Remote control method, device, equipment and storage medium for loader

Abstract

The present invention provides a remote control method, device, equipment and storage medium for a loader, comprising: obtaining a first pilot handle signal sequence output by a remote control terminal within a historical sampling period, and a second pilot handle signal sequence received by the loader; constructing a feature vector reflecting the network transmission delay characteristics according to the first pilot handle signal sequence and the second pilot handle signal sequence; if it is detected that the pilot handle opening value of the remote control terminal at the current moment has changed, obtaining the change in the pilot handle opening value at the current moment compared with the previous moment, and the pilot handle opening prediction value at the current moment; predicting the pilot handle opening values ​​at multiple moments in the future based on the change, the pilot handle opening prediction value at the current moment and the feature vector; sending the opening prediction value to the loader, so that the loader performs control operations through the received pilot handle opening value. The method can realize timely control of the loader, improve work efficiency and reduce safety hazards.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle intelligent control, and in particular relates to a remote control method, device, equipment and storage medium for a loader. Background Art

[0002] With the continuous breakthroughs in the automation, intelligence and remote communication technology of loaders, remote driving technology of loaders has also received more and more attention. This technology is currently widely used in harsh environments such as ports and mines or in scenes where it is difficult for people to directly operate.

[0003] Traditionally, the driver operates the pilot handle in the cab of the remote end. The handle outputs control commands and sends the control commands to the loader controller through the wireless network to control the operation of the loader (such as boom lifting and bucket tipping). However, in complex on-site environments, the transmission of control commands is easily affected by factors such as network delays. The response of the loader control system will lag, resulting in the boom and bucket being unable to synchronize with the control commands of the remote control end, thereby reducing operating efficiency and causing safety hazards in serious cases. Summary of the invention

[0004] In order to solve the problem of low working efficiency and safety when remotely controlling a loader in the prior art, the present invention provides a remote control method, device, equipment and storage medium for a loader.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A remote control method for a loader, comprising:

[0007] Acquire a first pilot handle signal sequence output by the remote control terminal and a second pilot handle signal sequence received by the loader within a historical sampling period; wherein the pilot handle signal sequence includes a plurality of pilot handle opening values ​​that vary with time;

[0008] Constructing a feature vector reflecting a network transmission delay characteristic according to the first leader handle signal sequence and the second leader handle signal sequence;

[0009] If it is detected that the pilot handle opening value of the remote control end at the current moment has changed, the change in the pilot handle opening value at the current moment compared with the previous moment and the pilot handle opening prediction value at the current moment are obtained; the pilot handle opening values ​​at multiple moments in the future are predicted based on the change, the pilot handle opening prediction value at the current moment and the feature vector;

[0010] The predicted values ​​of the pilot handle opening at multiple moments in the future are sent to the loader, so that the loader performs control operations according to the received pilot handle opening values.

[0011] Optionally, constructing a feature vector reflecting network transmission delay characteristics according to the first pilot handle signal sequence and the second pilot handle signal sequence includes:

[0012] For each time point in the historical sampling period, the quotient of the pilot handle opening value in the second pilot handle signal sequence and the pilot handle opening value in the first pilot handle signal sequence is calculated to obtain a feature vector reflecting the network transmission delay characteristic.

[0013] Optionally, the feature vector includes The corresponding quotient value at each time point is is a positive integer greater than or equal to 1. Based on the change amount, the predicted value of the pilot handle opening at the current moment and the characteristic vector, the pilot handle opening values ​​at multiple moments in the future are predicted, including:

[0014] If in At this moment, the remote control end pilot handle is operated once, then the predicted The pilot handle opening value at this moment is:

[0015] ;

[0016] in, Indicated in The moment the pilot handle is predicted after one operation The pilot handle opening value at the moment, express The predicted value of the pilot handle opening at the time, Indicates the feature vector The quotient value corresponding to the time point is express The change in the pilot handle opening value after the pilot handle is operated once and the pilot handle opening value at the previous moment.

[0017] Optionally, before predicting the pilot handle opening values ​​at multiple future moments based on the change amount, the pilot handle opening prediction value at the current moment and the feature vector, the method further includes:

[0018] Obtaining the error between the actual pilot handle opening value received by the loader at the last moment and the opening prediction value at the last moment;

[0019] After predicting the pilot handle opening values ​​at multiple moments in the future based on the change amount, the pilot handle opening prediction value at the current moment and the characteristic vector, it also includes:

[0020] Correct the predicted values ​​of the pilot handle opening at multiple moments in the future based on the error;

[0021] The corrected pilot handle opening prediction value is sent to the vehicle end of the loader so that the loader can perform control operations according to the received pilot handle opening value.

[0022] The present invention also provides a remote control device for a loader, comprising:

[0023] An acquisition module is used to acquire a first pilot handle signal sequence output by the remote control terminal and a second pilot handle signal sequence received by the loader within a historical sampling period; wherein the pilot handle signal sequence includes a plurality of pilot handle opening values ​​that vary with time;

[0024] A construction module, used to construct a feature vector reflecting the network transmission delay characteristic according to the first pilot handle signal sequence and the second pilot handle signal sequence;

[0025] A prediction module is used to obtain the change in the pilot handle opening value at the current moment compared with the previous moment and the pilot handle opening prediction value at the current moment if it is detected that the pilot handle opening value at the remote control end at the current moment has changed; and predict the pilot handle opening values ​​at multiple moments in the future based on the change, the pilot handle opening prediction value at the current moment and the feature vector;

[0026] The sending module is used to send the predicted values ​​of the pilot handle opening at multiple moments in the future to the loader, so that the loader can perform control operations through the received pilot handle opening values.

[0027] The present invention also provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the remote control method of the loader when executing the program.

[0028] The present invention also provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the remote control method of the loader is implemented.

[0029] The remote control method of a loader provided by the present invention has the following beneficial effects:

[0030] The present invention obtains a first pilot handle signal sequence output by a remote control terminal within a historical sampling period, and a second pilot handle signal sequence received by a loader. Due to the influence of network transmission delay, the change states of the second pilot handle signal sequence and the first pilot handle signal sequence will be different. Therefore, the first pilot handle signal sequence and the second pilot handle signal sequence can reflect the transmission delay characteristics of the network, thereby constructing a feature vector reflecting the network transmission delay characteristics; further, when the opening value of the pilot handle at the remote control terminal changes, the pilot handle opening value at multiple moments in the future is predicted based on the change in the opening value of the pilot handle at the current moment compared with the previous moment, the predicted value of the pilot handle opening at the current moment, and the feature vector. The pilot handle opening value is calculated and sent to the loader; since the remote control end sends the predicted pilot handle opening value based on the change of the current actual pilot handle opening value, and the pilot handle predicted value is determined based on the network delay feature vector, the pilot handle opening value received by the loader at the current moment is actually the pilot handle opening value sent by the remote control end when the pilot handle opening value changed last time, that is, compared with the prior art, the loader receives the actual pilot handle opening value of the remote control end in advance, thereby controlling the boom and bucket based on the pilot handle opening value. Therefore, the present invention can overcome the influence of network delay, realize timely control of the loader, improve the operating efficiency of the remote-controlled loader and reduce safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiment of the present invention and its design scheme, the following briefly introduces the drawings required for this embodiment. 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.

[0032] Figure 1 A schematic diagram of a communication network structure of a remote-controlled loader provided by an embodiment of the present invention;

[0033] Figure 2 A schematic flow chart of a remote control method for a loader provided in an embodiment of the present invention;

[0034] Figure 3 A flowchart of another remote control method for a loader provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the technical solution of the present invention and implement it, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the scope of protection of the present invention.

[0036] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the technical solutions of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0037] In addition, the terms "first", "second", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified or limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. In the description of the present invention, unless otherwise specified, "plurality" means two or more, which will not be described in detail here.

[0038] Before introducing the remote control method of the loader provided by the present invention, Figure 1 The working principle of the remote control loader is introduced. Figure 1 A schematic diagram of a communication network structure of a remote-controlled loader provided in an embodiment of the present invention.

[0039] For example, Figure 1 As shown, the loader (vehicle end) is equipped with a camera and a microphone, which can obtain images and sounds of the vehicle end working environment, send them to the remote control end through wireless communication, and restore the image and sound status of the current working environment through the display screen and speakers.

[0040] The vehicle end is also equipped with a posture sensor to measure the current posture of the vehicle end. The posture data can be transmitted to the remote control end, and the electric seat at the remote end can be controlled to restore the actual posture of the current vehicle end, so that the driver can understand the current status of the vehicle. The vehicle end is also equipped with an angle sensor. Based on the data of the angle sensor, the remote control end can determine the current status of each arm of the loader and display the overall posture of the loader on the display screen. The vehicle end is also equipped with an ultrasonic radar sensor to determine the status of the front and rear environment of the vehicle. When an obstacle is found during the operation, the current status can be sent to the remote end and a sound alarm can be issued to remind the driver to prevent collision accidents.

[0041] The operating status data of each component on the vehicle side interacts through two CAN buses: the power controller area network (CAN) and the body CAN. The data of these two CAN buses are sent to the remote control side through wireless communication. The key operating parameters are displayed in real time on the display of the remote control side, allowing the driver to quickly understand the current operating status of the vehicle side.

[0042] In order to realize the remote control of the loader, the remote control end is equipped with a pilot handle, steering wheel, accelerator / brake pedals, and various switches. The arrangement of these devices is consistent with the actual loader, which is convenient for the driver to quickly adapt to the remote control operation. The driver operates the pilot handle, steering wheel, accelerator / brake pedals, and various switches on the remote control end. The remote control end outputs various control instructions and sends them to the vehicle control unit (VCU) on the vehicle end through wireless communication. The control unit receives the instructions and executes them to realize the remote control operation of the loader.

[0043] It should be understood that when remotely controlling a loader, there is a delay in data transmission due to the complex and changeable network environment. This delay directly affects the response speed of the vehicle-side VCU to remote operation instructions, especially during key operating actions such as boom lifting and bucket tipping. Due to the delay in the pilot handle signal, the response of the vehicle-side VCU will lag, resulting in the movement of the boom and bucket being unable to be synchronized with the remote control end, reducing operating efficiency and, in severe cases, causing safety hazards.

[0044] Based on this, an embodiment of the present invention provides a remote control method for a loader, and the execution subject of the method can be a remote control terminal, such as Figure 2 As shown, the method comprises the following steps:

[0045] S1: Acquire the first pilot handle signal sequence output by the remote control terminal and the second pilot handle signal sequence received by the loader within the historical sampling period.

[0046] Specifically, the time from the beginning to the end of the pilot handle signal can be a sampling period. When the driver operates the pilot handle once on the remote control end, the remote control end will output a pilot handle signal sequence, recorded as the first pilot handle signal sequence, and then send the first pilot handle signal sequence to the loader. The loader receives a pilot handle signal sequence, recorded as the second pilot handle signal sequence.

[0047] The pilot handle signal sequence includes a plurality of pilot handle opening values ​​that vary with time. The pilot handle opening value refers to the degree to which the pilot handle is opened, usually expressed as a percentage. The pilot handle opening value can reflect the current position of the pilot handle.

[0048] S2: construct a feature vector reflecting the network transmission delay characteristic according to the first pilot handle signal sequence and the second pilot handle signal sequence.

[0049] It should be understood that due to the influence of network delay, there are differences in the changes of the first pilot handle signal sequence and the second pilot handle signal sequence. For example, at t=2 seconds, the corresponding pilot handle opening value in the first pilot handle signal sequence is 2%, and the corresponding pilot handle opening value in the second pilot handle signal sequence is 1%.

[0050] Since the purpose of remote control is to ensure that the actions of the loader and the remote control end are consistent, the initial value and final value of the second pilot handle signal sequence and the first pilot handle signal sequence are consistent. The difference between the first pilot handle signal sequence and the second pilot handle signal sequence can reflect the network delay, that is, the network delay characteristic.

[0051] The embodiment of the present invention obtains a feature vector reflecting the network transmission delay characteristic by calculating the quotient of the pilot handle opening value corresponding to the first pilot handle signal sequence and the corresponding pilot handle opening value in the first pilot handle signal sequence at the same time within the historical sampling period.

[0052] Exemplarily, the first pilot handle signal sequence is represented as { }, the second pilot handle signal sequence is expressed as }.

[0053] For the first moment, Divide by , and get a quotient value. For the second moment in the sampling period, Divide by , get a quotient value, and so on, we can get ( is a positive integer greater than or equal to 1) quotient value consisting of the characteristic vector [ ]. It should be understood that since the first pilot handle signal sequence and the second pilot handle signal sequence will eventually become stable, [ ] will gradually change from 0 to 1.

[0054] S3, if it is detected that the pilot handle opening value of the remote control end at the current moment has changed, then obtain the change in the pilot handle opening value at the current moment compared with the previous moment, and the predicted value of the pilot handle opening at the current moment; based on the change, the predicted value of the pilot handle opening at the current moment and the feature vector, predict the pilot handle opening values ​​at multiple moments in the future.

[0055] Among them, the previous moment is the moment when the pilot handle opening value last changed before the current moment, that is, when it is detected that the pilot handle opening value of the remote control end at the current moment has changed, the difference between the pilot handle opening value after the current operation and the pilot handle opening value after the previous operation is obtained.

[0056] The current moment pilot handle opening prediction value is predicted when the pilot handle opening value changes at the previous moment. It should be understood that when the pilot handle value changes for the first time, the current moment pilot handle opening prediction value may be 0.

[0057] It should be understood that since the pilot handle opening value at the current moment has changed, it is necessary to re-predict the pilot handle opening values ​​at multiple moments in the future based on the pilot handle opening prediction value at the current moment and in combination with the change amount.

[0058] For example, currently At this moment, the driver operates the pilot handle once, that is, the opening value of the pilot handle at the remote control end changes once. If the opening value of the pilot handle does not change after that, the predicted The pilot handle opening value at this moment is:

[0059] ;

[0060] in, Indicated in The moment the pilot handle is predicted after one operation The pilot handle opening value at the moment, express The predicted value of the pilot handle opening at the time, Indicates the feature vector The quotient value corresponding to the time point is express The change in the pilot handle opening value after the pilot handle is operated once and the pilot handle opening value at the previous moment.

[0061] It should be understood that in the actual operation process, the opening of the pilot handle will be in a dynamic adjustment process according to the requirements of the current operation. Therefore, in this case, every time the opening value of the pilot handle changes, it is necessary to predict the opening value of the pilot handle at multiple moments in the future based on the current predicted opening value of the pilot handle and the change amount (the prediction method is the same as above). Since the pilot handle is in a dynamic adjustment state in normal control work, the prediction process will continue, and the predicted opening value of the pilot handle at future moments will also be updated. The loader will perform control operations based on the latest received predicted opening value of the pilot handle.

[0062] S4, sending the predicted values ​​of the pilot handle opening at multiple moments in the future to the loader, so that the loader performs control operations according to the received pilot handle opening values.

[0063] It should be understood that when the pilot handle opening value changes, the remote control end predicts the pilot handle opening values ​​at multiple moments in the future and sends the predicted pilot handle opening values ​​to the loader. Since the predicted pilot handle opening value is sent, the pilot handle opening value received by the loader at the current moment is sent before, so that the actual pilot handle opening value of the loader at the current moment can be consistent with that of the remote control end. Different pilot handle opening values ​​represent that the pilot handle is in different positions. Therefore, predicting the pilot handle opening value in advance can realize the prediction of the movement trajectory of the pilot handle, so that the loader can pre-regulate each boom and bucket according to the movement trajectory of the pilot handle, and realize precise control of the operating status of the boom and bucket.

[0064] Since the transmission rate of a wireless network may fluctuate, in order to improve the prediction accuracy, the embodiment of the present invention uses the prediction error at the previous moment to correct the pilot handle opening values ​​predicted at the current moment for multiple moments in the future.

[0065] Specifically, before predicting the pilot handle opening values ​​at multiple moments in the future based on the change amount, the predicted value of the pilot handle opening at the current moment and the characteristic vector, the error between the actual pilot handle opening value received by the loader at the previous moment and the predicted value of the opening at the previous moment is obtained; after predicting the pilot handle opening values ​​at multiple moments in the future, the predicted values ​​of the pilot handle opening at multiple moments in the future are corrected based on the error through a feedback correction algorithm.

[0066] For example, in Get it at any time -1 The pilot handle opening value actually received by the loader at the moment and -1 Predicted value of pilot handle opening at time ,Will and For comparison, calculate the error:

[0067] ;

[0068] Furthermore, the error is compensated to the predicted value of the pilot handle opening at multiple moments in the future to obtain the correction result, and its calculation expression is as follows:

[0069] ;

[0070] in, Indicates the predicted The pilot handle opening value at the moment is the corrected value. Every time a new control cycle arrives, the pilot opening prediction value will be corrected in the same way, that is, every time the pilot handle at the remote control end is operated, the pilot handle opening prediction value will be corrected once.

[0071] Figure 3 A flowchart of another remote control method for a loader provided by an embodiment of the present invention. Figure 3 As shown, each time the pilot handle is operated, first, based on the change in the pilot handle opening of the remote control end collected at the current moment, the predicted value of the pilot handle opening at multiple moments from the current moment is predicted by the prediction algorithm in the above embodiment. Then, the pilot handle opening value actually received by the loader at the previous moment is compared with the predicted value of the pilot handle opening at the previous moment to calculate the error, and the predicted value of the pilot handle opening at multiple moments in the future is corrected by the feedback correction algorithm to obtain the corrected value as the final predicted value of the pilot handle, and sent to the vehicle-side VCU.

[0072] In the above embodiment, the predicted values ​​of the pilot handle opening at multiple moments in the future are corrected through a feedback correction algorithm to achieve correction of the pilot handle trajectory, so that the loader can more accurately control the movement of the boom and bucket and achieve more precise operations.

[0073] Based on the same inventive concept, the present invention also provides a remote control device for a loader, comprising:

[0074] The acquisition module is used to acquire the first pilot handle signal sequence output by the remote control terminal and the second pilot handle signal sequence received by the loader within the historical sampling period; wherein the pilot handle signal sequence includes a plurality of pilot handle opening values ​​that change with time.

[0075] The construction module is used to construct a feature vector reflecting the network transmission delay characteristics according to the first pilot handle signal sequence and the second pilot handle signal sequence.

[0076] The prediction module is used to obtain the change of the pilot handle opening value at the current moment compared with the previous moment, as well as the predicted value of the pilot handle opening at the current moment if it is detected that the pilot handle opening value at the remote control end at the current moment has changed; based on the change, the predicted value of the pilot handle opening at the current moment and the feature vector, predict the pilot handle opening values ​​at multiple moments in the future.

[0077] The sending module is used to send the predicted values ​​of the pilot handle opening at multiple moments in the future to the loader, so that the loader can perform control operations through the received pilot handle opening values.

[0078] Each module in the remote control device of the loader can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0079] The present invention also provides a computer device, including a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps in the embodiment of the remote control method of the loader. The specific implementation method can be found in the method embodiment, which will not be repeated here.

[0080] Furthermore, the present invention also provides a non-temporary computer-readable storage medium containing instructions, and a computer program is stored on the storage medium. For example, a memory containing instructions, the above instructions can be executed by a processor of a computer device to complete the above method. For example, the non-temporary computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device. When the computer program is executed by the processor, the steps in the embodiment of the remote control method of the loader can be implemented. The specific implementation method can be referred to the method embodiment, which will not be repeated here.

[0081] It should be understood by those skilled in the art that embodiments of the present invention may provide methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0082] The present invention is described with reference to flowcharts and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as a combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0083] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0084] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0085] It should be pointed out that the specific implementation methods described above can enable those skilled in the art to understand the invention more comprehensively, but do not limit the invention in any way. Therefore, although the invention has been described in detail in this specification and embodiments, those skilled in the art should understand that the invention can still be modified or replaced by equivalents; and all technical solutions and improvements that do not deviate from the spirit and scope of the invention are included in the protection scope of the patent for the invention. Any figure mark in the claims should not be regarded as limiting the claims involved. Any simple change or equivalent replacement of the technical solution that can be obviously obtained by any technician familiar with the field within the technical scope disclosed in the present invention belongs to the protection scope of the present invention.

Claims

1. A remote control method for a loader, It is characterized in that include: Acquire a first pilot handle signal sequence output by the remote control terminal and a second pilot handle signal sequence received by the loader within a historical sampling period; wherein the pilot handle signal sequence includes a plurality of pilot handle opening values ​​that vary with time; Constructing a feature vector reflecting a network transmission delay characteristic according to the first leader handle signal sequence and the second leader handle signal sequence; If it is detected that the pilot handle opening value of the remote control end at the current moment has changed, the change in the pilot handle opening value at the current moment compared with the previous moment and the pilot handle opening prediction value at the current moment are obtained; the pilot handle opening values ​​at multiple moments in the future are predicted based on the change, the pilot handle opening prediction value at the current moment and the feature vector; Sending the predicted values ​​of the pilot handle opening at multiple moments in the future to the loader, so that the loader performs control operations according to the received pilot handle opening values; According to the first leading handle signal sequence and the second leading handle signal sequence, a feature vector reflecting the network transmission delay characteristic is constructed, including: For each time point in the historical sampling period, the quotient of the pilot handle opening value in the second pilot handle signal sequence and the pilot handle opening value in the first pilot handle signal sequence is calculated to obtain a feature vector reflecting the network transmission delay characteristics; The feature vector includes The corresponding quotient value at each time point is is a positive integer greater than or equal to 1. Based on the change amount, the predicted value of the pilot handle opening at the current moment and the characteristic vector, the pilot handle opening values ​​at multiple moments in the future are predicted, including: If in At this moment, the remote control end pilot handle is operated once, then the predicted The pilot handle opening value at this moment is: ； in, Indicated in The moment the pilot handle is predicted after one operation The pilot handle opening value at the moment, express The predicted value of the pilot handle opening at the time, Indicates the feature vector The quotient value corresponding to the time point is express The change in the pilot handle opening value after the pilot handle is operated once and the pilot handle opening value at the previous moment.

2. The remote control method for a loader according to claim 1, It is characterized in that Before predicting the pilot handle opening values ​​at multiple moments in the future based on the change amount, the pilot handle opening prediction value at the current moment and the characteristic vector, it also includes: Obtaining the error between the actual pilot handle opening value received by the loader at the last moment and the opening prediction value at the last moment; After predicting the pilot handle opening values ​​at multiple moments in the future based on the change amount, the pilot handle opening prediction value at the current moment and the characteristic vector, it also includes: Correct the predicted values ​​of the pilot handle opening at multiple moments in the future based on the error; The corrected pilot handle opening prediction value is sent to the vehicle end of the loader so that the loader can perform control operations according to the received pilot handle opening value.

3. A control device based on the remote control method of a loader according to claim 2, It is characterized in that include: An acquisition module is used to acquire a first pilot handle signal sequence output by the remote control terminal and a second pilot handle signal sequence received by the loader within a historical sampling period; wherein the pilot handle signal sequence includes a plurality of pilot handle opening values ​​that vary with time; A construction module, used to construct a feature vector reflecting the network transmission delay characteristic according to the first pilot handle signal sequence and the second pilot handle signal sequence; A prediction module is used to obtain the change in the pilot handle opening value at the current moment compared with the previous moment and the pilot handle opening prediction value at the current moment if it is detected that the pilot handle opening value at the remote control end at the current moment has changed; and predict the pilot handle opening values ​​at multiple moments in the future based on the change, the pilot handle opening prediction value at the current moment and the feature vector; The sending module is used to send the predicted values ​​of the pilot handle opening at multiple moments in the future to the loader, so that the loader can perform control operations through the received pilot handle opening values.

4. A computer device, It is characterized in that The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the remote control method for a loader according to any one of claims 1 to 2 is implemented.

5. A computer-readable storage medium, It is characterized in that The storage medium stores a computer program, and when the computer program is executed by a processor, the remote control method for a loader according to any one of claims 1 to 2 is implemented.

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