Loader control system, method, and storage medium

Abstract

The application discloses a loader control system, method and storage medium, and belongs to the technical field of engineering mechanical equipment control, and comprises: a hydraulic operation handle used for outputting a hydraulic operation opening degree signal; a walking pedal used for outputting a walking opening degree signal; a hydraulic motor used for driving a hydraulic system of the loader; a walking motor used for driving a walking system of the loader; and a control unit in communication connection with the hydraulic operation handle, the walking pedal, the hydraulic motor, the walking motor and a heavy load operation device respectively. The hydraulic system adopts a double-opening degree joint control mechanism of handle opening degree+load dynamic coefficient, greatly improves the control precision in a micro-operation scene, and the opening degree of the walking pedal and the opening degree of the hydraulic operation handle jointly influence the rotating speed of the hydraulic motor, so that the micro-control performance is good and safety is good.

Description

Technical Field

[0001] This invention relates to a loader control system, method, and storage medium, belonging to the field of intelligent control technology for construction machinery equipment. Background Technology

[0002] As a core piece of construction machinery widely used in mining, ports, and infrastructure projects, the loader's operating efficiency, energy consumption control, and operational safety directly affect the overall benefits of construction projects. Currently, most loaders still rely on manual operation, and their performance is highly dependent on the driver's experience. This often results in problems such as unstable operating efficiency, high energy consumption, high driver workload, and high safety risks under complex working conditions.

[0003] Existing conventional control structures employ separate, independent control logic, such as Figure 1 As shown, the hydraulic operating handle 1 independently controls the speed of the hydraulic motor 2, thereby regulating the action of the hydraulic system 3, and the walking pedal 4 independently controls the torque of the walking motor 5, thereby driving the walking system 6 to run. The two types of control links do not interfere with each other.

[0004] In any mode, the speed range of hydraulic motor 2 is idle speed-A. The speed change is controlled by hydraulic operating handle 1 (larger handle opening, higher speed). The handle opening is too sensitive, making it difficult to control when fine movements are required, resulting in poor micro-control. This is very different from fuel loader (fuel loader uses the travel pedal to control the pump speed and the hydraulic operating handle to control the valve opening, and the two work together to control the action time of the hydraulic system).

[0005] In any mode, the torque range of the 5-wheel drive motor is 0-B. When the vehicle is first inserted into the material (or under light working conditions) or when reverse gear is engaged, the traction force is too large, which can easily cause slippage. The acceleration process has a large impact, which causes the brake friction pads to wear quickly. The transmission system and structural components are under heavy load, which reduces the service life of the whole vehicle. The system has high energy consumption, which reduces the driving range. Summary of the Invention

[0006] The purpose of this invention is to propose a loader control system, method, and storage medium. The hydraulic system adopts a dual-opening joint control mechanism of handle opening degree + load dynamic coefficient, which greatly improves the control accuracy in micro-operation scenarios.

[0007] The loader control system of the present invention includes: The hydraulic operating handle is used to output the hydraulic operating opening signal; The walking pedal is used to output the walking opening signal; Hydraulic motor, used to drive the hydraulic system of a loader; The travel motor is used to drive the travel system of the loader; The control unit is communicatively connected to the hydraulic operating handle, the travel pedal, the hydraulic motor, and the travel motor, respectively; the control unit is configured as follows: In intelligent mode, when the walking pedal opening is within a certain proportion, the maximum speed of the hydraulic motor is proportionally controlled within a preset proportion; when the walking pedal opening exceeds the preset proportion, the maximum speed of the hydraulic motor is released to the rated maximum speed. The system determines the real-time speed of the hydraulic motor based on the opening of the walking pedal and the opening of the hydraulic operating handle, so as to achieve more precise control of the flow rate and action time of the hydraulic system.

[0008] Preferably, it also includes a heavy-load operation device for generating a heavy-load mode trigger signal. In intelligent mode, the maximum torque of the travel motor is limited to a preset ratio. By operating the heavy-load operation device, the heavy-load mode is entered. At this time, the maximum torque of the travel motor is released to the rated maximum torque, and the maximum traction force of the loader is the theoretical maximum traction force, which can meet the heavy-load operation of the whole machine.

[0009] Preferably, the logic configured in the control unit to determine the real-time speed of the hydraulic motor based on the walking opening signal and the hydraulic operation opening signal is specifically as follows: When the opening of the walking pedal is less than or equal to the preset proportional threshold C, the maximum allowable speed of the hydraulic motor changes proportionally with the opening of the walking pedal. When the opening of the walking pedal is greater than the preset proportional threshold C, the maximum allowable speed of the hydraulic motor is the rated maximum speed A; The real-time speed of the hydraulic motor is the product of the maximum allowable speed and the opening degree of the hydraulic operating handle, and the real-time speed is not lower than the preset idle speed value.

[0010] Preferably, when the opening of the walking pedal is less than or equal to a preset proportional threshold C, the maximum allowable speed An of the hydraulic motor is calculated using the formula: An = A D / C, where D is the current travel pedal opening value. When the calculated An is less than the preset idle speed value, the preset idle speed value is used as the maximum allowable speed; or; An = idle speed value + (A - idle speed value) D / C, where D is the current travel pedal opening value and A is the rated maximum speed of the hydraulic motor.

[0011] Preferably, in intelligent mode, the torque of the travel motor is limited to a preset ratio E, and the loader's maximum traction force F = theoretical maximum traction force Fmax. The value of E can be adjusted according to different working conditions. The maximum traction force F meets the requirements of efficient operation of the whole machine and prevents the tires from slipping.

[0012] Preferably, the heavy-duty operating device is implemented in any one or more combinations of the following: jog button, independent operating handle, throttle device integrated jog switch, hydraulic operating handle integrated button, pressure sensor, and speed sensor.

[0013] Preferably, the control unit is further configured to automatically switch from heavy-load mode back to intelligent mode when it detects that the loader has engaged reverse or neutral gear; the automatic switching function can be manually turned off.

[0014] The loader control method of the present invention, applied to the loader control system, includes: The system acquires the walking pedal opening signal and the hydraulic operating handle opening signal. When the walking pedal opening is within a preset proportional threshold, the system controls the maximum allowable speed of the hydraulic motor to change proportionally with the walking pedal opening. When the walking pedal opening exceeds the preset proportional threshold, the system controls the maximum allowable speed of the hydraulic motor to be released to the rated speed A. The real-time speed of the hydraulic motor is determined by the opening of the walking pedal and the opening of the hydraulic operating handle.

[0015] Preferably, the system operates in intelligent mode by default, where the maximum output torque of the walking motor is limited to a preset ratio of the rated maximum torque. When the operation of the heavy-duty operating device is detected, the system switches to heavy-duty mode, releasing the maximum output torque of the walking motor to the rated maximum torque.

[0016] Preferably, when the electric loader is detected to be in neutral or reverse gear, the intelligent mode is automatically restored. This automatic restoration function can be manually turned off.

[0017] Preferably, the loaders adapted to the method include any one of electric loaders, fuel loaders, and hybrid loaders.

[0018] The present invention discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, implements all the steps of the loader control method.

[0019] Compared with existing technologies, the loader control system, method, and storage medium of the present invention exhibit the following beneficial effects in terms of technical performance and practical application: 1. The hydraulic system adopts a dual-opening joint control mechanism of handle opening degree + load dynamic coefficient, which greatly improves the control accuracy in micro-operation scenarios. The opening degree of the walking pedal and the opening degree of the hydraulic operating handle jointly affect the speed of the hydraulic motor, resulting in good micro-controllability and safety.

[0020] 2. In intelligent mode, the travel motor torque is low, preventing vehicle slippage. Tire wear is minimal; the load on the transmission system and structural components is low; energy consumption is low, and the driving range is long. Intelligent mode automatically limits the upper limit of travel torque, effectively avoiding tire slippage during light-duty operations, reducing wear on travel components, lowering energy consumption, and increasing the driving range of the electric loader. 3. One-click switching to heavy-load mode to meet the traction requirements of heavy-load working conditions; the automatic switching mechanism of heavy-load mode meets the needs of heavy-load operation and improves the efficiency of heavy-load loading operation. 4. The reverse gear can automatically switch to intelligent mode, reducing manual operation steps for the driver and improving operational convenience and safety.

[0021] 5. The accompanying computer-readable storage medium can be directly adapted to the existing on-board controllers of various loaders, and this solution can be implemented without changing the hardware. Attached Figure Description

[0022] Figure 1 This is a connection diagram of a loader control system in the prior art; Figure 2 This is a connection diagram of the loader control system of the present invention; In the diagram: 1. Hydraulic operating handle; 2. Hydraulic motor; 3. Hydraulic system; 4. Travel pedal; 5. Travel motor; 6. Travel system; 7. Heavy-duty operating device. Detailed Implementation

[0023] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0024] Example 1: like Figure 2 As shown, the loader control system of the present invention includes: Hydraulic operating handle 1 is used to output hydraulic operating opening signal; Walking pedal 4 is used to output the walking opening signal; Hydraulic motor 2, used to drive the hydraulic system 3 of the loader; The travel motor 5 is used to drive the loader's travel system 6; The control unit is communicatively connected to the hydraulic operating handle 1, the travel pedal 4, the hydraulic motor 2, and the travel motor 5, respectively; the control unit is configured as follows: In intelligent mode, when the opening of the walking pedal 4 is within a certain proportion, the maximum speed of the hydraulic motor 2 is proportionally controlled within the preset range; when the opening of the walking pedal 4 exceeds the preset proportion, the maximum speed of the hydraulic motor 2 is released to the rated maximum speed. The system determines the real-time speed of the hydraulic motor 2 based on the opening of the walking pedal 4 and the opening of the hydraulic operating handle 1, so as to achieve more precise control of the flow and action time of the hydraulic system.

[0025] The logic configured in the control unit to determine the real-time speed of the hydraulic motor 2 based on both the travel opening signal and the hydraulic operation opening signal is as follows: When the opening of the walking pedal 4 is less than or equal to the preset proportional threshold C, the maximum allowable speed of the hydraulic motor 2 changes proportionally with the opening of the walking pedal 4. When the opening of the walking pedal 4 is greater than the preset proportional threshold C, the maximum allowable speed of the hydraulic motor 2 is the rated maximum speed A; The real-time speed of the hydraulic motor 2 is the product of the maximum permissible speed and the opening degree of the hydraulic operating handle 1, and the real-time speed is not lower than the preset idle speed value.

[0026] When the opening of the walking pedal 4 exceeds a certain proportion C, the speed range of the hydraulic motor 2 is idle speed - A.

[0027] When the opening of the travel pedal 4 is within a certain proportion C, the maximum speed of the hydraulic motor 2 is proportionally controlled within a certain range. For example, when the opening of the travel pedal 4 is D (0 < D < C), the speed range of the hydraulic motor 2 is idle speed - An, resulting in better micro-controllability during operation.

[0028] The above formula for calculating An includes, but is not limited to, the following two: An=A D / C (When An is less than the idle speed, the speed is the idle speed); Alternatively, An = idle speed + (A - idle speed) D / C.

[0029] Example 2: Based on Embodiment 1, a heavy-load operation device 7 is also included to generate a heavy-load mode trigger signal. In intelligent mode, the maximum torque of the travel motor 5 is limited to a preset ratio. In intelligent mode, the torque of the travel motor 5 is limited to a certain ratio E, and the loader's maximum traction force F = theoretical maximum traction force Fmax. E. The value of E can be adjusted according to different working conditions. The maximum traction force F is just enough to meet the needs of the whole machine to work efficiently and prevent the tires from slipping. There is little tire wear; the load on the transmission system and structural components is small; energy consumption is low and the range is long.

[0030] When high traction is required, operate the heavy-load operation device 7 to enter heavy-load mode. The torque of the travel motor 5 is released to B. At this time, the loader's maximum traction force F = the theoretical maximum traction force Fmax. The maximum traction force Fmax can meet the heavy-load work of the entire machine. After the loader is fully loaded with material and engaged in reverse gear, the travel resistance is small, and the vehicle automatically returns to intelligent mode (this function can be manually turned off).

[0031] The heavy-duty operating device 7 can be implemented in various ways, including but not limited to mechanical devices such as jog buttons, small handles, jog switches in throttle devices, and small buttons integrated on the operating handle. It can also be activated by a pressure sensor or speed sensor combined with an electronic program to determine when conditions are met, or by setting a threshold directly by an electronic program to activate when the threshold is met.

[0032] This embodiment sets differentiated parameters to adapt to various working conditions for different application scenarios. The preset ratio threshold C can be set to 30% / 35% / 40%, and the torque limit ratio E can be set to 55% / 60% / 65%. Specific embodiments are as follows: Application scenarios of electric loaders: This embodiment is applied to a pure electric loader with a rated load of 5 tons, and the working scenario is earthmoving in a mine. The preset parameters are: preset ratio threshold C=30%, preset ratio E=60%, rated maximum speed of hydraulic motor A=3000rpm, hydraulic motor idle speed=800rpm, and maximum torque of travel motor 500N.m.

[0033] (1) Heavy load loading condition: The working condition acquisition module collects the working load in real time as 4.8 tons. The driver manually selects or the detection module generates a signal command to enter the heavy load mode, remove the upper limit of the walking torque, and release the maximum torque of the drive motor to the rated maximum torque of 500 N.m. The control system obtains the handle opening H=80% and the walking pedal opening D=90%. After the control system calculates the control parameters, the dual opening joint control adjusts the speed of the hydraulic motor to 2560 rpm and the output torque of the walking motor to 450 N.m. The heavy load loading operation is completed. (2) Transfer operation: After the loading operation is completed, the loader reverses to perform the transfer operation. When the gear is detected to switch from D to R, the current mode is automatically restored to the intelligent mode without the need for manual switching by the driver. The upper limit of the travel torque is limited to 60% of the rated torque (300 N.m). The control system obtains the handle opening H=0% and the travel pedal opening D=50%. After the control system calculates the control parameters, the dual opening joint control adjusts the hydraulic motor speed to 800 rpm and the travel motor output torque to 150 N.m. This achieves energy consumption optimization during the transfer process and reduces tire slippage. (3) Unloading condition: When the loader approaches the truck for unloading, the speed of the whole vehicle decreases. At this time, the system is still in intelligent mode, limiting the upper limit of the travel torque to 60% of the rated torque (300 N.m). The control system obtains the handle opening H=25% and the travel pedal opening D=20%. After the control system calculates the control parameters, the dual opening joint control adjusts the speed of the hydraulic motor to 1100 rpm and the output torque of the travel motor to 60 N.m; thus realizing the energy consumption optimization of the transfer process. At this time, the bucket's fine movement can be adjusted by the handle, and the micro-control is good.

[0034] Application scenarios for fuel-powered loaders: This embodiment applies to a fuel-powered loader with a rated load of 3 tons, and the operating scenario is loading and unloading goods in a logistics park. The preset parameters are: preset proportional threshold C=35%, torque limit ratio E=55%, hydraulic pump driven by engine, rated maximum speed A=2200rpm, idle speed=800rpm. (1) Loading and unloading operation conditions: The working condition acquisition module collects the working load in real time as 2.7 tons. The driver manually selects or the detection module generates a signal command to enter the heavy load mode, remove the engine torque limit, and increase the engine speed to the rated maximum speed of 2200 rpm. The control system obtains the handle opening H=65% and the travel pedal opening D=80%. After the control system calculates the control parameters, the dual opening joint control adjusts the engine speed to 1920 rpm to complete the heavy load loading operation. (2) No-load driving condition: After loading and unloading is completed, the loader reverses to carry out the transfer operation. When the gear is detected to be switched from D to R, the current mode is automatically restored to the intelligent mode without the need for the driver to manually switch. The engine torque is limited to 55% of the rated torque. The control system obtains the handle opening H=0% and the travel pedal opening D=40%. After the control system calculates the control parameters, the dual opening joint control adjusts the engine speed to 960rpm; thus optimizing the energy consumption during the transfer process and reducing tire slippage. (3) Reversing and positioning: When the gear is switched to R, the intelligent mode is automatically restored, limiting the engine torque to 55% of the rated torque, reducing the driving speed, and improving the positioning accuracy. In this scenario, fuel consumption is reduced by 26% and component wear is reduced by 18%.

[0035] Application scenarios for hybrid loaders: This embodiment applies to a hybrid electric loader with a rated load of 6 tons, operating in a municipal engineering construction scenario. The preset parameters are: preset proportional threshold C = 40%, torque limit proportional E = 65%, rated maximum speed of the hydraulic motor A = 3000 rpm, and idle speed = 800 rpm. (1) Heavy load earthwork excavation condition: The working load is 5.7 tons. The driver manually selects or the detection module generates a signal command to enter the heavy load mode and start the dual power output mode of engine + motor. The control system obtains the handle opening H=75% and the travel pedal opening D=90%. After the control system calculates the control parameters, the dual opening joint control adjusts the speed of the hydraulic motor to 2450rpm, and the total output power is increased to 90% of the rated power; to meet the requirements of heavy load excavation. (2) Light load site leveling condition: The working load is 1.2 tons. The driver manually selects or the detection module generates a signal command to switch to intelligent mode, turn off the engine and use only the motor output, limit the upper limit of the walking torque to 65% of the rated torque, the control system obtains the handle opening H=40% and the walking pedal opening D=20%. After the control system calculates the control parameters, the dual opening joint control adjusts the hydraulic motor speed to 1280rpm to achieve low energy consumption and stable operation. (3) Reversing and unloading: After unloading, the intelligent mode is automatically restored when the gear is switched to R gear, limiting the upper limit of the walking motor torque to 65% of the rated torque, avoiding excessive power during heavy-load reversing and causing safety hazards, and reducing overall energy consumption by 26%.

[0036] Comparison of proportions and effects; This comparative example adopts Figure 1 The conventional loader control scheme shown is compared with the scheme of this invention under the same working conditions based on a 5-ton electric loader of the same model. The proportional control logic is compared with... Figure 1 The existing technology shown is consistent: the hydraulic operating handle independently controls the speed of the hydraulic motor, and the travel pedal independently controls the torque of the travel motor. There is no dual-opening joint control logic and no intelligent / heavy-load mode switching function.

[0037] Table 1. Comparison Test Results of Conventional Loader Control Scheme and Invention Scheme Based on the Same Model 5-ton Electric Loader Under the Same Working Conditions

[0038] (1) In the micro-motion operation scenario, the comparative example is that the speed of the hydraulic motor is controlled by the hydraulic operating handle alone, without the linkage limitation of the walking pedal opening, resulting in a micro-operation control error of ±15%, and the driver's adaptation time from the fuel loader is ≥10 hours; the dual opening joint control scheme of the present invention has a micro-operation control error of ≤±3%, an adaptation time of ≤2 hours, and improves the operation efficiency by 15%.

[0039] (2) In the sand and gravel loading scenario, the comparative model has no mode limitation on the torque of the walking motor. The slip rate is 12% when inserting material in light working condition and in reverse gear. The lack of differentiated torque control leads to high energy consumption. The electric loader's range is 18% lower than that of the present invention, and the service life of the brake friction pads is 30% shorter than that of the present invention.

[0040] Comparative verification results under heavy-load scenarios show that the maximum traction force of the present invention after switching to heavy-load mode is consistent with that of the comparative model, which can meet the requirements of heavy-load operation and take into account both energy saving and operation capability.

[0041] Example 3: The loader control method of the present invention, based on the loader control system described in Embodiment 1, includes: The system acquires the opening signals of the walking pedal 4 and the hydraulic operating handle 1. When the opening of the walking pedal 4 is within a preset proportional threshold, the system controls the maximum allowable speed of the hydraulic motor 2 to change proportionally with the opening of the walking pedal 4. When the opening of the walking pedal 4 exceeds the preset proportional threshold, the system controls the maximum allowable speed of the hydraulic motor 2 to be released to the rated speed A. The real-time speed of the hydraulic motor 2 is determined by the opening degree of the walking pedal 4 and the opening degree of the hydraulic operating handle 1.

[0042] The system operates in intelligent mode by default, which limits the maximum output torque of the walking motor 5 to a preset ratio of the rated maximum torque. When the heavy-duty operating device 7 is detected to be operated, the system switches to heavy-duty mode and releases the maximum output torque of the walking motor 5 to the rated maximum torque.

[0043] When the electric loader is detected to be in neutral or reverse, it automatically resumes intelligent mode. This automatic resumption function can be manually turned off.

[0044] Example 4: The present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements all the steps of the loader control method described in Embodiment 3.

[0045] (1) Program burning stage: The loader control program described in this invention is compiled into a binary file that can be recognized by the vehicle controller and burned into an industrial-grade SD card / Flash storage chip. The storage medium supports wide temperature operation from -40℃ to 85℃ to meet the requirements of harsh operating environments of construction machinery.

[0046] (2) Adaptation and installation stage: Insert the burned storage medium directly into the external storage interface of the loader's existing on-board controller. The controller will automatically recognize the control program in the storage medium without modifying the original hardware circuit.

[0047] (3) Operation and execution phase: After the vehicle controller is started, it automatically calls the control program in the storage medium, collects operating parameters, calculates adjustment instructions and controls power output in real time according to the control logic described in this invention. Program upgrade only requires replacing the storage medium or remotely updating the program files in the storage medium.

[0048] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A loader control system, characterized in that, include: Hydraulic operating handle (1) is used to output hydraulic operating opening signal; The walking pedal (4) is used to output the walking opening signal; Hydraulic motor (2), used to drive the hydraulic system (3) of the loader; The travel motor (5) is used to drive the travel system (6) of the loader. The control unit is communicatively connected to the hydraulic operating handle (1), the travel pedal (4), the hydraulic motor (2), and the travel motor (5), respectively; the control unit is configured as follows: In intelligent mode, when the opening of the walking pedal (4) is within a certain proportion, the maximum speed of the hydraulic motor (2) is proportionally controlled within the preset proportion; when the opening of the walking pedal (4) exceeds the preset proportion, the maximum speed of the hydraulic motor (2) is released to the rated maximum speed. The system determines the real-time speed of the hydraulic motor (2) based on the opening of the walking pedal (4) and the opening of the hydraulic operating handle (1), so as to achieve more precise control of the flow rate and action time of the hydraulic system.

2. The loader control system according to claim 1, characterized in that: It also includes a heavy-load operation device (7) for generating a heavy-load mode trigger signal. In the intelligent mode, the maximum torque of the walking motor (5) is limited to a preset ratio. By operating the heavy-load operation device (7), the heavy-load mode is entered. At this time, the maximum torque of the walking motor (5) is released to the rated maximum torque, and the maximum traction force of the loader is the theoretical maximum traction force. The theoretical maximum traction force satisfies the heavy-load operation of the whole machine.

3. The loader control system according to claim 1, characterized in that: The logic configured in the control unit for determining the real-time speed of the hydraulic motor (2) based on the opening degree of the walking pedal (4) and the opening degree of the hydraulic operating handle (1) is as follows: When the opening of the walking pedal (4) is less than or equal to the preset proportional threshold C, the maximum allowable speed of the hydraulic motor (2) changes proportionally with the opening of the walking pedal (4); When the opening of the walking pedal (4) is greater than the preset proportional threshold C, the maximum allowable speed of the hydraulic motor (2) is the rated maximum speed A; The real-time speed of the hydraulic motor (2) is the product of the maximum allowable speed and the opening degree of the hydraulic operating handle (1), and the real-time speed is not lower than the preset idle speed value.

4. The loader control system according to claim 3, characterized in that: When the opening of the walking pedal (4) is less than or equal to the preset proportional threshold C, the formula for calculating the maximum allowable speed An of the hydraulic motor (2) is: An = A D / C, where D is the current travel pedal opening value. When the calculated An is less than the preset idle speed value, the preset idle speed value is used as the maximum allowable speed; or; An = idle speed value + (A - idle speed value) D / C, where D is the current travel pedal opening value and A is the rated maximum speed of the hydraulic motor.

5. The loader control system according to claim 2, characterized in that: In intelligent mode, the torque of the walking motor (5) is limited to a preset ratio E, and the loader's maximum traction force F = theoretical maximum traction force Fmax. The value of E can be adjusted according to different working conditions. The maximum traction force F meets the requirements of efficient operation of the whole machine and prevents the tires from slipping.

6. The loader control system according to claim 2, characterized in that: The heavy-duty operating device (7) is implemented in any one or more of the following combinations: jog button, independent operating handle, throttle device integrated jog switch, hydraulic operating handle integrated button, pressure sensor, speed sensor.

7. The loader control system according to claim 2, characterized in that, The control unit is also configured to automatically switch from heavy-load mode back to intelligent mode when it detects that the loader has engaged reverse or neutral gear; the automatic switching function can be manually turned off.

8. A loader control method, applied to the loader control system according to any one of claims 1-7, characterized in that, include: Get the opening signal of the walking pedal (4) and the opening signal of the hydraulic operating handle (1). When the opening of the walking pedal (4) is within the preset proportional threshold, control the maximum allowable speed of the hydraulic motor (2) to change proportionally with the opening of the walking pedal (4). When the opening of the walking pedal (4) exceeds the preset proportional threshold, control the maximum allowable speed of the hydraulic motor (2) to be released to the rated speed A. The real-time speed of the hydraulic motor (2) is determined by the opening of the walking pedal (4) and the opening of the hydraulic operating handle (1).

9. The loader control method according to claim 8, characterized in that, The system operates in intelligent mode by default. In intelligent mode, the maximum output torque of the walking motor (5) is limited to the rated maximum torque of a preset ratio. When the heavy-duty operating device (7) is detected to be operated, the system switches to heavy-duty mode and releases the maximum output torque of the walking motor (5) to the rated maximum torque. When the electric loader is detected to be in neutral or reverse gear, the system automatically restores the intelligent mode. This automatic restoration function can be manually turned off.

10. A computer-readable storage medium, characterized in that, The system contains a computer program that, when executed by a processor, implements all the steps of the loader control method according to any one of claims 8 to 9.

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