Extended-range loader power generation control method and device, storage medium and electronic equipment

Abstract

The present invention provides a range-extended loader power generation control method and device, storage medium and electronic equipment, which are applied to the field of loader control technology, including: when the loader is in a state of performing loading and unloading operations, determining a working path; based on the current displacement of the loader, determining a target position in each working position of the working path, and predicting the arrival time point of the loader at the target position; determining the average power of the target position, and determining the motor response time of the loader based on the average power and the current power; when the time between the arrival time point and the current time is greater than or equal to the motor response time, sending a control instruction to the range extender of the loader, so that the range extender controls the power generation state of the loader's motor based on the control instruction, so that the power of the loader when it reaches the target position meets the transient power demand. By making the range extender enter the working state in advance, the transient power demand of the loader when it arrives at the target position is met, and the operation efficiency and performance of the loader are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of loader control, and in particular to a method and device for controlling power generation of an extended-range loader, a storage medium and electronic equipment. Background Art

[0002] Loader is a kind of heavy machinery widely used in engineering construction, mining, agriculture and other fields. It is mainly used for shoveling, transportation, stacking and filling. The front of the loader is equipped with a large bucket, which is controlled by the hydraulic system to lift and tilt, and can easily shovel and carry loose materials such as soil, sand, gravel, coal, etc.

[0003] The loader has significant transient power demand during its reciprocating operation process, and the range extender in the loader has a response delay. When the loader needs to quickly switch operating states in a short period of time, the response speed of the range extender may not be able to meet this transient demand, resulting in insufficient or excessive power output, affecting the loader's operating efficiency and equipment performance. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a power generation control method and device, a storage medium and an electronic device for an extended-range loader. The present application is used to predict the target position of the loader, and then predict the arrival time point of the loader at the target position. The arrival time point is used to determine the motor response time. Based on the motor response time, the range extender enters power generation preparation in advance, thereby meeting the transient power demand of the loader when it arrives at the target position, thereby improving the operating efficiency and equipment performance of the loader.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0006] A method for controlling power generation of an extended-range loader, comprising:

[0007] When the loader is in a state of performing loading and unloading operations, determining a working path of the loader, wherein the working path includes various working positions of the loader when performing loading and unloading operations;

[0008] determining a current displacement and a current power of the loader;

[0009] Based on the current displacement, determining a target position of the loader in each of the working positions, and predicting an arrival time point of the loader at the target position;

[0010] Determine the average power of the target position, and determine the motor response time based on the average power and the current power;

[0011] When the time length between the arrival time point and the current time is greater than or equal to the motor response time length, a control instruction is sent to the range extender of the loader, so that the range extender controls the power generation state of the motor of the loader based on the control instruction, so that the power of the loader when it reaches the target position meets the transient power demand.

[0012] In the above method, optionally, determining the working path of the loader includes:

[0013] Acquiring historical working data of the loader;

[0014] Acquiring road spectrum data from the historical working data;

[0015] Based on the road map data, a working path of the loader is determined.

[0016] In the above method, optionally, the determining the current displacement and current power of the loader includes:

[0017] Acquiring current operation data of the loader;

[0018] Acquire vehicle speed information and gear information in the current operation data, and determine the current displacement of the loader according to the vehicle speed information and gear information;

[0019] Power information in the current operation data is acquired, and the current power of the loader is determined based on the power information.

[0020] In the above method, optionally, determining the target position of the loader in each of the working positions based on the current displacement includes:

[0021] determining a direction of travel of the loader on the working path based on the current displacement;

[0022] A working position in the working path that is located in the traveling direction and closest to the loader is determined as a target position.

[0023] In the above method, optionally, the predicting the arrival time point of the loader arriving at the target location includes:

[0024] determining a current position of the loader;

[0025] The arrival time point of the loader from the current position to the target position is predicted using the operation data of the loader and the road surface information from the current position to the target position in the working path.

[0026] A power generation control device for an extended-range loader, comprising:

[0027] A first determining unit is used to determine a working path of the loader when the loader is in a state of performing loading and unloading operations, wherein the working path includes various working positions of the loader when performing loading and unloading operations;

[0028] A second determining unit, used to determine the current displacement and current power of the loader;

[0029] a prediction unit, configured to determine a target position of the loader in each of the working positions based on the current displacement, and predict an arrival time point of the loader at the target position;

[0030] A third determining unit, configured to determine an average power at the target position, and determine a motor response time based on the average power and the current power;

[0031] A control unit is used to send a control instruction to the range extender of the loader when the time length between the arrival time point and the current time is greater than or equal to the motor response time length, so that the range extender controls the power generation state of the motor of the loader based on the control instruction, so that the power of the loader when it reaches the target position meets the transient power demand.

[0032] In the above device, optionally, the first determining unit executes the process of determining the working path of the loader, including:

[0033] Acquiring historical working data of the loader;

[0034] Acquiring road spectrum data from the historical working data;

[0035] Based on the road map data, a working path of the loader is determined.

[0036] In the above device, optionally, the second determining unit executes the process of determining the current displacement and current power of the loader, including:

[0037] Acquiring current operation data of the loader;

[0038] Acquire vehicle speed information and gear information in the current operation data, and determine the current displacement of the loader according to the vehicle speed information and gear information;

[0039] Power information in the current operation data is acquired, and the current power of the loader is determined based on the power information.

[0040] In the above device, optionally, the prediction unit performs the step of determining the target position of the loader in each of the working positions based on the current displacement, including:

[0041] determining a direction of travel of the loader on the working path based on the current displacement;

[0042] A working position in the working path that is located in the traveling direction and closest to the loader is determined as a target position.

[0043] In the above device, optionally, the prediction unit performs the prediction of the arrival time point of the loader arriving at the target location, including:

[0044] determining a current position of the loader;

[0045] The arrival time point of the loader from the current position to the target position is predicted using the operation data of the loader and the road surface information from the current position to the target position in the working path.

[0046] A storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the above-mentioned extended-range loader power generation control method.

[0047] An electronic device includes a memory and one or more instructions, wherein the one or more instructions are stored in the memory and are configured to be executed by one or more processors to perform the above-mentioned extended-range loader power generation control method.

[0048] Compared with the prior art, this application has the following advantages:

[0049] The present invention provides a method and device for controlling power generation of an extended-range loader, a storage medium and an electronic device, comprising: when the loader is in a state of performing loading and unloading operations, determining a working path of the loader, the working path including various working positions of the loader when performing loading and unloading operations; determining the current displacement and current power of the loader; based on the current displacement, determining a target position of the loader in each working position, and predicting an arrival time point of the loader at the target position; determining an average power of the target position, and determining a motor response time of the loader based on the average power and the current power; when the time between the arrival time point and the current time is greater than or equal to the motor response time, sending a control instruction to a range extender of the loader, so that the range extender controls the power generation state of the motor of the loader based on the control instruction, so that the power of the loader when it reaches the target position meets the transient power demand. After predicting the arrival time point of the loader at the target position, the present application determines the motor response time. When the time between the arrival time point and the current time is greater than or equal to the motor response time, a control instruction is sent to the range extender of the loader, so that the range extender controls the power generation state of the motor in advance, so that the power of the loader when it arrives at the target position meets the transient power demand. The range extender enters the working state in advance to ensure that sufficient power is output to the loader, meet the transient power demand of the loader, and improve the operating efficiency and performance of the loader. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0051] Figure 1 A flow chart of a method for controlling power generation of an extended-range loader provided in an embodiment of the present application;

[0052] Figure 2 A flow chart of a method for determining a working path of a loader provided in an embodiment of the present application;

[0053] Figure 3 An example diagram of a working path provided for an embodiment of the present application;

[0054] Figure 4 A flow chart for determining the current displacement and current power of a loader provided in an embodiment of the present application;

[0055] Figure 5 An example diagram of the working state of the motor in different working processes when the working path of the loader provided in the embodiment of the present application is a V-shaped path;

[0056] Figure 6 A flowchart of another range-extended loader power generation control provided in an embodiment of the present application;

[0057] Figure 7 The structural intention of a power generation control device for an extended-range loader provided in an embodiment of the present application;

[0058] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments 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 creative work are within the scope of protection of the present invention.

[0060] In this application, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0061] Terminology explanation:

[0062] Loader: Loader is a kind of heavy machinery widely used in engineering construction, mining, agriculture and other fields. It is mainly used for shoveling, transportation, stacking and filling. The front of the loader is equipped with a large bucket, which is controlled by the hydraulic system to lift and tilt, so that loose materials such as soil, sand, coal, etc. can be easily shoveled and carried. According to different uses and working environments, loaders have various types and specifications, including wheel loaders and crawler loaders. The working characteristics of loaders include high efficiency, flexibility and strong adaptability, and they can perform high-intensity operations in various complex terrains and environments.

[0063] Range Extender: A range extender is an auxiliary device for electric or hybrid vehicles. Its main function is to extend the vehicle's range by providing additional electrical energy. The range extender is usually driven by a small internal combustion engine or turbine, which converts mechanical energy into electrical energy through a generator to supply batteries or directly power the electric motor.

[0064] Transient response: Transient response refers to the dynamic reaction of a system from its initial state to a new steady state when it is subjected to a sudden change in input signal or interference. Transient response describes how the system adjusts and recovers stability in a short period of time and reaches a new working state.

[0065] Predictive Control: Predictive Control is an advanced control method that optimizes current control operations by predicting the future behavior of the system. It uses mathematical models to predict the response of the system in the future and adjusts the control variables in real time based on the predicted results to achieve the best control effect. Predictive control is particularly effective in dealing with complex systems with time-varying and multivariable characteristics.

[0066] In this application, predictive control can be used to predict the power demand of the loader under different working conditions in advance, optimize the power generation timing and power output of the range extender, and effectively respond to transient power demand changes. This method can improve the working efficiency and response speed of the loader and reduce the risk of power supply lag.

[0067] In order to solve the problem of strong transient power demand encountered by loaders in the reciprocating working process in the prior art, the present application controls the range extender to enter the power generation working state in advance, so as to cope with the situation that the range extender response rate cannot meet the demand when the instantaneous power demand of the loader changes.

[0068] The solution provided in the present application can be applied to the control system of a loader, and the control system can be a variety of general or special computing device environments or configurations.

[0069] Reference Figure 1 , is a flow chart of a method for controlling power generation of an extended-range loader provided in an embodiment of the present application, and is specifically described as follows:

[0070] S101. When the loader is in a state of performing loading and unloading operations, a working path of the loader is determined, where the working path includes various working positions of the loader when performing loading and unloading operations.

[0071] When the loader is in the state of performing loading and unloading operations, the loader repeatedly performs the actions of loading and unloading materials; preferably, loading and unloading materials form a working cycle of the loader, and there are multiple such working cycles when performing loading and unloading operations; the driving paths of the loader in each working cycle in a loading and unloading operation have almost no significant difference.

[0072] Reference Figure 2 , which is a flow chart of a method for determining a working path of a loader provided in an embodiment of the present application, is specifically described as follows:

[0073] S201. Obtain historical working data of the loader.

[0074] The historical working data of the loader includes, but is not limited to, various data of the loader when performing loading and unloading operations, such as load data, operation data, road data, etc. The historical working data can be the working data of the loader within a preset period of time, such as working data within 1 hour from the current time.

[0075] S202. Obtain road map data from historical work data.

[0076] The historical work data is parsed to obtain the road spectrum data, which includes the driving data of the loader and the characteristic data of the driving road surface. Furthermore, the characteristic data of the driving road surface includes but is not limited to the road surface slope, road surface flatness, whether the road surface is flat, and other data.

[0077] S203: Determine the working path of the loader based on the road spectrum data.

[0078] The working path of the loader can be determined based on the driving data in the road spectrum data. It should be noted that the working path can be understood as the path that the loader circulates back and forth when performing loading and unloading operations.

[0079] Preferably, the working path includes various working positions of the loader when performing loading and unloading operations, and each working position includes at least a material unloading position and a material loading position. Each working position also includes a switching position, wherein the material loading position is the position where the loader performs material loading; the material unloading position is the position where the loader performs material unloading; the switching position is the position where the loader switches the action, or it can be understood as the position where the loader changes the working conditions, and the switching position can also be regarded as the initial position.

[0080] Reference Figure 3 , is an example diagram of the working path provided in the embodiment of the present application. As shown in the figure, the working path of the loader is a V-shaped working path, in which ① is the switching position, ② is the loading position, and ③ is the unloading position. As shown in the figure, when the loader performs loading and unloading operations, the driving path can be: ①—>②—>①—>③—>①, which can be regarded as a working cycle, that is, the loader starts from the initial position, loads materials at the loading position, returns to the initial position, then unloads materials at the unloading position, and then returns to the initial position.

[0081] It should be noted that the V-shaped working path here is only an example of a path. The working path of the loader of the present application is not limited to the V-shaped working path, but also includes other paths, which are not illustrated here.

[0082] S102: Determine the current displacement and current power of the loader.

[0083] Reference Figure 4 , which is a flow chart for determining the current displacement and current power of a loader provided in an embodiment of the present application, is specifically described as follows:

[0084] S401, obtaining current operation data of the loader.

[0085] The current operation data includes but is not limited to information on multiple aspects of the loader during operation, such as vehicle speed information, gear information, power information, etc. Preferably, the current operation data also includes information on various parameters of the loader during operation, such as vehicle speed, gear, current, voltage, load, power, etc.

[0086] S402: Obtain vehicle speed information and gear information in current operation data, and determine the current displacement of the loader based on the vehicle speed information and gear information.

[0087] Furthermore, vehicle speed information can be obtained using a vehicle speed sensor, and gear information can be obtained using a gear sensor or a control system; current, voltage, load, and power can be obtained using corresponding sensors, respectively.

[0088] Preferably, after obtaining the vehicle speed information and the gear information, the vehicle speed information and the gear information are used to determine the current displacement of the loader by means of a formula or a table lookup.

[0089] Preferably, when calculating the current displacement, the speed at the previous moment and the speed at the current time can be used to calculate it.

[0090] S403: Obtain power information in the current operation data, and determine the current power of the loader based on the power information.

[0091] The present application determines the current displacement and current power of the loader through the current operating data of the loader, so as to facilitate the subsequent determination of the target position of the loader and the subsequent determination of the motor response time.

[0092] S103. Based on the current displacement, determine the target position of the loader in each working position, and predict the arrival time point of the loader to the target position.

[0093] In the present application, the process of determining the target position of the loader in each operation based on the current displacement is as follows: based on the current displacement, determining the direction of travel of the loader on the working path; determining the working position in the working path that is located in the direction of travel and closest to the loader as the target position. The direction of travel can represent the direction of movement of the loader, such as the forward direction.

[0094] It should be noted that the target position of the loader is determined to be the working position that the loader is to reach in the nearest future.

[0095] Preferably, the current displacement is a vector, and the current displacement contains information that can represent the direction of movement of the loader (i.e., the direction of travel). Figure 3 Taking ① as an example, the current displacement can represent that when the loader moves from ③ to ①, ① can be determined as the target position.

[0096] Preferably, refer to Figure 5 , which is an example diagram of the working status of the motor in different working processes when the working path of the loader provided in the embodiment of the present application is a V-shaped path, as shown in the figure, the figure includes curve graphs of three parameters: vehicle speed, position and motor workload.

[0097] For example, by calculating the displacement of the loader through the vehicle speed and combining the actual workload characteristics of the motor, the position of the loader during the V-type operation can be identified:

[0098] ①--② The loader moves to the loading position, and the working motor load exceeds 50% at position ②;

[0099] ②--①The loader returns to the initial position, and at position ①, the motor outputs negative torque to turn;

[0100] ①--③ The loader lifts the bucket and moves to the material unloading position ③. It can be identified that the motor workload exceeds 80%;

[0101] ③--①The loader turns at position ③, at which time the motor outputs negative torque to turn, and then returns to the initial position ①, completing the entire working cycle.

[0102] Furthermore, after the target location is determined, the arrival time point of the loader at the target location can be predicted, and the arrival time point is the time when the loader arrives at the target location in the future.

[0103] Preferably, when predicting the arrival time of the loader at the target location, the loader's current load information, vehicle speed information, road condition information and other contents can be input into a pre-trained prediction model. The prediction model processes the load information, vehicle speed information, road condition information and other contents to output a predicted arrival time point.

[0104] The prediction model can be a model built using a deep learning network or a prediction model built using machine learning techniques.

[0105] For example, when predicting the arrival time of the loader at the target location, the current position of the loader can be determined; using the loader's operating data and the road surface information from the current position to the target location in the working path, the arrival time of the loader from the current position to the target location is predicted.

[0106] Preferably, the operation data of the loader includes but is not limited to the current parameter information of the loader, such as load, vehicle speed, etc.; the road surface information includes but is not limited to the slope of the road surface, etc.

[0107] Preferably, the trained prediction model can be used to process the operation data, road surface information and the like, thereby outputting a predicted arrival time point of the loader from the current position to the target position.

[0108] S104: Determine the average power at the target position, and determine the motor response time based on the average power and the current power.

[0109] Preferably, when determining the average power of the target position, the power of the loader each time it reaches the target position within a preset time period can be first obtained, and then the average value of each power can be calculated to obtain the average power of the target position. For example, if the loader reaches the target position 10 times within the predicted time period, the power of each time it reaches the target position is obtained, and then the average value of each power is calculated to obtain the average power of the target position; the preset time period can be set according to actual needs, and will not be repeated here.

[0110] Further, after obtaining the average power and the current power, the motor response time of the range extender of the loader is calculated. For example, the motor response time = the motor response characteristic of the range extender * (average power - current power). The motor response time is the response time for the range extender to control the power of the loader to reach the target power, which can be understood as the delay time. The target power here can be the average power at the target position.

[0111] Preferably, the motor response time can be regarded as the time for the range extender to control the power generation state of the motor in advance. For example, when the motor response time is 3 seconds, the range extender controls the power generation state of the motor 3 seconds before the predicted arrival time point.

[0112] S105. When the time between the arrival time point and the current time is greater than or equal to the motor response time, a control instruction is sent to the range extender of the loader, so that the range extender controls the power generation state of the loader's motor based on the control instruction, so that the power of the loader when it reaches the target position meets the transient power demand.

[0113] The arrival time point and the current time are subtracted to obtain the difference between the two, which is the duration between the two. If the duration is greater than or equal to the motor response time, the loader's range extender can control the motor's power generation state in advance so that the loader's transient power demand can be met when the loader reaches the target position.

[0114] The control instruction is used to enable the range extender to control the power generation state of the motor, such as entering power generation preparation, which can avoid the situation where the range extender cannot provide sufficient power requirements for the loader in time due to the response delay of the range extender, thereby improving the operating efficiency of the loader. Preferably, the control instruction contains information on the average power, which can instruct the range extender to adjust the power of the loader to the average power within the motor response time.

[0115] The present application predicts the target position of the loader and the time point when the loader arrives at the target position, calculates the response time according to the time point, and then enables the range extender to prepare for power generation in advance, thereby ensuring that the power of the loader meets the transient power demand when it arrives at the target position, and the response speed of the range extender meets the transient power demand, thereby ensuring that sufficient power is provided to the loader, and ensuring the operating efficiency and performance of the loader.

[0116] In the method provided in the embodiment of the present application, when the loader is in a state of performing loading and unloading operations, the working path of the loader is determined, and the working path includes various working positions of the loader when performing loading and unloading operations; the current displacement and current power of the loader are determined; based on the current displacement, the target position of the loader is determined in each working position, and the arrival time point of the loader to the target position is predicted; the average power of the target position is determined, and the motor response time of the loader is determined based on the average power and the current power; when the time between the arrival time point and the current time is greater than or equal to the motor response time, a control instruction is sent to the range extender of the loader, so that the range extender controls the power generation state of the loader's motor based on the control instruction, so that the power when the loader reaches the target position meets the transient power demand. After predicting the arrival time point of the loader at the target position, the present application determines the motor response time. When the time between the arrival time point and the current time is greater than or equal to the motor response time, a control instruction is sent to the range extender of the loader, so that the range extender controls the power generation state of the motor in advance, so that the power of the loader when it arrives at the target position meets the transient power demand. The range extender enters the working state in advance to ensure that sufficient power is output to the loader, meet the transient power demand of the loader, and improve the operating efficiency and performance of the loader.

[0117] Reference Figure 6 , which is a flow chart of another extended-range loader power generation control provided in an embodiment of the present application, and is specifically described as follows:

[0118] S501. Calculate the real-time displacement of the loader according to the vehicle speed and gear position.

[0119] The real-time displacement here is equivalent to the current displacement.

[0120] S502: Count the working route spectrum of the loader, identify the next working position of the loader, and calculate the average power of the working position.

[0121] The next working position here is equivalent to the target position in this application, and the working path spectrum includes information such as the working path.

[0122] S503, predicting the time point when the loader arrives at the working position in S502, and using the time point to determine the response time, and at a time when the time distance from the time point is greater than or equal to the response time, controlling the range extender to prepare for power generation, thereby meeting the transient power demand of the loader when it arrives at the working position in S502.

[0123] This application is different from the traditional scheme in which the range extender starts to generate electricity only when the loader actually needs power. This application starts the range extender to generate electricity in advance through a predictive control method. When the loader needs power, the range extender is already in working state, which improves the system's response speed to instantaneous power demand and ensures the smooth operation of the loader when the power demand is high. By calculating the average power of the working motor and sending it to the range extender in advance, the range extender can generate electricity at the most appropriate power level, avoiding the situation of too high or too low power. It can optimize energy management, improve fuel efficiency and power utilization, and reduce energy waste. In addition, by predicting and controlling in advance, the risk of power supply lag can be reduced, and system instability or shutdown caused by insufficient power can be avoided, thereby enhancing the stability and reliability of the system, especially when the loader is performing high-intensity operations. This application also calculates the loader displacement and the average power of the working motor in real time, so that the system can be dynamically adjusted according to the actual working conditions, improving the working efficiency of the loader, reducing work interruptions caused by insufficient power supply, and improving the fluency and continuity of the overall operation.

[0124] Through predictive control, the range extender can smoothly provide the required power, avoiding the impact of frequent power changes on mechanical parts, reducing the wear of mechanical parts, extending the service life of the loader and the range extender, and reducing maintenance costs; and the loader can complete tasks more smoothly and efficiently during the working process, reducing the situation where operators need to frequently adjust or wait due to insufficient power. The application also improves the work experience and satisfaction of operators and increases the user-friendliness of the equipment. Through these reasoning analyses, it can be reflected that the present invention has significant advantages in improving response speed, optimizing energy management, enhancing system stability, improving work efficiency, reducing mechanical wear and improving user experience.

[0125] In the solution provided in this application, by predicting the power demand of the loader under different working conditions, the power generation timing of the range extender is controlled in advance, and historical data and real-time calculations are used to predict future power demand and control is performed N times in advance. The N time here can be understood as the motor response time mentioned above.

[0126] This application calculates the displacement of the loader in real time, obtains accurate displacement data through vehicle speed and gear information, and counts the working road spectrum and motor working position in the past period of time to ensure the accuracy of the prediction model, calculate the average power of the working motor, and provide basic data for predictive control. Before the loader actually needs high power, a control instruction including the required average power will be sent to the range extender N time in advance, so that the range extender generates electricity according to the control instruction sent in advance, ensuring that it is ready when the power demand arrives. In addition, this application can make dynamic adjustments based on the real-time measured power demand and the working status of the loader to ensure the accuracy of prediction and control, and correct the model prediction error through closed-loop feedback to achieve more precise control.

[0127] This application can identify the cyclical working characteristics of the loader, and control power generation in advance through calculation and prediction to meet its power requirements under different working conditions. It optimizes the frequent transient power changes during the operation of the loader to ensure the efficient operation of the system. It also optimizes the power generation timing and power output of the range extender to improve the overall efficiency of the system. Through advance prediction and control, it enhances the reliability and stability of the system and reduces work interruptions and mechanical wear caused by insufficient power.

[0128] This application solves the problem that the range extender response rate cannot meet the transient power demand during the loader's reciprocating operation through predictive control methods and real-time calculation, data statistics and other technical means, thereby improving the overall performance and efficiency of the system.

[0129] and Figure 1 Corresponding to the method shown in the figure, the embodiment of the present application provides a power generation control device for an extended-range loader, which is used to support Figure 1 Implementation of the method shown.

[0130] Reference Figure 7 , which is the structural intention of a power generation control device for an extended-range loader provided in an embodiment of the present application, is specifically described as follows:

[0131] A first determining unit 601 is used to determine a working path of the loader when the loader is in a state of performing loading and unloading operations, wherein the working path includes various working positions of the loader when performing loading and unloading operations;

[0132] A second determining unit 602 is used to determine the current displacement and current power of the loader;

[0133] A prediction unit 603 is used to determine the target position of the loader in each of the working positions based on the current displacement, and predict the arrival time point of the loader to reach the target position;

[0134] A third determining unit 604 is used to determine the average power of the target position, and determine the motor response time based on the average power and the current power;

[0135] The control unit 605 is used to send a control instruction to the range extender of the loader when the time length between the arrival time point and the current time is greater than or equal to the motor response time length, so that the range extender controls the power generation state of the motor of the loader based on the control instruction, so that the power of the loader when it reaches the target position meets the transient power demand.

[0136] In the device provided in the embodiment of the present application, when the loader is in a state of performing loading and unloading operations, the working path of the loader is determined, and the working path includes various working positions of the loader when performing loading and unloading operations; the current displacement and current power of the loader are determined; based on the current displacement, the target position of the loader is determined in each working position, and the arrival time point of the loader to the target position is predicted; the average power of the target position is determined, and the motor response time of the loader is determined based on the average power and the current power; when the time between the arrival time point and the current time is greater than or equal to the motor response time, a control instruction is sent to the range extender of the loader, so that the range extender controls the power generation state of the loader's motor based on the control instruction, so that the power when the loader reaches the target position meets the transient power demand. After predicting the arrival time point of the loader at the target position, the present application determines the motor response time. When the time between the arrival time point and the current time is greater than or equal to the motor response time, a control instruction is sent to the range extender of the loader, so that the range extender controls the power generation state of the motor in advance, so that the power of the loader when it arrives at the target position meets the transient power demand. The range extender enters the working state in advance to ensure that sufficient power is output to the loader, meet the transient power demand of the loader, and improve the operating efficiency and performance of the loader.

[0137] In another embodiment provided by the present application, the first determination unit 601 of the device performs the process of determining the working path of the loader, including:

[0138] Acquiring historical working data of the loader;

[0139] Acquiring road spectrum data from the historical working data;

[0140] Based on the road map data, a working path of the loader is determined.

[0141] In another embodiment provided by the present application, the second determination unit 602 of the device performs the process of determining the current displacement and current power of the loader, including:

[0142] Acquiring current operation data of the loader;

[0143] Acquire vehicle speed information and gear information in the current operation data, and determine the current displacement of the loader according to the vehicle speed information and gear information;

[0144] Power information in the current operation data is acquired, and the current power of the loader is determined based on the power information.

[0145] In another embodiment provided by the present application, the prediction unit 603 of the device performs the step of determining the target position of the loader in each of the working positions based on the current displacement, including:

[0146] determining a direction of travel of the loader on the working path based on the current displacement;

[0147] A working position in the working path that is located in the traveling direction and closest to the loader is determined as a target position.

[0148] In another embodiment provided by the present application, the prediction unit 603 of the device performs the prediction of the arrival time point of the loader arriving at the target location, including:

[0149] determining a current position of the loader;

[0150] The arrival time point of the loader from the current position to the target position is predicted using the operation data of the loader and the road surface information from the current position to the target position in the working path.

[0151] Although the present invention depicts operations in a particular order, this should not be understood as requiring that the operations be performed in the particular order shown or in a sequential order.Multitasking and parallel processing may be advantageous under certain circumstances.

[0152] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0153] An embodiment of the present invention further provides a storage medium, which includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the above-mentioned extended-range loader power generation control method.

[0154] The embodiment of the present invention further provides an electronic device, the structural diagram of which is shown in FIG. Figure 8As shown, it specifically includes a memory 701 and one or more instructions 702, wherein the one or more instructions 702 are stored in the memory 701 and are configured to be executed by one or more processors 703 to execute the one or more instructions 702 to execute the above-mentioned extended-range loader power generation control method.

[0155] It should be noted that the information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0156] The specific implementation processes and derivative methods of the above-mentioned embodiments are all within the protection scope of the present invention.

[0157] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0158] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0159] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling power generation of an extended-range loader, characterized in that: include: When the loader is in a state of performing loading and unloading operations, determining a working path of the loader, wherein the working path includes various working positions of the loader when performing loading and unloading operations; determining a current displacement and a current power of the loader; Based on the current displacement, determining a target position of the loader in each of the working positions, and predicting an arrival time point of the loader at the target position; Determine the average power at the target position, and determine the motor response time based on the average power and the current power; the motor response time is the response time for the range extender to control the power of the loader to reach the target power; When the time between the arrival time point and the current time is greater than or equal to the motor response time, a control instruction is sent to the range extender of the loader, so that the range extender controls the power generation state of the motor of the loader based on the control instruction, so that the power of the loader when it reaches the target position meets the transient power demand; The predicting the arrival time point of the loader at the target location includes: determining a current position of the loader; The arrival time point of the loader from the current position to the target position is predicted using the operation data of the loader and the road surface information from the current position to the target position in the working path.

2. The method according to claim 1, characterized in that: Determining the working path of the loader includes: Acquiring historical working data of the loader; Acquiring road spectrum data from the historical working data; Based on the road map data, a working path of the loader is determined.

3. The method according to claim 1, characterized in that: Determining the current displacement and current power of the loader includes: Acquiring current operation data of the loader; Acquire vehicle speed information and gear information in the current operation data, and determine the current displacement of the loader according to the vehicle speed information and gear information; Power information in the current operation data is acquired, and the current power of the loader is determined based on the power information.

4. The method according to claim 1, characterized in that: Determining the target position of the loader in each of the working positions based on the current displacement includes: determining a direction of travel of the loader on the working path based on the current displacement; A working position in the working path that is located in the traveling direction and closest to the loader is determined as a target position.

5. A power generation control device for an extended-range loader, characterized in that: include: A first determining unit is used to determine a working path of the loader when the loader is in a state of performing loading and unloading operations, wherein the working path includes various working positions of the loader when performing loading and unloading operations; A second determining unit, used to determine the current displacement and current power of the loader; a prediction unit, configured to determine a target position of the loader in each of the working positions based on the current displacement, and predict an arrival time point of the loader at the target position; a third determining unit, configured to determine an average power at the target position, and determine a motor response time based on the average power and the current power; the motor response time is a response time for the range extender to control the power of the loader to reach a target power; a control unit, configured to send a control instruction to the range extender of the loader when the time length between the arrival time point and the current time is greater than or equal to the motor response time length, so that the range extender controls the power generation state of the motor of the loader based on the control instruction, so that the power of the loader when it reaches the target position meets the transient power demand; The prediction unit of the device performs the prediction of the arrival time point of the loader arriving at the target location, including: determining a current position of the loader; The arrival time point of the loader from the current position to the target position is predicted using the operation data of the loader and the road surface information from the current position to the target position in the working path.

6. The device according to claim 5, characterized in that The process of determining the working path of the loader by the first determining unit includes: Acquiring historical working data of the loader; Acquiring road spectrum data from the historical working data; Based on the road map data, a working path of the loader is determined.

7. The device according to claim 5, characterized in that The second determination unit performs the process of determining the current displacement and current power of the loader, including: Acquiring current operation data of the loader; Acquire vehicle speed information and gear information in the current operation data, and determine the current displacement of the loader according to the vehicle speed information and gear information; Power information in the current operation data is acquired, and the current power of the loader is determined based on the power information.

8. A storage medium, characterized in that: The storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the extended-range loader power generation control method as described in any one of claims 1-4.

9. An electronic device, characterized in that: It comprises a memory and one or more instructions, wherein the one or more instructions are stored in the memory and are configured to be executed by one or more processors to execute the extended-range loader power generation control method as described in any one of claims 1-4.

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