A shovel loading control method, device, equipment and medium for a loader

Abstract

The present invention discloses a method for controlling the loading of a loader. The method comprises: obtaining loading status description information of the target loader in response to a power-on operation of the target loader; wherein the loading status description information includes at least one of the following: a preset initial boom height, a target boom height, a set load value, a target bucket retraction angle, and a discharge boom height; detecting the current operating condition in real time, and determining the current loading stage of the target loader based on the current operating condition and the loading status description information; and controlling the target loader to perform a loading operation using a target loading strategy that matches the current loading stage. The technical solution of the present invention enables automated loading control of the loader, improves loading efficiency, and reduces manpower consumption during loading operations.

Description

Technical Field

[0001] The present invention relates to the field of loader control, and in particular to a loader shoveling control method, device, equipment and medium. Background Art

[0002] A loader is a type of earthmoving machinery widely used in construction projects such as highways, railways, buildings, hydropower stations, ports, and mines. It is primarily used for loading bulk materials such as soil, sand, gravel, lime, and coal, and can also perform light excavation of ore and hard soil. By equipping it with various auxiliary devices, it can also perform bulldozing, lifting, and loading and unloading of other materials such as wood.

[0003] During loading, the loader bucket's movement is a continuous process, encompassing insertion into the pile, scooping material, lifting the bucket, rotating the bucket, and finally unloading. Each movement requires control of parameters like the bucket's angle, speed, and acceleration to ensure efficient material extraction and smooth unloading to the designated location.

[0004] At present, the loader loading control method mainly controls the bucket movement through the operator's experience and feeling. This control method has the following problems: the operator's skill level and experience have a great influence on the loading efficiency and quality, and different operators may obtain different loading results; the bucket angle, speed, acceleration and other parameters need to be frequently adjusted during the loading process, the operator's labor intensity is high, resulting in a large consumption of manpower; the bucket may collide with the material, the bucket may tilt and other problems during the loading process, affecting the loading efficiency and quality, and reducing the work efficiency of the loading work. Summary of the Invention

[0005] The present invention provides a shoveling control method, device, equipment and medium for a loader, which can solve the problems of high manpower consumption and low work efficiency in the shoveling work of a loader in the prior art.

[0006] In a first aspect, an embodiment of the present invention provides a shovel loading control method for a loader, the method comprising:

[0007] In response to a power-on operation of the target loader, obtaining shovel loading state description information of the target loader;

[0008] The shoveling state description information includes at least one of the following: a preset initial boom height, a target boom height, a set load value, a target bucket retraction angle, and a discharge boom height;

[0009] Detecting the current working condition in real time, and determining the current shoveling stage of the target loader based on the current working condition and the shoveling state description information;

[0010] Use the target shoveling strategy that matches the current shoveling stage to control the target loader to perform shoveling operations.

[0011] In a second aspect, an embodiment of the present invention provides a shovel loading control device for a loader, the device comprising:

[0012] An information acquisition module, configured to acquire shoveling state description information of the target loader in response to a power-on operation of the target loader;

[0013] The shoveling state description information includes at least one of the following: a preset initial boom height, a target boom height, a set load value, a target bucket retraction angle, and a discharge boom height;

[0014] A shoveling stage judgment module is used to detect the current working condition in real time and determine the current shoveling stage of the target loader based on the current working condition and the shoveling state description information;

[0015] The shoveling operation module is used to control the target loader to perform shoveling operation using the target shoveling strategy that matches the current shoveling stage.

[0016] In a third aspect, an embodiment of the present invention provides an electronic device, comprising:

[0017] at least one processor; and

[0018] a memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed 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 shoveling control method of a loader described in any embodiment of the present invention.

[0020] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a loader shoveling control method described in any embodiment of the present invention when executed.

[0021] The technical solution of the embodiment of the present invention first responds to the power-on operation of the target loader to obtain the shoveling status description information of the target loader, then detects the current working condition in real time, and determines the current shoveling stage of the target loader based on the current working condition and the shoveling status description information, and finally uses the target shoveling strategy that matches the current shoveling stage to control the target loader to perform shoveling operations, thereby solving the problems of high manpower consumption and low work efficiency in the shoveling work of the loader in the prior art, realizing automatic shoveling control of the loader, improving the efficiency of the shoveling work, and reducing the manpower consumption of the shoveling operation.

[0022] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 This is a flow chart of a shoveling control method for a loader provided according to the first embodiment of the present invention;

[0025] Figure 2 This is a flow chart of a shoveling control method for a loader provided according to a second embodiment of the present invention;

[0026] Figure 3 This is a structural diagram of a shoveling control device for a loader provided according to a third embodiment of the present invention;

[0027] Figure 4 The present invention is a schematic structural diagram of an electronic device for implementing a shovel loading control method for a loader according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] Example 1

[0031] Figure 1 This is a flow chart of a loader shoveling control method provided in the first embodiment of the present invention. This embodiment is applicable to the situation where the loader is automatically controlled in shoveling. The method can be executed by a loader shoveling control device. The loader shoveling control device can be implemented in the form of hardware and / or software. The loader shoveling control device can be configured in a terminal or server with a loader shoveling control function.

[0032] like Figure 1 As shown, the method includes:

[0033] S110 : In response to a power-on operation of a target loader, obtain shovel loading state description information of the target loader.

[0034] The shoveling state description information includes at least one of the following: a preset initial boom height, a target boom height, a set load value, a target bucket angle, and a discharge boom height.

[0035] Furthermore, the preset initial boom height refers to the initial position height of the boom manually set before the loader starts working; the target boom height refers to the target position height that the boom needs to reach during the operation of the loader; the target bucket retraction angle refers to the bucket retraction angle that the bucket needs to reach during the operation of the loader; the unloading boom height refers to the height that the boom needs to reach during the unloading process of the loader.

[0036] S120 , detecting the current working condition in real time, and determining the current shoveling stage of the target loader according to the current working condition and the shoveling state description information.

[0037] Specifically, according to the current working condition and the shoveling state description information, the current shoveling stage of the target loader is determined, including any of the following items: when it is detected that the boom height of the target loader under the current working condition is greater than or equal to the standard boom height and less than the target boom height, and the current load is less than the set load value, the current shoveling stage is determined to be the shoveling preparation stage; when it is detected that the boom height of the target loader under the current working condition is less than the standard boom height, and the bucket retraction angle is less than the target retraction angle, the current shoveling stage is determined to be the target shoveling stage; when it is detected that the bucket retraction angle of the target loader under the current working condition is greater than or equal to the target retraction angle, the current load is greater than or equal to the set load value, and the boom height is less than the target boom height, the current shoveling stage is determined to be the boom lifting stage; when it is detected that the boom height of the target loader under the current working condition is greater than or equal to the target boom height, and the current load is greater than or equal to the set load value, the current shoveling stage is determined to be the unloading stage.

[0038] Furthermore, the shoveling preparation stage refers to the need for the loader to adjust the bucket to a suitable position before starting shoveling, preparing for the shoveling operation; the target shoveling stage refers to the loader inserting the bucket into the material to perform the shoveling operation; the boom lifting stage refers to the loader lifting the material in the bucket and preparing to unload it into a transport vehicle or other container; the unloading stage refers to the loader unloading the material in the bucket into a transport vehicle or other container to complete the shoveling operation.

[0039] In this embodiment, when the target loader is powered on and started, the real-time data of the target loader that matches the current working conditions are obtained in time to determine the current shoveling stage of the target loader; specifically, the specific methods for obtaining the real-time data 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 retraction angle; 2) video monitoring: using a camera installed on the loader or an external monitoring device to capture the video of the shoveling process in real time for visual analysis and status judgment; 3) data recording: using the on-board computer on the loader or a special data acquisition device equipment, record relevant operating data; 4) Wireless communication: With the help of wireless communication technology, the real-time data of the loader are transmitted to the remote monitoring center or mobile device to realize remote monitoring and data analysis; 5) Manual observation: The operator or on-site staff can directly observe the shoveling action and status of the loader and record relevant information; 6) System integration: Integrate the loader's monitoring system with other engineering management systems to realize data sharing and comprehensive analysis; It should be noted that the above method of obtaining the real-time data of the target loader that matches the current working conditions can be selected, combined and adjusted by relevant staff according to the actual working conditions. This embodiment does not limit the method of obtaining real-time data.

[0040] S130: Use the target shoveling strategy that matches the current shoveling stage to control the target loader to perform shoveling operations.

[0041] Among them, the target shoveling strategy matching the current shoveling stage is used to control the target loader to perform shoveling operations, including: when the current shoveling stage is determined to be the target shoveling stage, after receiving the shoveling strategy execution instruction sent by the user, the boom and bucket are controlled to perform the set combination action to complete the loading into the bucket; after detecting that the set combination action is completed, the preset target transport height is obtained, and the boom is controlled to be lifted to the target transport height.

[0042] In this embodiment, the user can generate a shoveling strategy execution instruction by touching a preset function button and send it to the relevant control module of the target loader; further, the shoveling strategy execution instruction can enable the target loader to start executing a shoveling operation that matches the current target shoveling strategy; further, the set combination action can be a manually pre-set 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 reduces the bucket retraction angle, etc., which can be specifically set and adjusted according to the actual working conditions. This embodiment does not limit the content of the set combination action.

[0043] Furthermore, using a target shoveling strategy that matches the current shoveling stage to control the target loader to perform shoveling operations also includes: when it is determined that the current shoveling stage is a boom lifting stage, after receiving a shoveling strategy execution instruction sent by the user, controlling the boom to be lifted to the target boom height.

[0044] Optionally, a target shoveling strategy that matches the current shoveling stage is used to control the target loader to perform shoveling operations, which also includes: when it is determined that the current shoveling stage is the unloading stage, after receiving the shoveling strategy execution instruction sent by the user, the bucket is controlled to perform a preset unloading action to complete automatic unloading; after detecting that the unloading action is completed, the bucket is controlled to retract to the target retraction angle.

[0045] The technical solution of the embodiment of the present invention first responds to the power-on operation of the target loader to obtain the shoveling status description information of the target loader, then detects the current working condition in real time, and determines the current shoveling stage of the target loader based on the current working condition and the shoveling status description information, and finally uses the target shoveling strategy that matches the current shoveling stage to control the target loader to perform shoveling operations, thereby realizing automated shoveling control of the loader, improving the efficiency of shoveling work, and reducing manpower consumption in shoveling operations.

[0046] Example 2

[0047] Figure 2This is a flow chart of a loader shoveling control method provided in the second embodiment of the present invention. This embodiment is refined based on the above embodiment. In this embodiment, the method of controlling the target loader to perform shoveling operations using a target shoveling strategy that matches the current shoveling stage is specifically refined.

[0048] like Figure 2 As shown, the method includes:

[0049] S210 : In response to a power-on operation of a target loader, obtain shovel loading state description information of the target loader.

[0050] The shoveling state description information includes at least one of the following: a preset initial boom height, a target boom height, a set load value, a target bucket angle, and a discharge boom height.

[0051] S220: Detect the current working condition in real time, and determine the current shoveling stage of the target loader based on the current working condition and the shoveling state description information.

[0052] S230: When it is determined that the current shoveling stage is the shoveling preparation stage, after receiving the shoveling strategy execution instruction sent by the user, the boom is controlled to descend to the initial boom height, and the bucket is controlled to retract to the target retraction angle.

[0053] In this embodiment, the user can generate a loading strategy execution command by touching a preset function button and send it to the relevant control module of the target loader. Furthermore, this loading strategy execution command causes the target loader to begin loading operations that match the current target loading strategy. Specifically, if the current loading phase is determined to be the loading preparation phase, upon receiving the loading strategy execution command sent by the user, the system will control the boom to descend to the initial boom height. Simultaneously, the system will control the bucket to retract to the target retraction angle. During this phase, the boom and bucket coordinate their movements to ensure the bucket is accurately inserted into the material, preparing for subsequent loading operations.

[0054] In this embodiment, specifically, the boom is controlled to descend to the initial boom height and the bucket is controlled to be retracted to the target bucket angle, including: after receiving the shoveling strategy execution instruction sent by the user in the process of controlling the boom to descend to the initial boom height and controlling the bucket to be retracted to the target bucket angle, the boom is controlled to stop descending and the bucket is controlled to stop retracting; after detecting that the boom stops descending and the bucket stops retracting, the boom is controlled to descend to the initial boom height in response to the shoveling strategy execution instruction sent by the user and the bucket is controlled to be retracted to the target bucket angle.

[0055] In a specific implementation of this embodiment, while controlling the boom to descend to the initial boom height and controlling the bucket to retract to the target retracting angle, the system continuously detects the position and status of the boom and bucket to ensure that they can accurately execute the shoveling strategy execution instructions sent by the user. If a shoveling strategy execution instruction is received from the user during this process, the system will immediately control the boom to stop descending and the bucket to stop retracting. Then, the system will detect whether the boom and bucket have stopped descending and retracting. If it is detected that the boom has stopped descending and the bucket has stopped retracting, the system will respond to the shoveling strategy execution instruction sent by the user and control the boom to descend to the initial boom height and control the bucket to retract to the target retracting angle.

[0056] The technical solution of the embodiment of the present invention first responds to the power-on operation of the target loader to obtain the shoveling status description information of the target loader, then detects the current working condition in real time, and determines the current shoveling stage of the target loader based on the current working condition and the shoveling status description information. Finally, when it is determined that the current shoveling stage is the shoveling preparation stage, after receiving the shoveling strategy execution instruction sent by the user, the boom is controlled to descend to the initial boom height, and the bucket is controlled to be retracted to the target retraction angle, thereby realizing automatic shoveling control of the loader, improving the efficiency of the shoveling work, and reducing the manpower consumption of the shoveling operation.

[0057] Example 3

[0058] Figure 3 This is a structural schematic diagram of a shoveling control device for a loader provided in Example 3 of the present invention.

[0059] like Figure 3 As shown, the device includes:

[0060] The information acquisition module 310 is configured to acquire shoveling state description information of the target loader in response to a power-on operation of the target loader;

[0061] The shoveling state description information includes at least one of the following: a preset initial boom height, a target boom height, a set load value, a target bucket retraction angle, and a discharge boom height;

[0062] The shoveling stage determination module 320 is used to detect the current working condition in real time and determine the current shoveling stage of the target loader based on the current working condition and the shoveling state description information;

[0063] The shoveling operation module 330 is used to control the target loader to perform shoveling operation using a target shoveling strategy that matches the current shoveling stage.

[0064] The technical solution of the embodiment of the present invention first responds to the power-on operation of the target loader to obtain the shoveling status description information of the target loader, then detects the current working condition in real time, and determines the current shoveling stage of the target loader based on the current working condition and the shoveling status description information, and finally uses the target shoveling strategy that matches the current shoveling stage to control the target loader to perform shoveling operations, thereby realizing automated shoveling control of the loader, improving the efficiency of shoveling work, and reducing manpower consumption in shoveling operations.

[0065] Based on the above embodiment, the shovel loading stage determination module 320 includes:

[0066] The first determination unit is configured to determine that the current shoveling stage is the shoveling preparation stage when it is detected that the boom height of the target loader under the current working condition is greater than or equal to the standard boom height and less than the target boom height, and the current load is less than the set load value;

[0067] The second determination unit is configured to determine that the current shoveling stage is the target shoveling stage when it is detected that the boom height of the target loader under the current working condition is less than the standard boom height and the bucket retraction angle is less than the target retraction angle;

[0068] a third determination unit, configured to determine that the current shoveling phase is a boom raising phase when it is detected that the bucket retraction angle of the target loader under the current working condition is greater than or equal to the target bucket retraction angle, the current load is greater than or equal to the set load value, and the boom height is less than the target boom height;

[0069] The fourth determination unit is configured to determine that the current shoveling stage is the unloading stage when it is detected that the boom height of the target loader under the current working condition is greater than or equal to the target boom height and the current load is greater than or equal to the set load value.

[0070] On the basis of the above embodiment, the shoveling operation module 330 is also used to: when it is determined that the current shoveling stage is the shoveling preparation stage, after receiving the shoveling strategy execution instruction sent by the user, control the boom to descend to the initial boom height, and at the same time control the bucket to be retracted to the target retraction angle.

[0071] Based on the above embodiment, the shovel loading operation module 330 includes:

[0072] The combined action execution unit is used to control the boom and bucket to execute the set combined action to complete the loading work after receiving the shoveling strategy execution instruction sent by the user when determining that the current shoveling stage is the target shoveling stage;

[0073] The height lowering unit is used to detect that the set combined action is completed, obtain the preset target transport height, and control the boom to rise to the target transport height.

[0074] On the basis of the above embodiment, the shoveling operation module 330 is further used to: when it is determined that the current shoveling stage is the boom lifting stage, after receiving the shoveling strategy execution instruction sent by the user, control the boom to be lifted to the target boom height.

[0075] Based on the above embodiment, the shovel loading operation module 330 further includes:

[0076] The automatic unloading unit is used to control the bucket to execute the preset unloading action to complete automatic unloading after receiving the shoveling strategy execution instruction sent by the user when determining that the current shoveling stage is the unloading stage;

[0077] The bucket retraction unit is used to control the bucket to retract to the target retraction angle after detecting that the unloading action is completed.

[0078] Based on the above embodiment, the shovel loading operation module 330 specifically includes:

[0079] A stop unit is used to control the boom to stop descending and the bucket to stop retracting after receiving a loading strategy execution instruction sent by the user during the process of controlling the boom to descend to the initial boom height and controlling the bucket to retract to the target retracting angle;

[0080] The continuing execution unit is used to detect that the boom stops descending and the bucket stops retracting, and then, in response to the shoveling strategy execution instruction sent by the user, controls the boom to descend to the initial boom height and controls the bucket to retract to the target retraction angle.

[0081] A shoveling control device for a loader provided by an embodiment of the present invention can execute a shoveling control method for a loader provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0082] Example 4

[0083] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment 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 processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0084] like Figure 4As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed 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. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0085] Multiple components in the electronic device 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 magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0086] The processor 11 can be any general-purpose and / or specialized processing component 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 specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for controlling shovel loading of a loader.

[0087] Accordingly, the method includes:

[0088] In response to a power-on operation of the target loader, obtaining shovel loading state description information of the target loader;

[0089] The shoveling state description information includes at least one of the following: a preset initial boom height, a target boom height, a set load value, a target bucket retraction angle, and a discharge boom height;

[0090] Detecting the current working condition in real time, and determining the current shoveling stage of the target loader based on the current working condition and the shoveling state description information;

[0091] Use the target shoveling strategy that matches the current shoveling stage to control the target loader to perform shoveling operations.

[0092] In some embodiments, a method for controlling shovel loading for a loader can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can 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 method for controlling shovel loading for a loader described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to execute the method for controlling shovel loading for a loader in any other suitable manner (e.g., via firmware).

[0093] Various embodiments of the systems and techniques described 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), system-on-chip systems (SOCs), 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 are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose 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 data and instructions to the storage system, the at least one input device, and the at least one output device.

[0094] Computer programs for implementing 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 the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may 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.

[0095] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0096] 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 can provide input to the electronic device. Other types 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).

[0097] The systems and techniques described herein can be implemented in a computing system that includes back-end 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 front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0098] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0099] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed 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. This is not limited herein.

Claims

1. A shovel loading control method for a loader, characterized in that: include: In response to a power-on operation of the target loader, obtaining shovel loading state description information of the target loader; The shoveling state description information includes at least one of the following: a preset initial boom height, a target boom height, a standard boom height, a set load value, a target bucket retraction angle, and a discharge boom height; Real-time detection of the current working condition, and determination of the current shoveling stage of the target loader based on the current working condition and the shoveling state description information; wherein the current shoveling stage includes: a shoveling preparation stage, a target shoveling stage, a boom raising stage, and a unloading stage; Use the target shoveling strategy that matches the current shoveling stage to control the target loader to perform shoveling operations; Among them, the current shoveling stage of the target loader is determined according to the current working condition and the shoveling status description information, including any of the following items: when it is detected that the boom height of the target loader under the current working condition is greater than or equal to the standard boom height and less than the target boom height, and the current load is less than the set load value, the current shoveling stage is determined to be the shoveling preparation stage; when it is detected that the boom height of the target loader under the current working condition is less than the standard boom height, and the bucket retraction angle is less than the target retraction angle, the current shoveling stage is determined to be the target shoveling stage; when it is detected that the bucket retraction angle of the target loader under the current working condition is greater than or equal to the target retraction angle, the current load is greater than or equal to the set load value, and the boom height is less than the target boom height, the current shoveling stage is determined to be the boom lifting stage; when it is detected that the boom height of the target loader under the current working condition is greater than or equal to the target boom height, and the current load is greater than or equal to the set load value, the current shoveling stage is determined to be the unloading stage.

2. The method according to claim 1, characterized in that Use the target shoveling strategy that matches the current shoveling phase to control the target loader to perform shoveling operations, including: When it is determined that the current shoveling stage is the shoveling preparation stage, after receiving the shoveling strategy execution instruction sent by the user, the boom is controlled to descend to the initial boom height, and the bucket is controlled to retract to the target retraction angle.

3. The method according to claim 1, characterized in that Use the target shoveling strategy that matches the current shoveling phase to control the target loader to perform shoveling operations, including: When the current shoveling stage is determined to be the target shoveling stage, after receiving the shoveling strategy execution instruction sent by the user, the boom and bucket are controlled to execute the set combined action to complete the loading into the bucket; After detecting that the set combination action is completed, the preset target transport height is obtained, and the boom is controlled to be lifted to the target transport height.

4. The method according to claim 1, wherein Use the target shoveling strategy that matches the current shoveling phase to control the target loader to perform shoveling operations, including: When it is determined that the current shoveling stage is the boom raising stage, after receiving the shoveling strategy execution instruction sent by the user, the boom is controlled to be raised to the target boom height.

5. The method according to claim 1, wherein Use the target shoveling strategy that matches the current shoveling phase to control the target loader to perform shoveling operations, including: When the current shoveling stage is determined to be the unloading stage, after receiving the shoveling strategy execution instruction sent by the user, the bucket is controlled to perform the preset unloading action to complete automatic unloading; After detecting that the unloading action is completed, the bucket is controlled to retract to the target retraction angle.

6. The method according to claim 2, characterized in that Control the boom to descend to the initial boom height and control the bucket to retract to the target retraction angle, including: After receiving a loading strategy execution instruction from the user during the process of controlling the boom to descend to the initial boom height and controlling the bucket to retract to the target retracting angle, the boom is controlled to stop descending and the bucket is controlled to stop retracting; After detecting that the boom stops descending and the bucket stops retracting, the boom is controlled to descend to the initial boom height in response to the shoveling strategy execution instruction sent by the user, and the bucket is controlled to retract to the target retraction angle.

7. A shovel loading control device for a loader, characterized in that: include: An information acquisition module, configured to acquire shoveling state description information of the target loader in response to a power-on operation of the target loader; The shoveling state description information includes at least one of the following: a preset initial boom height, a target boom height, a set load value, a target bucket retraction angle, and a discharge boom height; A shoveling stage determination module is used to detect the current working condition in real time and determine the current shoveling stage of the target loader based on the current working condition and the shoveling state description information; wherein the current shoveling stage includes: shoveling preparation stage, target shoveling stage, boom lifting stage and unloading stage; A shoveling operation module is used to control the target loader to perform shoveling operation using a target shoveling strategy that matches the current shoveling stage; Among them, the shoveling stage judgment module includes: a first judgment unit, which is used to determine that the current shoveling stage is the shoveling preparation stage when it is detected that the boom height of the target loader under the current working condition is greater than or equal to the standard boom height and less than the target boom height, and the current load is less than the set load value; a second judgment unit, which is used to determine that the current shoveling stage is the target shoveling stage when it is detected that the boom height of the target loader under the current working condition is less than the standard boom height, and the bucket retraction angle is less than the target retraction angle; a third judgment unit, which is used to determine that the current shoveling stage is the boom lifting stage when it is detected that the bucket retraction angle of the target loader under the current working condition is greater than or equal to the target retraction angle, the current load is greater than or equal to the set load value, and the boom height is less than the target boom height; a fourth judgment unit, which is used to determine that the current shoveling stage is the unloading stage when it is detected that the boom height of the target loader under the current working condition is greater than or equal to the target boom height, and the current load is greater than or equal to the set load value.

8. An electronic device, characterized in that: The electronic device comprises: 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 is executed by the at least one processor to enable the at least one processor to execute the shoveling control method for a loader according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a shovel loading control method for a loader according to any one of claims 1 to 6 when executed.

Images