Scraper working mode recognition control method and system and vehicle control unit

Abstract

The invention discloses a carry-scraper working mode recognition control method and system and a vehicle control unit, and belongs to the technical field of engineering machinery. The method comprises the following steps that a pedal signal and a handle signal are obtained; processing the obtained pedal signal and the handle signal to obtain a pedal percentage and a handle percentage; based on a preset working mode calibration threshold value, the current working mode of the equipment is judged according to the pedal percentage and the handle percentage; according to the current working mode of the equipment, dynamically distributing a walking motor and a hydraulic motor, and generating a corresponding motor control instruction; and sending the motor control instruction to a corresponding motor controller to control a corresponding motor to execute a corresponding action. According to the invention, real-time and efficient control can be carried out on the corresponding motor according to the identified mode, and the operation efficiency of equipment is effectively improved.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery technology, specifically relating to a working mode recognition and control method and system for a loader and a vehicle controller. Background Technology

[0002] Electric loaders are key trackless equipment used in mining, tunneling and other engineering projects for short-distance loading and transporting of loose materials. They mainly present three basic working modes: pure driving mode, stationary loading or lifting mode, and composite mode of operating the working device while driving.

[0003] Patent CN112681442B discloses a power matching device and method for a dual-power underground loader. The vehicle controller fuses signals from driver commands, hydraulic system status, supercapacitor SOC, and power drive system status, and determines the system status to match the generator power with the engine power and the power consumed by the hydraulic system. It also matches the output power of the first and second traction inverters with the power demanded in the driver's commands. However, this solution uses relatively independent control of the hydraulic motor, which easily leads to power mismatch and poor response. Therefore, existing electric loaders typically use relatively independent control logic for the travel drive motor and the working hydraulic system motor, resulting in a mismatch between power response and operating conditions, leading to low operating efficiency. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a method and system for recognizing and controlling the working mode of a loader, as well as a vehicle controller. This invention can automatically and in real time identify the working mode of an electric loader and adaptively allocate power between the travel motor and the hydraulic motor accordingly, thereby achieving energy-saving, efficient, and reliable operation.

[0005] This invention provides the following technical solution: Firstly, a method for recognizing and controlling the working mode of a loader is provided, comprising the following steps: Acquire pedal and handle signals; The acquired pedal and handle signals are processed to obtain the pedal percentage and handle percentage; Based on preset working mode calibration thresholds, the current working mode of the device is determined according to the pedal percentage and handle percentage. The travel motor and hydraulic motor are dynamically allocated according to the current working mode of the equipment, and corresponding motor control commands are generated. The motor control command is sent to the corresponding motor controller to control the corresponding motor to perform the corresponding action.

[0006] Furthermore, the original pedal signal and the original handle signal are calibrated before acquiring the pedal signal and the handle signal.

[0007] In the above technical solution, all analog signals adopt a calibration scheme of "5V reference, 0.5V~4.5V effective, with 0.5V reserved for fault diagnosis". The effective voltage range of the pedal signal is (0.5V, 4.5V) corresponding to 0%~100% of the pedal opening, and the effective voltage range of the handle signal is (0.5V, 4.5V) corresponding to 0%~100% of the handle opening.

[0008] Furthermore, the process of processing the acquired pedal signal and handle signal to obtain the pedal percentage and handle percentage includes the following steps: The acquired pedal and handle signals are converted from analog to digital and then verified for security and reliability to obtain the original digital signals of the pedal and handle. The original digital signals of the pedal and the handle are filtered and linearized to obtain the pedal percentage and handle percentage.

[0009] Furthermore, the filtering process for the original digital signals of the pedal and the handle is performed using a first-order low-pass filter to obtain the filtered pedal and handle signals. The expression for the first-order low-pass filter is as follows: ; in, S raw ( n ) is the first n The original signal value sampled periodically; S filtered ( n-1 ) is the first n-1 Output value after periodic filtering; S filtered ( n ) represents the output signal value after filtering in the nth cycle; α These are the filter coefficients, with values ​​ranging from (0, 1).

[0010] Furthermore, the filtered pedal signal and handle signal are subjected to linear processing to obtain the pedal percentage and handle percentage, including: The filtered pedal signal is processed into a pedal percentage using the following formula: ; in, D For the first n Cycle pedal percentage; S’ filtered ( n ) is the first nThe pedal signal value after periodic filtering; V’ max_pos This represents the maximum positive signal value of the pedal. V’ zero This is the zero-position signal value of the pedal.

[0011] Furthermore, the filtered controller signal is processed into a controller percentage using the following formula: ; in, W The percentage of the handle in the nth cycle; S’’ filtered ( n ) represents the value of the handle signal after filtering in the nth cycle; V’’ center This is the value of the handle's center position signal; V’’ max_pos This represents the maximum positive signal value of the handle. Based on the dead zone threshold, determine the percentage of handles in the nth cycle to obtain the handle percentage.

[0012] Furthermore, the working mode calibration threshold includes a drive threshold and an operation threshold; the determination of the current working mode of the device based on the preset working mode calibration threshold, according to the pedal percentage and handle percentage, includes: When 0 ≤ pedal percentage ≤ drive threshold and 0 ≤ handle percentage ≤ operation threshold, the device is in stationary mode; When the pedal percentage is greater than the drive threshold and 0 ≤ handle percentage ≤ operation threshold, the device is in drive mode; When 0 ≤ pedal percentage ≤ drive threshold and handle percentage > operation threshold, the device is in operation mode; When the pedal percentage is greater than the drive threshold and the handle percentage is greater than the operation threshold, the device is in composite mode, simultaneously operating in drive mode and operation mode.

[0013] Furthermore, the operating modes include at least a drive mode, a work mode, and a combined mode; the dynamic allocation of the travel motor and hydraulic motor according to the current operating mode of the equipment, and the generation of corresponding motor control commands, includes: When the device is in drive mode, the pedal percentage is converted into the target matrix command of the travel motor through the preset pedal-torque mapping curve, and the hydraulic motor operates at the preset speed; When the equipment is in operation mode, the handle percentage is converted into the target speed command of the hydraulic motor through the preset handle-speed mapping curve, and the travel motor works with the preset torque; When the equipment is in composite mode, dynamic power allocation is performed on the walking motor and hydraulic motor to obtain the commanded power of the walking motor and the commanded power of the hydraulic motor, and corresponding motor control signals are generated.

[0014] Furthermore, the dynamic power allocation between the travel motor and the hydraulic motor to obtain the commanded power of the travel motor and the commanded power of the hydraulic motor includes: Determine dynamic power: ; in, P available For dynamic power, P total For total power, P hyd_min Minimum guaranteed power; Determine the dynamic weighting coefficients: ; in, K For dynamic weighting coefficients, β These are dynamic weighting coefficients. D For pedal percentage, W Percentage of handle; Based on dynamic weighting coefficients and dynamic power, the command power of the walking motor is determined: ; in, P drive_cmd This refers to the commanded power of the walking motor. K For dynamic weighting coefficients, P available For dynamic power; Based on the dynamic weighting coefficient, minimum guaranteed power, and dynamic power, the command power of the hydraulic motor is determined: ; in, P hyd_cmd This refers to the commanded power of the hydraulic motor. P hyd_min To ensure minimum guaranteed power, K For dynamic weighting coefficients, P available This refers to dynamic power.

[0015] Secondly, a working mode recognition and control system for a loader is provided, including: a pedal module, a handle module, a vehicle controller, a travel motor controller, and a hydraulic motor controller; The pedal module and the handle module are respectively connected to the vehicle controller; The vehicle controller is connected to the travel motor controller and the hydraulic motor controller respectively. The travel motor controller is connected to the travel motor, and the hydraulic motor controller is connected to the hydraulic motor. The vehicle controller is used to execute the loader working mode recognition and control method described in any of the first aspects.

[0016] Thirdly, a vehicle controller is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the loader working mode recognition and control method according to any one of the first aspects.

[0017] Compared with the prior art, the beneficial effects of the present invention are: (1) This invention provides a working mode recognition and control method and system for a loader and a vehicle controller. By processing and judging the pedal signal and the handle signal, the current working condition can be identified. The traveling motor and hydraulic motor are dynamically adjusted according to the working condition to control the normal operation of different motors under different working conditions. The method provided by this invention is real-time and efficient, and can achieve efficient matching between power response and working mode, significantly improving the operating efficiency of the equipment. (2) The present invention performs dynamic power allocation for the three modes of shovel loader drive mode, operation mode and composite mode, which can improve work efficiency and reduce energy consumption while ensuring the normal and efficient operation of different motors. Attached Figure Description

[0018] Figure 1 This is a flowchart of the loader working mode recognition and control method in Embodiment 1 of the present invention; Figure 2 This is a flowchart of the process for determining the working mode in Embodiment 1 of the present invention; Figure 3 This is a structural diagram of the loader working mode recognition and control system in Embodiment 2 of the present invention. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0020] In the description of this invention, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. The terms "comprising," "including," "having," "containing," etc., as used herein, are open-ended terms, meaning that they include but are not limited to.

[0021] It should be understood that the terminology used in this invention is merely for describing particular embodiments and is not intended to limit the invention. Furthermore, with respect to numerical ranges in this invention, it should be understood that each intermediate value between the upper and lower limits of the range is also specifically disclosed. Every smaller range between any stated value or intermediate value within a stated range, and any other stated value or intermediate value within said range, is also included in this invention. The upper and lower limits of these smaller ranges may be independently included or excluded from the range.

[0022] Various modifications and variations can be made to the specific embodiments described in this specification without departing from the scope or spirit of the invention, as will be apparent to those skilled in the art. Other embodiments derived from this specification will also be readily apparent to those skilled in the art. This specification and embodiments are merely exemplary.

[0023] Example 1

[0024] like Figure 1 As shown in the figure, this embodiment provides a method for identifying and controlling the working mode of a loader, which specifically includes the following steps.

[0025] S1. Obtain pedal signal and handle signal.

[0026] The pedal signals are acquired through a pedal acquisition module, which includes the accelerator and brake pedals. The handle signals are acquired through a handle acquisition module, which acquires signals from the steering handle, bucket handle, and boom handle. After obtaining the pedal and handle signals, the original pedal and handle signals need to be calibrated to troubleshoot operational malfunctions.

[0027] In some possible embodiments, both the acquired raw pedal signal and the raw handle signal adopt a calibration scheme of "5V reference, 0.5~4.5V effective", leaving a margin of 0.5V for fault diagnosis. The effective range of the analog voltage of the accelerator pedal, 0.5V~4.5V, corresponds to a pedal opening of 0%~100%. In this embodiment, a potentiometer is used to acquire the pedal signal. Changes in the pedal position of the accelerator pedal will cause a linear change in the resistance value. The reference voltage applied to the potentiometer will output a voltage signal that changes continuously accordingly. When the pedal opening is 0%, the minimum voltage signal output of the accelerator pedal is corresponding to the minimum voltage signal output, and when the pedal opening is 0%, the maximum voltage signal output of the accelerator pedal is corresponding to the maximum voltage signal output.

[0028] In some possible embodiments, the effective range of the analog voltage of the handle is 0.5V to 4.5V, corresponding to the handle rotation. 0.5V corresponds to turning one side to its maximum, 4.5V corresponds to turning the other side to its maximum, and 2.5V is the center position, representing no steering action. In this embodiment, the bucket handle and boom handle are different directions of the same dual-axis handle. The longitudinal axis represents bucket movement, and the transverse axis represents boom movement. The analog voltage of the output signal is consistent with that of the steering handle. In some possible embodiments, an electronically controlled proportional handle is used to collect the handle signal. It integrates a non-contact Hall sensor. The magnet inside the electronically controlled proportional handle moves with the handle movement, and the output voltage signal changes accordingly. The steering handle is a single-axis handle. For the steering handle and boom handle, the output voltage signal is intermediate when in the center position, maximum when pushed forward to the bottom, and minimum when pulled back to the bottom. For the bucket handle, the output voltage is intermediate when in the center position, maximum when pushed to the right to the bottom, and minimum when pulled to the left to the bottom.

[0029] S2. Process the acquired pedal and handle signals to obtain the pedal percentage and handle percentage. This includes the following steps.

[0030] 1. The acquired pedal and handle signals are converted from analog to digital and then verified for security and reliability to obtain the original digital signals of the pedal and handle.

[0031] Within each control cycle, after reading the analog-to-digital conversion (ADC) values ​​of the pedal and handle signals, a safety and reliability check is first performed to verify whether the voltages of the pedal and handle are within a preset physical valid range, thus confirming that the pedal and handle modules are functioning correctly. Based on the above calibration scheme, in some possible embodiments, the preset physical valid voltage range is (0.5V, 4.5V), and signals within this range are considered physically possible normal operating inputs. In actual operation, to eliminate hardware errors and ensure signal accuracy, if the pedal or handle voltage is <0.4V, it is determined that a short circuit to ground, sensor open circuit, or power supply loss may occur; if the pedal or handle voltage is >4.6V, it is determined that a short circuit to the power supply may occur. Once triggered, the channel signal is immediately marked as "fault". If it is within the voltage range, the next operation is performed.

[0032] In some possible embodiments, analog signals from the pedal module and handle module are read at a 10 ms cycle, and the signals remain within an effective range, i.e., the output analog voltage is always between 0.4V and 4.6V.

[0033] 2. Filter and linearize the original digital signals of the pedal and the handle to obtain the pedal percentage and handle percentage.

[0034] The pedal and handle signals that have passed safety and reliability verification are subjected to mean filtering to suppress random noise and high-frequency interference caused by vehicle vibration and other factors, making the signals smoother and more stable.

[0035] In some possible embodiments, the present invention employs a first-order low-pass filter for filtering, as shown in the following expression: ; in, S raw (n) This represents the original signal value sampled in the nth period; S filtered (n-1) This is the output value after filtering in the (n-1)th cycle; S filtered (n) This represents the output signal value after filtering in the nth cycle. α The filter coefficients have a value range of (0, 1). In this embodiment, the filter coefficients... α The value is 0.2.

[0036] The filtered pedal and controller signals are linearly processed and linearly mapped to a unified "percentage command" range to obtain the pedal and controller percentages. Specifically, the pedal or controller signal is within the 0% to 100% opening range. When the pedal or controller signal is at its minimum, the corresponding pedal or controller opening is 0%, and when the pedal or controller signal is at its minimum, the corresponding pedal or controller opening is 100%. This process includes the following steps.

[0037] In some possible embodiments, the filtered pedal signal is processed into a pedal percentage using the following normalization formula: ; in, D For the first n Cycle pedal percentage; S’ filtered (n) For the first n The pedal signal value after periodic filtering; V’ max_pos This represents the maximum positive signal value of the pedal. V’ zero This is the zero-position signal value of the pedal.

[0038] In some possible embodiments, the filtered handle signal is processed into a handle percentage using the following normalization formula: ; in, W The percentage of the handle in the nth cycle;S’’ filtered (n) The value of the handle signal after filtering in the nth cycle; V’’ center This is the value of the handle's center position signal; V’’ max_pos This represents the maximum positive signal value of the handle.

[0039] To eliminate equipment malfunctions or vibrations caused by sensor zero drift and unintentional operator micro-movements, a dead zone (insensitive area) needs to be applied to the normalized percentage command. Based on control accuracy requirements, the dead zone of the control handle is set to ±σ%, where σ is the dead zone threshold. Correspondingly, dead zones are added above and below the center position of the control handle; that is, the dead zone positions of the steering handle, bucket handle, and boom handle before and after the center position, with the corresponding handle output being 0. In some possible embodiments, the dead zone threshold σ is 5, and the dead zone of the control handle is set to ±5%, meaning that a 5% fluctuation in the center position of the control handle corresponds to a 0 handle output.

[0040] S3. Based on the preset working mode calibration threshold, determine the current working mode of the device according to the pedal percentage and handle percentage.

[0041] like Figure 2 As shown, the operating mode calibration threshold includes the drive threshold. D th and job threshold W th By presetting a set of calibrated driving thresholds D th and job threshold W th This is used to assess the operator's awareness and determine the equipment's operating mode. Specifically, the current operating mode is determined based on the pedal percentage and handle percentage.

[0042] When 0 ≤ pedal percentage ≤ drive threshold D th And 0 ≤ handle percentage ≤ work threshold W th When the equipment is in a stationary mode, it indicates that the operator has not activated the equipment's operating mode. In some possible embodiments, if the pedal percentage, handle percentage, bucket handle percentage, and boom handle percentage are all 0, it indicates that the pedal opening and handle opening are both 0, the operator is not performing any operation, and the equipment is in a stationary state.

[0043] When pedal percentage > drive threshold D th And 0 ≤ handle percentage ≤ work threshold W thIn this situation, the driver's intention to drive is clear, there are no significant operational actions, and the equipment is in drive mode.

[0044] When 0 ≤ pedal percentage ≤ drive threshold D th And the percentage of handles is greater than the work threshold. W th In this situation, the equipment is basically stationary or slightly moving, the operator's intention to work is clear, and the equipment is in operation mode.

[0045] When pedal percentage > drive threshold D th And the percentage of handles is greater than the work threshold. W th At this time, the equipment is in a composite mode, simultaneously operating in drive mode and work mode.

[0046] In the above technical solution, if any one of the handle percentages—rotating handle percentage, bucket handle percentage, and boom handle percentage—is greater than the operating threshold, it can be determined that the equipment needs to enter the operating mode.

[0047] In some possible embodiments, the driving threshold D th Take 12%, the job threshold. W th Taking 10%, the pedal percentage and handle percentage are compared with the drive threshold and operation threshold to determine the device's operating mode. Meanwhile, to prevent signal jitter from causing frequent mode oscillations, any mode switch must meet the new mode signal condition for 200 ms.

[0048] S4. Dynamically allocate the travel motor and hydraulic motor according to the current working mode of the equipment, and generate corresponding motor control commands.

[0049] When the device is in drive mode, the pedal percentage is converted into the target matrix command of the travel motor through a preset pedal-torque mapping curve, and the hydraulic motor operates at a preset speed.

[0050] In this embodiment, the control objective of the drive mode is to "achieve efficient and smooth driving while minimizing energy consumption of non-driving systems." The specific strategy is as follows: the accelerator pedal percentage, i.e., pedal opening, is directly converted into a target torque command for the travel motor via a preset pedal-torque mapping curve. This allows the equipment to obtain the expected acceleration, constant speed, or climbing power based on the pedal depth. The "pedal-torque" mapping curve is characterized by a linear initial segment and a gradual increase in the latter segment, providing good low-speed handling and high-speed economy. For the hydraulic motor, the vehicle controller sends a command to maintain a constant low speed, meaning the hydraulic motor operates at a preset speed, providing the minimum working pressure to drive the hydraulic pump to maintain steering and the pilot control system. At this time, the hydraulic system does not output any effective power for bucket or boom operation, resulting in extremely low power consumption and ensuring steering actions during driving.

[0051] When the equipment is in operation mode, the handle percentage is converted into the target speed command of the hydraulic motor through the preset handle-speed mapping curve, and the travel motor works at the preset torque.

[0052] In this embodiment, the control objective of the operating mode is to "provide ample and responsive hydraulic power to the working devices (such as the boom and bucket) to ensure operational strength and precision." The specific strategy is as follows: the handle percentage is converted into a target speed command for the hydraulic motor via a preset "handle-speed" mapping curve. This "handle-speed" mapping curve is linear, ensuring rapid response. For the travel motor, the vehicle controller adjusts the target speed of the hydraulic motor based on the handle opening signal to provide a large flow rate, ensuring rapid response of the hydraulic system. To prevent accidental movement of the vehicle during lifting and other operations, the vehicle controller places the travel motor in a "micro-creep" or "zero torque control" state based on the status of the parking button, meaning the travel motor operates at a preset torque. If the parking button is pulled up, the travel motor is allowed to output a very small, limited torque to achieve creep; otherwise, if the parking button is pressed, the output of the travel motor is limited to zero, ensuring stable parking of the equipment. At this time, the hydraulic system obtains almost all of its system power, resulting in sufficient operational kinetic energy and rapid action.

[0053] When the equipment is in composite mode, dynamic power allocation is performed on the walking motor and hydraulic motor to obtain the commanded power of the walking motor and the commanded power of the hydraulic motor, and corresponding motor control signals are generated.

[0054] In some possible embodiments, the control objective in the composite mode is: "Under the constraint of the total system power, smoothly coordinate the power distribution to achieve composite actions of walking and moving simultaneously, ensuring that no system stalls due to insufficient power." Throughout the process, power distribution is a dynamic allocation process. The system processes the acquired pedal and handle signals in real time to ensure power balance between walking and working in the composite mode, improving equipment efficiency and reducing energy loss. The specific strategy is as follows: First, a minimum guaranteed power is set for the hydraulic system to ensure that the working mechanism maintains basic pressure and controllability under any circumstances, preventing "lifting jamming" due to power being completely occupied by walking. After deducting the minimum guaranteed power from the total power, the remaining portion constitutes a dynamic power pool for competitive allocation between the walking motor and the hydraulic motor, specifically including the following:

[0055] Determine dynamic power: ; in, P available For dynamic power, P total For total power, P hyd_min This is the minimum guaranteed power.

[0056] For dynamic allocation, a dynamic weighting coefficient is calculated based on the real-time pedal and handle signals, expressed as follows: ; in, K For dynamic weighting coefficients, β These are dynamic weighting coefficients. D For pedal percentage, W Percentage of handle.

[0057] Based on the calculated dynamic weighting coefficients and dynamic power, the command power of the travel motor is determined. The formula for allocating the command power of the travel motor is then: ; in, P drive_cmd This refers to the commanded power of the walking motor. K For dynamic weighting coefficients, P available This refers to dynamic power.

[0058] Based on the dynamic weighting coefficient, minimum guaranteed power, and dynamic power, the command power of the hydraulic motor is determined. The formula for allocating the command power of the hydraulic motor is then: ; in, P hyd_cmdThis refers to the commanded power of the hydraulic motor. P hyd_min To ensure minimum guaranteed power, K For dynamic weighting coefficients, P available This refers to dynamic power.

[0059] S5. Send the motor control command to the corresponding motor controller to control the corresponding motor to perform the corresponding action.

[0060] After determining the operating mode of the equipment, different control commands are generated and sent to the travel motor controller and hydraulic motor controller to enable the equipment to travel or operate.

[0061] In some possible embodiments, the total system power is 300 kW, the minimum guaranteed power of the hydraulic motor is 20 kW, and the dynamic power is 280 kW. Accelerator pedal percentage is 30%, bucket handle percentage is 60%, boom handle percentage is 0%, and drive threshold is... D th Take 12%, the job threshold. W th Taking 10%, we determine that the loader is in composite mode, with the bucket handle as the dominant handle. In this case, the operating intention is digging and inserting operations, requiring strong digging force. Most of the available power is preferentially allocated to the hydraulic system, using a dynamic weighting coefficient. β If we take 1.5, then the dynamic weighting coefficient is... K Based on the power allocation formula for the travel motor (0.25), the power allocated to the travel motor is 70 kW, and based on the power allocation formula for the hydraulic motor, the power allocated to the hydraulic motor is 230 kW. The vehicle controller sends the calculated control commands for the travel and hydraulic motors to the corresponding motor controllers via the CAN bus, thus achieving a balance between travel and operation.

[0062] Example 2

[0063] like Figure 2 As shown in the figure, this embodiment provides a method for identifying and controlling the working mode of a loader, including: a pedal module, a handle module, a vehicle controller, a travel motor controller, and a hydraulic motor controller.

[0064] The pedal module and handle module are connected to the ports of the vehicle controller, respectively, and the signal transmission values ​​are processed by the vehicle controller.

[0065] The vehicle controller is connected to the travel motor controller and the hydraulic motor controller via CAN, enabling data communication and command issuance. The travel motor controller connects to the travel motor to control the equipment in travel mode, and the hydraulic motor controller connects to the hydraulic motor to control the equipment in operation mode.

[0066] The vehicle controller is used to execute the loader working mode recognition and control method described in any one of Embodiment 1.

[0067] Example 3

[0068] This embodiment provides a vehicle controller, including a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the steps of the loader working mode recognition and control method described in any one of Embodiment 1.

[0069] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0070] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0071] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0072] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1The steps of the function specified in one or more boxes.

[0073] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for recognizing and controlling the working mode of a loader, characterized in that, Includes the following steps: Acquire pedal and handle signals; The acquired pedal and handle signals are processed to obtain the pedal percentage and handle percentage; Based on preset working mode calibration thresholds, the current working mode of the device is determined according to the pedal percentage and handle percentage. The travel motor and hydraulic motor are dynamically allocated according to the current working mode of the equipment, and corresponding motor control commands are generated. The motor control command is sent to the corresponding motor controller to control the corresponding motor to perform the corresponding action.

2. The method for identifying and controlling the working mode of a loader according to claim 1, characterized in that, Before acquiring the pedal signal and the handle signal, the original pedal signal and the original handle signal are calibrated.

3. The method for recognizing and controlling the working mode of a loader according to claim 1, characterized in that, The process of processing the acquired pedal and handle signals to obtain the pedal percentage and handle percentage includes the following steps: The acquired pedal and handle signals are converted from analog to digital and then verified for security and reliability to obtain the original digital signals of the pedal and handle. The original digital signals of the pedal and the handle are filtered and linearized to obtain the pedal percentage and handle percentage.

4. The method for recognizing and controlling the working mode of a loader according to claim 3, characterized in that, The filtering process for the original digital signals of the pedal and the handle is performed using a first-order low-pass filter to obtain the filtered pedal and handle signals. The expression for the first-order low-pass filter is as follows: ； in, S raw ( n ) is the first n The original signal value sampled periodically; S filtered ( n-1 ) is the first n-1 Output value after periodic filtering; S filtered ( n ) represents the output signal value after filtering in the nth cycle; α These are the filter coefficients, with values ​​ranging from (0, 1).

5. The method for recognizing and controlling the working mode of a loader according to claim 4, characterized in that, The filtered pedal signal and handle signal are linearly processed to obtain the pedal percentage and handle percentage, including: The filtered pedal signal is processed into a pedal percentage using the following formula: ； in, D For the first n Cycle pedal percentage; S’ filtered ( n ) is the first n The pedal signal value after periodic filtering; V’ max_pos This represents the maximum positive signal value of the pedal. V’ zero This is the zero-position signal value of the pedal; And / or, process the filtered handle signal into a handle percentage using the following formula: ； in, W Percentage of the handle in the nth cycle; S’’ filtered ( n ) represents the value of the handle signal after filtering in the nth cycle; V’’ center This is the value of the handle's center position signal; V’’ max_pos This represents the maximum positive signal value of the handle. Based on the dead zone threshold, determine the percentage of handles in the nth cycle to obtain the handle percentage.

6. The method for identifying and controlling the working mode of a loader according to claim 1, characterized in that, The working mode calibration thresholds include drive thresholds and job thresholds; The determination of the current working mode of the device based on the preset working mode calibration threshold and the pedal percentage and handle percentage includes: When 0 ≤ pedal percentage ≤ drive threshold and 0 ≤ handle percentage ≤ operation threshold, the device is in stationary mode; When the pedal percentage is greater than the drive threshold and 0 ≤ handle percentage ≤ operation threshold, the device is in drive mode; When 0 ≤ pedal percentage ≤ drive threshold and handle percentage > operation threshold, the device is in operation mode; When the pedal percentage is greater than the drive threshold and the handle percentage is greater than the operation threshold, the device is in composite mode, simultaneously operating in drive mode and operation mode.

7. The method for recognizing and controlling the working mode of a loader according to claim 1, characterized in that, The operating modes include at least a drive mode, a work mode, and a combined mode; the dynamic allocation of the travel motor and hydraulic motor according to the current operating mode of the equipment, and the generation of corresponding motor control commands, includes: When the device is in drive mode, the pedal percentage is converted into the target matrix command of the travel motor through the preset pedal-torque mapping curve, and the hydraulic motor operates at the preset speed; When the equipment is in operation mode, the handle percentage is converted into the target speed command of the hydraulic motor through the preset handle-speed mapping curve, and the travel motor works with the preset torque; When the equipment is in composite mode, dynamic power allocation is performed on the walking motor and hydraulic motor to obtain the commanded power of the walking motor and the commanded power of the hydraulic motor, and corresponding motor control signals are generated.

8. The method for recognizing and controlling the working mode of a loader according to claim 7, characterized in that, The dynamic power allocation between the travel motor and the hydraulic motor to obtain the commanded power of the travel motor and the commanded power of the hydraulic motor includes: Determine dynamic power: ； in, P available For dynamic power, P total For total power, P hyd_min Minimum guaranteed power; Determine the dynamic weighting coefficients: ； in, K For dynamic weighting coefficients, β These are dynamic weighting coefficients. D For pedal percentage, W Percentage of handle; Based on dynamic weighting coefficients and dynamic power, the command power of the walking motor is determined: ； in, P drive_cmd This refers to the commanded power of the walking motor. K For dynamic weighting coefficients, P available For dynamic power; Based on the dynamic weighting coefficient, minimum guaranteed power, and dynamic power, the command power of the hydraulic motor is determined: ； in, P hyd_cmd This refers to the commanded power of the hydraulic motor. P hyd_min To ensure minimum power, K For dynamic weighting coefficients, P available This refers to dynamic power.

9. A working mode recognition and control system for a loader, characterized in that, include: Pedal module, handle module, vehicle controller, drive motor controller, and hydraulic motor controller; The pedal module and the handle module are respectively connected to the vehicle controller; The vehicle controller is connected to the travel motor controller and the hydraulic motor controller respectively. The travel motor controller is connected to the travel motor, and the hydraulic motor controller is connected to the hydraulic motor. The vehicle controller is used to execute the loader working mode recognition and control method according to any one of claims 1 to 8.

10. A vehicle controller, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the loader working mode recognition and control method according to any one of claims 1 to 8.

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