A power distribution method, device, medium, and product based on operating conditions.

Abstract

This invention discloses a power distribution method, device, medium, and product based on operating conditions. The method includes: collecting real-time operating data of the loader through multiple sensors configured on the loader during its walking operation; identifying the current operating condition of the loader based on the real-time operating data to obtain the current operating condition category; generating a power distribution command matching the current operating condition category according to power distribution logic; and transmitting the power distribution command to the power distribution control module in the loader to adjust the power distribution relationship between the walking motor and the working motor of the loader. The technical solution of this invention can dynamically optimize power output according to actual operating conditions, thereby improving the working efficiency and energy utilization rate of the equipment.

Description

Technical Field

[0001] This invention relates to the field of auxiliary loading technology, and in particular to a power distribution method, device, medium and product based on working conditions. Background Technology

[0002] With increasingly stringent environmental protection requirements and the development of new energy technologies, new energy construction machinery, represented by electric loaders, faces extremely high demands on energy management efficiency. In actual operation, loaders encounter a variety of complex and rapidly changing working conditions, and the power requirements of their walking and working systems (such as the hydraulic system) change dynamically. Traditional fixed or simple power allocation strategies are difficult to adjust precisely according to real-time and specific operating scenarios, often resulting in a mismatch between power allocation and actual load, leading to energy waste, low operating efficiency, or insufficient power for critical actions, thus hindering the improvement of the equipment's overall performance and endurance.

[0003] In existing technologies, power distribution optimization for construction machinery mainly relies on two types of methods: one is based on preset rules or operating mode switching, such as allocating power according to gear signals or simple throttle opening thresholds. This method is logically rigid, cannot accurately identify complex operating conditions, and has poor adaptability. The second method uses dynamic adjustment based on classical control theory, which uses feedback compensation by monitoring single parameters such as motor speed and current. Although this type of method has a certain degree of dynamism, the response is often lagging, and the adjustment process may oscillate frequently, affecting the smoothness of operation. Summary of the Invention

[0004] This invention provides a power allocation method, device, medium, and product based on operating conditions to achieve dynamic optimization of power allocation according to actual operating conditions.

[0005] According to one aspect of the present invention, a working condition-based power distribution method is provided, executed by a controller in a loader, the method comprising: During the loader's travel operation, multiple sensors configured on the loader collect real-time operation data. This real-time operation data includes travel speed, bucket angle, working load, working slope, and lifting action indication information. The lifting action indication information includes whether lifting action exists or not. The current working condition of the loader is identified based on the real-time operation data to obtain the current working condition category; Based on the power allocation logic that matches the current operating condition category, generate a power allocation instruction that matches the current operating condition category; The power distribution command is transmitted to the power distribution control module in the loader to adjust the power distribution relationship between the loader's travel motor and working motor.

[0006] According to another aspect of the present invention, a condition-based power distribution device is provided, executed by a controller in a loader, the device comprising: The real-time operation data acquisition module is used to collect real-time operation data of the loader through multiple sensors configured on the loader during the loader's travel operation. The real-time operation data includes travel speed, bucket angle, working load, working slope and lifting action indication information. The lifting action indication information includes whether lifting action exists or not. The working condition identification module is used to identify the current working condition of the loader based on the real-time operation data and obtain the current working condition category; The allocation instruction generation module is used to generate a power allocation instruction that matches the current operating condition category based on the power allocation logic that matches the current operating condition category. The power distribution adjustment module is used to transmit the power distribution command to the power distribution control module in the loader, so as to adjust the power distribution relationship between the loader's travel motor and working motor.

[0007] According to another aspect of the present invention, a loader is provided, the loader comprising: a plurality of sensors, a controller, a power distribution control module, a travel motor and a work motor configured on the loader; The multiple sensors are used to collect real-time operating data of the loader; The controller is configured to execute the operating condition-based power allocation method as described in any one of claims 1-7; The power distribution control module is used to adjust the power distribution relationship between the loader's travel motor and work motor according to the power distribution command obtained from the controller.

[0008] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement a condition-based power allocation method as described in any embodiment of the present invention.

[0009] According to another aspect of the present invention, a computer program product is also provided, including a computer program / instructions that, when executed by a processor, implement the steps of the method as described in any embodiment of the present invention.

[0010] The technical solution of this invention solves the problem of mismatch between the total output power distribution and the current working condition by collecting real-time operation data through multiple sensors configured on the loader during the loader's walking operation; identifying the current working condition category based on the real-time operation data; generating a power distribution command according to the power distribution logic matching the current working condition category; and transmitting the power distribution command to the power distribution control module in the loader to adjust the power distribution relationship between the walking motor and the working motor.

[0011] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a flowchart of a power allocation method based on operating conditions provided in Embodiment 1 of the present invention; Figure 2 This is a flowchart of another power allocation method based on operating conditions provided in Embodiment 2 of the present invention; Figure 3 This is a flowchart of another power allocation method based on operating conditions provided in Embodiment 3 of the present invention; Figure 4 This is a schematic diagram of a power distribution device based on operating conditions according to Embodiment 4 of the present invention; Figure 5 This is a schematic diagram of the structure of an electronic device that implements a power distribution method based on operating conditions according to an embodiment of the present invention. Detailed Implementation

[0014] To enable those skilled in the art to better understand the present invention, 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0015] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0016] Example 1 Figure 1 This is a flowchart of a power distribution method based on working conditions provided in Embodiment 1 of the present invention. This embodiment can be applied to the real-time and dynamic power distribution of electric or hybrid loaders under different working conditions. The method can be executed by the controller in the loader.

[0017] Correspondingly, such as Figure 1 As shown, the method includes: S110. During the loader's travel operation, multiple sensors configured on the loader collect real-time operation data of the loader. The real-time operation data includes travel speed, bucket angle, working load, working slope and lifting action indication information. The lifting action indication information includes whether lifting action exists or not.

[0018] In this embodiment, multiple sensors configured on the loader during its movement and operation collect real-time data including travel speed, bucket angle, load, working slope, and indications of the presence or absence of lifting actions. This data comprehensively reflects the equipment's operating status and the external environment, providing information for subsequent condition identification.

[0019] S120. Identify the current working condition of the loader based on the real-time operation data and obtain the current working condition category.

[0020] In this embodiment, based on the collected real-time operation data, the current working scenario of the loader is analyzed and judged to determine its working condition category. By comprehensively processing various data features, such as combining slope and load to determine whether it is climbing and loading, or identifying whether it is unloading based on lifting action and speed, a clear working condition classification result is finally output.

[0021] S130. Generate a power allocation instruction that matches the current operating condition category according to the power allocation logic that matches the current operating condition category.

[0022] The power distribution logic can be understood as a set of power allocation rules pre-set for different operating scenarios. It defines the specific principles and proportions for how the total output power should be distributed between the travel motor and the working motor under a specific operating condition.

[0023] In this embodiment, based on the identified current operating condition category, a preset power allocation logic corresponding to that category is located and applied. This logic defines the priority principle and adjustment rules for power allocation between the travel motor and the working motor in this specific operating scenario, and generates directly executable power allocation instructions to guide specific power adjustments.

[0024] S140. The power distribution command is transmitted to the power distribution control module in the loader to adjust the power distribution relationship between the walking motor and the working motor of the loader.

[0025] The power distribution control module can be understood as a hardware or hardware / software combined unit in the loader responsible for receiving and executing power distribution commands. As the final power adjustment actuator, it directly and in real time controls the ratio or specific value of the total output power flowing to the travel motor and the working motor according to the received commands, thereby translating the upper-level intelligent decision into actual power distribution actions and ensuring that the overall machine power is precisely matched with the current operational needs.

[0026] In this embodiment, the generated power distribution command is sent to the power distribution control module inside the loader. Based on the command content, the module adjusts the distribution ratio of the total output power between the travel motor and the working motor in real time. For example, it increases the power ratio of the travel motor when heavy-load climbing conditions are detected, or ensures the power supply of the working motor during pure lifting operations, thereby completing the dynamic adjustment of power distribution.

[0027] The technical solution of this invention solves the problem of mismatch between the total output power distribution and the current working condition by collecting real-time operation data through multiple sensors configured on the loader during the loader's walking operation; identifying the current working condition category based on the real-time operation data; generating a power distribution command according to the power distribution logic matching the current working condition category; and transmitting the power distribution command to the power distribution control module in the loader to adjust the power distribution relationship between the walking motor and the working motor.

[0028] Example 2 Figure 2This is a flowchart of another power allocation method based on operating conditions provided in Embodiment 2 of the present invention. This embodiment is an optimization based on the above embodiments. Specifically, the operation of "identifying the current operating condition of the loader according to the real-time operation data and obtaining the current operating condition category" has been refined.

[0029] Correspondingly, such as Figure 2 As shown, the method includes: S210. During the loader's travel operation, multiple sensors configured on the loader collect real-time operation data of the loader. The real-time operation data includes travel speed, bucket angle, working load, working slope and lifting action indication information. The lifting action indication information includes whether lifting action exists or not.

[0030] S220. If the travel speed is less than the first speed threshold, the bucket angle is less than the first angle threshold, the working load is greater than the first load threshold, the working slope is less than the target slope threshold, and the lifting action indication information is that there is no lifting action, then the current working condition category is determined to be a shovel loading working condition.

[0031] In this embodiment, the loading condition is identified by comprehensively judging whether multiple real-time operation data simultaneously meet a specific set of conditions. Specifically, when it is detected that the driving speed is less than a first speed threshold, the bucket angle is less than a first angle threshold, the working load is greater than a first load threshold, the current working slope is less than a target slope threshold, and the lifting action indication information is that there is no lifting action, it is determined that the loader is in a typical loading operation state of inserting the bucket into the material pile and digging.

[0032] S230. If the travel speed is less than the first speed threshold, the bucket angle is less than the first angle threshold, the working load is greater than the first load threshold, the working slope is less than the target slope threshold, and the lifting action indication information indicates that a lifting action exists, then the current working condition category is determined to be a travel-lifting operation working condition.

[0033] In this embodiment, a data combination similar to that of the shoveling operation but with a key difference in the lifting action is used to determine the traveling-lifting operation condition. When the conditions of travel speed, bucket angle, working load, and working slope are the same as those of the shoveling operation condition, but a lifting action is detected at the same time, the current operation condition is determined to be a traveling-lifting operation condition. This corresponds to the composite action scenario in which the loader simultaneously lifts the boom while moving at low speed.

[0034] S240. If the driving speed is greater than or equal to the first speed threshold and less than the second speed threshold, the working load is greater than or equal to the first load threshold and less than the second load threshold, the bucket angle is greater than or equal to the first angle threshold and less than the second angle threshold, and the working slope is less than the target slope threshold, then the current working condition is identified as bulldozing working condition.

[0035] In this embodiment, bulldozing conditions are identified by setting conditions that the driving speed is greater than or equal to a first speed threshold and less than a second speed threshold, the working load is greater than or equal to a first load threshold and less than a second load threshold, and the bucket angle is greater than or equal to a first angle threshold and less than a second angle threshold, combined with the working slope being less than a target slope threshold. When real-time data indicates that the loader is traveling at a medium speed, bearing a medium load, the bucket angle is at a medium opening, and the road slope is small, it is determined that it is performing a bulldozing operation by using the bucket to push material horizontally.

[0036] S250. Generate a power allocation instruction that matches the current operating condition category according to the power allocation logic that matches the current operating condition category.

[0037] Optionally, based on the above embodiments, generating a power allocation instruction matching the current operating condition category according to power allocation logic matching the current operating condition category may include: When the current working condition is determined to be a loading condition, continue to check whether the bucket angle is less than the third angle threshold. If so, a power allocation instruction is generated to allocate power between the travel motor and the work motor according to the first power allocation relationship; otherwise, a power allocation instruction is generated to allocate power between the travel motor and the work motor according to the second power allocation relationship. In the first power distribution relationship, the power distribution ratio of the traveling motor is greater than that of the working motor; in the second power distribution relationship, the power distribution ratio of the working motor is greater than that of the traveling motor.

[0038] Generally, once the loading condition has been identified, further refined control is achieved by using the key parameter of bucket angle. Specifically, it is compared with a more precise third angle threshold used to distinguish sub-stages within the loading operation to determine whether the bucket's real-time position is in the low-level digging stage or has entered the lifting preparation stage.

[0039] Generally, when the detected bucket angle is less than the third angle threshold, it indicates that the bucket is in a low-lying, deep-penetrating position or in a digging posture. At this time, in order to provide sufficient insertion and propulsion force to overcome material resistance, the generated power distribution command will prioritize the power supply of the travel motor according to the first power distribution relationship, ensuring that the power allocated to it is greater than that of the working motor, so as to ensure that the equipment can move forward stably under heavy load and complete the digging action.

[0040] Generally, when the detected bucket angle is not less than the third angle threshold, it indicates that the bucket is no longer in a deep digging state, may be full of material, and has begun to lift slightly or prepare for subsequent actions. At this time, in order to ensure that the working device has sufficient hydraulic power to smoothly bear the load and prepare for subsequent lifting or bucket retraction, the generated power distribution command will prioritize the power supply of the working motor according to the second power distribution relationship, making its distribution ratio greater than that of the travel motor, ensuring that the working hydraulic system has sufficient power.

[0041] Optionally, based on the above embodiments, generating a power allocation instruction matching the current operating condition category according to power allocation logic matching the current operating condition category may include: When the current working condition is determined to be a driving and lifting operation, the target lifting height, load size, and unloading and transportation distance of the loader are periodically detected while the loader is maintaining the driving and lifting operation. If it is detected that the loader changes only the unloading and transport distance while maintaining the target lifting height and load size, then a power distribution command matching the current working condition category is generated according to the change in unloading and transport distance. If it is detected that the loader changes only the load size while maintaining the target lifting height and unloading transport distance, then a power distribution command matching the current working condition category is generated according to the load size change method. If it is detected that the loader changes only the target lifting height while maintaining the load size and unloading transport distance, then a power distribution command matching the current working condition category is generated according to the change method of the target lifting height.

[0042] Generally, once the loader is determined to be in a driving lifting operation mode, the changes in three key parameters—target lifting height, load size, and unloading and transportation distance—will be repeatedly monitored at fixed time intervals throughout the entire process of this operation.

[0043] Generally, when monitoring detects that the target lifting height and load size remain constant, but the unloading and transport distance changes, a corresponding power distribution command will be generated based on whether the transport distance increases or decreases. For example, a longer transport distance may require optimizing travel efficiency, while a shorter distance may require reserving more hydraulic power for the upcoming unloading operation.

[0044] Generally, when monitoring detects that the target lifting height and unloading / transportation distance remain constant, but the load size changes, a corresponding power allocation command will be generated based on whether the load increases or decreases. For example, when the load increases, more power needs to be allocated to the working motor to maintain lifting stability, while when the load decreases, power can be appropriately tilted towards the travel motor to increase travel speed.

[0045] Generally, when monitoring detects that the load size and unloading transport distance remain constant, but the target lifting height changes, a corresponding power distribution command will be generated based on whether the lifting height is increased or decreased. For example, lifting to a higher target height requires the working motor to provide a more continuous high power output, while lowering to a lower position may recover some energy or reduce the power demand on the working motor.

[0046] Optionally, based on the above embodiments, generating a power allocation instruction matching the current operating condition category according to the change method of unloading and transportation distance may include: If the unloading and transport distance is changed in such a way that the unloading and transport distance gradually decreases, a power allocation command is generated that gradually reduces the power allocation ratio of the walking motor in the total output power; otherwise, a power allocation command is generated that gradually increases the power allocation ratio of the walking motor in the total output power. If the load size is changed in a way that the load size gradually increases, a power allocation instruction is generated that gradually increases the power allocation ratio of the working motor in the total output power; otherwise, a power allocation instruction is generated that gradually decreases the power allocation ratio of the working motor in the total output power. If the target lifting height is changed gradually, a power allocation command is generated to gradually increase the power allocation ratio of the working motor in the total output power; otherwise, a power allocation command is generated to decrease the power allocation ratio of the working motor in the total output power.

[0047] Generally, as the unloading and transport distance gradually shortens, it usually means that the loader is approaching the unloading point and needs to reduce its travel speed to prepare for the upcoming precise positioning and unloading operations. Therefore, the generated power distribution command will gradually reduce the proportion of the total output power allocated to the travel motor, and the corresponding surplus power can be transferred to the working motor to reserve power for subsequent lifting, unloading, and other precision operations. Conversely, if the distance gradually increases, it indicates that the equipment is in the long-distance transport phase, and it is necessary to prioritize travel efficiency and speed. Therefore, the generated power distribution command will gradually increase the power allocation ratio of the travel motor.

[0048] Generally, as the load increases, the hydraulic system of the working device needs to overcome greater gravity and maintain lifting stability, significantly increasing the power demand. Therefore, the generated power distribution command will gradually increase the proportion of the total output power allocated to the working motor to ensure sufficient hydraulic power for smooth lifting of heavy loads. Conversely, if the load gradually decreases, the power demand on the working motor decreases, and the generated power distribution command will correspondingly gradually decrease its power allocation ratio. The saved power can be provided to the travel motor to increase travel speed.

[0049] Generally, as the target lifting height gradually increases, not only does the working motor need to continuously output more power to overcome gravity and lift the load to a higher position, but the entire lifting process may also take longer, placing higher demands on the continuous power output of the hydraulic system. Therefore, the generated power allocation command will gradually increase the power allocation ratio to the working motor. Conversely, if the target lifting height decreases, such as when the bucket is lowered under controllable conditions, the demand for the working motor's drive power will decrease, and therefore the generated power allocation command will correspondingly decrease its power allocation ratio.

[0050] Optionally, based on the above embodiments, generating a power allocation instruction matching the current operating condition category according to power allocation logic matching the current operating condition category may include: When the current working condition is determined to be bulldozing, a power allocation instruction is generated to allocate power between the travel motor and the working motor according to the third power allocation relationship. In the third power distribution relationship, the power distribution ratio of the walking motor is greater than that of the working motor.

[0051] Generally, when it is determined that the loader is currently in bulldozing mode, a corresponding power distribution command will be generated based on the characteristics of that mode. The core requirement of bulldozing operation is to enable the loader to continuously and smoothly push a large amount of loose material (such as sand, gravel, and earth) forward using the bucket while maintaining a moderate travel speed. This places high demands on the continuous forward propulsion force of the equipment, while the demand on the frequent, high-power operations of the hydraulic system of the working device (such as large-scale lifting or bucket retraction) is relatively low.

[0052] Therefore, the commands generated for this working condition follow a specific power distribution relationship, where the power allocated to the travel motor is greater than that allocated to the working motor. The purpose of this allocation is to prioritize ensuring the travel system receives sufficient power to maintain a stable forward speed and adequate traction, thereby efficiently completing the pushing operation. Simultaneously, while the working motor receives less power, it is sufficient for necessary fine-tuning of the bucket's attitude during bulldozing to maintain material collection and propulsion, thus achieving optimal allocation of power resources in this specific working mode.

[0053] S260. The power distribution command is transmitted to the power distribution control module in the loader to adjust the power distribution relationship between the walking motor and the working motor of the loader.

[0054] The technical solution of this invention collects real-time operational data, including travel speed, bucket angle, working load, working slope, and lifting action indication information, during the loader's travel operation. Based on a preset combination of multiple data thresholds, it accurately determines the current working condition category. For example, a slow speed, small bucket angle, large load, small slope, and no lifting action are identified as a shoveling condition; a lifting action under similar load conditions is identified as a travel-lifting operation condition; or a bulldozing condition is identified when the speed, load, and bucket angle are within a medium range. Then, based on the identified specific working condition category, it matches the corresponding power allocation logic to generate a power allocation command. Finally, it transmits this command to the power allocation control module to adjust the distribution of total output power between the travel motor and the working motor in real time. This solves the problem that fixed power allocation strategies cannot adapt to complex and changing actual working conditions, achieving the beneficial effect of dynamically and automatically adjusting power allocation based on precise identification of specific working conditions using multiple parameters, thereby improving operational efficiency and energy utilization.

[0055] Example 3 Figure 3 This is a flowchart of another power allocation method based on operating conditions provided in Embodiment 3 of the present invention. This embodiment is an optimization based on the above embodiments. Specifically, the operations of "identifying the current operating condition of the loader according to the real-time operation data and obtaining the current operating condition category" and "generating a power allocation instruction matching the current operating condition category according to the power allocation logic matching the current operating condition category" have been refined.

[0056] S310. During the loader's travel operation, multiple sensors configured on the loader collect real-time operation data of the loader. The real-time operation data includes travel speed, bucket angle, working load, working slope and lifting action indication information. The lifting action indication information includes whether lifting action exists or not.

[0057] S320. If the working slope is less than the target slope threshold, the current working condition is identified as a slope working condition.

[0058] In this embodiment, the loader is first determined to be in a slope working environment by comparing the real-time collected working slope with a preset slope threshold (i.e., a target slope threshold). When the working slope is less than the target slope threshold, the current working condition is identified as a slope working condition.

[0059] S330. When the current working condition is determined to be a slope operation condition, the working slope is compared with the reference slope threshold, wherein the reference slope threshold is greater than the target slope threshold.

[0060] In this embodiment, given that the operation is determined to be on a slope, the actual operating slope is further compared with a higher slope threshold (i.e., the reference slope threshold) that serves as a grading reference standard. This reference slope threshold is used to determine the critical point at which a specific power adjustment strategy needs to be activated.

[0061] S340. If the working slope is less than or equal to the reference slope threshold, a power allocation instruction is generated according to the power allocation logic that matches the working state on the horizontal plane.

[0062] In this embodiment, when the working slope is less than or equal to the reference slope threshold, it indicates that the current slope is relatively gentle, and its inclination is within the range of conventional design tolerances for the additional traction and stability requirements of the equipment. Therefore, instead of activating a dedicated slope power adjustment strategy, the same power distribution logic used when working on level ground is directly adopted to generate commands, that is, the power of the travel motor and the working motor is distributed according to the normal working conditions.

[0063] S350. If the working slope is greater than the reference slope threshold, a power distribution adjustment amount is generated based on the difference between the working slope and the reference slope threshold. The power distribution adjustment amount is a power value that is extracted from the power already allocated to the working motor and redistributed to the walking motor.

[0064] In this embodiment, when the working slope is greater than the reference slope threshold, it indicates that the current slope is relatively steep, requiring additional traction to overcome the driving resistance caused by the slope and ensure operational stability. At this time, a power distribution adjustment is calculated based on the specific difference between the current working slope and the reference slope threshold. This adjustment essentially involves allocating a portion of the power originally allocated to the working motor and redistributing it to the traveling motor. Its magnitude is related to the degree to which the slope exceeds the reference threshold; the steeper the slope, the larger the adjustment. For example, for every 5 degrees increase in the difference between the working slope and the reference slope threshold, the power distribution adjustment is 10%, meaning 10% of the total power allocated to the working motor is redistributed to the traveling motor. This adjustment accumulates as the slope difference increases.

[0065] S360. The power ratio of the working motor after the power distribution adjustment is compared with the preset minimum working power ratio. If the adjusted power ratio of the working motor is higher than the preset minimum working power, a power distribution command is generated according to the adjusted power distribution ratio.

[0066] In this embodiment, after calculating a new, reduced power distribution scheme for the working motor based on the adjustment amount, this ratio is compared with a preset minimum power ratio necessary to ensure the normal operation of the hydraulic function of the working device. If the adjusted power ratio of the working motor is still higher than this minimum ratio, it indicates that while the climbing traction has been enhanced, the power of the working device is still sufficient. In this case, a power distribution command is generated according to the new adjusted ratio.

[0067] S370. If the calculated power ratio allocated to the working motor is lower than the preset minimum working power ratio, then the power ratio of the working motor is maintained at the minimum working power ratio, and a power allocation command matching the minimum working power ratio of the working motor is generated.

[0068] In this embodiment, if the power ratio allocated to the working motor after adjustment and calculation is lower than the preset minimum working power ratio of the working motor, it means that if the power is allocated according to the calculated value, the working device (such as the hydraulic system) may fail to operate normally due to insufficient power. In order to protect the core working function, the calculated ratio will no longer be used. Instead, the power ratio of the working motor will be forcibly maintained at the preset minimum working power ratio, and a corresponding power allocation command will be generated accordingly. This ensures that the loader still retains its most basic working capability when driving on steep slopes.

[0069] S380. The power distribution command is transmitted to the power distribution control module in the loader to adjust the power distribution relationship between the walking motor and the working motor of the loader.

[0070] Furthermore, when the loader is operating on a slope, the slippage status of the travel motor is monitored in real time. If slippage is detected in the travel motor, the power distribution adjustment amount is dynamically adjusted according to the real-time slippage rate. In the slippage state, the generated power distribution command will further reduce the power distribution ratio to the travel motor and temporarily add the corresponding reduced power to the working motor until the slippage state is eliminated.

[0071] The technical solution of this invention collects real-time operational data, including travel speed, bucket angle, working load, working slope, and lifting action indication information, during the loader's travel operation. When the working slope is less than a target slope threshold, the current working condition is identified as a slope working condition. Under the slope working condition, the working slope is further compared with a higher reference slope threshold. If the working slope is less than or equal to the reference slope threshold, a power allocation command is generated according to the power allocation logic matching the horizontal working state. If the working slope is greater than the reference slope threshold, a portion of the power already allocated to the working motor is extracted as an adjustment amount and redistributed to the travel motor based on the difference between the working slope and the reference slope threshold. Then, the adjusted working motor power ratio is compared with a preset minimum... The system compares the low operating power ratio. If the ratio is higher than the minimum ratio, a power distribution command is generated based on the adjusted ratio. If the ratio is lower, the operating motor power ratio is forcibly maintained at the minimum operating power ratio, and a corresponding command is generated. Finally, the power distribution command is transmitted to the power distribution control module in the loader to adjust the distribution of total output power between the travel motor and the operating motor. This solves the problem that traditional power distribution strategies cannot simultaneously meet the climbing traction requirements and maintain basic operating functions on slopes, especially steep slopes. It achieves the beneficial effect of dynamically and rationally allocating power between the travel and operating systems according to the steepness of the slope, ensuring both traction and stability when traveling on steep slopes, and ensuring that the working device maintains the minimum necessary functions, thereby improving the safety and overall energy efficiency of slope operations.

[0072] Example 4 Figure 4 This is a schematic diagram of a working condition-based power distribution device provided in Embodiment 4 of the present invention, executed by the controller in the loader, as shown below. Figure 4 As shown, the device includes: The real-time operation data acquisition module 410 is used to collect real-time operation data of the loader through multiple sensors configured on the loader during the loader's travel operation. The real-time operation data includes travel speed, bucket angle, working load, working slope and lifting action indication information. The lifting action indication information includes whether lifting action exists or not. The working condition identification module 420 is used to identify the current working condition of the loader based on the real-time operation data and obtain the current working condition category; The allocation instruction generation module 430 is used to generate a power allocation instruction that matches the current operating condition category according to the power allocation logic that matches the current operating condition category. The power distribution adjustment module 440 is used to transmit the power distribution command to the power distribution control module in the loader, so as to adjust the power distribution relationship between the walking motor and the working motor of the loader.

[0073] The technical solution of this invention solves the problem of mismatch between the total output power distribution and the current working condition by collecting real-time operation data through multiple sensors configured on the loader during the loader's walking operation; identifying the current working condition category based on the real-time operation data; generating a power distribution command according to the power distribution logic matching the current working condition category; and transmitting the power distribution command to the power distribution control module in the loader to adjust the power distribution relationship between the walking motor and the working motor.

[0074] Based on the above embodiments, the working condition identification module 420 is specifically used for: If the travel speed is less than the first speed threshold, the bucket angle is less than the first angle threshold, the working load is greater than the first load threshold, the working slope is less than the target slope threshold, and the lifting action indication information is that there is no lifting action, then the current working condition category is determined to be a shoveling working condition. If the travel speed is less than the first speed threshold, the bucket angle is less than the first angle threshold, the working load is greater than the first load threshold, the working slope is less than the target slope threshold, and the lifting action indication information indicates that a lifting action exists, then the current working condition category is determined to be a travel-lifting operation working condition. If the travel speed is greater than or equal to the first speed threshold and less than the second speed threshold, the working load is greater than or equal to the first load threshold and less than the second load threshold, the bucket angle is greater than or equal to the first angle threshold and less than the second angle threshold, and the working slope is less than the target slope threshold, then the current working condition is identified as bulldozing.

[0075] Based on the above embodiments, the allocation instruction generation module 430 is specifically used for: When the current working condition is determined to be a loading condition, continue to check whether the bucket angle is less than the third angle threshold. If so, a power allocation instruction is generated to allocate power between the travel motor and the work motor according to the first power allocation relationship; otherwise, a power allocation instruction is generated to allocate power between the travel motor and the work motor according to the second power allocation relationship. In the first power distribution relationship, the power distribution ratio of the traveling motor is greater than that of the working motor; in the second power distribution relationship, the power distribution ratio of the working motor is greater than that of the traveling motor.

[0076] Furthermore, based on the above embodiments, the allocation instruction generation module 430 may further include: The lifting operation data acquisition submodule is used to periodically detect the target lifting height, load size and unloading and transportation distance of the loader when the current operation condition is determined to be a driving lifting operation condition. The transport distance change power allocation submodule is used to generate a power allocation command that matches the current working condition category according to the change method of the unloading transport distance if it is detected that the loader has only changed the unloading transport distance while maintaining the target lifting height and load size. The load change power allocation submodule is used to generate a power allocation command that matches the current working condition category according to the load change method when it is detected that the loader has only changed the load size while maintaining the target lifting height and unloading transportation distance. The height change power allocation submodule is used to generate a power allocation command that matches the current working condition category when it is detected that the loader has only changed its target lifting height while maintaining the same load size and unloading transport distance.

[0077] Based on the above embodiments, the power allocation submodule for transport distance variation is specifically used for: If the unloading and transport distance is changed in such a way that the unloading and transport distance gradually decreases, a power allocation command is generated that gradually reduces the power allocation ratio of the walking motor in the total output power; otherwise, a power allocation command is generated that gradually increases the power allocation ratio of the walking motor in the total output power. If the load size is changed in a way that the load size gradually increases, a power allocation instruction is generated that gradually increases the power allocation ratio of the working motor in the total output power; otherwise, a power allocation instruction is generated that gradually decreases the power allocation ratio of the working motor in the total output power. If the target lifting height is changed gradually, a power allocation command is generated to gradually increase the power allocation ratio of the working motor in the total output power; otherwise, a power allocation command is generated to decrease the power allocation ratio of the working motor in the total output power.

[0078] Based on the above embodiments, the allocation instruction generation module 430 is specifically used for: When the current working condition is determined to be bulldozing, a power allocation instruction is generated to allocate power between the travel motor and the working motor according to the third power allocation relationship. In the third power distribution relationship, the power distribution ratio of the walking motor is greater than that of the working motor.

[0079] Based on the above embodiments, the working condition identification module 420 can also be used for: If the working slope is less than the target slope threshold, the current working condition is identified as a slope working condition. Based on the above embodiments, the allocation instruction generation module 430 is specifically used for: When the current working condition is determined to be a slope operation condition, the working slope is compared with a reference slope threshold, wherein the reference slope threshold is greater than the target slope threshold. If the working slope is less than or equal to the reference slope threshold, a power allocation instruction is generated according to the power allocation logic that matches the working state on the horizontal plane. If the working slope is greater than the reference slope threshold, a power distribution adjustment amount is generated based on the difference between the working slope and the reference slope threshold. The power distribution adjustment amount is a power value that is extracted from the power already allocated to the working motor and redistributed to the walking motor. The power ratio of the working motor after the power allocation adjustment is compared with the preset minimum working power ratio. If the adjusted working motor power ratio is higher than the preset minimum working power, a power allocation command is generated according to the adjusted power allocation ratio. If the calculated power ratio allocated to the working motor is lower than the preset minimum working power ratio, the power ratio of the working motor is maintained at the minimum working power ratio, and a power allocation command matching the minimum working power ratio of the working motor is generated.

[0080] The operating condition-based power allocation device provided in the embodiments of the present invention can execute the operating condition-based power allocation method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0081] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0082] Example 4 Figure 5 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0083] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0084] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0085] Processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, central processing unit (CPU), graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as performing a condition-based power allocation method as described in any embodiment of the present invention, i.e.: During the loader's travel operation, multiple sensors configured on the loader collect real-time operation data. This real-time operation data includes travel speed, bucket angle, working load, working slope, and lifting action indication information. The lifting action indication information includes whether lifting action exists or not. The current working condition of the loader is identified based on the real-time operation data to obtain the current working condition category; Based on the power allocation logic that matches the current operating condition category, generate a power allocation instruction that matches the current operating condition category; The power distribution command is transmitted to the power distribution control module in the loader to adjust the power distribution relationship between the loader's travel motor and working motor.

[0086] In some embodiments, a condition-based power allocation method as described in any of the embodiments of the present invention can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the condition-based power allocation method as described above as described in any of the embodiments of the present invention can be performed. Alternatively, in other embodiments, processor 11 can be configured by any other suitable means (e.g., by means of firmware) to perform the condition-based power allocation method as described in any of the embodiments of the present invention.

[0087] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0088] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0089] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0090] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0091] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0092] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0093] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0094] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A power allocation method based on operating conditions, characterized in that, The method, executed by a controller in a loader, includes: During the loader's travel operation, multiple sensors configured on the loader collect real-time operation data. This real-time operation data includes travel speed, bucket angle, working load, working slope, and lifting action indication information. The lifting action indication information includes whether lifting action exists or not. The current working condition of the loader is identified based on the real-time operation data to obtain the current working condition category; Based on the power allocation logic that matches the current operating condition category, generate a power allocation instruction that matches the current operating condition category; The power distribution command is transmitted to the power distribution control module in the loader to adjust the power distribution relationship between the loader's travel motor and working motor.

2. The method according to claim 1, characterized in that, The current operating condition of the loader is identified based on the real-time operation data to obtain the current operating condition category, including: If the travel speed is less than the first speed threshold, the bucket angle is less than the first angle threshold, the working load is greater than the first load threshold, the working slope is less than the target slope threshold, and the lifting action indication information is that there is no lifting action, then the current working condition category is determined to be a shoveling working condition. If the travel speed is less than the first speed threshold, the bucket angle is less than the first angle threshold, the working load is greater than the first load threshold, the working slope is less than the target slope threshold, and the lifting action indication information indicates that a lifting action exists, then the current working condition category is determined to be a travel-lifting operation working condition. If the travel speed is greater than or equal to the first speed threshold and less than the second speed threshold, the working load is greater than or equal to the first load threshold and less than the second load threshold, the bucket angle is greater than or equal to the first angle threshold and less than the second angle threshold, and the working slope is less than the target slope threshold, then the current working condition is identified as bulldozing.

3. The method according to claim 2, characterized in that, Based on the power allocation logic matching the current operating condition category, a power allocation instruction matching the current operating condition category is generated, including: When the current working condition is determined to be a loading condition, continue to check whether the bucket angle is less than the third angle threshold. If so, a power allocation instruction is generated to allocate power between the travel motor and the work motor according to the first power allocation relationship; otherwise, a power allocation instruction is generated to allocate power between the travel motor and the work motor according to the second power allocation relationship. In the first power distribution relationship, the power distribution ratio of the traveling motor is greater than that of the working motor; in the second power distribution relationship, the power distribution ratio of the working motor is greater than that of the traveling motor.

4. The method according to claim 2, characterized in that, Based on the power allocation logic matching the current operating condition category, a power allocation instruction matching the current operating condition category is generated, including: When the current working condition is determined to be a driving and lifting operation, the target lifting height, load size, and unloading and transportation distance of the loader are periodically detected while the loader is maintaining the driving and lifting operation. If it is detected that the loader changes only the unloading and transport distance while maintaining the target lifting height and load size, then a power distribution command matching the current working condition category is generated according to the change in unloading and transport distance. If it is detected that the loader changes only the load size while maintaining the target lifting height and unloading transport distance, then a power distribution command matching the current working condition category is generated according to the load size change method. If it is detected that the loader changes only the target lifting height while maintaining the load size and unloading transport distance, then a power distribution command matching the current working condition category is generated according to the change method of the target lifting height.

5. The method according to claim 4, characterized in that, Based on the change method of unloading and transportation distance, generate a power allocation instruction matching the current operating condition category, including: If the unloading and transport distance is changed in such a way that the unloading and transport distance gradually decreases, a power allocation command is generated that gradually reduces the power allocation ratio of the walking motor in the total output power; otherwise, a power allocation command is generated that gradually increases the power allocation ratio of the walking motor in the total output power. If the load size is changed in a way that the load size gradually increases, a power allocation instruction is generated that gradually increases the power allocation ratio of the working motor in the total output power; otherwise, a power allocation instruction is generated that gradually decreases the power allocation ratio of the working motor in the total output power. If the target lifting height is changed gradually, a power allocation command is generated to gradually increase the power allocation ratio of the working motor in the total output power; otherwise, a power allocation command is generated to decrease the power allocation ratio of the working motor in the total output power.

6. The method according to claim 2, characterized in that, Based on the power allocation logic matching the current operating condition category, a power allocation instruction matching the current operating condition category is generated, including: When the current working condition is determined to be bulldozing, a power allocation instruction is generated to allocate power between the travel motor and the working motor according to the third power allocation relationship. In the third power distribution relationship, the power distribution ratio of the walking motor is greater than that of the working motor.

7. The method according to any one of claims 1-6, characterized in that, Identifying the current operating condition of the loader based on the real-time operation data and obtaining the current operating condition category also includes: If the working slope is less than the target slope threshold, the current working condition is identified as a slope working condition. Accordingly, based on the power allocation logic matching the current operating condition category, a power allocation instruction matching the current operating condition category is generated, including: When the current working condition is determined to be a slope operation condition, the working slope is compared with a reference slope threshold, wherein the reference slope threshold is greater than the target slope threshold. If the working slope is less than or equal to the reference slope threshold, a power allocation instruction is generated according to the power allocation logic that matches the working state on the horizontal plane. If the working slope is greater than the reference slope threshold, a power distribution adjustment amount is generated based on the difference between the working slope and the reference slope threshold. The power distribution adjustment amount is a power value that is extracted from the power already allocated to the working motor and redistributed to the walking motor. The power ratio of the working motor after the power allocation adjustment is compared with the preset minimum working power ratio. If the adjusted working motor power ratio is higher than the preset minimum working power, a power allocation command is generated according to the adjusted power allocation ratio. If the calculated power ratio allocated to the working motor is lower than the preset minimum working power ratio, the power ratio of the working motor is maintained at the minimum working power ratio, and a power allocation command matching the minimum working power ratio of the working motor is generated.

8. A loader, characterized in that, The loader includes: multiple sensors, a controller, a power distribution control module, a travel motor, and a work motor configured on the loader; The multiple sensors are used to collect real-time operating data of the loader; The controller is configured to execute the operating condition-based power allocation method as described in any one of claims 1-7; The power distribution control module is used to adjust the power distribution relationship between the loader's travel motor and work motor according to the power distribution command obtained from the controller.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the operating condition-based power allocation method according to any one of claims 1-7.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the operating condition-based power allocation method according to any one of claims 1-7.

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