A loader shovel control method, device, equipment and medium

Abstract

The application discloses a kind of loader's shovel loading control method, device, equipment and medium.The method comprises: in response to the power-on operation of target loader, the shovel loading control information and shovel loading description information of target loader are acquired;Wherein, shovel loading description information includes at least one of the following: target boom height, target bucket angle and target load;Real-time detection current working condition, and according to current working condition and the shovel loading description information, determine the current shovel loading stage of target loader;According to current shovel loading stage and the shovel loading control information, determine the target shovel loading strategy matched with current shovel loading stage;Using the target shovel loading strategy, control target loader to carry out shovel loading operation.Through the technical scheme of the application, the automatic shovel loading control of loader can be realized, the efficiency of shovel loading work is improved, and the human consumption of shovel loading operation is reduced.

Description

Technical Field

[0001] This invention relates to the field of mechanical control, and more particularly to a loader loading control method, device, equipment, and medium. Background Technology

[0002] With the development of industries such as construction, logistics, and mining, loaders, as an important type of engineering machinery, play a vital role in material handling and loading. However, traditional loader loading control methods have some problems, limiting their work efficiency and ease of operation.

[0003] Traditional loader loading control methods typically employ manual operation, requiring operators to rely on experience and intuition to control the bucket's raising, lowering, and tilting angles for loading and unloading materials. This method not only demands high levels of skill and experience from the operator but is also susceptible to subjective biases, resulting in low loading efficiency and high labor costs.

[0004] Furthermore, traditional loader loading control methods suffer from inaccurate control of bucket lifting and tilting angles. Because operators cannot accurately control the bucket's lifting and tilting angles, this can easily lead to uneven and unstable material loading, thus affecting loading efficiency and quality. Summary of the Invention

[0005] This invention provides a loader loading control method, device, equipment, and medium, which can solve the problems of low loading efficiency and high manpower consumption in the loading operation of existing loader loading control methods.

[0006] In a first aspect, embodiments of the present invention provide a loader loading control method, the method comprising:

[0007] In response to the power-on operation of the target loader, acquire the loading control information and loading description information of the target loader;

[0008] The loading control information includes at least one of the following: preset initial boom height, initial bucket retraction angle, first time length, first displacement, first boom speed, first boom height, second time length, second displacement, second boom speed, second boom height, third time length, third displacement, third boom speed, and third boom height; the loading description information includes at least one of the following: target boom height, target bucket retraction angle, and target load.

[0009] Real-time detection of the current working condition, and determination of the current loading stage of the target loader based on the current working condition and the loading description information;

[0010] Based on the current loading stage and the loading control information, determine the target loading strategy that matches the current loading stage;

[0011] Using the target loading strategy, control the target loader to perform loading operations.

[0012] Secondly, embodiments of the present invention provide a loader loading control device, the device comprising:

[0013] The information acquisition module is used to acquire the loading control information and loading description information of the target loader in response to the power-on operation of the target loader.

[0014] The loading control information includes at least one of the following: preset initial boom height, initial bucket retraction angle, first time length, first displacement, first boom speed, first boom height, second time length, second displacement, second boom speed, second boom height, third time length, third displacement, third boom speed, and third boom height; the loading description information includes at least one of the following: target boom height, target bucket retraction angle, and target load.

[0015] The loading stage determination module is used to detect the current working condition in real time and determine the current loading stage of the target loader based on the current working condition and the loading description information.

[0016] The strategy matching module is used to determine the target loading strategy that matches the current loading stage based on the current loading stage and the loading control information.

[0017] The loading operation module is used to control the target loader to perform loading operations using the target loading strategy.

[0018] Thirdly, embodiments of the present invention provide an electronic device, the electronic device comprising:

[0019] At least one processor; and

[0020] A memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform a loader loading control method according to any embodiment of the present invention.

[0022] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute and implement a loader loading control method according to any embodiment of the present invention.

[0023] The technical solution of this invention first responds to the power-on operation of the target loader, acquires the target loader's loading control information and loading description information, then detects the current working condition in real time, and determines the current loading stage of the target loader based on the current working condition and the loading description information. Based on the current loading stage and the loading control information, a target loading strategy matching the current loading stage is determined, and finally, the target loading strategy is used to control the target loader to perform loading operations. This solves the problems of low loading efficiency and high manpower consumption in existing loader loading control methods, achieving automated loading control of the loader, improving loading efficiency, and reducing manpower consumption in loading operations.

[0024] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart of a loader loading control method according to Embodiment 1 of the present invention;

[0027] Figure 2 This is a flowchart of a loader loading control method according to Embodiment 2 of the present invention;

[0028] Figure 3 This is a schematic diagram of the shovel control device for a loader according to Embodiment 3 of the present invention;

[0029] Figure 4 This is a schematic diagram of the structure of an electronic device that implements a loader loading control method according to an embodiment of the present invention. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] Example 1

[0033] Figure 1 This is a flowchart of a loader loading control method provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of loading control of a loader. The method can be executed by a loader loading control device, which can be implemented in hardware and / or software. The loader loading control device can be configured in a terminal or server with loader loading control function.

[0034] like Figure 1 As shown, the method includes:

[0035] S110. In response to the power-on operation of the target loader, acquire the loading control information and loading description information of the target loader.

[0036] The loading control information includes at least one of the following: preset initial boom height, initial bucket retraction angle, first time length, first displacement, first boom speed, first boom height, second time length, second displacement, second boom speed, second boom height, third time length, third displacement, third boom speed, and third boom height; the loading description information includes at least one of the following: target boom height, target bucket retraction angle, and target load.

[0037] Specifically, when the target loader performs a power-on operation, the system will immediately respond and begin acquiring relevant information. This information includes the target loader's loading control information and loading description information. The loading control information contains a series of key parameters, including at least the preset initial boom height, initial bucket retraction angle, first time length, first displacement, first boom speed, first boom height, second time length, second displacement, second boom speed, second boom height, third time length, third displacement, third boom speed, and third boom height. These parameters directly affect the loader's loading actions and efficiency. Simultaneously, the loading description information is also acquired, including at least the target boom height, target bucket retraction angle, and target load. This information describes the desired loading objectives, such as the specific height the boom needs to be raised to, the bucket retraction angle, and the weight of the material to be loaded. By acquiring this loading control and loading description information, the system can accurately understand the loader's current status and operational requirements, providing a basis for subsequent control and optimization. This information will be used to guide the loader's actions to achieve efficient and accurate loading operations.

[0038] In one specific implementation of this embodiment, on the one hand, the above data can be input to the control system of the target loader in a set manner so that the target loader can efficiently obtain the above information. On the other hand, the target loader can also obtain the loading control information through a single loading operation process teaching method. Specifically, in an actual loading operation, according to the actual cargo, road conditions, and loader performance, relevant personnel can first manually operate the boom and bucket positions to a set range. At this time, the loader is controlled to record the boom and bucket positions as the initial boom height and initial bucket angle for this operation. Then, relevant personnel manually perform the loading operation. By controlling the loader to record the displacement, operation time, boom movement, and boom height data at different stages, the first time length, first displacement, first boom speed, first boom height, second time length, second displacement, second boom speed, second boom height, third time length, third displacement, third boom speed, and third boom height of this operation are obtained. It should be noted that this embodiment only illustrates the method of obtaining loading control information. The specific method of obtaining loading control information can be selected, combined and adjusted according to the actual working conditions. This embodiment does not limit this.

[0039] S120. Real-time detection of the current working condition, and determination of the current loading stage of the target loader based on the current working condition and the loading description information.

[0040] Specifically, determining the current loading stage of the target loader based on the current working conditions and the loading description information includes: when it is detected that the target loader is in forward gear under the current working conditions, the boom height is less than the target boom height, the bucket retraction angle is greater than the set value, and the current load is less than the target load, the current loading stage is determined to be the second stage.

[0041] Furthermore, determining the current loading stage of the target loader based on the current working conditions and the loading description information also includes: when it is detected that the target loader's gear has switched from forward to reverse under the current working conditions, the bucket retraction angle is greater than the target bucket retraction angle, and the current load is greater than or equal to the target load, the current loading stage is determined to be the third stage.

[0042] Furthermore, determining the current loading stage of the target loader based on the current working conditions and the loading description information also includes: when it is detected that the target loader's gear has switched from reverse to forward under the current working conditions, the bucket retraction angle is greater than the target bucket retraction angle, and the current load is greater than or equal to the target load, the current loading stage is determined to be the fourth stage.

[0043] Furthermore, based on the current working conditions and the loading description information, the current loading stage of the target loader is determined, including: when it is detected that the target loader's gear has switched from forward to reverse under the current working conditions, and the current load is less than the target load, the current loading stage is determined to be the fifth stage.

[0044] In this embodiment, the current working condition is detected in real time, and the current loading stage of the target loader is determined based on the current working condition and the loading description information. Specifically, the specific methods for obtaining the real-time data corresponding to the current working condition may include: 1) Sensor monitoring: using various sensors, such as position sensors, pressure sensors, tilt sensors, etc., to monitor the real-time data of the loader, such as the current boom height, material weight, and bucket angle; 2) Video monitoring: using cameras installed on the loader or external monitoring equipment to capture video footage of the loading process in real time for visual analysis and status judgment; 3) Data recording: using the on-board computer on the loader or dedicated data acquisition equipment. 4) Wireless communication: Using wireless communication technology, the real-time data of the loader is transmitted to a remote monitoring center or mobile device to achieve remote monitoring and data analysis; 5) Manual observation: Operators or on-site personnel can directly observe the loader's loading actions and status and record relevant information; 6) System integration: The loader's monitoring system is integrated with other engineering management systems to achieve data sharing and comprehensive analysis; It should be noted that the above methods for obtaining the real-time data of the target loader that matches the current working conditions can be selected, combined and adjusted by relevant personnel according to the actual working conditions. This embodiment does not limit the methods for obtaining real-time data.

[0045] S130. Based on the current loading stage and the loading control information, determine the target loading strategy that matches the current loading stage.

[0046] Specifically, in one embodiment of this example, when the current loading stage is determined to be the second stage, a target loading strategy is generated to control the boom and bucket to perform a set combination of actions to complete the loading into the bucket. The set combination of actions can be a manually preset movement process of the boom and bucket that matches the current working conditions, such as controlling the boom to rise while the bucket first expands the bucket retraction angle and then decreases the bucket retraction angle. The specific actions can be set and adjusted according to the actual working conditions. This embodiment does not limit the content of the set combination of actions.

[0047] Furthermore, when the current loading stage is determined to be the third stage, the timing module is called to start timing in response to the gear switching operation, and the displacement recording module is called to start recording the displacement information of the target loader. When the timing duration of the timing module reaches the first time length and the recorded value of the displacement recording module reaches the first displacement, the target loading strategy is controlled to raise the boom to the first boom height at the first boom speed.

[0048] Furthermore, when the current loading stage is determined to be the fourth stage, the timing module is reset and restarted in response to the gear switching operation. At the same time, the displacement recording module is reset and restarted to record the displacement information of the target loader. When the timing duration of the timing module reaches the second time length and the recorded value of the displacement recording module reaches the second displacement, the target loading strategy is controlled to raise the boom to the second boom height at the second boom speed.

[0049] Furthermore, when the current loading stage is determined to be the fifth stage, the timing module is reset and restarted in response to the gear switching operation. At the same time, the displacement recording module is reset and the displacement information of the target loader is restarted. When the timing duration of the timing module reaches the third time length and the recorded value of the displacement recording module reaches the third displacement, the target loading strategy is controlled to raise the boom to the third boom height at the third boom speed.

[0050] S140. Using the target loading strategy, control the target loader to perform loading operations.

[0051] The technical solution of this invention first responds to the power-on operation of the target loader, acquires the loading control information and loading description information of the target loader, then detects the current working condition in real time, and determines the current loading stage of the target loader based on the current working condition and the loading description information. Based on the current loading stage and the loading control information, a target loading strategy matching the current loading stage is determined. Finally, the target loading strategy is used to control the target loader to perform loading operations, thereby realizing automated loading control of the loader, improving the efficiency of loading work, and reducing the manpower consumption of loading operations.

[0052] Example 2

[0053] Figure 2 This is a flowchart of a loader loading control method provided in Embodiment 2 of the present invention. This embodiment is a refinement based on the above embodiment. In this embodiment, the specific method for determining the current loading stage of the target loader based on the current working conditions and the loading description information, and the method for determining the target loading strategy matching the current loading stage based on the current loading stage and the loading control information when the current loading stage is determined to be the first stage, are further refined.

[0054] like Figure 2 As shown, the method includes:

[0055] S210. In response to the power-on operation of the target loader, acquire the loading control information and loading description information of the target loader.

[0056] S220: Real-time detection of current working conditions. When it is detected that the target loader is in forward gear and the boom height is greater than the target boom height, or the bucket retraction angle is greater than the target bucket retraction angle and the current load is less than the target load, the current loading stage is determined to be the first stage.

[0057] S230. When the current loading stage is determined to be the first stage, after receiving the loading strategy execution instruction sent by the user, the target loading strategy is determined to be generated, which controls the boom to descend to the initial boom height and simultaneously controls the bucket to retract to the initial bucket retraction angle.

[0058] S240. Using the target loading strategy, control the target loader to perform loading operations.

[0059] The technical solution of this invention first responds to the power-on operation of the target loader, acquires the loading control information and loading description information of the target loader, and then monitors the current working condition in real time. When it is detected that the target loader is in forward gear and the boom height is greater than the target boom height, or the bucket retraction angle is greater than the target bucket retraction angle and the current load is less than the target load, the current loading stage is determined to be the first stage. When the current loading stage is determined to be the first stage, after receiving the loading strategy execution command sent by the user, a target loading strategy is generated to control the boom to descend to the initial boom height and simultaneously control the bucket to retract to the initial bucket retraction angle. Finally, the target loading strategy is used to control the target loader to perform loading operations, thereby realizing automated loading control of the loader, improving the efficiency of loading work, and reducing the manpower consumption of loading operations.

[0060] Example 3

[0061] Figure 3 This is a schematic diagram of the shovel control device for a loader according to Embodiment 3 of the present invention. Figure 3 As shown, the device includes:

[0062] The information acquisition module 310 is used to acquire the loading control information and loading description information of the target loader in response to the power-on operation of the target loader.

[0063] The loading control information includes at least one of the following: preset initial boom height, initial bucket retraction angle, first time length, first displacement, first boom speed, first boom height, second time length, second displacement, second boom speed, second boom height, third time length, third displacement, third boom speed, and third boom height; the loading description information includes at least one of the following: target boom height, target bucket retraction angle, and target load.

[0064] The loading stage determination module 320 is used to detect the current working condition in real time and determine the current loading stage of the target loader based on the current working condition and the loading description information.

[0065] The strategy matching module 330 is used to determine the target loading strategy that matches the current loading stage based on the current loading stage and the loading control information.

[0066] The loading operation module 340 is used to control the target loader to perform loading operations using the target loading strategy.

[0067] The technical solution of this invention first responds to the power-on operation of the target loader, acquires the loading control information and loading description information of the target loader, then detects the current working condition in real time, and determines the current loading stage of the target loader based on the current working condition and the loading description information. Based on the current loading stage and the loading control information, a target loading strategy matching the current loading stage is determined. Finally, the target loading strategy is used to control the target loader to perform loading operations, thereby realizing automated loading control of the loader, improving the efficiency of loading work, and reducing the manpower consumption of loading operations.

[0068] Based on the above embodiments, the loading stage determination module 320 is specifically used for:

[0069] When it is detected that the target loader is in forward gear under the current working conditions and the boom height is greater than the target boom height, or the bucket retraction angle is greater than the target bucket retraction angle and the current load is less than the target load, the current loading stage is determined to be the first stage.

[0070] The strategy matching module 330 is specifically used for:

[0071] When the current loading stage is determined to be the first stage, after receiving the loading strategy execution instruction sent by the user, the target loading strategy is determined to be generated, which controls the boom to descend to the initial boom height and simultaneously controls the bucket to retract to the initial bucket retraction angle.

[0072] Based on the above embodiments, the loading stage determination module 320 is further used for:

[0073] When it is detected that the target loader is in forward gear under the current working conditions, the boom height is less than the target boom height, the bucket retraction angle is greater than the set value, and the current load is less than the target load, the current loading stage is determined to be the second stage.

[0074] The strategy matching module 330 is further used for:

[0075] When the current loading stage is determined to be the second stage, a target loading strategy is determined to generate and control the boom and bucket to perform a set combination of actions to complete the loading into the bucket.

[0076] Based on the above embodiments, the loading stage determination module 320 is further used for:

[0077] When it is detected that the target loader has switched from forward to reverse gear under the current working conditions, the bucket retraction angle is greater than the target bucket retraction angle, and the current load is greater than or equal to the target load, the current loading stage is determined to be the third stage.

[0078] The strategy matching module 330 is further used for:

[0079] When the current loading stage is determined to be the third stage, the timing module is called to start timing in response to the gear switching operation, and the displacement recording module is called to start recording the displacement information of the target loader. When the timing duration of the timing module reaches the first time length and the recorded value of the displacement recording module reaches the first displacement, the target loading strategy is controlled to raise the boom to the first boom height at the first boom speed.

[0080] Based on the above embodiments, the loading stage determination module 320 is further used for:

[0081] When it is detected that the target loader has switched from reverse to forward gear under the current working conditions, the bucket retraction angle is greater than the target bucket retraction angle, and the current load is greater than or equal to the target load, the current loading stage is determined to be the fourth stage.

[0082] The strategy matching module 330 is further used for:

[0083] When the current loading stage is determined to be the fourth stage, the timing module is reset and restarted in response to the gear switching operation. At the same time, the displacement recording module is reset and the displacement information of the target loader is restarted. When the timing duration of the timing module reaches the second time length and the recorded value of the displacement recording module reaches the second displacement, the target loading strategy is controlled to raise the boom to the second boom height at the second boom speed.

[0084] Based on the above embodiments, the loading stage determination module 320 is further used for:

[0085] When it is detected that the target loader has switched from forward to reverse gear under the current working conditions, and the current load is less than the target load, the current loading stage is determined to be the fifth stage.

[0086] The strategy matching module 330 is further used for:

[0087] When the current loading stage is determined to be the fifth stage, the timing module is reset and restarted in response to the gear switching operation. At the same time, the displacement recording module is reset and the displacement information of the target loader is restarted. When the timing duration of the timing module reaches the third time length and the recorded value of the displacement recording module reaches the third displacement, the target loading strategy is controlled to raise the boom to the third boom height at the third boom speed.

[0088] The loader loading control device provided in this embodiment of the invention can execute the loader loading control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0089] Example 4

[0090] Figure 4 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0091] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0092] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0093] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a loader's shoveling control method.

[0094] Accordingly, the method includes:

[0095] In response to the power-on operation of the target loader, acquire the loading control information and loading description information of the target loader;

[0096] The loading control information includes at least one of the following: preset initial boom height, initial bucket retraction angle, first time length, first displacement, first boom speed, first boom height, second time length, second displacement, second boom speed, second boom height, third time length, third displacement, third boom speed, and third boom height; the loading description information includes at least one of the following: target boom height, target bucket retraction angle, and target load.

[0097] Real-time detection of the current working condition, and determination of the current loading stage of the target loader based on the current working condition and the loading description information;

[0098] Based on the current loading stage and the loading control information, determine the target loading strategy that matches the current loading stage;

[0099] Using the target loading strategy, control the target loader to perform loading operations.

[0100] In some embodiments, a loader loading control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the loader loading control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform a loader loading control method by any other suitable means (e.g., by means of firmware).

[0101] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0102] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0103] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0104] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, 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 sound input, voice input, or tactile input).

[0105] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0106] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the 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 cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0107] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

Claims

1. A loader loading control method, characterized in that, include: In response to the power-on operation of the target loader, acquire the loading control information and loading description information of the target loader; The loading control information includes at least one of the following: preset initial boom height, initial bucket retraction angle, first time length, first displacement, first boom speed, first boom height, second time length, second displacement, second boom speed, second boom height, third time length, third displacement, third boom speed, and third boom height; the loading description information includes at least one of the following: target boom height, target bucket retraction angle, and target load. Real-time detection of the current working condition, and determination of the current loading stage of the target loader based on the current working condition and the loading description information; Based on the current loading stage and the loading control information, determine the target loading strategy that matches the current loading stage; Using the target loading strategy, control the target loader to perform loading operations; Based on the current working conditions and the loading description information, determine the current loading stage of the target loader, including: When it is detected that the target loader has switched from forward to reverse gear under the current working conditions, the bucket retraction angle is greater than the target bucket retraction angle, and the current load is greater than or equal to the target load, the current loading stage is determined to be the third stage. Based on the current loading stage and the loading control information, determine the target loading strategy that matches the current loading stage, including: When the current loading stage is determined to be the third stage, the timing module is called to start timing in response to the gear switching operation, and the displacement recording module is called to start recording the displacement information of the target loader. When the timing duration of the timing module reaches the first time length and the recorded value of the displacement recording module reaches the first displacement, the target loading strategy is controlled to raise the boom to the first boom height at the first boom speed. Based on the current working conditions and the loading description information, determine the current loading stage of the target loader, including: When it is detected that the target loader has switched from reverse to forward gear under the current working conditions, the bucket retraction angle is greater than the target bucket retraction angle, and the current load is greater than or equal to the target load, the current loading stage is determined to be the fourth stage. Based on the current loading stage and the loading control information, determine the target loading strategy that matches the current loading stage, including: When the current loading stage is determined to be the fourth stage, the timing module is reset and restarted in response to the gear switching operation. At the same time, the displacement recording module is reset and the displacement information of the target loader is restarted. When the timing duration of the timing module reaches the second time length and the recorded value of the displacement recording module reaches the second displacement, the target loading strategy is controlled to raise the boom to the second boom height at the second boom speed. Based on the current working conditions and the loading description information, determine the current loading stage of the target loader, including: When it is detected that the target loader has switched from forward to reverse gear under the current working conditions, and the current load is less than the target load, the current loading stage is determined to be the fifth stage. Based on the current loading stage and the loading control information, determine the target loading strategy that matches the current loading stage, including: When the current loading stage is determined to be the fifth stage, the timing module is reset and restarted in response to the gear switching operation. At the same time, the displacement recording module is reset and the displacement information of the target loader is restarted. When the timing duration of the timing module reaches the third time length and the recorded value of the displacement recording module reaches the third displacement, the target loading strategy is controlled to raise the boom to the third boom height at the third boom speed.

2. The method according to claim 1, characterized in that, Based on the current working conditions and the loading description information, determine the current loading stage of the target loader, including: When it is detected that the target loader is in forward gear under the current working conditions and the boom height is greater than the target boom height, or the bucket retraction angle is greater than the target bucket retraction angle and the current load is less than the target load, the current loading stage is determined to be the first stage. Based on the current loading stage and the loading control information, determine the target loading strategy that matches the current loading stage, including: When the current loading stage is determined to be the first stage, after receiving the loading strategy execution instruction sent by the user, the target loading strategy is determined to be generated, which controls the boom to descend to the initial boom height and simultaneously controls the bucket to retract to the initial bucket retraction angle.

3. The method according to claim 1, characterized in that, Based on the current working conditions and the loading description information, determine the current loading stage of the target loader, including: When it is detected that the target loader is in forward gear under the current working conditions, the boom height is less than the target boom height, the bucket retraction angle is greater than the set value, and the current load is less than the target load, the current loading stage is determined to be the second stage. Based on the current loading stage and the loading control information, determine the target loading strategy that matches the current loading stage, including: When the current loading stage is determined to be the second stage, a target loading strategy is determined to generate and control the boom and bucket to perform a set combination of actions to complete the loading into the bucket.

4. A loader loading control device, characterized in that, include: The information acquisition module is used to acquire the loading control information and loading description information of the target loader in response to the power-on operation of the target loader. The loading control information includes at least one of the following: preset initial boom height, initial bucket retraction angle, first time length, first displacement, first boom speed, first boom height, second time length, second displacement, second boom speed, second boom height, third time length, third displacement, third boom speed, and third boom height; the loading description information includes at least one of the following: target boom height, target bucket retraction angle, and target load. The loading stage determination module is used to detect the current working condition in real time and determine the current loading stage of the target loader based on the current working condition and the loading description information. The strategy matching module is used to determine the target loading strategy that matches the current loading stage based on the current loading stage and the loading control information. The loading operation module is used to control the target loader to perform loading operations using the target loading strategy; The loading stage determination module is further used for: When it is detected that the target loader has switched from forward to reverse gear under the current working conditions, the bucket retraction angle is greater than the target bucket retraction angle, and the current load is greater than or equal to the target load, the current loading stage is determined to be the third stage. The strategy matching module is further used for: When the current loading stage is determined to be the third stage, the timing module is called to start timing in response to the gear switching operation, and the displacement recording module is called to start recording the displacement information of the target loader. When the timing duration of the timing module reaches the first time length and the recorded value of the displacement recording module reaches the first displacement, the target loading strategy is controlled to raise the boom to the first boom height at the first boom speed. The loading stage determination module is further used for: When it is detected that the target loader has switched from reverse to forward gear under the current working conditions, the bucket retraction angle is greater than the target bucket retraction angle, and the current load is greater than or equal to the target load, the current loading stage is determined to be the fourth stage. The strategy matching module is further used for: When the current loading stage is determined to be the fourth stage, the timing module is reset and restarted in response to the gear switching operation. At the same time, the displacement recording module is reset and the displacement information of the target loader is restarted. When the timing duration of the timing module reaches the second time length and the recorded value of the displacement recording module reaches the second displacement, the target loading strategy is controlled to raise the boom to the second boom height at the second boom speed. The loading stage determination module is further used for: When it is detected that the target loader has switched from forward to reverse gear under the current working conditions, and the current load is less than the target load, the current loading stage is determined to be the fifth stage. The strategy matching module is further used for: When the current loading stage is determined to be the fifth stage, the timing module is reset and restarted in response to the gear switching operation. At the same time, the displacement recording module is reset and the displacement information of the target loader is restarted. When the timing duration of the timing module reaches the third time length and the recorded value of the displacement recording module reaches the third displacement, the target loading strategy is controlled to raise the boom to the third boom height at the third boom speed.

5. The loader loading control device according to claim 4, characterized in that, The loading stage determination module is specifically used for: When it is detected that the target loader is in forward gear under the current working conditions and the boom height is greater than the target boom height, or the bucket retraction angle is greater than the target bucket retraction angle and the current load is less than the target load, the current loading stage is determined to be the first stage. The strategy matching module is specifically used for: When the current loading stage is determined to be the first stage, after receiving the loading strategy execution instruction sent by the user, the target loading strategy is determined to be generated, which controls the boom to descend to the initial boom height and simultaneously controls the bucket to retract to the initial bucket retraction angle.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform a loader loading control method according to any one of claims 1-3.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the loader loading control method of any one of claims 1-3.

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