An electric loader safety control method, system, storage medium and device

Abstract

The application discloses an electric loader safety control method and system, a storage medium and equipment. The application pre-calibrates the electric loader braking area under different working conditions, determines the adaptive braking area according to the current speed and the steering angle, and performs electric loader braking control according to the braking area and the obstacle coordinates, so that the electric loader is prevented from colliding with the obstacle, accidents are avoided, and the safety of the electric loader is ensured. The application sets a prompt area on the basis of the braking area, issues a prompt when the obstacle is in the prompt area, and reminds the operator to adjust the running state. When the vehicle speed V t When the vehicle speed V is greater than a set threshold V1 and the steering oil way pressure is less than a set threshold F, that is, when the vehicle loses the steering ability during running, the emergency steering pump is started in time, and the steering safety is ensured.

Description

Technical Field

[0001] This invention relates to a safety control method, system, storage medium, and device for an electric loader, belonging to the field of engineering machinery technology. Background Technology

[0002] As electric loaders are increasingly used in various engineering projects, such as construction, mining, and logistics, their safety issues are receiving more and more attention. Collisions involving electric loaders can lead to injuries or deaths of operators or other personnel, resulting in serious consequences such as personal injury, property damage, work delays, and equipment damage. Therefore, there is an urgent need for a safety control method for electric loaders. Summary of the Invention

[0003] This invention provides a safety control method, system, storage medium, and device for electric loaders, which solves the problems disclosed in the background art.

[0004] According to one aspect of this disclosure, a safety control method for an electric loader is provided, including a braking control method, the braking control method comprising:

[0005] Based on the current speed V of the electric loader t and current steering angle θ t Determine the current braking zone of the electric loader; where the center of the current braking zone 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, which is the distance from the rear side to the center. t and θ t The minimum braking distance when reversing is equal to the width of the area swept by the electric loader during maximum braking force plus the threshold w; the minimum braking distance is the braking distance under maximum braking force.

[0006] Based on the current braking area, obstacle coordinates, and V... t The system controls the electric loader's braking by determining its current direction of movement and gear.

[0007] In some embodiments of this disclosure, braking zones are pre-defined, with each braking zone corresponding to a speed range and a steering angle range;

[0008] Based on the current speed V of the electric loader t and current steering angle θ t Determine the current braking zone of the electric loader, including:

[0009] Traverse all pre-defined braking regions, if V t and θ tIf the braking area falls within the corresponding speed range and steering angle range, then that braking area is the current braking area of ​​the electric loader.

[0010] In some embodiments of this disclosure, the process of marking dynamic regions includes:

[0011] The theoretical steering angle range of the electric loader is divided into several steering angle sub-ranges, and the theoretical speed range of the electric loader is divided into several speed sub-ranges. One angle sub-range and one speed sub-range are treated as one object.

[0012] For each object, select a steering angle from the corresponding steering angle sub-range and a speed from the corresponding speed sub-range. Obtain the minimum braking distance when moving forward and the minimum braking distance when moving backward at the selected steering angle and speed. Construct a braking region based on the minimum braking distance and mark the constructed braking region as the braking region of the object.

[0013] In some embodiments of this disclosure, based on the current braking area, obstacle coordinates, V t And the current direction of movement and current gear of the electric loader, to perform braking control of the electric loader, including:

[0014] If V t If the value is not 0, the current direction of movement is forward / stop, and the current gear is forward, obstacles in the rear area are blocked, and no braking response is applied to them; the rear area is the area behind the rear of the electric loader in the current braking area.

[0015] If V t If the value is not 0, the current direction of movement is reverse / stop, and the current gear is reverse, obstacles in the front area are blocked, and no braking response is applied to them; the front area is the area in front of the bucket of the electric loader in the current braking area.

[0016] If V t If the value is 0, the current gear is neutral, and an obstacle is detected in the current braking area, the electric loader will not brake.

[0017] In other cases, the electric loader will be braked as long as an obstacle is detected in the current braking area.

[0018] In some embodiments of this disclosure, the braking control method further includes:

[0019] After determining the current braking area, the system extends outward by a preset distance to determine the current warning area. When an obstacle is detected within the current warning area, a warning message is issued.

[0020] In some embodiments of this disclosure, a steering control method is also included, the steering control method comprising:

[0021] If V is detected t If the pressure is greater than the set threshold V1 and the steering oil circuit pressure is less than the set threshold F, the emergency steering pump connected in parallel with the steering pump in the electric loader will be started.

[0022] According to another aspect of this disclosure, a safety control system for an electric loader is provided, including a braking control system, the braking control system comprising:

[0023] The braking zone determination module determines the braking zone based on the current speed V of the electric loader. t and current steering angle θ t Determine the current braking zone of the electric loader; where the center of the current braking zone 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, which is the distance from the rear side to the center. t and θ t The minimum braking distance when reversing is equal to the width of the area swept by the electric loader during maximum braking force plus the threshold w; the minimum braking distance is the braking distance under maximum braking force.

[0024] The braking control module, based on the current braking area, obstacle coordinates, and V... t The system controls the electric loader's braking by determining its current direction of movement and gear.

[0025] In some embodiments of this disclosure, a steering control system is also included, the steering control system comprising:

[0026] The emergency steering pump control module, if it detects V t If the pressure is greater than the set threshold V1 and the steering oil circuit pressure is less than the set threshold F, the emergency steering pump connected in parallel with the steering pump in the electric loader will be started.

[0027] According to another aspect of this disclosure, a computer-readable storage medium is provided that stores one or more programs, the one or more programs including instructions that, when executed by a computing device, cause the computing device to perform an electric loader safety control method.

[0028] According to another aspect of this disclosure, a computer device is provided, including one or more processors and one or more memories, wherein one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs include instructions for performing a safety control method for an electric loader.

[0029] The beneficial effects achieved by this invention are as follows: 1. This invention pre-calibrates the braking zone of the electric loader under different working conditions, determines the appropriate braking zone based on the current speed and steering angle, and performs braking control of the electric loader based on the braking zone and obstacle coordinates, thereby avoiding collisions between the electric loader and obstacles, preventing accidents, and ensuring the safety of the electric loader; 2. This invention sets a warning zone on the basis of the braking zone, and issues a warning when an obstacle is in the warning zone, reminding the operator to adjust the operating status; 3. This invention in V t When the steering oil pressure is greater than the set threshold V1 and less than the set threshold F, the vehicle loses its steering ability during operation. The emergency steering pump should be activated in time to ensure steering safety. Attached Figure Description

[0030] Figure 1 A flowchart of the safety control method for electric loaders;

[0031] Figure 2 Flowchart for calibrating the braking area;

[0032] Figure 3 This is a schematic diagram of the steering angle of an electric loader;

[0033] Figure 4 A schematic diagram of the braking area and the warning area;

[0034] Figure 5 Decision diagram for safety control;

[0035] Figure 6 Schematic diagram of Region 1 and Region 2, which are shielded for the braking area;

[0036] Figure 7 Hydraulic schematic diagram of the emergency steering pump;

[0037] Figure 8 This is a block diagram of the safety control system for an electric loader. Detailed Implementation

[0038] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0039] Unless otherwise stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this disclosure.

[0040] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0041] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0042] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0043] It should be noted that similar symbols and letters in the following figures represent similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0044] To address the current lack of safety control for electric loaders, this disclosure proposes a safety control method, system, storage medium, and equipment for electric loaders. Specifically, it pre-calibrates a braking zone for different working conditions, performs braking control based on the braking zone and obstacle coordinates to avoid collisions, and adds an emergency steering pump. When the vehicle loses steering ability, the emergency steering pump is activated to ensure steering safety.

[0045] Figure 1 This is a schematic diagram of one embodiment of the electric loader safety control method disclosed herein. Figure 1 The implementation can be performed by the on-board controller of the electric loader, and may specifically include braking control methods and steering control methods.

[0046] like Figure 1 As shown, in step 1 of the braking control method of the embodiment, the current speed V of the electric loader is determined... t and current steering angle θ t Determine the current braking zone of the electric loader; where the center of the current braking zone 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, which is the distance from the rear side to the center. t and θ t The minimum braking distance when reversing is equal to the width of the area swept by the electric loader during maximum braking force plus the threshold w; the minimum braking distance is the braking distance under maximum braking force.

[0047] It should be noted that V t θ can be calculated from the motor speed, reducer ratio, drive axle ratio, and tire radius collected by the motor controller. tIt can be collected by a steering angle sensor, which can be installed directly below the hinge point.

[0048] It should be noted that the braking zones need to be pre-calibrated. Each braking zone can correspond to a speed and a steering angle. Since the theoretical steering angle range and theoretical speed range are both large, if a one-to-one correspondence method is adopted, there will be too many braking zones to be calibrated, which increases the operational difficulty of the method.

[0049] To simplify the operation of the method, in some embodiments, a braking zone corresponds to a speed range and a steering angle range, and the calibration process can be as follows:

[0050] 1) Divide the theoretical steering angle range of the electric loader into several steering angle sub-ranges, divide the theoretical speed range of the electric loader into several speed sub-ranges, and treat one angle sub-range and one speed sub-range as an object.

[0051] It should be noted that the above range division can be determined according to the actual situation. For example, 3~5km / h can be a speed sub-range, and 15°~20° can be a steering angle sub-range.

[0052] 2) For each object, select a steering angle from the corresponding steering angle sub-range and 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 mark the constructed braking area as the braking area of ​​the object.

[0053] It should be noted that, assuming the theoretical range of the steering angle is [0, α], where α is the maximum steering angle, this range can be divided into n sub-ranges, and a steering angle β1, β2, ..., β3 is selected within each sub-range. n Similarly, the speed range is also divided into n sub-ranges, and a speed V(1), V(2), ..., V(n) is selected in each sub-range.

[0054] β n As an object, V(n) can be used to obtain the corresponding braking area through field testing, see [link / reference]. Figure 2 and 3 First, select the calibration site and determine the calibration center point P. Then, the electric loader rotates at a turning angle β. nThe vehicle speed V(n) is measured. The vehicle moves forward / backward to point P (i.e., the hinge point of the electric loader reaches point P). When the electric loader reaches point P, it brakes with the maximum braking force of the entire vehicle. At the same time, the running trajectory from the start of braking to the stop state is recorded. A virtual axis N is established in the direction of the hinge point and the center point of the rear frame when the vehicle reaches point P, and an axis M is established in the direction perpendicular to the N axis. A virtual coordinate axis is constructed. Based on the above running trajectory of the electric loader and the virtual coordinates, the vehicle braking area range can be constructed.

[0055] The braking area is clearly visible. Figure 4 , Figure 4 The braking area at a steering angle of 0° is rectangular in shape. The center of the vehicle's braking area is aligned with the hinge point of the electric loader. The distance from the front edge to the center is the minimum braking distance when moving forward, and the distance from the rear edge 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 maximum braking force (i.e., the area swept in the virtual coordinates) plus a threshold w; where the threshold w can generally be 20cm. Of course, if the steering angle is not 0°, the braking area will be a curved rectangle.

[0056] After calibrating all braking zones, the braking zones corresponding to the speed and steering angle can be determined based on the collected data. Specifically, all pre-calibrated braking zones can be traversed. If V t and θ t If the braking area falls within the corresponding speed range and steering angle range, then that braking area is the current braking area of ​​the electric loader.

[0057] return Figure 1 In step 2 of the braking control method of the embodiment, based on the current braking area, obstacle coordinates, and V... t The system controls the electric loader's braking by determining its current direction of movement and gear.

[0058] It should be noted that obstacle coordinates can be collected by visual recognition devices, using four cameras installed in the front, left, and right directions of the roof and at the rear of the vehicle to collect obstacle coordinate information in real time; the direction of movement can be obtained by the electric control system collecting the motor's steering; and the gear position is obtained by the voltage feedback from the shift button.

[0059] It should be noted that during control, the obstacle coordinates are monitored in real time. Braking control is performed based on the positional relationship between the obstacle coordinates and the braking area, as well as the status of the electric loader. For details, please refer to [link / document / reference]. Figure 5 ,include:

[0060] S11) If V tIf the value is not 0, the current direction of movement is forward / stop, and the current gear is forward, obstacles in the rear area are blocked, and no braking response is applied (i.e., the braking response does not consider obstacles in the rear area); where the rear area is the area behind the rear of the electric loader in the current braking area (i.e., Figure 6 (Region 1).

[0061] It should be noted that obstacles behind the vehicle do not need to be considered during or just before the vehicle moves forward, meaning the area of ​​Zone 1 can be shielded. In other words, it is only necessary to determine whether there are obstacles in areas outside Zone 1. However, for safety reasons, a warning message will be issued, such as an alarm indicating that there is an obstacle behind the vehicle.

[0062] S12) If V t If the value is not 0, the current direction of movement is reverse / stop, and the current gear is reverse, obstacles in the front area are blocked, and no braking response is applied; the front area refers to the area in front of the electric loader bucket in the current braking area (i.e., Figure 6 (Region 2).

[0063] Similar to S11, obstacles in front of the vehicle do not need to be considered during or when reversing, meaning the area of ​​Zone 2 can be shielded. It is only necessary to determine whether there are obstacles in areas other than Zone 2. However, for safety reasons, a warning message will be issued, such as an alarm indicating that there is an obstacle in front.

[0064] S13) If V t If the current gear is 0, the current gear is neutral, and an obstacle is detected in the current braking area, the electric loader will not brake. However, for safety reasons, a warning message will be issued, such as an alarm indicating that there is an obstacle on one side.

[0065] S14) In other cases, as long as an obstacle is detected in the current braking area, the electric loader is controlled to brake.

[0066] It should be noted that in other situations, such as when the gear does not match the direction of travel, for example, when the vehicle rolls backward in forward gear, it does not block any obstacles in the braking area; when the vehicle rolls forward in reverse gear; or when the vehicle moves forward or backward in neutral gear, etc.

[0067] The above method pre-calibrates the braking area of ​​the electric loader under different working conditions, determines the appropriate braking area based on the current speed and steering angle, and performs braking control of the electric loader based on the braking area and obstacle coordinates, thereby avoiding collisions between the electric loader and obstacles, preventing accidents, and ensuring the safety of the electric loader.

[0068] It should be noted that electric loaders typically encounter many obstacles during operation. If braking is only applied within the designated braking area, the electric loader will often brake frequently, which will significantly reduce work efficiency. Therefore, in some embodiments, after determining the current braking area, [further details are needed]. Figure 4 It will expand outward by a preset distance, such as 1 meter, from the current braking area to determine the current warning area. This warning area includes the braking area and is within the detection range of the obstacle detection device. When an obstacle is detected in the current warning area, a warning message will be issued, such as an alarm, to remind the operator to adjust the operating status. This can effectively avoid frequent braking and ensure smooth and efficient movement.

[0069] It should be noted that electric loaders may sometimes experience steering pump failure or abnormal steering pump power source. In order to ensure safety, further steering control is required.

[0070] like Figure 1 As shown, the steering control method in this embodiment includes, if V is detected... t If the pressure is greater than the set threshold V1 and the steering oil circuit pressure is less than the set threshold F, the emergency steering pump connected in parallel with the steering pump in the electric loader will be started.

[0071] It should be noted that the thresholds V1 and F are related to the vehicle and hydraulic system. For example, V1 can be 1.83 km / h and F can be 5 bar.

[0072] See Figure 7 The system collects steering fluid pressure (specifically, the pressure at the steering pump outlet) via a pressure sensor. The emergency steering pump inlet is connected to the fuel tank, and the emergency steering pump outlet is connected to the steering fluid circuit via a check 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, supplying fuel to the steering fluid circuit, thereby increasing the pressure in the steering fluid circuit and ensuring steering safety.

[0073] Figure 8 This is a schematic diagram of one embodiment of the electric loader safety control system disclosed herein. Figure 3 An example of this is a virtual system that can be loaded and executed by the onboard controller of an electric loader, including a braking control system and a steering control system.

[0074] The braking control system of the embodiment includes a braking area determination module and a braking control module.

[0075] The braking zone determination module is configured to determine the braking zone based on the current speed V of the electric loader. t and current steering angle θ t Determine the current braking zone of the electric loader; where the center of the current braking zone 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, which is the distance from the rear side to the center. t and θ t The minimum braking distance when reversing is equal to the width of the area swept by the electric loader during maximum braking force plus the threshold w; the minimum braking distance is the braking distance under maximum braking force.

[0076] The braking control module is configured to, based on the current braking area, obstacle coordinates, and V... t The system controls the electric loader's braking by determining its current direction of movement and gear.

[0077] The steering control system of this embodiment includes an emergency steering pump control module; the emergency steering pump control module is configured such that, if V is detected... t If the pressure is greater than the set threshold V1 and the steering oil circuit pressure is less than the set threshold F, the emergency steering pump connected in parallel with the steering pump in the electric loader will be started.

[0078] Similar to the methods described above, the system pre-calibrates the braking zones of the electric loader under different working conditions, determines the appropriate braking zone based on the current speed and steering angle, and performs braking control of the electric loader based on the braking zone and obstacle coordinates. This prevents the electric loader from colliding with obstacles, avoids accidents, and ensures the safety of the electric loader. Furthermore, the system operates at V... t When the steering oil pressure is greater than the set threshold V1 and less than the set threshold F, the vehicle loses its steering ability during operation. The emergency steering pump should be activated in time to ensure steering safety.

[0079] Based on the same technical solution, this disclosure also relates to a computer-readable storage medium that stores one or more programs, the one or more programs including instructions that, when executed by a computing device, cause the computing device to perform a safety control method for an electric loader.

[0080] Based on the same technical solution, this disclosure also relates to a computer device, including one or more processors and one or more memories, wherein one or more programs are stored in one or more memories and configured to be executed by one or more processors, and the one or more programs include instructions for performing a safety control method for an electric loader.

[0081] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0082] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0083] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0084] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0085] 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 within the scope of the claims of the present invention pending approval.

Claims

1. A safety control method for an electric loader, characterized in that, The braking control method includes: Based on the current speed V of the electric loader t and current steering angle θ t Determine the current braking zone of the electric loader; where the center of the current braking zone 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, which is the distance from the rear side to the center. t and θ t The minimum braking distance when reversing is equal to the width of the area swept by the electric loader during maximum braking force plus the threshold w; the minimum braking distance is the braking distance under maximum braking force. Based on the current braking area, obstacle coordinates, and V... t The electric loader's braking control is based on its current direction of movement and current gear. The aforementioned braking zones are pre-defined, with each zone corresponding to a speed range and a steering angle range; based on the current speed V of the electric loader... t and current steering angle θ t Determine the current braking zone of the electric loader, including: traversing all pre-marked braking zones, if V t and θ t If the braking area falls within the speed range and steering angle range corresponding to the braking area, then the braking area is the current braking area of ​​the electric loader. The process of calibrating the braking area includes: dividing the theoretical steering angle range of the electric loader into several steering angle sub-ranges, dividing the theoretical speed range of the electric loader into several speed sub-ranges, and treating one angle sub-range and one speed sub-range as an object; for each object, selecting a steering angle from the corresponding steering angle sub-range and a speed from the corresponding speed sub-range, obtaining the minimum braking distance when moving forward and the minimum braking distance when moving backward at the selected steering angle and speed, constructing a braking area based on the minimum braking distance, and calibrating the constructed braking area as the braking area of ​​the object.

2. The electric loader safety control method according to claim 1, characterized in that, Based on the current braking area, obstacle coordinates, and V... t And the current direction of movement and current gear of the electric loader, to perform braking control of the electric loader, including: If V t If the value is not 0, the current direction of movement is forward / stop, and the current gear is forward, obstacles in the rear area are blocked, and no braking response is applied to them; the rear area is the area behind the rear of the electric loader in the current braking area. If V t If the value is not 0, the current direction of movement is reverse / stop, and the current gear is reverse, obstacles in the front area are blocked, and no braking response is applied 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 If the value is 0, the current gear is neutral, and an obstacle is detected in the current braking area, the electric loader will not brake. In other cases, the electric loader will be braked as long as an obstacle is detected in the current braking area.

3. The electric loader safety control method according to claim 1, characterized in that, The braking control method further includes: After determining the current braking area, the system extends outward by a preset distance to determine the current warning area. When an obstacle is detected within the current warning area, a warning message is issued.

4. The electric loader safety control method according to claim 1, characterized in that, It also includes a steering control method, which includes: If V is detected t If the pressure is greater than the set threshold V1 and the steering oil circuit pressure is less than the set threshold F, the emergency steering pump connected in parallel with the steering pump in the electric loader will be started.

5. A safety control system for an electric loader, characterized in that, The system includes a braking control system, which comprises: The braking zone determination module determines the braking zone based on the current speed V of the electric loader. t and current steering angle θ t Determine the current braking zone of the electric loader; where the center of the current braking zone 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, which is the distance from the rear side to the center. t and θ t The minimum braking distance when reversing is equal to the width of the area swept by the electric loader during maximum braking force plus the threshold w; the minimum braking distance is the braking distance under maximum braking force. The braking control module, based on the current braking area, obstacle coordinates, and V... t The electric loader's braking control is based on its current direction of movement and current gear. The aforementioned braking zones are pre-defined, with each zone corresponding to a speed range and a steering angle range; the braking zone determination module determines the braking zone based on the current speed V of the electric loader. t and current steering angle θ t Determine the current braking zone of the electric loader, including: traversing all pre-marked braking zones, if V t and θ t If the braking area falls within the speed range and steering angle range corresponding to the braking area, then the braking area is the current braking area of ​​the electric loader. The process of calibrating the braking area includes: dividing the theoretical steering angle range of the electric loader into several steering angle sub-ranges, dividing the theoretical speed range of the electric loader into several speed sub-ranges, and treating one angle sub-range and one speed sub-range as an object; for each object, selecting a steering angle from the corresponding steering angle sub-range and a speed from the corresponding speed sub-range, obtaining the minimum braking distance when moving forward and the minimum braking distance when moving backward at the selected steering angle and speed, constructing a braking area based on the minimum braking distance, and calibrating the constructed braking area as the braking area of ​​the object.

6. The electric loader safety control system according to claim 5, characterized in that, It also includes a steering control system, which includes: The emergency steering pump control module, if it detects V t If the pressure is greater than the set threshold V1 and the steering oil circuit pressure is less than the set threshold F, the emergency steering pump connected in parallel with the steering pump in the electric loader will be started.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs, the one or more programs including instructions that, when executed by a computing device, cause the computing device to perform the method of any one of claims 1 to 4.

8. A computer device, characterized in that, include: One or more processors and one or more memories, one or more programs stored in one or more memories and configured to be executed by one or more processors, the one or more programs including instructions for performing the method of any one of claims 1 to 4.

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