Electric loader safety control method and system, storage medium and equipment

Abstract

The invention discloses a safety control method and system for an electric loader, a storage medium and equipment, and the method comprises the steps: pre-calibrating braking areas of the electric loader under different working conditions, determining an adaptive braking area according to a current speed and a steering angle, and carrying out the braking control of the electric loader according to the braking area and an obstacle coordinate. Therefore, the electric loader is prevented from colliding with obstacles, accidents are avoided, and the safety of the electric loader is guaranteed. The prompting area is arranged on the basis of the braking area, when the obstacle is in the prompting area, a prompt is given out, and an operator is reminded to adjust the running state; when the vehicle speed Vt is larger than the set threshold value V1 and the pressure of the steering oil way is smaller than the set threshold value F, namely the whole vehicle loses the steering capacity during operation, the emergency steering pump is started in time, and steering safety is guaranteed.

Description

Technical Field

[0001] The invention relates to a safety control method, system, storage medium and equipment for an electric loader, belonging to the technical field of engineering machinery. Background Art

[0002] As electric loaders are increasingly used in various projects, such as construction, mining, logistics, etc., their safety issues are becoming increasingly important. Electric loader collision accidents may cause injury or death to the operator or other personnel, resulting in serious consequences such as casualties, property losses, work delays, and equipment damage. Therefore, a safety control method for electric loaders is urgently needed. Summary of the invention

[0003] The present invention provides a safety control method, system, storage medium and device for an electric loader, which solve the problems disclosed in the background technology.

[0004] According to one aspect of the present disclosure, there is provided a safety control method for an electric loader, including a braking control method, the braking control method comprising: According to the current speed V of the electric loader t and the current steering angle θ t , determine the current braking area of ​​the electric loader; where the center of the current vehicle braking area is aligned with the hinge point of the electric loader, and the distance from the front side to the center is V t and θ t The minimum braking distance when moving forward is V from the rear side to the center. t and θ t The minimum braking distance when moving backward is equal to the width of the area swept by the electric loader during the braking process with maximum braking force plus the threshold value w; the minimum braking distance is the braking distance under maximum braking force; According to the current braking area, obstacle coordinates, V t , as well as the current movement direction and current gear position of the electric loader, to perform braking control of the electric loader.

[0005] In some embodiments of the present disclosure, the braking regions are pre-calibrated, and each braking region corresponds to a speed range and a steering angle range; According to the current speed V of the electric loader t and the current steering angle θ t , determine the current braking area of ​​the electric loader, including: Traverse all pre-calibrated braking areas. If V t and θ t If the speed range and the steering angle range are respectively corresponding to the braking area, then the braking area is the current braking area of ​​the electric loader.

[0006] In some embodiments of the present disclosure, the process of calibrating the braking area includes: The theoretical steering angle range of the electric loader is divided into a plurality of steering angle sub-ranges, the theoretical speed range of the electric loader is divided into a plurality of speed sub-ranges, and an angle sub-range and a speed sub-range are taken as one object; For each object, a steering angle is selected from the corresponding steering angle sub-range, and a speed is selected from the corresponding speed sub-range. The minimum braking distance when moving forward and the minimum braking distance when moving backward under the selected steering angle and speed are obtained. A braking area is constructed according to the minimum braking distance, and the constructed braking area is calibrated as the braking area of ​​the object.

[0007] In some embodiments of the present disclosure, according to the current braking area, obstacle coordinates, V t , as well as the current movement direction and current gear position of the electric loader, to perform braking control of the electric loader, including: If V t If it is not 0, the current direction of movement is forward / stop, and the current gear is the forward gear, obstacles in the rear area are shielded and no braking response is made to them; the rear area is the area behind the rear of the electric loader in the current braking area; If V t If it is not 0, the current direction of movement is reverse / stop, and the current gear is the reverse gear, obstacles in the front area are shielded and no braking response is made to them; the front area is the area in front of the bucket of the electric loader in the current braking area; If V t When the value is 0, the current gear is in neutral, and an obstacle is detected in the current braking area, the electric loader is controlled not to brake; In other cases, as long as an obstacle is detected in the current braking area, the electric loader is controlled to brake.

[0008] In some embodiments of the present disclosure, the braking control method further includes: After the current braking area is determined, the preset distance is expanded outward on the basis of the current braking area to determine the current prompt area. When an obstacle is detected in the current prompt area, a prompt message is issued.

[0009] In some embodiments of the present disclosure, a steering control method is also included, and the steering control method includes: If V t When the pressure is greater than the set threshold value V1 and the steering oil circuit pressure is less than the set threshold value F, the emergency steering pump connected in parallel with the steering pump in the electric loader is controlled to start.

[0010] According to another aspect of the present disclosure, there is provided an electric loader safety control system, including a brake control system, the brake control system comprising: The braking area determination module determines the braking area according to the current speed V of the electric loader. t and the current steering angle θ t , determine the current braking area of ​​the electric loader; where the center of the current vehicle braking area is aligned with the hinge point of the electric loader, and the distance from the front side to the center is V t and θ t The minimum braking distance when moving forward is V from the rear side to the center. t and θ t The minimum braking distance when moving backward is equal to the width of the area swept by the electric loader during the braking process with maximum braking force plus the threshold value w; the minimum braking distance is the braking distance under maximum braking force; The braking control module is based on the current braking area, obstacle coordinates, V t , as well as the current movement direction and current gear position of the electric loader, to perform braking control of the electric loader.

[0011] In some embodiments of the present disclosure, a steering control system is further included, the steering control system comprising: The emergency steering pump control module detects V t When the pressure is greater than the set threshold value V1 and the steering oil circuit pressure is less than the set threshold value F, the emergency steering pump connected in parallel with the steering pump in the electric loader is controlled to start.

[0012] According to another aspect of the present disclosure, a computer-readable storage medium is provided, the computer-readable storage medium storing one or more programs, the one or more programs including instructions, which, when executed by a computing device, cause the computing device to execute a safety control method for an electric loader.

[0013] According to another aspect of the present disclosure, a computer device is provided, comprising one or more processors and one or more memories, one or more programs being stored in the one or more memories and configured to be executed by the one or more processors, the one or more programs including instructions for executing a safety control method for an electric loader.

[0014] The beneficial effects achieved by the present invention are as follows: 1. The present invention pre-calibrates the braking area of ​​the electric loader under different working conditions, determines the adapted braking area according to the current speed and steering angle, and performs braking control of the electric loader according to the braking area and the coordinates of the obstacle, thereby preventing the electric loader from colliding with the obstacle, avoiding accidents, and ensuring the safety of the electric loader; 2. The present invention sets a prompt area based on the braking area, and issues a prompt when the obstacle is in the prompt area to remind the operator to adjust the operating state; 3. The present invention is in V tWhen it is greater than the set threshold V1 and the steering oil circuit pressure is less than the set threshold F, that is, the vehicle loses steering ability during operation, the emergency steering pump is started in time to ensure steering safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flow chart of a safety control method for an electric loader; Figure 2 Flow chart for braking zone calibration; Figure 3 This is a schematic diagram of the steering angle of the electric loader; Figure 4 It is a schematic diagram of the braking area and the prompting area; Figure 5 Decision diagram for safety control; Figure 6 Schematic diagram of area 1 and area 2 shielded by the braking area; Figure 7 This is the working hydraulic principle diagram of the emergency steering pump; Figure 8 This is the block diagram of the electric loader safety control system. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. It is obvious that the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0017] Unless otherwise specified, the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0018] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0019] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0020] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0021] It should be noted that similar symbols and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

[0022] In order to solve the current problem of lack of safety control for electric loaders, the present disclosure proposes a safety control method, system, storage medium and equipment for electric loaders. Specifically, a braking area is pre-calibrated for different working conditions, and braking control is performed according to the braking area and obstacle coordinates to avoid collision accidents. An emergency steering pump is also added. When the entire vehicle loses steering ability, the emergency steering pump is started to ensure steering safety.

[0023] Figure 1 This is a schematic diagram of an embodiment of the electric loader safety control method disclosed in the present invention. Figure 1 The embodiments may be executed by an onboard controller of an electric loader, and may specifically include a braking control method and a steering control method.

[0024] like Figure 1 As shown, step 1 of the braking control method of the embodiment is to adjust the braking speed V of the electric loader according to the current speed V of the electric loader. t and the current steering angle θ t , determine the current braking area of ​​the electric loader; where the center of the current vehicle braking area is aligned with the hinge point of the electric loader, and the distance from the front side to the center is V t and θ t The minimum braking distance when moving forward is V from the rear side to the center. t and θ t The minimum braking distance when moving backward is equal to the width of the area swept by the electric loader during braking with maximum braking force plus the threshold value w; the minimum braking distance is the braking distance under maximum braking force.

[0025] It should be noted that V t It can be calculated from the motor speed, reducer speed ratio, drive axle speed ratio, and tire radius collected by the motor controller, θ t It can be collected by the steering angle sensor, which can be installed just below the hinge point.

[0026] It should be noted that the braking area needs to be calibrated in advance. Each braking area can correspond to a speed and a steering angle. Since the theoretical steering angle range and the theoretical speed range are both large, if a one-to-one correspondence method is adopted, then too many braking areas will need to be calibrated, increasing the difficulty of operating the method.

[0027] In order to simplify the operation difficulty of the method, in some embodiments, one braking area corresponds to one speed range and one steering angle range, and the calibration process can be as follows: 1) The theoretical steering angle range of the electric loader is divided into a number of steering angle sub-ranges, the theoretical speed range of the electric loader is divided into a number of speed sub-ranges, and an angle sub-range and a speed sub-range are taken as one object.

[0028] It should be noted that the above range division can be determined according to actual conditions. For example, 3 to 5 km / h can be set as a speed sub-range, and 15° to 20° can be set as a steering angle sub-range.

[0029] 2) For each object, select a steering angle from the corresponding steering angle sub-range, select a speed from the corresponding speed sub-range, obtain the minimum braking distance when moving forward and the minimum braking distance when moving backward under the selected steering angle and speed, construct a braking area based on the minimum braking distance, and calibrate the constructed braking area as the braking area of ​​the object.

[0030] It should be noted that, assuming that the theoretical range of the steering angle is [0, α], α is the maximum steering angle, the range can be divided into n sub-ranges, and a steering angle β1, β2, ..., β n , similarly, the speed range is divided into n sub-ranges, and a speed V(1), V(2), …, V(n) is selected in each sub-range.

[0031] β n and V(n) as an object, the corresponding braking area can be obtained by field test, see Figure 2 and 3 First, select the calibration site and determine the calibration center point P. Then, the electric loader turns at a steering angle β n , vehicle speed V(n), forward / reverse reaching point P (i.e. the articulation point of the electric loader reaches point P), when reaching point P, the electric loader brakes with the maximum braking force of the whole vehicle, and records the running trajectory from the start of braking to the stop state, and establishes a virtual axis N in the direction of the articulation point and the center point of the rear frame when reaching point P, and an axis M in the direction perpendicular to the axis N, to construct a virtual coordinate axis, and according to the above electric loader running trajectory and virtual coordinates, the vehicle braking area range can be constructed.

[0032] The braking area is visible Figure 4 , Figure 4 The braking area when the steering angle is 0 is rectangular in shape. The center of the braking area is aligned with the hinge point of the electric loader. The distance from the front side to the center is the minimum braking distance when moving forward, and the distance from the rear side to the center is the minimum braking distance when moving backward. The width is equal to the width of the area swept by the electric loader during the maximum braking force (i.e., the area swept in the virtual coordinates) plus the threshold w; the threshold w can generally be 20cm. Of course, if the steering angle is not 0, the braking area is a curved rectangle as a whole.

[0033] After all braking areas are calibrated, the braking area corresponding to the speed and steering angle can be determined based on the collected speed and steering angle. Specifically, all pre-calibrated braking areas can be traversed. If V t and θ t If the speed range and the steering angle range are respectively corresponding to the braking area, then the braking area is the current braking area of ​​the electric loader.

[0034] return Figure 1 , step 2 of the braking control method of the embodiment, according to the current braking area, obstacle coordinates, V t , as well as the current movement direction and current gear position of the electric loader, to perform braking control of the electric loader.

[0035] It should be noted that the obstacle coordinates can be collected by visual recognition equipment, and the obstacle coordinate information can be collected in real time through four cameras installed in the front, left and right directions of the roof and at the rear of the vehicle; the movement direction can be obtained by the electronic control to collect the motor steering; the gear position is obtained by the feedback voltage of the shift button.

[0036] It should be noted that during control, the obstacle coordinates will be monitored in real time, and braking control will be performed based on the positional relationship between the obstacle coordinates and the braking area and the state of the electric loader. The specific process can be seen in Figure 5 ,include: S11) If V t If it is not 0, the current direction of movement is forward / stop, and the current gear is forward, the obstacles in the rear area are shielded and no braking response is made to them (i.e. the braking response will not take into account the obstacles in the rear area); the rear area is the area behind the rear of the electric loader in the current braking area (i.e. Figure 6 area 1).

[0037] It should be noted that when moving forward or about to move forward, there is no need to consider obstacles on the rear side of the vehicle, that is, the range of area one can be blocked, that is, it is only necessary to determine whether there are obstacles in the range other than area one. However, in order to ensure safety, a prompt message will be issued, such as an alarm to prompt that there is an obstacle on the rear side.

[0038] S12) If V t If it is not 0, the current direction of movement is reverse / stop, and the current gear is reverse, the obstacles in the front area are shielded and no braking response is made to them; the front area is the area in front of the bucket of the electric loader in the current braking area (i.e. Figure 6 Region II).

[0039] Similar to S11, during the process of reversing or about to reversing, obstacles on the front side of the vehicle do not need to be considered, that is, the range of area 2 can be shielded, that is, it is only necessary to determine whether there are obstacles in the range other than area 2. However, in order to ensure safety, a prompt message will be issued, such as an alarm to prompt that there is an obstacle in front.

[0040] S13) If V t If the value is 0, the current gear is in neutral, and an obstacle is detected in the current braking area, the electric loader will not brake. However, in order to ensure safety, a prompt message will be issued, such as an alarm to indicate that there is an obstacle on one side.

[0041] S14) In other cases, as long as an obstacle is detected in the current braking area, the electric loader is controlled to brake.

[0042] It should be noted that in other situations: when the gear position does not match the driving direction, for example, the vehicle in forward gear slides backward and does not block any obstacles in the braking area; the vehicle in reverse gear slides forward; the vehicle in neutral gear moves forward or backward, etc.

[0043] The above method pre-calibrates the braking area of ​​the electric loader under different working conditions, determines the adaptive braking area according to the current speed and steering angle, and performs braking control of the electric loader according to the braking area and obstacle coordinates, thereby preventing the electric loader from colliding with obstacles, avoiding accidents, and ensuring the safety of the electric loader.

[0044] It should be noted that the electric loader generally encounters many obstacles during movement. If braking is only performed within the braking area, the electric loader will often brake frequently, which will greatly reduce work efficiency. Therefore, in some embodiments, after determining the current braking area, Figure 4 On the basis of the current braking area, the preset distance will be expanded outward, such as 1m, to determine the current prompt area, which includes the braking area and is within the detection range of the obstacle detection device. When an obstacle is detected in the current prompt area, a prompt message, such as an alarm, is issued to remind the operator to adjust the operating status. This can effectively avoid frequent braking and ensure smooth and efficient movement.

[0045] It should be noted that the steering pump of an electric loader may sometimes be damaged or the power source of the steering pump may become abnormal. In order to ensure safety, further steering control is required.

[0046] like Figure 1 As shown, the steering control method of the embodiment includes, if V is detected t When the pressure is greater than the set threshold value V1 and the steering oil circuit pressure is less than the set threshold value F, the emergency steering pump connected in parallel with the steering pump in the electric loader is controlled to start.

[0047] It should be noted that the threshold V1 and the threshold F are related to the vehicle and the hydraulic system. For example, V1 can be 1.83 km / h, and F can be 5 bar.

[0048] See Figure 7 The pressure sensor is used to collect the pressure of the steering oil circuit (specifically, the pressure at the outlet of the steering pump). The oil inlet of the emergency steering pump is connected to the oil tank, and the oil outlet of the emergency steering pump is connected to the steering oil circuit through a one-way valve. The emergency steering pump is also connected in parallel with a relief valve. When the pressure collected by the pressure sensor is less than the threshold F, the emergency steering pump starts to supply oil to the steering oil circuit, thereby increasing the pressure of the steering oil circuit and ensuring steering safety.

[0049] Figure 8 This is a schematic diagram of an embodiment of the electric loader safety control system disclosed in the present invention. Figure 3 An embodiment of the invention is a virtual system that can be loaded and executed by an onboard controller of an electric loader, including a brake control system and a steering control system.

[0050] A braking control system of an embodiment includes a braking area determination module and a braking control module.

[0051] The braking area determination module is configured to determine the braking area according to the current speed V of the electric loader. t and the current steering angle θ t , determine the current braking area of ​​the electric loader; where the center of the current vehicle braking area is aligned with the hinge point of the electric loader, and the distance from the front side to the center is V t and θ t The minimum braking distance when moving forward is V from the rear side to the center. t and θ t The minimum braking distance when moving backward is equal to the width of the area swept by the electric loader during braking with maximum braking force plus the threshold value w; the minimum braking distance is the braking distance under maximum braking force.

[0052] The braking control module is configured to, based on the current braking area, obstacle coordinates, V t , as well as the current movement direction and current gear position of the electric loader, to perform braking control of the electric loader.

[0053] The steering control system of the embodiment includes an emergency steering pump control module; the emergency steering pump control module is configured to: if the emergency steering pump control module detects V t When the pressure is greater than the set threshold value V1 and the steering oil circuit pressure is less than the set threshold value F, the emergency steering pump connected in parallel with the steering pump in the electric loader is controlled to start.

[0054] Similar to the above method, the above system pre-calibrates the braking area of ​​the electric loader under different working conditions, determines the adaptive braking area according to the current speed and steering angle, and performs braking control of the electric loader according to the braking area and obstacle coordinates, thereby preventing the electric loader from colliding with obstacles, avoiding accidents, and ensuring the safety of the electric loader; and the above system is in V t When it is greater than the set threshold V1 and the steering oil circuit pressure is less than the set threshold F, that is, the vehicle loses steering ability during operation, the emergency steering pump is started in time to ensure steering safety.

[0055] Based on the same technical solution, the present disclosure also relates to a computer-readable storage medium, which stores one or more programs, and the one or more programs include instructions. When the instructions are executed by a computing device, the computing device executes a safety control method for an electric loader.

[0056] Based on the same technical solution, the present disclosure also relates to a computer device, including one or more processors and one or more memories, one or more programs are stored in the one or more memories and are configured to be executed by one or more processors, and the one or more programs include instructions for executing an electric loader safety control method.

[0057] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as 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. Furthermore, 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.

[0058] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (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 the 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.

[0059] 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.

[0060] 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.

[0061] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the scope of the claims of the present invention to be approved.

Claims

1. A safety control method for an electric loader, characterized in that: A braking control method is included, wherein the braking control method includes: According to the current speed V of the electric loader t and the current steering angle θ t , determine the current braking area of ​​the electric loader; where the center of the current vehicle braking area is aligned with the hinge point of the electric loader, and the distance from the front side to the center is V t and θ t The minimum braking distance when moving forward is V from the rear side to the center. t and θ t The minimum braking distance when moving backward is equal to the width of the area swept by the electric loader during the braking process with maximum braking force plus the threshold value w; the minimum braking distance is the braking distance under maximum braking force; According to the current braking area, obstacle coordinates, V t , as well as the current movement direction and current gear position of the electric loader, to perform braking control of the electric loader.

2. The electric loader safety control method according to claim 1, characterized in that: The braking areas are pre-calibrated, and each braking area corresponds to a speed range and a steering angle range; According to the current speed V of the electric loader t and the current steering angle θ t , determine the current braking area of ​​the electric loader, including: Traverse all pre-calibrated braking areas. If V t and θ t If the speed range and the steering angle range are respectively corresponding to the braking area, then the braking area is the current braking area of ​​the electric loader.

3. The electric loader safety control method according to claim 2, characterized in that: The process of calibrating the braking area includes: The theoretical steering angle range of the electric loader is divided into a plurality of steering angle sub-ranges, the theoretical speed range of the electric loader is divided into a plurality of speed sub-ranges, and an angle sub-range and a speed sub-range are taken as one object; For each object, a steering angle is selected from the corresponding steering angle sub-range, and a speed is selected from the corresponding speed sub-range. The minimum braking distance when moving forward and the minimum braking distance when moving backward under the selected steering angle and speed are obtained. A braking area is constructed according to the minimum braking distance, and the constructed braking area is calibrated as the braking area of ​​the object.

4. The electric loader safety control method according to claim 1, characterized in that: According to the current braking area, obstacle coordinates, V t , as well as the current movement direction and current gear position of the electric loader, to perform braking control of the electric loader, including: If V t If it is not 0, the current direction of movement is forward / stop, and the current gear is the forward gear, obstacles in the rear area are shielded and no braking response is made to them; the rear area is the area behind the rear of the electric loader in the current braking area; If V t If it is not 0, the current direction of movement is reverse / stop, and the current gear is the reverse gear, obstacles in the front area are shielded and no braking response is made to them; the front area is the area in front of the bucket of the electric loader in the current braking area; If V t When the value is 0, the current gear is in neutral, and an obstacle is detected in the current braking area, the electric loader is controlled not to brake; In other cases, as long as an obstacle is detected in the current braking area, the electric loader is controlled to brake.

5. The electric loader safety control method according to claim 1, characterized in that: The braking control method further comprises: After the current braking area is determined, the preset distance is expanded outward on the basis of the current braking area to determine the current prompt area. When an obstacle is detected in the current prompt area, a prompt message is issued.

6. The electric loader safety control method according to claim 1, characterized in that: Also included is a steering control method, the steering control method comprising: If V t When the pressure is greater than the set threshold value V1 and the steering oil circuit pressure is less than the set threshold value F, the emergency steering pump connected in parallel with the steering pump in the electric loader is controlled to start.

7. An electric loader safety control system, characterized in that: A brake control system is included, wherein the brake control system includes: The braking area determination module determines the braking area according to the current speed V of the electric loader. t and the current steering angle θ t , determine the current braking area of ​​the electric loader; where the center of the current vehicle braking area is aligned with the hinge point of the electric loader, and the distance from the front side to the center is V t and θ t The minimum braking distance when moving forward is V from the rear side to the center. t and θ t The minimum braking distance when moving backward is equal to the width of the area swept by the electric loader during the braking process with maximum braking force plus the threshold value w; the minimum braking distance is the braking distance under maximum braking force; The braking control module is based on the current braking area, obstacle coordinates, V t , as well as the current movement direction and current gear position of the electric loader, to perform braking control of the electric loader.

8. The electric loader safety control system according to claim 7, characterized in that: Also included is a steering control system, the steering control system comprising: The emergency steering pump control module detects V t When the pressure is greater than the set threshold value V1 and the steering oil circuit pressure is less than the set threshold value F, the emergency steering pump connected in parallel with the steering pump in the electric loader is controlled to start.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs include instructions. When the instructions are executed by a computing device, the computing device executes any one of the methods of claims 1 to 6.

10. A computer device, characterized in that: include: One or more processors and one or more memories, one or more programs are stored in the one or more memories and are configured to be executed by the one or more processors, and the one or more programs include instructions for executing any of the methods described in claims 1 to 6.

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