterized in that, The dual-line lidar includes a first laser transceiver module and a second laser transceiver module. The obtaining the slope of the material pile by the dual-line lidar includes: When the dual-line lidar detects the material, obtaining the first distance between the loader and the material by the first laser transceiver module and obtaining the second distance between the loader and the material by the second laser transceiver module; Obtaining the difference between the first distance and the second distance and determining the slope of the material pile according to the difference.

4. The method according to claim 2, characterized in that, The loader further includes a pressure sensor and a boom cylinder; Before controlling the bucket and the boom to lift and close the bucket according to the preset action sequence, it further includes: Obtain the pressure change amount of the large chamber of the boom cylinder through the pressure sensor; If the pressure change amount is greater than or equal to the preset pressure value, trigger the automatic loading control program.

5. The method according to claim 4, characterized in that, The loader further includes a working device position sensor, a hydraulic system, a boom solenoid valve group, and a bucket solenoid valve group; The controlling the bucket and the boom to lift and close the bucket in accordance with a preset action sequence at the height of the second loading preparation position to complete material loading includes: Execute the automatic loading control program through the controller, and adjust the current corresponding to the boom solenoid valve group to realize boom lifting; Obtain the current boom height in real time through the working device position sensor, and determine the boom lifting height according to the current boom height and the height of the second loading preparation position; If the boom lifting height is greater than or equal to the preset lifting distance, adjust the current corresponding to the bucket solenoid valve group through the controller to realize bucket closing; Sequentially repeat the actions of boom lifting and bucket closing until the material loading is completed.

6. The method according to claim 5, wherein The sequentially repeating the actions of boom lifting and bucket closing until the material loading is completed includes: Obtain the bucket closing angle and the boom lifting height in real time through the working device position sensor. If the bucket closing angle is less than the preset closing angle, perform torque increasing control on the loader through the travel motor to insert the bucket into the material pile; If the boom lifting height is less than the preset lifting height, increase the output power corresponding to the hydraulic system to realize boom lifting.

7. The method according to claim 5, wherein The loader includes a rotational speed sensor; the method further includes: Obtain the rotational speeds of each wheel through the rotational speed sensor, and determine whether the loader is in a slipping state according to the difference between the rotational speeds of each wheel and the preset rotational speed difference; If the loader is in a slipping state, perform intermittent torque increasing control on the loader through the travel motor at a preset interval; Adjust the currents corresponding to the boom solenoid valve group and the bucket solenoid valve group through the controller at the preset interval to reduce the tunneling resistance.

8. An automatic loading control device, characterized in that, Applied to a loader, the loader includes a bucket, a boom, a controller, a dual-line lidar, an image recognition unit, and a travel system. The device includes: An initial state determination module, configured to control the boom to be at the height of the first loading preparation position through the controller, and adjust the bucket to be in a horizontal state; A loader movement module, configured to drive the loader to travel in the direction of the material through the controller at the height of the first loading preparation position, and detect the distance between the loader and the material in real time through the dual-line lidar; A loading height determination module, configured to obtain the material pile slope through the dual-line lidar, obtain the material particle size through the image recognition unit, and determine the height of the second loading preparation position according to the material pile slope, the material particle size, and the preset full bucket rate when it is determined that the distance is within the control range; The loading height determination module includes: The first loading position determination unit is configured to, when the particle size of the material is greater than or equal to a preset particle size value, obtain the position of the boom when the bucket is placed flat on the ground and a preset height position, determine a target position height between the position of the boom and the preset height position, and use the target position height as the second loading preparation position height; The second loading position determination unit is configured to, when the particle size of the material is less than the preset particle size value and the slope of the material pile is greater than or equal to a preset slope value, determine the second loading preparation position height according to a preset full bucket rate and a preset calibration table under the slope of the material pile; Wherein, the preset calibration table includes the corresponding relationship between the preset full bucket rate and the second loading preparation position height, and under the same slope of the material pile, the smaller the preset full bucket rate in the preset calibration table, the higher the second loading preparation position height; The material loading module is configured to control, by the controller, the boom to be adjusted from the first loading preparation position height to the second loading preparation position height, and control the bucket and the boom to lift and close the bucket in a preset action sequence at the second loading preparation position height to complete the material loading.

9. A loader, characterized in that, The loader includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the automatic loading control method according to any one of claims 1-7.

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