Remote control device of electric skid steer loader and control method of remote control device

Abstract

The remote control device comprises a shell and an upper cover which are hinged to each other, an image displayer is installed on the upper cover, and a control handle, an instrument displayer, an accelerator rotary knob, a vehicle starting button, a whole vehicle execution state monitoring controller and a remote control end central processing unit are installed on the shell. The whole vehicle end is provided with a distance monitoring device, a peripheral view angle monitoring device, a whole vehicle execution state monitoring device, a whole vehicle end central processing unit, a whole vehicle end remote control selection switch and 5G network terminal equipment which are matched with the remote control end for use, and a high-reliability remote control link is constructed by integrating a 5G communication technology; and an intelligent control system based on partition logic is adopted, so that the control safety and the operation precision of the engineering machinery under complex working conditions are improved, and the defects that a traditional remote control device is heavy in structure, delayed in response and disordered in control logic are overcome.

Description

TECHNICAL FIELD

[0001] The present application relates to a remote control device for an electric skid steer loader and a control method thereof, and belongs to the technical field of remote control. BACKGROUND

[0002] Remote control technology plays an increasingly important role in the operation of modern engineering machinery, especially electric skid steer loaders, which enables operators to work in a safe and efficient manner while being away from dangerous or harsh environments. However, existing remote control devices still have many limitations, which restrict their further promotion and application.

[0003] Patent No. CN104228826B discloses a mounting structure for a remote operator station, which provides a frame structure, detachable support elements and an adjustable pedal system through modular design, aiming to improve the transportation and arrangement flexibility of the operation station. Although this scheme improves the detachability and adaptability of the structure to some extent, the overall structure still relies on a rigid tubular frame and a complex mechanical coupling system, resulting in a bulky and heavy overall structure that is not convenient to carry and move. In addition, the structure still needs multiple mechanical fasteners such as bolts and flanges for assembly, making the disassembly process cumbersome and not conducive to quick switching between multiple work scenes. At the same time, this scheme is relatively expensive and not conducive to low-cost promotion and use.

[0004] In addition, existing remote control systems mainly focus on the optimization of mechanical structures, and there is still room for improvement in the integration and real-time response of control methods. Especially in electric skid steer loaders and other devices that require high precision and high response speed, how to achieve high integration and high reliability of signal transmission and instruction execution is still a technical problem to be solved in current remote control systems. SUMMARY

[0005] The present application provides a remote control device for an electric skid steer loader and a control method thereof, which integrates the functions of remote operation into a box-type remote control device, realizes long-range, low-delay remote precise control, and is convenient to carry and move.

[0006] Technical solution: A remote control device for an electric skid steer loader, comprising a shell and an upper cover that are hingedly connected, an image display is installed on the upper cover, a steering handle, an instrument display, a throttle knob, a vehicle start button, a vehicle execution state monitoring controller, a remote control end central processor are installed on the shell, a distance monitoring device, a peripheral view monitoring device, a vehicle execution state monitoring device, a vehicle end central processor, a vehicle end remote control selection switch and a 5G network terminal device are installed on the vehicle end, which are matched with the remote control end, The distance monitoring device, the whole vehicle execution state monitoring device, and the whole vehicle end remote control selection switch respectively send vehicle distance data, whole vehicle execution state, and whole vehicle end remote control selection switch state to the remote control end central processor through a 5G network terminal device. The remote control end central processor processes the vehicle distance data, whole vehicle execution state, and whole vehicle end remote control selection switch state and then sends them to an instrument display. The instrument display is used to display vehicle remote control conditions, walking motor speed mode, steering handle mode selection, vehicle distance data, walking motor speed, hydraulic motor speed, and whole vehicle parking state. The peripheral view monitoring device sends the collected images to the whole vehicle end central processor. The whole vehicle end central processor encodes the images and then sends the image data to the remote control end central processor through a 5G network terminal device. The remote control end central processor decodes the images and then sends them to an image display. The whole vehicle execution state monitoring controller is sequentially connected with the whole vehicle execution state monitoring device through the remote control end central processor, the 5G network terminal device, and the whole vehicle end central processor. The steering handle, the instrument display, the throttle knob, and the vehicle start button are sequentially connected with the whole vehicle end central processor through the remote control end central processor and the 5G network terminal device. The throttle knob is used to select the maximum speed of the hydraulic motor.

[0007] By integrating 5G communication, multi-path state monitoring, and image transmission, the remote precise control of the skid steer loader is realized with over-the-horizon and low delay. The operator can be away from the noisy and dangerous work site and obtain comprehensive vehicle state information such as instrument data and real-time image information at the remote control end, greatly improving the operation safety and comfort, and providing the possibility for continuous operation in extreme or dangerous environments.

[0008] Preferably, to simplify the operation logic and improve the control accuracy, the steering handle includes a first handle and a second handle. The first handle moves around the origin of the X-Y axis coordinate system, and the second handle reciprocally moves along the X and Y axes. The movement of the first handle in the circumferential area of the origin of the X-Y axis coordinate system controls the steering and speed of the walking motors on the left and right sides of the whole vehicle. The positive X-axis opening degree of the second handle controls the opening speed of the bucket of the whole vehicle, and the negative X-axis opening degree controls the closing speed of the bucket. The positive Y-axis opening degree of the second handle controls the lowering speed of the boom of the whole vehicle, and the negative Y-axis opening degree controls the lifting speed of the boom. After the first handle and the second handle return to the origin of the X-Y axis coordinate system, the speed of the walking motor of the whole vehicle is reset to 0, and the actions of the bucket and the boom are immediately stopped. The opening degree of the second handle is used to control the speed of the actions of the boom and the bucket.

[0009] Separating the travel control from the boom and bucket controls of the working device into two independent handles is ergonomically designed, significantly reducing operational complexity and the probability of error. The linear proportional relationship between handle opening and speed allows the operator to perform precise micro-motion control, improving operational accuracy and stability. The handle's zero-return stop function further enhances operational safety and immediate response.

[0010] In a preferred embodiment, in order to integrate complex steering actions on a single handle to meet the needs of precision operation, the first handle is provided with a straight-line area, a counter-steering area, an axle-center steering area, a first progressive steering area, and a second progressive steering area in the circumferential region around the origin of the XY axis coordinate system. The turning radius of the vehicle when it is in the first progressive steering area is greater than the turning radius when it is in the second progressive steering area. When the first handle is in the straight-line area, it controls the speed and direction of the travel motors on both sides of the vehicle to be the same; the opening of the first handle is used to control the speed of the travel motors on both sides. When the first handle is in the opposite steering area, it controls the speed of the two walking motors on both sides of the vehicle to be the same, but the direction to be opposite; the opening of the first handle is used to control the speed of the two walking motors on both sides. When the first handle is in the axle steering area, the speed of the inner wheel's travel motor is controlled to be 0, and the opening of the first handle is used to control the speed of the outer wheel's travel motor. When the first handle is in the first progressive steering area, the speed of the outer wheel drive motor of the whole vehicle is controlled to be greater than the speed of the inner wheel drive motor, and the steering is the same. The opening of the first handle is used to control the speed of the two drive motors respectively. When the first handle is in the second progressive steering area, the speed of the outer wheel drive motor of the whole vehicle is controlled to be greater than the speed of the inner wheel drive motor, and the steering is opposite. The opening of the first handle is used to control the speed of the two drive motors respectively. By dividing the vehicle into precise zones, the complex differential steering logic is transformed into an intuitive lever movement mode. Operators can seamlessly switch between various steering modes, such as straight driving, stationary turning, large-radius turning, and small-radius turning, by moving a single lever in different zones. This achieves simplified, intuitive, and versatile vehicle steering control, greatly simplifying operation and improving steering efficiency.

[0011] In a preferred embodiment, to ensure a smooth transition of the travel motor speed command when the handle switches between different motion modes, and to avoid mechanical shock and vehicle vibration caused by sudden changes in command, the straight travel area is set along the positive and negative directions of the Y-axis. When the first handle is located in the positive straight travel area of ​​the Y-axis, the travel motors on both sides of the vehicle rotate in the same direction in the forward direction; when the first handle is located in the negative straight travel area of ​​the Y-axis, the travel motors on both sides of the vehicle rotate in the same direction in the reverse direction. The counter-rotation steering areas are set along the X-axis in both directions. When the first handle is in the X-axis forward counter-rotation steering area, the left-side travel motor of the vehicle rotates forward and the right-side travel motor rotates in reverse. When the first handle is in the X-axis reverse counter-rotation steering area, the left-side travel motor of the vehicle rotates in reverse and the right-side travel motor rotates forward. The axis turning regions are respectively set along the two diagonal directions of the XY axis. When the first handle is located in the axis turning region in the positive direction of the Y axis, the outer wheel travel motor rotates forward. When the first handle is located in the axis turning region in the opposite direction of the Y axis, the outer wheel travel motor rotates in reverse. The area between the reverse X-axis and the forward Y-axis is the left forward movement area. Within the left forward movement area, from the forward Y-axis counterclockwise to the reverse X-axis, it includes the first progressive steering area, the axle steering area, and the second progressive steering area that cause the vehicle to move to the left. When the first handle is in the first progressive steering area that makes the vehicle move forward to the left, the two drive motors on both sides of the vehicle rotate in the same direction; when the first handle is in the second progressive steering area that makes the vehicle move forward to the left, the drive motor on the left side of the vehicle rotates in reverse and the drive motor on the right side rotates in the forward direction. The area between the reverse X-axis and the reverse Y-axis is the right rearward zone. The right rearward zone includes, in a counterclockwise direction from the reverse X-axis to the reverse Y-axis, a second progressive steering zone that causes the vehicle to move to the right and back, an axle steering zone, and a first progressive steering zone. When the first handle is in the second progressive steering area that causes the vehicle to move backward to the right, the left-side travel motor of the vehicle reverses and the right-side travel motor rotates forward; when the first handle is in the first progressive steering area that causes the vehicle to move backward to the right, the travel motors on both sides of the vehicle reverse in the same direction. The area between the positive X-axis and the negative Y-axis is the left rearward area. The left rearward area includes, in a counterclockwise direction from the negative Y-axis to the positive X-axis, a first progressive steering area, an axle steering area, and a second progressive steering area that cause the vehicle to move backward to the left. When the first handle is in the first progressive steering area that causes the vehicle to move backward to the left, the two drive motors on both sides of the vehicle reverse in the same direction; when the first handle is in the second progressive steering area that causes the vehicle to move backward to the left, the drive motor on the left side of the vehicle rotates forward and the drive motor on the right side rotates in reverse. The area between the positive X-axis and the positive Y-axis is the right forward movement area. The right forward movement area includes, in a counterclockwise direction from the positive X-axis to the positive Y-axis, a second progressive steering area that causes the vehicle to move to the right, an axle steering area, and a first progressive steering area. When the first handle is in the second progressive steering area that moves the vehicle forward to the right, the left-side travel motor of the vehicle rotates forward and the right-side travel motor rotates in reverse; when the first handle is in the first progressive steering area that moves the vehicle forward to the right, the travel motors on both sides of the vehicle rotate in the same direction.

[0012] By strictly defining the specific adjacency order of the first progressive steering area, the axis steering area, and the second progressive steering area within each sub-region of the left forward / backward zone and the right forward / backward zone, a unique and optimal movement path that conforms to machine kinematics and motor control logic is provided for the operating handle.

[0013] Preferably, to provide control modes that suit different operating habits and reduce the learning cost, the control handle includes a first handle and a second handle, both of which reciprocate along the X-axis and Y-axis directions, respectively. The positive X-axis opening of the first handle controls the descent speed of the vehicle boom, and the negative X-axis opening controls the ascent speed of the vehicle boom. The positive X-axis opening of the second handle controls the bucket opening speed of the entire vehicle, and the negative X-axis opening controls the bucket retraction speed of the entire vehicle. The positive Y-axis direction of the first handle controls the forward rotation of the travel motor on the same side of the vehicle, and the negative Y-axis direction controls the reverse rotation of the travel motor on the same side of the vehicle. The positive Y-axis direction of the second handle controls the forward rotation of the travel motor on the other side of the vehicle, and the negative Y-axis direction controls the reverse rotation of the travel motor on the other side of the vehicle. After the first and second handles return to the origin of the XY axis coordinate system, the speed of the vehicle's travel motor returns to 0, and the movements of the bucket and boom immediately stop. The opening of the first handle in both the positive and negative directions along the Y-axis is used to control the speed of the drive motor on the same side of the vehicle. The opening of the second handle along the positive and negative Y-axis is used to control the speed of the drive motor on the other side of the vehicle; The opening of the first handle in both the positive and negative directions along the X-axis is used to control the boom movement speed; The opening of the second handle along the positive and negative X-axis is used to control the speed of the bucket movement.

[0014] By directly simulating the traditional dual-handle control of the left and right tracks, the learning threshold for traditional operators is lowered, and the flexibility and adaptability of the operation mode are provided to meet the preferences of different users or specific work scenarios.

[0015] In order to allow the operating handle to be quickly and directly operated across large areas while absolutely avoiding the resulting conflicts in travel motor speed commands and severe current surges, a free travel area is provided centered on the origin of the XY axis coordinate system. When the first handle and the second handle move within the free travel area, the speed of the vehicle end travel motor is 0, and the bucket and boom are both stationary.

[0016] By setting a no-travel zone centered on the origin of the XY-axis coordinate system, a mandatory "zeroing" buffer point is provided for all control commands. This mandatory zeroing function within the no-travel zone transforms dangerous electrical command conflicts into a safe, motor-compliant stop-and-start process. This provides operational flexibility while ensuring fundamental system safety. Furthermore, regardless of the movement of the first and second handles within the no-travel zone, the travel motor, bucket, and boom will not be activated, preventing accidental operation and providing operators with reaction time.

[0017] In a preferred embodiment, to construct the highest priority emergency safety barrier, an emergency stop switch and an emergency stop controller installed at the vehicle end are also included. The emergency stop switch is connected to the emergency stop controller via a 5G network terminal device, and the emergency stop controller is connected to the central processing unit at the vehicle end.

[0018] By establishing an emergency stop switch and emergency stop controller independent of the main control circuit, and by using a dedicated emergency communication link via a 5G network, the system can reliably trigger an emergency stop of the entire vehicle under any system failure, greatly improving system safety.

[0019] A method for controlling a remote control device on an electric skid steer loader includes the following steps: When the vehicle is parked, the central processing unit of the remote control terminal determines whether the vehicle meets the remote control conditions. If it does, the vehicle start button is pressed to start remote control of the vehicle. If it does not meet the conditions, pressing the vehicle start button will be ineffective. After checking the unmet remote control conditions, the vehicle start button is pressed again to remotely control the vehicle. Select the travel motor speed mode and control handle mode on the instrument display, select the maximum speed of the hydraulic motor through the throttle knob, and then use the control handle to control the vehicle's straight movement, turning, boom raising / lowering, and bucket opening / closing. In case of an emergency, pressing the emergency stop switch will immediately stop the vehicle's central processing unit from operating.

[0020] The preferred option requires the following remote control conditions to be met: The vehicle remote control selector switch is in the ON position; Remote signal reception is normal; The heartbeat mutual check signals of the vehicle-side controller, remote control controller, and vehicle execution status monitoring controller are normal. All vehicle doors are closed; The vehicle control lever is located at the origin of the XY axis coordinate system; The walking motor speed modes include tortoise mode and rabbit mode. The walking motor speed in tortoise mode is 0-1500 rpm, and the walking motor speed in rabbit mode is 0-3500 rpm. The initial default speed mode of the vehicle's drive motor is turtle mode. The drive motor speed mode can be switched when the control handle is in the empty travel area of ​​the origin of the XY axis coordinate system and the current vehicle speed is 0.

[0021] Preferably, the control handle modes include ISO mode and H mode; The specific method for using the control handle in ISO mode is as follows: The first handle is initially located within the empty travel area of ​​the XY axis coordinate system; The first handle moves back and forth along a one-way control route of Y-axis forward straight area - empty travel area - Y-axis reverse straight area, so as to realize the vehicle's straight forward or backward movement. The first handle moves back and forth along a one-way control route of X-axis forward straight-line area - empty travel area - X-axis reverse straight-line area, so as to realize the vehicle's left or right rotation in place; The first handle moves back and forth along a one-way control route of left forward zone - empty travel zone - left reverse zone, so as to realize the whole vehicle moving forward to left and reverse to left or reverse to left forward; The first handle moves back and forth along a one-way control route of right forward zone - empty travel zone - right reverse zone, so as to realize the whole vehicle moving forward to right and reverse to right or reverse to right forward. The first handle moves clockwise or counterclockwise along a control route that connects the Y-axis forward straight area - left forward area - X-axis reverse straight area - right backward area - Y-axis reverse straight area - left backward area - X-axis forward straight area - right forward area, achieving the vehicle's movement from straight forward to left forward to left-turning to right backward to straight backward to left backward to right-turning to right forward and back to straight forward, or the opposite of the aforementioned vehicle movement route; The second handle is initially positioned within the free travel area of ​​the XY axis coordinate system; moving the second handle forward and backward controls the lowering and raising of the boom, respectively, while moving it left and right controls the retraction and opening of the bucket, respectively.

[0022] The specific method for using the control handle in H mode is as follows: Moving the first handle along the Y-axis in either the forward or reverse direction controls the forward or reverse rotation of the vehicle's left-side drive motor; moving the second handle along the Y-axis in either the forward or reverse direction controls the forward or reverse rotation of the vehicle's right-side drive motor. The first and second handles are simultaneously moved along the Y-axis in either the forward or reverse direction to control the vehicle to move forward or backward. The first handle is moved in the forward direction along the Y-axis, and the second handle is moved in the reverse direction along the Y-axis to control the left-side travel motor of the vehicle to rotate forward and the right-side travel motor to rotate in reverse, so as to realize the vehicle turning right. The first handle is moved in the opposite direction along the Y-axis, and the second handle is moved in the forward direction along the Y-axis to control the left-side travel motor of the vehicle to reverse and the right-side travel motor to rotate forward, so as to realize the vehicle turning to the left. The first handle, when moved in the opposite or forward direction along the X-axis, controls the boom to rise or fall. The second handle, when moved in the opposite or forward direction along the X-axis, controls the bucket to open or retract. When the first and second handles return to the idle travel area at the origin of the XY axis coordinate system at the same time, the speed of the travel motors on both sides of the vehicle is 0, and the bucket and boom are stationary.

[0023] Beneficial effects: This invention constructs a highly reliable remote control link by integrating 5G communication technology and adopts an intelligent control system based on partitioned logic to improve the control safety and operational accuracy of engineering machinery under complex working conditions, and overcomes the defects of traditional remote control devices such as bulky structure, slow response, and chaotic control logic. At the same time, through the mandatory command zeroing mechanism in the idle travel area and the emergency stop safety circuit, it effectively eliminates the current surge and mechanical stress when the travel motor switches directions, significantly improving the service life of core components and system reliability, while also preventing accidental touches. Combined with multi-mode control and panoramic monitoring functions, it can meet the diverse needs of users with different operating habits in high-precision, high-intensity continuous operation scenarios. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of the present invention. The central processing unit of the remote control terminal is located inside the housing. Figure 1 Not shown in the image; Figure 2 This is a schematic diagram of the signal transmission routes between the various components of the present invention; Figure 3 This is a schematic diagram of the handle operation in ISO mode according to the present invention; Figure 4 This is a schematic diagram of the handle operation in H mode of the present invention. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0028] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0029] like Figure 1 and Figure 2 As shown, a remote control device for an electric skid steer loader includes a hinged housing 1 and a top cover 2. An image display 3 is mounted on the top cover 2. The housing 1 is equipped with a control handle 4, an instrument display 5, a throttle knob 6, a vehicle start button 7, a vehicle execution status monitoring controller 8, and a remote control central processing unit. The vehicle end is equipped with a distance monitoring device 101, a peripheral view monitoring device 102, a vehicle execution status monitoring device 103, a vehicle-end central processing unit 104, a vehicle-end remote control selection switch 105, and a 5G network terminal device 106, all used in conjunction with the remote control. The distance monitoring device 101, the vehicle execution status monitoring device 103, and the vehicle-end remote control selection switch 105 respectively send vehicle distance data, vehicle execution status, and vehicle-end remote control selection switch status to the remote control terminal central processing unit via the 5G network terminal device 106. The remote control terminal central processing unit processes the vehicle distance data, vehicle execution status, and vehicle-end remote control selection switch status and then sends them to the instrument display 5. The instrument display 5 is used to display vehicle remote control conditions, drive motor speed mode, control handle mode selection, vehicle distance data, drive motor speed, hydraulic motor speed, and vehicle parking status. The peripheral view monitoring device 102 sends the acquired image to the vehicle-side central processing unit 104. The vehicle-side central processing unit 104 encodes the image and then sends the image data to the remote control central processing unit via the 5G network terminal device 106. The remote control central processing unit decodes the image and then sends it to the image display 3. The vehicle execution status monitoring controller 8 is sequentially connected to the vehicle execution status monitoring device 103 via the remote control terminal central processing unit, the 5G network terminal device 106, and the vehicle terminal central processing unit 104. The control handle 4, instrument display 5, throttle knob 6, and vehicle start button 7 are sequentially connected to the vehicle-side central processor 104 via the remote control terminal central processor and the 5G network terminal device 106, respectively; the throttle knob 6 is used to select the maximum speed of the hydraulic motor.

[0030] By integrating 5G communication, multi-channel status monitoring, and image transmission, the skid steer loader achieves long-range, low-latency, and precise remote control. Operators can operate from a distance, away from noisy and dangerous work environments, obtaining comprehensive vehicle status information such as instrument data and environmental information such as real-time images at the remote control terminal. This significantly improves operational safety and comfort, while also enabling continuous operation in extreme or dangerous environments. In this embodiment, the distance monitoring device 101 is a laser rangefinder, installed at both the front and rear ends of the vehicle. The front laser rangefinder detects the distance to the displacement endpoint and monitors the distance to obstacles during forward movement. The rear laser rangefinder monitors the distance to obstacles when the vehicle is reversing. The peripheral view monitoring device 102 consists of front / rear / left / right cameras, installed at the front / rear / left / right of the vehicle to acquire the vehicle's driving view. The vehicle execution status monitoring controller 8 and the vehicle execution status monitoring device 103 are a gimbal controller and a gimbal, respectively. The gimbal is mounted on the roof and monitors whether the vehicle is executing actions according to instructions. The gimbal view can be controlled by the gimbal controller.

[0031] To simplify the operation logic and improve control precision, the control handle 4 includes a first handle 41 and a second handle 42. The first handle 41 moves circumferentially around the origin of the XY axis coordinate system, and the second handle 42 moves back and forth along the X and Y axes. The first handle 41 moves within the circumferential region of the origin of the XY axis coordinate system to control the steering and speed of the walking motors on the left and right sides of the vehicle; The positive X-axis opening of the second handle 42 controls the bucket opening speed of the entire vehicle, and the negative X-axis opening controls the bucket retraction speed. The positive Y-axis opening of the second handle 42 controls the boom lowering speed of the entire vehicle, and the negative Y-axis opening controls the boom raising speed of the entire vehicle. After the first handle 41 and the second handle 42 return to the origin of the XY axis coordinate system, the speed of the vehicle's travel motor returns to 0, and the movement of the bucket and boom immediately stops. The opening of the second handle 42 is used to control the speed of the boom and bucket movement.

[0032] Separating the travel control from the boom and bucket controls of the working device into two independent handles is ergonomically designed, significantly reducing operational complexity and the probability of error. The linear proportional relationship between handle opening and speed allows the operator to perform precise micro-motion control, improving operational accuracy and stability. The handle's zero-return stop function further enhances operational safety and immediate response.

[0033] In order to integrate complex steering actions on a single handle to meet the needs of precision operation, the first handle 41 is provided with a straight-line area, a counter-rotating steering area, an axle-center steering area, a first progressive steering area, and a second progressive steering area in the circumferential area around the origin of the XY axis coordinate system. The turning radius of the whole vehicle when it is in the first progressive steering area is greater than the turning radius when it is in the second progressive steering area. When the first handle 41 is in the straight-line area, it controls the speed and direction of the travel motors on both sides of the vehicle to be the same; the opening of the first handle 41 is used to control the speed of the travel motors on both sides. When the first handle 41 is in the opposite steering area, it controls the speed of the two walking motors on both sides of the vehicle to be the same, but the direction is opposite; the opening of the first handle 41 is used to control the speed of the two walking motors. When the first handle 41 is in the axle steering area, the speed of the inner wheel's travel motor is controlled to be 0, and the opening of the first handle 41 is used to control the speed of the outer wheel's travel motor. When the first handle 41 is in the first progressive steering area, the speed of the outer wheel drive motor of the whole vehicle is controlled to be greater than the speed of the inner wheel drive motor, and the steering is the same. The opening of the first handle 41 is used to control the speed of the two drive motors respectively. When the first handle 41 is in the second progressive steering area, the speed of the outer wheel drive motor of the whole vehicle is controlled to be greater than the speed of the inner wheel drive motor, and the steering is opposite. The opening of the first handle 41 is used to control the speed of the two drive motors respectively. By dividing the vehicle into precise zones, the complex differential steering logic is transformed into an intuitive lever movement mode. Operators can seamlessly switch between various steering modes, such as straight driving, stationary turning, large-radius turning, and small-radius turning, by moving a single lever in different zones. This achieves simplified, intuitive, and versatile vehicle steering control, greatly simplifying operation and improving steering efficiency.

[0034] like Figure 3 As shown, in order to ensure that the speed command of the travel motor can be smoothly transitioned when the handle switches between different motion modes, and to avoid mechanical shock and vehicle vibration caused by sudden changes in command, the straight travel area is set along the positive and negative directions of the Y-axis. When the first handle 41 is located in the positive straight travel area of ​​the Y-axis, the travel motors on both sides of the vehicle rotate in the same direction in the forward direction; when the first handle 41 is located in the negative straight travel area of ​​the Y-axis, the travel motors on both sides of the vehicle rotate in the same direction in the reverse direction. The counter-rotation steering areas are set along the X-axis in both directions. When the first handle 41 is in the X-axis forward counter-rotation steering area, the left-side travel motor of the vehicle rotates forward and the right-side travel motor rotates in reverse. When the first handle 41 is in the X-axis reverse counter-rotation steering area, the left-side travel motor of the vehicle rotates in reverse and the right-side travel motor rotates forward. The axis turning regions are respectively set along the two diagonal directions of the XY axis. When the first handle 41 is located in the axis turning region in the positive direction of the Y axis, the outer wheel travel motor rotates forward. When the first handle 41 is located in the axis turning region in the opposite direction of the Y axis, the outer wheel travel motor rotates in reverse. The area between the reverse X-axis and the forward Y-axis is the left forward movement area. Within the left forward movement area, from the forward Y-axis counterclockwise to the reverse X-axis, it includes the first progressive steering area, the axle steering area, and the second progressive steering area that cause the vehicle to move to the left. When the first handle 41 is in the first progressive steering area that causes the vehicle to move forward to the left, the two drive motors on both sides of the vehicle rotate in the same direction; when the first handle 41 is in the second progressive steering area that causes the vehicle to move forward to the left, the drive motor on the left side of the vehicle rotates in reverse and the drive motor on the right side rotates in the forward direction. The area between the reverse X-axis and the reverse Y-axis is the right rearward zone. The right rearward zone includes, in a counterclockwise direction from the reverse X-axis to the reverse Y-axis, a second progressive steering zone that causes the vehicle to move to the right and back, an axle steering zone, and a first progressive steering zone. When the first handle 41 is in the second progressive steering area that causes the vehicle to move backward to the right, the left-side travel motor of the vehicle reverses and the right-side travel motor rotates forward; when the first handle 41 is in the first progressive steering area that causes the vehicle to move backward to the right, the travel motors on both sides of the vehicle reverse in the same direction. The area between the positive X-axis and the negative Y-axis is the left rearward area. The left rearward area includes, in a counterclockwise direction from the negative Y-axis to the positive X-axis, a first progressive steering area, an axle steering area, and a second progressive steering area that cause the vehicle to move backward to the left. When the first handle 41 is in the first progressive steering area that causes the vehicle to move backward to the left, the two drive motors on both sides of the vehicle reverse in the same direction; when the first handle 41 is in the second progressive steering area that causes the vehicle to move backward to the left, the drive motor on the left side of the vehicle rotates forward and the drive motor on the right side rotates in reverse. The area between the positive X-axis and the positive Y-axis is the right forward movement area. The right forward movement area includes, in a counterclockwise direction from the positive X-axis to the positive Y-axis, a second progressive steering area that causes the vehicle to move to the right, an axle steering area, and a first progressive steering area. When the first handle 41 is in the second progressive steering area that moves the vehicle forward to the right, the left-side travel motor of the vehicle rotates forward and the right-side travel motor rotates in reverse; when the first handle 41 is in the first progressive steering area that moves the vehicle forward to the right, the travel motors on both sides of the vehicle rotate in the same direction.

[0035] By strictly defining the specific adjacency order of the first progressive steering area, the axis steering area, and the second progressive steering area within each sub-region of the left forward / backward zone and the right forward / backward zone, a unique and optimal movement path that conforms to machine kinematics and motor control logic is provided for the operating handle.

[0036] If the zones are not distributed in this reasonable order, it will cause sudden changes in the travel motor speed command. For example, if the second progressive steering zone (where the left motor rotates in reverse and the right motor rotates forward) is mistakenly placed in the adjacent Y-axis forward straight zone (where both motors rotate forward), then when the handle is moved directly from the straight zone to this incorrect zone, the speed command of the left travel motor will jump instantly from its forward maximum value to its reverse maximum value, generating a huge reverse current surge and mechanical stress, causing the vehicle to stop suddenly, vibrate violently, or even be damaged. This solution forces the handle to pass through the first progressive steering zone (where both motors rotate forward in the same direction) before entering the second progressive steering zone, but with a buffer of differential speed and the left motor speed being 0 in the axis steering zone. This ensures that the left motor speed undergoes a smooth transition process of "forward rotation - forward deceleration - stop - reverse acceleration," fundamentally eliminating the possibility of sudden command changes.

[0037] When the first handle 41 is located within any large area, the direction of rotation of the left and right motors is first determined, and the position of the first handle 41 is mapped to the X-axis and Y-axis. The maximum speed between the speed corresponding to the opening on the X-axis and the speed corresponding to the opening on the Y-axis is used as the standard. If the speed corresponding to the opening on the Y-axis is greater than the speed corresponding to the opening on the X-axis, then the speed of the outer wheel of the vehicle is equal to the speed corresponding to the opening on the Y-axis, and the speed of the inner wheel is calculated by interpolation and reduced proportionally from the speed corresponding to the opening on the Y-axis. If the speed corresponding to the opening on the Y-axis is less than the speed corresponding to the opening on the X-axis, then the speed of the outer wheel of the vehicle is equal to the speed corresponding to the opening on the X-axis, and the speed of the inner wheel is calculated by interpolation and reduced proportionally from the speed corresponding to the opening on the X-axis. If the speed corresponding to the opening on the Y-axis is equal to the speed corresponding to the opening on the X-axis, then the speed of the outer wheel of the vehicle is equal to the speed corresponding to the opening on the Y-axis or the speed corresponding to the opening on the X-axis, and the speed of the inner wheel is 0.

[0038] like Figure 4 As shown, in order to provide control modes that suit different operating habits and reduce the learning cost, the control handle 4 includes a first handle 41 and a second handle 42, both of which reciprocate along the X-axis and Y-axis directions. The positive X-axis opening of the first handle 41 controls the descent speed of the vehicle boom, and the negative X-axis opening controls the ascent speed of the vehicle boom. The positive X-axis opening of the second handle 42 controls the bucket opening speed of the entire vehicle, and the negative X-axis opening controls the bucket retraction speed of the entire vehicle. The positive Y-axis direction of the first handle 41 controls the forward rotation of the travel motor on the same side of the vehicle, and the negative Y-axis direction controls the reverse rotation of the travel motor on the same side of the vehicle. The positive Y-axis direction of the second handle 42 controls the forward rotation of the travel motor on the other side of the vehicle, and the negative Y-axis direction controls the reverse rotation of the travel motor on the other side of the vehicle. After the first handle 41 and the second handle 42 return to the origin of the XY axis coordinate system, the speed of the vehicle's travel motor returns to 0, and the movement of the bucket and boom immediately stops. The opening of the first handle 41 along the positive and negative directions of the Y-axis is used to control the speed of the travel motor on the same side of the vehicle; The opening of the second handle 42 along the positive and negative directions of the Y-axis is used to control the speed of the travel motor on the other side of the vehicle; The opening of the first handle 41 in both the positive and negative directions of the X-axis is used to control the boom movement speed; The opening of the second handle 42 along the positive and negative X-axis is used to control the speed of the bucket movement.

[0039] By directly simulating the traditional dual-handle control of the left and right tracks, the learning threshold for traditional operators is lowered, and the flexibility and adaptability of the operation mode are provided to meet the preferences of different users or specific work scenarios.

[0040] In order to allow the operating handle to quickly and directly switch across large areas, such as from "right forward" to "left backward", while absolutely avoiding the resulting conflict of travel motor speed commands and severe current surge, a free travel area is set with the origin of the XY axis coordinate system as the center. When the first handle 41 and the second handle 42 move in the free travel area, the speed of the travel motor at the whole vehicle end is 0, and the bucket and boom are both stationary.

[0041] By setting an empty travel area centered on the origin of the XY axis coordinate system, a mandatory "zeroing" buffer point is provided for all control commands.

[0042] This design ensures the stability of the control system even when traversing discontinuous large zones. For example, when the handle moves from the "right forward zone" (assuming the left motor is rotating at high speed forward and the right motor is rotating at low speed forward) directly and quickly diagonally across the origin to enter the "left backward zone," and the left and right motors are required to reverse, the control system will immediately set the target speeds of both the left and right forward motors to zero because the handle's movement path will inevitably pass through the empty travel area. Only after the handle has completely left the empty travel area and entered the target zone will a new speed command be issued based on the new position. This process forces the motor speeds to undergo a physical process of "current speed - deceleration and stop - stationary - reverse acceleration." Without this empty travel area, the above operation would cause the left motor command to instantly change from high-speed forward to reverse, and the right motor to instantly change from low-speed forward to reverse, generating a huge reverse torque impact that could easily damage the motors or transmission components. This invention transforms dangerous electrical command conflicts into a safe stop-start process that conforms to the physical characteristics of the motor through the forced zeroing function in the empty travel area. This provides operational flexibility while ensuring the fundamental safety of the system. Furthermore, no matter how the first handle 41 and the second handle 42 move in the empty travel area, they will not start the travel motor, bucket, or boom, thus preventing operators from accidentally touching the handles and causing safety accidents. At the same time, it gives operators time to react. Example 1

[0043] To construct the highest priority emergency safety barrier, it also includes an emergency stop switch 107 and an emergency stop controller 108 installed at the vehicle end. The emergency stop switch 107 is signal-connected to the emergency stop controller 108 via a 5G network terminal device 106, and the emergency stop controller 108 is signal-connected to the central processing unit 104 at the vehicle end.

[0044] By establishing an emergency stop switch 107 and an emergency stop controller 108 independent of the main control circuit, and by using a dedicated emergency communication link established by the 5G network, the vehicle can be reliably triggered to stop under any system failure, greatly improving system safety.

[0045] A method for controlling a remote control device on an electric skid steer loader includes the following steps: When the vehicle is parked, the central processing unit of the remote control terminal determines whether the vehicle meets the remote control conditions. If it does, press the vehicle start button 7 to start remote control of the vehicle. If it does not meet the conditions, pressing the vehicle start button 7 will be ineffective. After checking the unmet remote control conditions, press the vehicle start button 7 again to remotely control the vehicle. Select the travel motor speed mode and control handle mode on the instrument display 5, select the maximum speed of the hydraulic motor through the throttle knob 6, and then use the control handle 4 to control the vehicle's straight movement, turning, boom raising / lowering, and bucket opening / closing. In case of an emergency, after pressing the emergency stop switch 107, the emergency stop controller 108 immediately controls the vehicle-side central processing unit 104 to stop the vehicle-side operation.

[0046] The remote control conditions that need to be met are: The vehicle remote control selector switch is in the ON position; Remote signal reception is normal; The heartbeat mutual check signals of the vehicle-side controller, remote control controller, and vehicle execution status monitoring controller are normal. All vehicle doors are closed; The vehicle control handle 4 is located at the origin of the XY axis coordinate system; The walking motor speed modes include tortoise mode and rabbit mode. The walking motor speed in tortoise mode is 0-1500 rpm, and the walking motor speed in rabbit mode is 0-3500 rpm. The initial default speed mode of the vehicle's drive motor is turtle mode. The drive motor speed mode can be switched when the control handle 4 is in the empty travel area of ​​the origin of the XY axis coordinate system and the current vehicle speed is 0.

[0047] The control handle modes include ISO mode and H mode; The specific method for using the control handle 4 in ISO mode is as follows: The first handle 41 is initially located within the empty travel area of ​​the XY axis coordinate system; The first handle 41 moves back and forth along a one-way control route of Y-axis forward straight area - empty travel area - Y-axis reverse straight area, so as to realize the vehicle moving forward or backward. The first handle 41 moves back and forth along a one-way control route of X-axis forward straight-line area - empty travel area - X-axis reverse straight-line area, so as to realize the whole vehicle rotating to the left or right in place; The first handle 41 moves back and forth along a one-way control route of left forward zone - empty travel zone - left reverse zone, so as to realize the whole vehicle moving forward to left and reverse to left or reverse to left forward. The first handle 41 moves back and forth along a one-way control route of right forward zone - empty travel zone - right reverse zone, so as to realize the whole vehicle moving forward to the right and backward or backward to the right. The first handle 41 moves clockwise or counterclockwise along a control route that connects the Y-axis forward straight area - left forward area - X-axis reverse straight area - right backward area - Y-axis reverse straight area - left backward area - X-axis forward straight area - right forward area, thus enabling the vehicle to move straight forward to left forward to left rotation to right backward to straight backward to left backward to right rotation to right forward and back to straight forward, or the opposite of the aforementioned vehicle movement route. The second handle 42 is initially located within the empty travel area of ​​the XY axis coordinate system; moving the second handle 42 forward and backward controls the lowering and raising of the boom of the entire vehicle, respectively; moving the second handle 42 left and right controls the retraction and opening of the bucket, respectively.

[0048] The specific method of using the control handle 4 in H mode is as follows: The first handle 41, when moved along the Y-axis in either the forward or reverse direction, controls the left-side drive motor of the vehicle to rotate forward or reverse. The second handle 42, when moved along the Y-axis in either the forward or reverse direction, controls the right-side drive motor of the vehicle to rotate forward or reverse. The first handle 41 and the second handle 42 are simultaneously moved along the Y-axis in the forward or reverse direction to control the vehicle to move forward or backward. The first handle 41 is moved in the forward direction along the Y-axis and the second handle 42 is moved in the reverse direction along the Y-axis to control the left-side travel motor of the vehicle to rotate forward and the right-side travel motor to rotate in reverse, so as to realize the vehicle turning right. The first handle 41 is moved in the opposite direction along the Y-axis and the second handle 42 is moved in the forward direction along the Y-axis to control the left-side travel motor of the vehicle to reverse and the right-side travel motor to rotate forward, so as to realize the vehicle turning to the left. The first handle 41 is moved in the opposite or forward direction along the X-axis to control the boom of the whole vehicle to rise or fall, and the second handle 42 is moved in the opposite or forward direction along the X-axis to control the bucket to open or close. When the first handle 41 and the second handle 42 simultaneously return to the idle travel area at the origin of the XY axis coordinate system, the speed of the travel motors on both sides of the vehicle is 0, and the bucket and boom are stationary. Example 2

[0049] It also includes an auxiliary control panel 109, which is sequentially connected to the vehicle-side central processing unit 104 via a remote control central processing unit and a 5G network terminal device 106. The auxiliary control panel 109 is used to control auxiliary equipment such as vehicle lights. Example 3

[0050] The throttle knob 6 is equipped with a maximum speed limit for different gears of the hydraulic motor. The maximum speed limit of the hydraulic motor is 800-2500 rpm. The vehicle-side central processing unit 104 limits the maximum speed of the hydraulic motor according to the set speed sent by the throttle knob 6.

[0051] The opening degree of the handle corresponds to the output coefficient of the left motor / right motor. The speed of the left motor / right motor = output coefficient × maximum speed in the current walking motor speed mode.

[0052] Opening (%) Output coefficient (‰) [0,5 0 [5,10 75 [10,15 125 [15,20 175 [20,25 225 [25,30 275 [30,35 325 [35,40 375 [40,45 425 [45,50 475 [50,58 540 [58,66 620 [66,74 700 [74,82 780 [82,90 860 [90,100 950 The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0053] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A remote control device for an electrically powered skid loader, characterized by: The remote control device of the electric sliding loader comprises a housing (1) and a cover (2), an image display (3) is installed on the cover (2), a handle (4), an instrument display (5), a throttle knob (6), a vehicle starting button (7), a whole vehicle execution state monitoring controller (8), a remote control end central processor, a distance monitoring device (101), a peripheral view angle monitoring device (102), a whole vehicle execution state monitoring device (103), a whole vehicle end central processor (104), a whole vehicle end remote control selection switch (105) and a 5G network terminal device (106) are installed on the whole vehicle end, The distance monitoring device (101), the whole vehicle execution state monitoring device (103) and the whole vehicle end remote control selection switch (105) respectively send vehicle distance data, whole vehicle execution state and whole vehicle end remote control selection switch state to the remote control end central processor through the 5G network terminal device (106), and the remote control end central processor sends the vehicle distance data, the whole vehicle execution state and the whole vehicle end remote control selection switch state to the instrument display (5) after processing the vehicle distance data, the whole vehicle execution state and the whole vehicle end remote control selection switch state; the instrument display (5) is used for displaying vehicle remote control conditions, walking motor speed mode, handle mode selection, vehicle distance data, walking motor speed, hydraulic motor speed and whole vehicle parking state; The peripheral view angle monitoring device (102) sends collected images to the whole vehicle end central processor (104), the whole vehicle end central processor (104) encodes the images and sends the image data to the remote control end central processor through the 5G network terminal device (106), and the remote control end central processor decodes the images and sends the images to the image display (3); The whole vehicle execution state monitoring controller (8) is signal-connected with the whole vehicle execution state monitoring device (103) through the remote control end central processor, the 5G network terminal device (106) and the whole vehicle end central processor (104) in sequence; The handle (4), the instrument display (5), the throttle knob (6) and the vehicle starting button (7) are signal-connected with the whole vehicle end central processor (104) through the remote control end central processor and the 5G network terminal device (106) in sequence; and the throttle knob (6) is used for selecting the maximum speed of the hydraulic motor.

2. The remote control device of the electric sliding loader according to claim 1, wherein The handle (4) comprises a first handle (41) and a second handle (42), the first handle (41) moves around the origin of the X-Y axis coordinate system, and the second handle (42) reciprocally moves along the X axis and the Y axis; The first handle (41) moves in the circumferential area of the origin of the X-Y axis coordinate system to control the steering and speed of the walking motors on the left and right sides of the whole vehicle. The X-axis positive direction opening of the second handle (42) controls the opening speed of the whole vehicle bucket, and the X-axis negative direction opening controls the closing speed of the whole vehicle bucket. The Y-axis positive direction opening of the second handle (42) controls the lowering speed of the whole vehicle boom, and the Y-axis negative direction opening controls the lifting speed of the whole vehicle boom. After the first handle (41) and the second handle (42) return to the X-Y axis coordinate system origin, the speed of the whole vehicle walking motor is 0, and the actions of the bucket and the boom are immediately stopped. The opening of the second handle (42) is used to control the speed of the actions of the boom and the bucket.

3. The remote control device for a motorized skid loader of claim 2, wherein: The first handle (41) is provided with a straight running area, a counter-rotating steering area, an axis steering area, a first gradual steering area and a second gradual steering area in the circumferential area of the X-Y axis coordinate system origin. The turning radius of the whole vehicle in the first gradual steering area is greater than that in the second gradual steering area. When the first handle (41) is in the straight running area, the rotating speeds of the two walking motors of the whole vehicle are controlled to be the same and the steering directions are controlled to be the same. The opening of the first handle (41) is used to control the rotating speeds of the two walking motors. When the first handle (41) is in the counter-rotating steering area, the rotating speeds of the two walking motors of the whole vehicle are controlled to be the same, and the steering directions are controlled to be opposite. The opening of the first handle (41) is used to control the rotating speeds of the two walking motors. When the first handle (41) is in the axis steering area, the rotating speed of the walking motor of the inner wheel of the whole vehicle is controlled to be 0, and the opening of the first handle (41) is used to control the rotating speed of the walking motor of the outer wheel. When the first handle (41) is in the first gradual steering area, the rotating speed of the walking motor of the outer wheel of the whole vehicle is controlled to be greater than that of the inner wheel, and the steering directions are controlled to be the same. The opening of the first handle (41) is used to control the rotating speeds of the two walking motors respectively. When the first handle (41) is in the second gradual steering area, the rotating speed of the walking motor of the outer wheel of the whole vehicle is controlled to be greater than that of the inner wheel, and the steering directions are controlled to be opposite. The opening of the first handle (41) is used to control the rotating speeds of the two walking motors respectively.

4. The remote control device of the electric sliding loader according to claim 3, characterized in that: The straight running area is provided along the positive and negative directions of the Y-axis. When the first handle (41) is located in the positive direction straight running area of the Y-axis, the two walking motors of the whole vehicle are controlled to rotate in the same direction. When the first handle (41) is located in the negative direction straight running area of the Y-axis, the two walking motors of the whole vehicle are controlled to rotate in the same direction. The counter-rotating steering area is provided along the positive and negative directions of the X-axis. When the first handle (41) is located in the positive direction counter-rotating steering area of the X-axis, the left walking motor of the whole vehicle is controlled to rotate in the positive direction, and the right walking motor is controlled to rotate in the negative direction. When the first handle (41) is located in the negative direction counter-rotating steering area of the X-axis, the left walking motor of the whole vehicle is controlled to rotate in the negative direction, and the right walking motor is controlled to rotate in the positive direction. The axis steering area is provided along the two diagonal directions of the X-Y axis respectively. When the first handle (41) is located in the positive direction axis steering area of the Y-axis, the walking motor of the outer wheel is controlled to rotate in the positive direction. When the first handle (41) is located in the negative direction axis steering area of the Y-axis, the walking motor of the outer wheel is controlled to rotate in the negative direction. The area between the X-axis reverse direction and the Y-axis forward direction is a left forward large area, and the left forward large area sequentially comprises, from the Y-axis forward direction counterclockwise to the X-axis reverse direction, a first gradual steering area for making the whole vehicle forward left, an axis center steering area and a second gradual steering area; When the first handle (41) is located in the first gradual steering area for making the whole vehicle forward left, the two walking motors of the whole vehicle are positively rotated in the same direction; when the first handle (41) is located in the second gradual steering area for making the whole vehicle forward left, the left walking motor of the whole vehicle is reversely rotated, and the right walking motor is positively rotated; The area between the X-axis reverse direction and the Y-axis reverse direction is a right backward large area, and the right backward large area sequentially comprises, from the X-axis reverse direction counterclockwise to the Y-axis reverse direction, a second gradual steering area for making the whole vehicle backward right, an axis center steering area and a first gradual steering area; When the first handle (41) is located in the second gradual steering area for making the whole vehicle backward right, the left walking motor of the whole vehicle is reversely rotated, and the right walking motor is positively rotated; when the first handle (41) is located in the first gradual steering area for making the whole vehicle backward right, the two walking motors of the whole vehicle are reversely rotated in the same direction; The area between the X-axis forward direction and the Y-axis reverse direction is a left backward large area, and the left backward large area sequentially comprises, from the Y-axis reverse direction counterclockwise to the X-axis forward direction, a first gradual steering area for making the whole vehicle backward left, an axis center steering area and a second gradual steering area; When the first handle (41) is located in the first gradual steering area for making the whole vehicle backward left, the two walking motors of the whole vehicle are reversely rotated in the same direction; when the first handle (41) is located in the second gradual steering area for making the whole vehicle backward left, the left walking motor of the whole vehicle is positively rotated, and the right walking motor is reversely rotated; The area between the X-axis forward direction and the Y-axis forward direction is a right forward large area, and the right forward large area sequentially comprises, from the X-axis forward direction counterclockwise to the Y-axis forward direction, a second gradual steering area for making the whole vehicle forward right, an axis center steering area and a first gradual steering area; When the first handle (41) is located in the second gradual steering area for making the whole vehicle forward right, the left walking motor of the whole vehicle is positively rotated, and the right walking motor is reversely rotated; when the first handle (41) is located in the first gradual steering area for making the whole vehicle forward right, the two walking motors of the whole vehicle are positively rotated in the same direction.

5. The remote control device for a motorized skid loader of claim 1, wherein: The steering handle (4) comprises a first handle (41) and a second handle (42), and the first handle (41) and the second handle (42) are reciprocally moved along the X-axis and the Y-axis directions, The X-axis forward direction opening degree of the first handle (41) controls the lowering speed of the whole vehicle movable arm, and the X-axis reverse direction opening degree controls the lifting speed of the whole vehicle movable arm; The X-axis forward direction opening degree of the second handle (42) controls the opening speed of the whole vehicle bucket, and the X-axis reverse direction opening degree controls the closing speed of the whole vehicle bucket; The Y-axis forward direction of the first handle (41) controls the positive rotation of the walking motor on the same side of the whole vehicle, and the Y-axis reverse direction controls the reverse rotation of the walking motor on the same side of the whole vehicle; The Y-axis forward direction of the second handle (42) controls the positive rotation of the walking motor on the other side of the whole vehicle, and the Y-axis reverse direction controls the reverse rotation of the walking motor on the other side of the whole vehicle; After the first handle (41) and the second handle (42) return to the X-Y-axis coordinate system origin, the walking motor speed of the whole vehicle is 0, and the actions of the bucket and the movable arm are immediately stopped. The opening degree of the first handle (41) in the positive and negative directions of the Y axis is used to control the rotating speed of the traveling motor on the same side of the whole vehicle; The opening degree of the second handle (42) in the positive and negative directions of the Y axis is used to control the rotating speed of the traveling motor on the other side of the whole vehicle; The opening degree of the first handle (41) in the positive and negative directions of the X axis is used to control the moving speed of the boom; The opening degree of the second handle (42) in the positive and negative directions of the X axis is used to control the moving speed of the bucket.

6. A remote control for a motorized skid loader as set forth in either of claims 4 or 5, characterized in that: An idle stroke area is provided at the center of the X-Y axis coordinate system, and when the first handle (41) and the second handle (42) move in the idle stroke area, the traveling motor speed at the end of the whole vehicle is 0, and the bucket and the boom are in a static state.

7. The remote control device for a motorized skid loader of claim 1, wherein: It also includes an emergency stop switch (107) and an emergency stop controller (108) provided at the end of the whole vehicle, the emergency stop switch (107) is signal connected with the emergency stop controller (108) through the 5G network terminal device (106), and the emergency stop controller (108) is signal connected with the central processor (104) at the end of the whole vehicle.

8. Control method of a remote control device of an electrically driven skid loader according to any one of claims 1-7, characterized in that, The steps include: When the whole vehicle is in a parking state, the central processor at the remote control end judges whether the current whole vehicle meets the remote control condition, if yes, the vehicle starting button (7) is pressed to start the remote control of the vehicle, if not, the vehicle starting button (7) is invalid after being pressed, and the remote control of the vehicle is restarted after the unmet remote control condition is checked; The traveling motor rotating speed mode and the control handle mode are selected on the instrument display (5), the maximum rotating speed of the hydraulic motor is selected through the throttle knob (6), and then the straight driving, turning, boom lifting / lowering and bucket opening / closing of the whole vehicle are controlled by using the control handle (4); If an emergency occurs, the emergency stop controller (108) immediately controls the central processor (104) at the end of the whole vehicle to stop the operation at the end of the whole vehicle after the emergency stop switch (107) is pressed.

9. The control method of a remote control device of a motorized skid loader according to claim 8, characterized in that, The remote control conditions to be met include: The whole vehicle remote control selection switch is in an open state; The remote signal reception is normal; The heartbeat mutual check signals of the whole vehicle end controller, the remote control end controller and the whole vehicle execution state monitoring controller (8) are normal; The whole vehicle door is in a closed state; The whole vehicle control handle (4) is at the origin of the X-Y axis coordinate system; The traveling motor rotating speed mode includes a turtle mode and a rabbit mode, the traveling motor rotating speed in the turtle mode is 0-1500 rpm, and the traveling motor rotating speed in the rabbit mode is 0-3500 rpm; The traveling motor rotating speed mode of the whole vehicle is initially defaulted as the turtle mode, and the traveling motor rotating speed mode switching condition is that the control handle (4) is in the idle stroke area of the X-Y axis coordinate system and the current vehicle speed is 0.

10. The control method of a remote control device of a motorized skid loader according to claim 8, characterized in that, The control handle mode includes an ISO mode and an H mode; The use method of the control handle (4) in the ISO mode is as follows: The first handle (41) is initially located in the idle stroke area of the X-Y axis coordinate system; The first handle (41) reciprocally moves along the one-way control route of the Y axis positive straight driving area-idle stroke area-Y axis reverse straight driving area, to realize the straight driving of the whole vehicle in the forward or backward direction. The first handle (41) reciprocates along the one-way control route of the X-axis positive straight-line area-empty stroke area-X-axis reverse straight-line area to realize the left or right rotation of the whole vehicle in place; The first handle (41) reciprocates along the one-way control route of the left forward large area-empty stroke area-left backward large area to realize the left forward movement to the left backward movement or the left backward movement to the left forward movement of the whole vehicle; The first handle (41) reciprocates along the one-way control route of the right forward large area-empty stroke area-right backward large area to realize the right forward movement to the right backward movement or the right backward movement to the right forward movement of the whole vehicle; The first handle (41) reciprocates along the control route of the Y-axis positive straight-line area-left forward large area-X-axis reverse straight-line area-right backward large area-Y-axis reverse straight-line area-left backward large area-X-axis positive straight-line area-right forward large area connected at the head and tail to realize the straight-line forward movement to the left forward movement to the left rotation in place to the right backward movement to the straight-line backward movement to the left backward movement to the right rotation in place to the right forward movement and then return to the straight-line forward movement of the whole vehicle, or the reverse of the above-mentioned whole vehicle movement route; The second handle (42) is initially located in the empty stroke area of the X-Y axis coordinate system; the second handle (42) is pulled forward and backward to control the lowering and raising of the movable arm of the whole vehicle respectively, and the second handle (42) is pulled left and right to control the closing and opening of the bucket respectively; The use method of the operating handle (4) in the H mode is specifically: The first handle (41) is pulled along the Y-axis positive direction or reverse direction to control the forward rotation or reverse rotation of the left walking motor of the whole vehicle, and the second handle (42) is pulled along the Y-axis positive direction or reverse direction to control the forward rotation or reverse rotation of the right walking motor of the whole vehicle, The first handle (41) and the second handle (42) are simultaneously pulled along the Y-axis positive direction or reverse direction to control the forward movement or backward movement of the whole vehicle; The first handle (41) is pulled along the Y-axis positive direction and the second handle (42) is pulled along the Y-axis reverse direction to control the forward rotation of the left walking motor and the reverse rotation of the right walking motor of the whole vehicle, thereby realizing the right turning of the whole vehicle; The first handle (41) is pulled along the Y-axis reverse direction and the second handle (42) is pulled along the Y-axis positive direction to control the reverse rotation of the left walking motor and the forward rotation of the right walking motor of the whole vehicle, thereby realizing the left turning of the whole vehicle; The first handle (41) is pulled along the X-axis reverse direction or the X-axis positive direction to control the raising or lowering of the movable arm of the whole vehicle, and the second handle (42) is pulled along the X-axis reverse direction or the X-axis positive direction to control the opening or closing of the bucket; When the first handle (41) and the second handle (42) are simultaneously returned to the empty stroke area at the origin of the X-Y axis coordinate system, the rotation speed of the walking motors of the whole vehicle is 0, and the bucket and the movable arm are stationary.

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