Loader safety protection method and device, vehicle control unit and loader

Abstract

The invention provides a loader safety protection method and device, a vehicle control unit and a loader, and relates to the technical field of loaders. The method comprises the steps that whether the loading machine has an emergency braking requirement or not is detected; and if the loader has the emergency braking requirement, the walking motor is controlled to feed back braking, and braking current is given to the braking valve so as to control emergency braking of the loader. According to the method, the safety of the loading machine is improved, and the adaptive capacity of the loading machine under complex working conditions is enhanced.

Description

Technical Field

[0001] The present application relates to the technical field of loaders, and in particular to a loader safety protection method, device, vehicle controller and loader. Background Art

[0002] With the development of mechanical automation, operators can send wireless signals through remote control to communicate with the loader's control system to control the loader to load, transport and unload materials, or remotely or autonomously control through an automated system to reduce or eliminate the need for manual operation, allowing unmanned / remote control loaders to operate in complex and dangerous environments or without a driver, thereby improving work efficiency and safety. It can be seen that since the operation of unmanned / remote control loaders relies on automatic control systems and remote signals, their safety is extremely important.

[0003] At present, in the unmanned / remote control mode, the loader will exit the unmanned / remote control mode only when it receives the remote control emergency stop signal or the driver on the vehicle manually presses the emergency stop button. The exit method is single, and then the whole vehicle is controlled to lower the high pressure and control the gearbox to return to neutral for emergency braking. There is a problem of long emergency braking distance, which increases safety risks. Summary of the invention

[0004] The embodiments of the present application provide a loader safety protection method, device, vehicle controller and loader, so as to achieve the effect of shortening the braking distance and stopping the vehicle quickly.

[0005] In a first aspect, an embodiment of the present application provides a loader safety protection method, comprising:

[0006] Detect whether the loader needs emergency braking;

[0007] If the loader has an emergency braking requirement, the travel motor is controlled to perform feedback braking, and the brake valve is given a braking current to control the loader's emergency braking.

[0008] In a possible implementation, controlling the feedback braking of the travel motor and providing the braking current of the brake valve to control the emergency braking of the loader includes:

[0009] Control the loader to maintain the current driving state and control the travel motor to change the rotation direction to reduce the speed of the loader to the target speed;

[0010] According to the speed of the loader, the braking current of the brake valve is dynamically adjusted to brake the loader.

[0011] In a possible implementation manner, after controlling the travel motor feedback braking and setting the brake valve braking current, the method further includes:

[0012] If the loader speed is greater than or equal to the preset vehicle speed after the preset time, the high pressure is lowered and the automatic parking mechanism is activated.

[0013] In a possible implementation, it further includes:

[0014] If the speed of the loader is greater than or equal to the preset vehicle speed after the preset time, a fault prompt message is output, and the fault prompt message is used to indicate that there is an abnormality in the braking system.

[0015] In a possible implementation, detecting whether the loader has an emergency braking requirement includes:

[0016] Receiving an interactive operation on an emergency stop button and determining that the loader has an emergency braking requirement;

[0017] and / or, monitoring the steering pressure information of the steering cylinder; when the steering pressure information does not meet the preset steering pressure requirement, determining that the loader has an emergency braking requirement;

[0018] And / or, monitor a brake pedal opening signal; when a brake pedal opening signal is present, determine that the loader has an emergency braking demand.

[0019] In a possible implementation, when the steering pressure information does not meet the preset steering pressure requirement, determining that the loader has an emergency braking requirement includes:

[0020] Determine the hydraulic pressure difference between the left steering cylinder and the right steering cylinder of the loader according to the steering pressure information;

[0021] When the change rate of the hydraulic pressure difference is greater than or equal to a change rate threshold in the preset steering pressure requirement, it is determined that there is an emergency braking demand for the loader.

[0022] In a possible implementation manner, after determining the hydraulic pressure difference between the left steering cylinder and the right steering cylinder of the loader according to the steering pressure information, the method further includes:

[0023] When the hydraulic pressure difference is less than or equal to a steering wheel sensitivity threshold in a preset steering pressure requirement, it is determined that an emergency braking requirement exists for the loader.

[0024] In a second aspect, an embodiment of the present application provides a loader safety protection device, comprising:

[0025] A detection module, used to detect whether the loader has an emergency braking requirement;

[0026] The control module is used to control the feedback braking of the travel motor and give the braking current of the brake valve to control the emergency braking of the loader if there is an emergency braking demand of the loader.

[0027] In a possible implementation manner, the control module is specifically configured to:

[0028] Control the loader to maintain the current driving state and control the travel motor to change the rotation direction to reduce the speed of the loader to the target speed;

[0029] According to the speed of the loader, the braking current of the brake valve is dynamically adjusted to brake the loader.

[0030] In a possible implementation manner, the control module is further configured to:

[0031] If the loader speed is greater than or equal to the preset vehicle speed after the preset time, the high pressure is lowered and the automatic parking mechanism is activated.

[0032] In a possible implementation manner, the control module is further configured to:

[0033] If the speed of the loader is greater than or equal to the preset vehicle speed after the preset time, a fault prompt message is output, and the fault prompt message is used to indicate that there is an abnormality in the braking system.

[0034] In a possible implementation, the detection module is specifically used to:

[0035] Receiving an interactive operation on an emergency stop button and determining that the loader has an emergency braking requirement;

[0036] and / or, monitoring the steering pressure information of the steering cylinder; when the steering pressure information does not meet the preset steering pressure requirement, determining that the loader has an emergency braking requirement;

[0037] And / or, monitor a brake pedal opening signal; when a brake pedal opening signal is present, determine that the loader has an emergency braking demand.

[0038] In a possible implementation, the detection module is further used to:

[0039] Determine the hydraulic pressure difference between the left steering cylinder and the right steering cylinder of the loader according to the steering pressure information;

[0040] When the change rate of the hydraulic pressure difference is greater than or equal to a change rate threshold in the preset steering pressure requirement, it is determined that there is an emergency braking demand for the loader.

[0041] In a possible implementation, the detection module is further used to:

[0042] When the hydraulic pressure difference is less than or equal to a steering wheel sensitivity threshold in a preset steering pressure requirement, it is determined that an emergency braking requirement exists for the loader.

[0043] In a third aspect, an embodiment of the present application provides a vehicle controller, including: a memory, a processor;

[0044] Memory stores computer-executable instructions;

[0045] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0046] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0047] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0048] In a sixth aspect, an embodiment of the present application provides a loader, comprising a vehicle controller, a left steering cylinder and a right steering cylinder, wherein the left steering cylinder and the right steering cylinder are both equipped with a hydraulic pressure sensor and a solenoid valve;

[0049] A vehicle controller is used to implement the first aspect and / or various possible implementation methods of the first aspect as described above.

[0050] The loader safety protection method, device, vehicle controller and loader provided in the embodiments of the present application continuously monitor the operating status of the loader to determine whether there is an emergency braking demand. Once the emergency braking demand is detected, the travel motor is immediately controlled to perform feedback braking to slow down the speed of the loader. At the same time, a braking current is given to the brake valve to enhance the braking force of the hydraulic brake system, thereby achieving faster deceleration and parking, achieving the effect of rapid response in emergency situations, and providing effective braking measures, thereby improving the safety, control accuracy, and energy efficiency of the loader, and reducing mechanical wear. It can effectively avoid possible safety accidents, ensure the safety of the operator and surrounding personnel, and at the same time improve the loader's adaptability in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0052] Figure 1 Schematic diagram of the process of the loader safety protection method provided in the embodiment of the present application Figure 1 ;

[0053] Figure 2 A schematic diagram of a fully electronically controlled hydraulic brake system provided in an embodiment of the present application;

[0054] Figure 3 Schematic diagram of the process of the loader safety protection method provided in the embodiment of the present application Figure 2 ;

[0055] Figure 4 Schematic diagram of the process of the loader safety protection method provided in the embodiment of the present application Figure 3 ;

[0056] Figure 5 A schematic diagram of a fully electronically controlled hydraulic steering system provided in an embodiment of the present application;

[0057] Figure 6 A schematic diagram of the structure of a loader safety protection device provided in an embodiment of the present application;

[0058] Figure 7 A schematic diagram of the structure of a vehicle controller provided in an embodiment of the present application;

[0059] Figure 8 A schematic diagram of the structure of a loader provided in an embodiment of the present application.

[0060] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0061] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0062] In the prior art, the main controller of the loader is communicatively connected with the remote control / unmanned module. In the unmanned / remote control mode, communication data is exchanged between the main controller and the remote control / unmanned module, and the communication data exchange includes the remote control / unmanned module transmitting a remote control emergency stop signal to the main controller. If the loader receives a remote control emergency stop signal or the driver on the vehicle manually presses the emergency stop button, the loader exits the unmanned / remote control mode, and then controls the entire vehicle to lower high pressure and control the gearbox to return to neutral for emergency braking. However, if the communication between the main controller and the remote control / unmanned module is abnormal, emergency braking can only be performed by manually pressing the emergency stop button, which may lead to operational errors or emergency braking delays, increasing safety risks, and the emergency braking distance is longer, resulting in increased safety risks.

[0063] Based on this, the loader safety protection method provided by the present application provides multiple safety guarantees by setting multiple signal sources on the loader. In addition to the remote emergency stop signal and the driver's emergency stop button, other sensors are added, such as the brake pedal opening signal and the steering pressure signal as the signal source for triggering emergency braking. On this basis, considering the problem of brake failure and long emergency braking distance when there is an abnormality in the electric brake (electric proportional brake valve) signal circuit, motor feedback braking and hydraulic brake valve braking are performed through the travel motor. Specifically, the travel motor performs feedback braking, switches to speed control, and quickly achieves the braking effect through reverse torque, significantly shortening the braking distance of the loader and improving safety in emergency situations.

[0064] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0065] Figure 1 Schematic diagram of the process of the loader safety protection method provided in the embodiment of the present application Figure 1 .like Figure 1 As shown, the method includes:

[0066] S101, detecting whether the loader has an emergency braking requirement.

[0067] Among them, emergency braking demand may refer to the situation in which the loader needs to slow down or stop immediately during operation. This demand may be caused by sudden obstacles, operating errors or other emergency situations.

[0068] For example, it is possible to determine whether there is a need for emergency braking by continuously monitoring the operating status of the loader, such as detecting the loader's speed, acceleration, the driver's operating instructions, and input from external environmental sensors (such as obstacle detection sensors).

[0069] In this embodiment, it is possible to determine whether an emergency stop is required through sensors, control systems or status monitoring systems (such as speed, acceleration, driver input, system failure, etc.). For example, if an emergency occurs such as the loader losing control, failing, or encountering an obstacle, the system will determine the need for emergency braking. Specifically, the detection can be automatically determined by a real-time monitoring system or a fault diagnosis system, and the current state of the loader can be detected through various perception and data acquisition technologies, such as acceleration sensors, speed sensors, position sensors, etc.

[0070] S102: If the loader has an emergency braking requirement, the travel motor is controlled to perform feedback braking, and a braking current is given to the brake valve to control the emergency braking of the loader.

[0071] Among them, the travel motor refers to the electric motor in the loader used to drive it to move, which is responsible for converting electrical energy into mechanical energy so that the loader can move.

[0072] The brake valve is a key component in the hydraulic system of the loader, which is used to control the flow of hydraulic oil and thus adjust the braking force of the brake system.

[0073] In this embodiment, if the system detects that the loader needs emergency braking, confirms that there is an emergency braking demand, and immediately activates the braking mechanism. The control system will instruct the travel motor to work in reverse, convert kinetic energy into electrical energy, generate braking force, and simultaneously adjust the current of the brake valve to stop the loader quickly. Among them, by controlling the travel motor to operate in reverse, the motor generates a reverse current, thereby producing a braking effect, which can not only quickly decelerate, but also recover part of the energy, and improve energy efficiency through the electric energy feedback system. By adjusting the braking current, the pressure of the braking system can be accurately controlled, thereby controlling the strength and speed of the braking process, making the emergency stop process smoother, effectively preventing the impact caused by the emergency stop, and reducing damage to the machinery.

[0074] like Figure 2 As shown, Figure 2 This is a schematic diagram of a fully electronically controlled hydraulic brake system provided in an embodiment of the present application. It includes:

[0075] Steering pump: responsible for providing hydraulic oil pressure for steering and braking systems.

[0076] Brake charge valve: regulates the flow of hydraulic fluid to ensure that there is enough hydraulic fluid in the brake system to provide adequate braking force when needed.

[0077] Accumulator: Stores hydraulic fluid pressure to provide additional energy to support braking and other hydraulic operations.

[0078] Control valve: adjusts the flow direction and pressure of hydraulic oil and controls the operation of the parking brake.

[0079] Parking brake: Through the operation of the control valve, the parking brake can be activated or released to keep the vehicle from moving when stationary.

[0080] Control valve: The driver can manually operate the control valve to directly affect the state of the hydraulic system.

[0081] Brake pedal: By depressing the brake pedal, the driver controls the hydraulic brake valves to apply the service brakes.

[0082] Electric brake valve: controlled by electric signal, providing additional braking force or as a redundant system.

[0083] Hydraulic brake valve: controls the service brakes via hydraulic pressure.

[0084] Controller: An electronic control unit that manages and coordinates the operation of the electric motor and transmission.

[0085] Travel motor / gearbox: responsible for driving the vehicle's drive shaft and controlling the vehicle's speed and direction.

[0086] In this embodiment, the steering pump not only supports the steering operation, but also affects the braking system through the brake filling valve to ensure that the braking system can work normally when turning. The driver can directly affect the braking system through the brake pedal and the control valve (including the electric control brake valve and the hydraulic brake valve), and the electric control brake valve provides additional electronic control means to ensure effective braking in any situation. The service brake controls the movement of the drive shaft through the combined action of the hydraulic and electronic control systems. At the same time, the controller further accurately controls the driving of the vehicle by managing the travel motor and the gearbox. Specifically, the steering pump can adjust the flow of hydraulic oil through the brake filling valve, thereby further controlling the accumulator and the control valve, and the parking brake can be activated or released by operating the control valve. At the same time, the driver can manually operate the control valve, or control the hydraulic brake valve by pressing the brake pedal to apply the service brake, and can also operate the electric control brake valve, thereby, the electric control brake valve and the hydraulic brake valve work together to ensure that the service brake can effectively control the movement of the drive shaft. At the same time, the controller can manage and coordinate the operation of the motor and the gearbox, and the travel motor and the gearbox control the speed and direction of the vehicle by driving the vehicle's drive shaft.

[0087] It can be understood that multiple control mechanisms (hydraulic and electronic control) ensure reliable braking capabilities in various situations, and the driver can control the movement of the vehicle in a variety of ways, increasing the flexibility and adaptability of operation. In addition, through the use of accumulators and precise control strategies, the system can use energy more efficiently and reduce energy consumption. At the same time, redundant control systems (hydraulic and electronic control) improve system reliability and reduce the risk of single point failures.

[0088] In this embodiment, in manual mode, the driver can operate the hydraulic brake valve to achieve hydraulic braking by stepping on the hydraulic pedal. In unmanned / remote control mode, the control signal controls the electronically controlled brake valve to achieve vehicle braking. Specifically, when there is an emergency braking demand, such as when an emergency stop signal is received, the loader will not return to neutral, but will rely on the travel motor feedback braking and give the brake valve braking current, so that the speed of the vehicle drops rapidly. However, when the vehicle speed does not drop to the expected value after a period of time, it is judged that there is an abnormality in the braking system, and the high pressure is immediately applied to stop the vehicle by the parking brake.

[0089] The loader safety protection method provided in the embodiment of the present application can automatically perform efficient braking operations in emergency situations by automatically detecting emergency braking requirements and automatically controlling feedback braking, thereby improving the automation level of the loader. By accurately controlling the braking current and reverse braking of the travel motor, the braking distance of the loader can be significantly shortened, improving safety in emergency situations, and making the parking process smoother, reducing the impact force caused by emergency stops, and avoiding unnecessary damage to goods or personnel. At the same time, precise braking control can effectively reduce the inertia of the loader during the parking process, reduce dependence on traditional mechanical braking, reduce frequent wear of the brakes, improve the durability of the entire system and long-term operation stability, and reduce the occurrence of rollover or other accidents.

[0090] Figure 3 Schematic diagram of the process of the loader safety protection method provided in the embodiment of the present application Figure 2 .like Figure 3 As shown, in this embodiment Figure 1 Based on the embodiment, step S102 is described in detail, which specifically includes the following steps:

[0091] S201, controlling the loader to maintain the current driving state, and controlling the travel motor to change the rotation direction, so as to reduce the speed of the loader to the target rotation speed.

[0092] The current driving state may refer to the current operating mode or state of the loader, including acceleration, constant speed driving or deceleration, etc. In this embodiment, when in an emergency, the driving state is controlled to quickly adjust the speed of the loader to achieve effective braking.

[0093] The target speed may refer to a preset ideal speed of the loader, such as the minimum speed or zero speed required for safe parking. In this embodiment, when performing the braking process, the control system will adjust the speed of the loader according to actual conditions to achieve the desired safe speed.

[0094] In this embodiment, after detecting the need for emergency braking, the system first ensures that the loader maintains the current driving state so that the loader will not accidentally change the driving direction or mode during braking, ensuring the stability of the operation, and then controls the travel motor to reverse its rotation direction. Through reverse operation, the motor generates reverse torque to gradually reduce the speed of the loader. By precisely controlling the reverse torque of the motor, the speed of the loader is reduced to the target speed, where the target speed is usually set to zero to achieve safe parking.

[0095] It can be understood that precise speed control and stable driving state can help reduce the risk of loss of control during emergency braking and improve the safety of the loader. In addition, during the reverse rotation of the motor, kinetic energy is converted into electrical energy, achieving partial energy recovery and improving energy utilization efficiency.

[0096] S202. Dynamically adjust the braking current of the brake valve according to the speed of the loader to brake the loader.

[0097] Among them, the braking current may refer to the current applied to the brake valve, which is used to adjust its opening degree and response speed to control the intensity of hydraulic braking.

[0098] In this embodiment, the system can monitor the speed of the loader in real time through a speed sensor or other measuring equipment to obtain the current driving status information, and dynamically adjust the braking current applied to the brake valve according to the real-time detected speed of the loader. Specifically, the higher the speed, the greater the braking current may be required to provide a stronger braking force; when the speed decreases, the braking current is also reduced accordingly to avoid excessive braking. Thus, the braking force of the hydraulic system is controlled by dynamically adjusting the braking current, thereby effectively braking the loader to ensure that it can stop within a safe distance.

[0099] It is understandable that by dynamically adjusting the braking current, the braking process is made more precise, and appropriate braking force can be provided according to the actual speed conditions to avoid excessive or insufficient braking. At the same time, the best braking effect can be maintained under different speed conditions, reducing the risk of loss of control during emergency braking and improving operational safety.

[0100] S203: If the speed of the loader is greater than or equal to the preset vehicle speed after the preset time, the high pressure is lowered and the automatic parking mechanism is activated.

[0101] The preset duration may refer to a time threshold set by the system, which is used to determine the response time of the loader during emergency braking.

[0102] The automatic parking mechanism may refer to a system that is automatically activated when the loader stops, and fixes the loader by mechanical braking or locking devices to prevent the loader from sliding, and is used to ensure that the loader remains stationary.

[0103] In this embodiment, after emergency braking is performed, the system will continue to monitor the speed change of the loader to determine whether it drops below the preset speed within a preset time. If the speed of the loader is still greater than or equal to the preset speed after the preset time, it is considered that the current braking measures are not sufficient to effectively stop the vehicle. Under the above conditions, the system performs a high-pressure operation to reduce or cut off the high pressure in the hydraulic system to reduce the power output of the hydraulic drive, thereby further slowing down the speed of the loader. At the same time, the automatic parking mechanism is activated and the mechanical brake is applied to ensure that the loader can remain stationary in a safe position.

[0104] It can be understood that through the combination of the lower high pressure and the automatic parking mechanism, additional braking force is provided to ensure effective parking in an emergency, prevent possible sliding or accidental movement of the loader during braking, and ensure safety after parking.

[0105] S204: If the speed of the loader is greater than or equal to the preset vehicle speed after the preset time, a fault prompt message is output, where the fault prompt message is used to prompt that there is an abnormality in the braking system.

[0106] Wherein, the fault prompt information can refer to a warning or notification generated by the system, which is used to remind the operator or maintenance personnel to pay attention to possible problems with the brake system of the loader. In the present embodiment, a prompt can be issued by a display screen, a warning light or a sound so that measures can be taken in time.

[0107] In this embodiment, the braking system may fail to work as expected due to mechanical failure, electrical problem or control system failure, and the vehicle speed may not be reduced to the preset speed within the preset time.

[0108] It can be understood that by monitoring the relationship between speed and time, the system can promptly identify abnormal conditions of the braking system. The output of fault prompt information enables operators to take prompt measures to prevent accidents caused by failure of the braking system. It also provides clear fault indications, simplifies the fault diagnosis and repair process, and improves maintenance efficiency.

[0109] The loader safety protection method provided in the embodiment of the present application can effectively improve the stability and safety of braking by intelligently controlling the rotation direction of the travel motor, dynamically adjusting the braking current, and combining the high-voltage parking mechanism. At the same time, the system can detect and prompt the failure of the braking system, thereby enhancing the overall safety guarantee.

[0110] Figure 4 Schematic diagram of the process of the loader safety protection method provided in the embodiment of the present application Figure 3 .like Figure 4 As shown, in this embodiment Figure 1Based on the embodiment, step S101 is described in detail, which specifically includes the following steps:

[0111] S301. Receive an interactive operation on an emergency stop button, and determine whether the loader has an emergency braking requirement.

[0112] Among them, the emergency stop button is an emergency stop device on the loader, which is usually triggered when the equipment fails or a dangerous situation occurs. It is used to quickly cut off the power and stop the operation of the machine. Operating the emergency stop button can immediately issue a stop command to ensure the safety of the operator.

[0113] In this embodiment, the system monitors the status of the emergency stop button in real time. When the operator presses the emergency stop button, the system receives this interactive operation signal, determines that the loader has an emergency braking requirement, and performs the corresponding braking operation according to the preset emergency braking process to ensure that the loader stops quickly and safely. It should be noted that this judgment is based on the operator's direct instruction and has a higher priority.

[0114] S302, and / or, monitoring the steering pressure information of the steering cylinder.

[0115] Among them, the steering cylinder is a key component in the hydraulic steering system. The extension and retraction of the cylinder is controlled by the pressure of the hydraulic oil, thereby adjusting the direction of the loader.

[0116] The steering pressure information may refer to the pressure data of the hydraulic oil in the steering cylinder. Steering pressure is an important indicator to measure the working status of the loader's steering system. Abnormal steering pressure may mean a steering system failure or other emergency situations, which may require the emergency brake mechanism to be activated. The steering pressure information of the steering cylinder can reflect the pressure status of the loader, and then determine whether there is a potential emergency situation.

[0117] In this embodiment, the hydraulic pressure of the steering cylinder can be monitored in real time by a sensor to obtain current steering pressure information, and then the monitored steering pressure information is compared with the preset steering pressure requirement to determine the working state of the steering system.

[0118] S303: When the steering pressure information does not meet the preset steering pressure requirement, it is determined that the loader has an emergency braking requirement.

[0119] The preset steering pressure requirement may refer to a hydraulic pressure difference change rate threshold and a steering wheel sensitivity threshold set according to a historical working state of the loader.

[0120] In this embodiment, the vehicle controller determines whether the pressure of the steering cylinder reaches a normal level based on the steering pressure information. If the pressure is abnormal, it may be that the hydraulic system fails and emergency braking is required.

[0121] In a possible implementation, S303 may be specifically implemented through the following steps:

[0122] First, based on the steering pressure information, the hydraulic pressure difference between the left steering cylinder and the right steering cylinder of the loader is determined. When the change rate of the hydraulic pressure difference is greater than or equal to the change rate threshold in the preset steering pressure requirement, it is determined that the loader has an emergency braking demand.

[0123] In this embodiment, the left steering cylinder and the right steering cylinder in the loader steering system are used to control the vehicle's steering movements to the left and right, respectively. In addition, the left steering cylinder and the right steering cylinder of the loader are both provided with hydraulic pressure sensors for collecting pressure data P 左 and P 右 , there is also a left-side solenoid valve i 左 and right steering solenoid valve i 右 , the flow direction or flow rate of the hydraulic oil in the left steering cylinder and the right steering cylinder is controlled by electrical signals.

[0124] As an example, when the vehicle is in unmanned / remote control mode, the controller signal controls the vehicle to turn right, i 右 =0,i 左 >0, hydraulic pressure difference between left steering cylinder and right steering cylinder Used to judge the balance state of the steering system and the rate of change of the hydraulic pressure difference Indicates the rate of change of hydraulic pressure difference over time, usually expressed in pressure units per second (such as Pascals per second, Pa / s). The calculated rate of change is compared with the preset rate of change threshold. If the rate of change is greater than or equal to the preset rate of change threshold m1, that is , judging that there may be an abnormality in the steering system, thereby determining that the loader has an emergency braking need.

[0125] In this embodiment, when the hydraulic pressure difference is less than or equal to a steering wheel sensitivity threshold in a preset steering pressure requirement, it is determined that the loader has an emergency braking requirement.

[0126] Among them, the steering wheel sensitivity threshold may refer to a preset critical value of the hydraulic pressure difference, reflecting the response sensitivity of the steering wheel to the steering system. Being lower than the threshold may mean that the steering system is insufficiently responsive or abnormal.

[0127] As another example, the calculated hydraulic pressure difference is compared with a preset steering wheel sensitivity threshold. If the hydraulic pressure difference is less than or equal to the sensitivity threshold m2, that is, , judging that the response of the steering system may be insufficient, thereby determining that the loader has an emergency braking need.

[0128] S304, and / or, monitoring the brake pedal opening signal.

[0129] The brake pedal opening signal refers to the input signal from the brake pedal, which reflects the operator's operation of the brake system. When the brake pedal is stepped on, the size of the opening signal indicates the pedal pressure or opening size of the brake pedal, thereby controlling the working intensity of the brake system.

[0130] S305: When there is a brake pedal opening signal, it is determined that the loader has an emergency braking demand.

[0131] In this embodiment, when the loader is in remote control / unmanned mode, if there is a need to immediately slow down or stop, it is usually triggered by the system detecting an abnormal state or the driver's operation intention. If the brake pedal opening signal is detected, it is considered that the driver has a braking intention, and it is determined that the loader has an emergency braking demand, and it is necessary to exit the remote control / unmanned mode and switch to manual mode.

[0132] like Figure 5 As shown, Figure 5 A schematic diagram of a fully electronically controlled hydraulic steering system provided in an embodiment of the present application. It includes:

[0133] Steering pump: provides the pressure required by the hydraulic system.

[0134] Priority valve: responsible for distributing hydraulic oil to ensure that the hydraulic steering system obtains the required pressure and flow first to ensure the reliability and response speed of the steering operation.

[0135] Hydraulic steering gear: uses the pressure of hydraulic oil to assist steering and reduce the driver's operating burden.

[0136] Electronically controlled steering valve: Controls hydraulic flow through electronic signals, providing more precise steering control.

[0137] Steering gear: A traditional mechanical steering device that allows the driver to directly control the hydraulic steering gear through the steering wheel.

[0138] Manifold: responsible for distributing the hydraulic oil from the hydraulic steering gear and the electronically controlled steering valve to the steering cylinder.

[0139] Steering cylinder: performs steering action and achieves steering by changing the pressure and flow of hydraulic oil.

[0140] In this embodiment, the steering pump provides power to the hydraulic steering gear and the electronically controlled steering valve through the priority valve. The hydraulic steering gear provides basic steering assistance, while the electronically controlled steering valve provides precise electronic control. At the same time, the driver can directly control the hydraulic steering gear through the mechanical steering machine, or remotely control the electronically controlled steering valve through electronic means to achieve a variety of steering operation modes. The manifold coordinates the output of the hydraulic steering gear and the electronically controlled steering valve to ensure that the steering cylinder obtains the appropriate hydraulic oil flow and pressure to achieve the expected steering action. The steering pressure information collected by the steering cylinder is used to monitor the status of the steering system in real time and provide feedback to optimize steering performance and safety.

[0141] It is understandable that the combination of hydraulic and electronic control systems achieves higher steering accuracy and response speed. The driver can choose mechanical or electronic steering operations, which increases the flexibility and adaptability of operations. And by real-time monitoring of steering pressure information, it ensures that the system can respond in time under abnormal conditions, thereby improving the safety of steering operations. In addition, the use of priority valves ensures the rational allocation of hydraulic resources and improves the energy efficiency of the system.

[0142] In this embodiment, in manual mode, the driver operates the hydraulic steering gear by operating the steering wheel to achieve vehicle steering; in unmanned / remote control mode, the remote control signal adjusts the electronically controlled steering valve to achieve vehicle steering. In remote control / unmanned mode, since the steering machine is not equipped with a steering wheel rotation sensor, it is impossible to obtain information about the emergency steering wheel rotation of the on-board safety officer, so it is necessary to sense the physical rotation of the steering wheel through the hydraulic signal.

[0143] The loader safety protection method provided in the embodiment of the present application effectively improves the safety protection capability of the loader through multi-dimensional monitoring of the emergency stop button, steering pressure information, hydraulic pressure difference and brake pedal opening signal. In the event of an emergency, the system can quickly determine and initiate braking to reduce the risk of accidents. At the same time, the method ensures the safety of the operator and the normal operation of the loader through real-time response and precise control.

[0144] Figure 6 This is a schematic diagram of the structure of the loader safety protection device provided in the embodiment of the present application. Figure 6 As shown, the loader safety protection device 40 provided in this embodiment includes:

[0145] A detection module 401 is used to detect whether the loader has an emergency braking requirement;

[0146] The control module 402 is used to control the travel motor to perform feedback braking and to set a braking current to the brake valve to control the emergency braking of the loader if the loader has an emergency braking demand.

[0147] In a possible implementation, the control module 402 is specifically configured to:

[0148] Control the loader to maintain the current driving state and control the travel motor to change the rotation direction to reduce the speed of the loader to the target speed;

[0149] According to the speed of the loader, the braking current of the brake valve is dynamically adjusted to brake the loader.

[0150] In a possible implementation, the control module 402 is further configured to:

[0151] If the loader speed is greater than or equal to the preset vehicle speed after the preset time, the high pressure is lowered and the automatic parking mechanism is activated.

[0152] In a possible implementation, the control module 402 is further configured to:

[0153] If the speed of the loader is greater than or equal to the preset vehicle speed after the preset time, a fault prompt message is output, and the fault prompt message is used to indicate that there is an abnormality in the braking system.

[0154] In a possible implementation, the detection module 401 is specifically configured to:

[0155] Receiving an interactive operation on an emergency stop button and determining that the loader has an emergency braking requirement;

[0156] and / or, monitoring the steering pressure information of the steering cylinder; when the steering pressure information does not meet the preset steering pressure requirement, determining that the loader has an emergency braking requirement;

[0157] And / or, monitor a brake pedal opening signal; when a brake pedal opening signal is present, determine that the loader has an emergency braking demand.

[0158] In a possible implementation, the detection module 401 is further configured to:

[0159] Determine the hydraulic pressure difference between the left steering cylinder and the right steering cylinder of the loader according to the steering pressure information;

[0160] When the change rate of the hydraulic pressure difference is greater than or equal to a change rate threshold in the preset steering pressure requirement, it is determined that there is an emergency braking demand for the loader.

[0161] In a possible implementation, the detection module 401 is further configured to:

[0162] When the hydraulic pressure difference is less than or equal to a steering wheel sensitivity threshold in a preset steering pressure requirement, it is determined that an emergency braking requirement exists for the loader.

[0163] The loader safety protection device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0164] Figure 7 This is a schematic diagram of the structure of the vehicle controller provided in the embodiment of the present application. Figure 7 As shown, the vehicle controller 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0165] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0166] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0167] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0168] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0169] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0170] Figure 8 The schematic diagram of the structure of the loader provided in the embodiment of the present application. Figure 8 As shown, the loader 60 provided in this embodiment includes:

[0171] Vehicle controller 601, left steering cylinder 602 and right steering cylinder 603;

[0172] The left steering cylinder 603 and the right steering cylinder 603 are both equipped with a hydraulic pressure sensor 604 and a solenoid valve 605;

[0173] The vehicle controller 601 is used to implement the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be repeated here.

[0174] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0175] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0176] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0177] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0178] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0179] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0180] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0181] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0182] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0183] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A loader safety protection method, characterized in that: include: Detect whether the loader needs emergency braking; If the loader has an emergency braking requirement, the travel motor is controlled to perform feedback braking, and a braking current is given to the brake valve to control the emergency braking of the loader.

2. The method according to claim 1, characterized in that The control of the travel motor feedback braking and the setting of the brake valve braking current to control the emergency braking of the loader include: Controlling the loader to maintain the current driving state, and controlling the travel motor to change the rotation direction, so as to reduce the speed of the loader to the target speed; According to the speed of the loader, the braking current of the brake valve is dynamically adjusted to brake the loader.

3. The method according to claim 2, characterized in that After controlling the travel motor to perform feedback braking and setting the braking current of the brake valve, the method further includes: If the speed of the loader is greater than or equal to the preset vehicle speed after the preset time, the high pressure is lowered and the automatic parking mechanism is activated.

4. The method according to claim 3, characterized in that Also includes: If the speed of the loader is greater than or equal to the preset vehicle speed after a preset time period, a fault prompt message is output, where the fault prompt message is used to prompt that an abnormality exists in the braking system.

5. The method according to any one of claims 1 to 4, characterized in that The detecting whether the loader has an emergency braking requirement comprises: Receiving an interactive operation on an emergency stop button, and determining that the loader has an emergency braking requirement; and / or, monitoring steering pressure information of a steering cylinder; when the steering pressure information does not meet a preset steering pressure requirement, determining that the loader has an emergency braking requirement; And / or, monitoring a brake pedal opening signal; when the brake pedal opening signal is present, determining that the loader has an emergency braking demand.

6. The method according to claim 5, characterized in that When the steering pressure information does not meet the preset steering pressure requirement, determining that the loader has an emergency braking requirement includes: Determining the hydraulic pressure difference between the left steering cylinder and the right steering cylinder of the loader according to the steering pressure information; When the change rate of the hydraulic pressure difference is greater than or equal to the change rate threshold of the preset steering pressure requirement, it is determined that there is an emergency braking demand for the loader.

7. The method according to claim 6, characterized in that After determining the hydraulic pressure difference between the left steering cylinder and the right steering cylinder of the loader according to the steering pressure information, the method further includes: When the hydraulic pressure difference is less than or equal to the steering wheel sensitivity threshold in the preset steering pressure requirement, it is determined that there is an emergency braking requirement for the loader.

8. A loader safety protection device, characterized in that: include: A detection module, used to detect whether the loader has an emergency braking requirement; The control module is used to control the feedback braking of the travel motor and give a braking current to the brake valve to control the emergency braking of the loader if the loader has an emergency braking demand.

9. A vehicle controller, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

10. A loader, characterized in that: It includes a vehicle controller, a left steering cylinder and a right steering cylinder, and the left steering cylinder and the right steering cylinder are both equipped with a hydraulic pressure sensor and a solenoid valve; The vehicle controller is used to implement the method according to any one of claims 1 to 7.

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