Loader steering control method and device based on electric control handle and electronic equipment

Abstract

The application provides a loader steering control method and device based on an electric control handle and electronic equipment, and relates to the technical field of loaders. The method comprises the following steps: receiving an electric signal output by the electric control handle, the electric signal being used to indicate the deflection angle and deflection direction of the electric control handle; converting the electric signal into the steering angle of the loader wheel based on a preset nonlinear relationship, and determining the steering angular velocity of the loader wheel. The preset nonlinear relationship represents the mapping rule between the electric signal and the steering angle of the loader wheel. Then, the steering angular velocity and the preset steering angular velocity gear are combined, and a preset control algorithm is used to generate a wheel steering control instruction. Further, the wheel steering control instruction is used to control the deflection of the loader wheel to the steering angle. The application can meet the steering control precision of the loader under complex working conditions.

Description

Technical Field

[0001] This application relates to the field of loader technology, and in particular to a loader steering control method, device and electronic equipment based on an electric control handle. Background Technology

[0002] Loaders are widely used in construction sites, mining operations, logistics warehousing, port unloading, and other scenarios. In these scenarios, loaders typically need to frequently perform turning, positioning, and relocation operations within limited working spaces to meet flexible movement and operational requirements.

[0003] Existing loader steering control methods mainly employ hydraulic-mechanical steering, which uses mechanical actuators to drive a hydraulic system to achieve wheel deflection. Specifically, the steering angle signal generated by the mechanical actuators is transmitted to the Electronic Control Unit (ECU) via a communication unit. The ECU converts the steering angle signal into a target steering angle value for the wheel based on a linear mapping relationship, and then adjusts the output of the electronic control valve to drive the steering hydraulic cylinder to achieve wheel deflection.

[0004] However, existing technologies are insufficient to meet the steering control precision requirements of loaders under complex operating conditions. Summary of the Invention

[0005] This application provides a loader steering control method, device, and electronic device based on an electric control handle, to solve the technical problem that the prior art is unable to meet the steering control accuracy of loaders under complex working conditions.

[0006] In a first aspect, this application provides a loader steering control method based on an electronically controlled handle, comprising:

[0007] Receives electrical signals output from the electronic control handle; wherein the electrical signals are used to indicate the deflection angle and deflection direction of the electronic control handle;

[0008] Based on a preset nonlinear relationship, the electrical signal is converted into the steering angle of the loader wheel, and the steering angular velocity of the loader wheel is determined; wherein, the preset nonlinear relationship characterizes the mapping rule between the electrical signal and the steering angle of the loader wheel;

[0009] Combining the steering angular velocity and the preset steering angular velocity gear, a preset control algorithm is used to generate wheel steering control commands;

[0010] Based on the wheel steering control command, the loader wheels are controlled to deflect to the steering angle.

[0011] In one possible design, combining the steering angular velocity and a preset steering angular velocity gear, a preset control algorithm is used to generate wheel steering control commands, including:

[0012] Construct a predictive model between the steering angular velocity and the solenoid valve drive current of the loader; wherein, the predictive model is used to indicate the mapping rule between the steering angular velocity and the solenoid valve drive current;

[0013] Based on the preset steering angular velocity gear, the prediction model is solved using a preset control algorithm to obtain the target solenoid valve drive current;

[0014] Based on the target solenoid valve drive current, wheel steering control commands are generated.

[0015] In one possible design, based on a preset steering angular velocity gear, a preset control algorithm is used to solve the prediction model, including:

[0016] Target constraints are set based on preset steering angular velocity gears;

[0017] The target constraints are input into a preset control algorithm, and the preset control algorithm is used to solve the prediction model.

[0018] In one possible design, based on a preset nonlinear relationship, the electrical signal is converted into the steering angle of the loader wheels, including:

[0019] Determine the target electrical signal interval to which the electrical signal belongs;

[0020] The preset mapping rule corresponding to the target electrical signal interval in the preset nonlinear relationship is invoked to convert the electrical signal into the steering angle of the loader wheel.

[0021] In one possible design, before determining the target electrical signal interval to which the electrical signal belongs, the method further includes:

[0022] The electrical signal range corresponding to the electric control handle is partitioned to divide the electrical signal range into multiple electrical signal intervals;

[0023] The preset nonlinear relationship is generated based on the preset mapping rules for each electrical signal interval.

[0024] In one possible design, the electrical signal range includes a zero-response range, a response range, and a saturation range;

[0025] Based on preset mapping rules for each electrical signal interval, the preset nonlinear relationship is generated, including:

[0026] The zero-response interval is defined by a zero-mapping rule, a curve mapping rule for the response interval, and a saturation mapping rule for the saturation interval. The zero-response interval represents the set of electrical signals within the electrical signal range that keep the loader wheel's steering angle at zero. The response interval represents the set of electrical signals within the electrical signal range that make the loader wheel's steering angle follow the changes in the electrical signal. The saturation interval represents the set of electrical signals within the electrical signal range that keep the loader wheel's steering angle at a preset upper limit.

[0027] Based on the zero-return mapping rule, the curve mapping rule, and the saturation mapping rule, the preset nonlinear relationship is generated using a preset segmentation format.

[0028] In one possible design, the method further includes:

[0029] Obtain the actual steering angle of the loader wheels and compare the actual steering angle with the steering angle;

[0030] If the actual steering angle is different from the steering angle, the parameters of the preset control algorithm are corrected based on the difference between the actual steering angle and the steering angle.

[0031] Secondly, this application provides a loader steering control device based on an electronically controlled handle, comprising:

[0032] A receiving module is used to receive electrical signals output by an electronic control handle; wherein the electrical signals are used to indicate the deflection angle and deflection direction of the electronic control handle.

[0033] The processing module is used to convert the electrical signal into the steering angle of the loader wheel based on a preset nonlinear relationship, and to determine the steering angular velocity of the loader wheel; wherein the preset nonlinear relationship characterizes the mapping rule between the electrical signal and the steering angle of the loader wheel.

[0034] The generation module is used to combine the steering angular velocity and the preset steering angular velocity gear, and use a preset control algorithm to generate wheel steering control commands;

[0035] The control module is used to control the loader wheels to deflect to the steering angle based on the wheel steering control command.

[0036] In one possible design, the generation module includes:

[0037] A submodule is constructed to build a prediction model between the steering angular velocity and the solenoid valve drive current of the loader; wherein, the prediction model is used to indicate the mapping rules between the steering angular velocity and the solenoid valve drive current;

[0038] The solution submodule is used to solve the prediction model based on the preset steering angular velocity gear and the preset control algorithm to obtain the target solenoid valve drive current;

[0039] A generation submodule is used to generate wheel steering control commands based on the target solenoid valve drive current.

[0040] In one possible design, the solution submodule includes:

[0041] The setting component is used to set target constraints based on preset steering angular velocity gears;

[0042] An input component is used to input the target constraints into a preset control algorithm;

[0043] A solution component is used to solve the prediction model using the preset control algorithm.

[0044] In one possible design, the processing module includes:

[0045] The first determining submodule is used to determine the target electrical signal interval to which the electrical signal belongs;

[0046] The calling submodule is used to call the preset mapping rule in the preset nonlinear relationship that corresponds to the target electrical signal interval, and convert the electrical signal into the steering angle of the loader wheel.

[0047] In one possible design, the processing module is further configured to partition the electrical signal range corresponding to the electric control handle, so as to divide the electrical signal range into multiple electrical signal intervals.

[0048] The generation module is also used to generate the preset nonlinear relationship based on the preset mapping rules of each electrical signal interval.

[0049] In one possible design, the electrical signal range includes a zero-response range, a response range, and a saturation range;

[0050] The generation module further includes: a second determining submodule, used to determine the zero-response interval's zero-mapping rule, the response interval's curve mapping rule, and the saturation interval's saturation mapping rule; wherein, the zero-response interval represents the set of electrical signals within the electrical signal range that keep the loader wheel's steering angle at zero, the response interval represents the set of electrical signals within the electrical signal range that make the loader wheel's steering angle follow the changes in the electrical signal, and the saturation interval represents the set of electrical signals within the electrical signal range that keep the loader wheel's steering angle at a preset upper limit;

[0051] The generation submodule is further configured to generate the preset nonlinear relationship based on the zero-return mapping rule, the curve mapping rule, and the saturation mapping rule using a preset segmentation format.

[0052] In one possible design, the loader steering control device based on the electric control handle also includes:

[0053] The acquisition module is used to acquire the actual steering angle of the loader wheels;

[0054] The comparison module is used to compare the actual steering angle with the steering angle.

[0055] The correction module is used to correct the parameters of the preset control algorithm based on the difference between the actual steering angle and the steering angle if the actual steering angle is not the same as the steering angle.

[0056] Thirdly, this application provides an electronic device comprising: at least one processor and a memory; the memory storing computer-executable instructions; the at least one processor executing the computer-executable instructions stored in the memory, causing the at least one processor to perform the method described in the first aspect and / or various possible designs of the first aspect.

[0057] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method described in the first aspect and / or various possible designs of the first aspect.

[0058] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method described in the first aspect and / or various possible designs of the first aspect.

[0059] This application provides a loader steering control method, device, and electronic equipment based on an electronic control handle. The method receives an electrical signal output from the electronic control handle, which indicates the deflection angle and direction of the handle. Based on a preset nonlinear relationship, the electrical signal is converted into the steering angle of the loader wheels, and the steering angular velocity of the wheels is determined. The preset nonlinear relationship characterizes the mapping rule between the electrical signal and the steering angle of the loader wheels. Then, combining the steering angular velocity and a preset steering angular velocity gear, a preset control algorithm is used to generate wheel steering control commands. Further, based on the wheel steering control commands, the loader wheels are controlled to deflect to the desired steering angle. This application, by employing a preset nonlinear relationship, establishes a more matched response relationship between the electronic control handle's electrical signal and the wheel steering angle. Without relying on a fixed linear input-output relationship, the steering angular velocity is determined based on the change in the wheel steering angle, and constraints of the steering angular velocity gear are superimposed to calculate the wheel steering control commands applicable to the current execution link. This ensures that the steering establishment process is consistent with the input intention, thereby achieving high-precision steering control under different operating conditions. Attached Figure Description

[0060] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0061] Figure 1 A schematic diagram of a vehicle-mounted loader for the loader steering control method based on an electronically controlled handle provided in this application embodiment;

[0062] Figure 2 A schematic diagram of a remote-controlled loader with a loader steering control method based on an electric control handle provided in an embodiment of this application;

[0063] Figure 3 A flowchart illustrating the loader steering control method based on an electronically controlled handle provided in this application embodiment;

[0064] Figure 4 A schematic diagram of an electric control handle for a loader steering control method based on an electric control handle provided in an embodiment of this application;

[0065] Figure 5 A schematic diagram illustrating the steering control principle of the loader steering control method based on an electronically controlled handle, provided in an embodiment of this application.

[0066] Figure 6 A schematic diagram of the structure of a loader steering control device based on an electronically controlled handle provided in this application embodiment;

[0067] Figure 7 This is a hardware structure diagram of the electronic device provided in the embodiments of this application.

[0068] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0069] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0070] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application 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 this application described herein can be implemented in orders other than those illustrated or described herein.

[0071] In this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0072] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0073] Loaders are suitable for material handling and stacking operations in heavy industries such as construction, mining, ports, and mixing plants. Their core function is to enable flexible movement of the wheels and operation through the steering system.

[0074] Traditional loaders require frequent steering maneuvers to complete tasks such as digging, stacking, and transporting materials. For example, during the loading operation at a concrete mixing plant, the operator needs to use steering control to guide the material into the mixing chamber while avoiding collisions with obstacles in confined spaces.

[0075] With the popularization of remote control technology, the cab of loaders has been eliminated, and operators control loaders remotely through remote control cockpits, which places higher demands on the precision of the steering system.

[0076] Existing loader steering control methods mainly employ hydraulic-mechanical steering, where mechanical actuators drive a hydraulic system to achieve wheel deflection. Specifically, the steering angle signal generated by the mechanical actuators is transmitted to the ECU via a communication unit. The ECU, based on a linear mapping relationship, converts the steering angle signal into a target steering angle value for the wheel, and then adjusts the output of the electronic control valve to drive the steering hydraulic cylinder to achieve wheel deflection.

[0077] However, the response characteristics of the hydraulic system are not adjustable, and it is impossible to dynamically adjust the steering sensitivity and angular velocity according to the operation scenario, such as high-speed transfer or fine stacking.

[0078] Because hydraulic systems inherently possess characteristics such as nonlinearity, dead zone, and time delay, they can easily reduce the tracking accuracy of wheel steering angles. This makes it difficult to achieve high-precision corner trajectory tracking and can also lead to defects such as discontinuous response and insufficient smoothness.

[0079] Furthermore, operators cannot rely on direct tactile feedback of vehicle posture to correct errors, which in turn affects operational efficiency and path control accuracy.

[0080] It is evident that existing technologies are insufficient to meet the steering control precision requirements of loaders under complex operating conditions.

[0081] This application addresses the shortcomings of existing technologies by first proposing the use of an electronic control handle to replace the traditional mechanical joystick for loader steering control, thereby improving operational convenience. Then, to address the deficiencies of linear mapping, it proposes using nonlinear mapping instead, dynamically adjusting the conversion logic between the handle's electrical signal and the wheel steering angle. Further addressing the issue of control precision, it proposes combining steering angular velocity and steering angular velocity gears to dynamically optimize steering control commands, achieving high-precision steering control while meeting operational requirements under different working conditions.

[0082] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0083] This application provides a loader steering control method based on an electric control handle. It should be noted that this loader steering control method based on an electric control handle is applicable to both vehicle-mounted loaders and remote-controlled loaders.

[0084] Figure 1 This is a schematic diagram of a vehicle-mounted loader using a loader steering control method based on an electronically controlled handle, as provided in the embodiments of this application. Figure 1 As shown, in a vehicle-mounted loader, the brake, accelerator, left and right levers are integrated in the cab, while the domain controller, vehicle control unit (VCU), and steering actuator are usually installed below the cab.

[0085] Figure 2 This is a schematic diagram of a remote-controlled loader with a loader steering control method based on an electric control handle, as provided in the embodiments of this application. Figure 2 As shown, in a remote-controlled loader, the domain controller, VCU, and steering actuator are still installed below the cab, while the brake, accelerator, left lever, and right lever are integrated into the remote control cockpit.

[0086] In addition, a signal transmitter is deployed in the remote-controlled cockpit, and a signal receiver is deployed on the remote-controlled loader.

[0087] For illustrative purposes, in both truck-mounted and remote-controlled loaders, the left handle is used to control the steering angle of the wheels, while the right handle is used to control the boom raising and lowering and the bucket tipping. The electric control handles used in the embodiments of this application specifically refer to the left handle, and will not be emphasized further thereafter.

[0088] Based on this Figure 3 A flowchart illustrating the loader steering control method based on an electronically controlled handle provided in this application embodiment is shown below. Figure 3 As shown, the loader steering control method based on the electric control handle includes:

[0089] S101, Receives the electrical signal output by the electric control handle.

[0090] The electric control lever, as the steering input component in this embodiment, is used to convert the yaw action applied by the driver into an electrical signal that can be processed by the control unit. The electrical signal includes at least amplitude information and direction information, wherein the amplitude information corresponds to the yaw angle of the electric control lever relative to the center position, and the direction information corresponds to the control intention of the yaw direction (left turn or right turn).

[0091] It should be noted that the center position of the electric control handle corresponds to zero input, and the left and right deflections correspond to numerical ranges with opposite signs.

[0092] In this embodiment, the action of receiving the electrical signal output by the electric control handle can be performed by the control unit on the loader. The control unit can be a VCU, a steering controller, or a dedicated control unit integrated into the remote control system.

[0093] In one possible implementation, the electric control handle is located on a remote control terminal. The electric control handle acquires the driver's yaw action and generates an electrical signal, which is then transmitted to the loader body via a wireless communication system. Subsequently, the control unit receives the electrical signal via a receiving structure and performs decoding, verification, and parsing processing to extract the yaw angle and yaw direction.

[0094] In another possible implementation, the electric handle can also be connected to the control unit via a wired bus. The electrical signal can be transmitted as an analog voltage, a pulse width modulation signal, or a serial data message encapsulated by a protocol. The control unit receives the signal through an analog-to-digital converter interface, a pulse width measurement interface, or a bus interface.

[0095] It should be understood that the above embodiments are merely illustrative and not limiting. Any method that can acquire the motion of the electric control handle and have the control unit receive and analyze it to obtain the deflection angle and deflection direction can be used in this application.

[0096] In addition, after receiving the electrical signal output from the electric control handle, the control unit needs to perform an input validity determination on the electrical signal. Specifically, the determination includes, but is not limited to: communication frame integrity, whether the amplitude is within the preset range, whether the direction position is valid, and whether the signal refresh cycle meets the control cycle requirements.

[0097] S102. Based on a preset nonlinear relationship, the electrical signal is converted into the steering angle of the loader wheel, and the steering angular velocity of the loader wheel is determined.

[0098] The preset nonlinear relationship is the core conversion rule in this embodiment, which is used to change the correspondence between the electrical signal output by the electric control handle and the steering angle of the loader wheel, so that different input states correspond to different steering angle change patterns.

[0099] The loader wheels are the final controlled actuators, and the steering angle represents the target deflection position the wheels should achieve. In this step, after receiving the current electrical signal, the control unit compares it with various electrical signal intervals to determine its target interval. Subsequently, it retrieves the preset mapping rule corresponding to the target interval from a preset nonlinear relationship, thereby converting the electrical signal into the steering angle of the loader wheels.

[0100] It is worth noting that when an electrical signal is located near the boundary of two adjacent electrical signal intervals, the target electrical signal interval to which the signal uniquely belongs can be determined according to the boundary inclusion rule.

[0101] An interpretable, pre-defined nonlinear relationship is used to correspond different intervals of the electrical signal with different steering angle output patterns, so that the near-center position and the large deflection area of ​​the electric control handle can exhibit different steering response characteristics, and the control unit outputs the steering angle of the loader wheels accordingly.

[0102] Specifically, the electrical signal range corresponding to the electronic control handle is partitioned into multiple electrical signal intervals. In this embodiment, the electrical signal intervals include a zero-response interval, a response interval, and a saturation interval.

[0103] The zero-response range is the set of electrical signals within the signal range that keep the loader wheel steering angle at zero. The response range is the set of electrical signals within the signal range that make the loader wheel steering angle follow the changes in the electrical signal. The saturation range is the set of electrical signals within the signal range that keep the loader wheel steering angle at a preset upper limit.

[0104] It should be noted that different electrical signal ranges correspond to different preset mapping rules, which means that electrical signals located in different electrical signal ranges need to be converted into the steering angle of the loader wheels according to different preset mapping rules.

[0105] In this embodiment, the preset mapping rule for the zero response interval is a zero-return mapping rule, which converts the electrical signal within the zero response interval into the steering angle of the loader wheel, and this steering angle is always zero. The preset mapping rule for the response interval is a curve mapping rule, which converts the electrical signal within the response interval into the steering angle of the loader wheel, and this steering angle changes with the change of the electrical signal. The preset mapping rule for the saturation interval is a saturation mapping rule, which converts the electrical signal within the saturation interval into the steering angle of the loader wheel, and this steering angle always remains at the maximum steering angle.

[0106] Furthermore, based on the zero-return mapping rule, curve mapping rule, and saturation mapping rule, a preset nonlinear relationship can be generated using a preset segmentation format.

[0107] In a specific example, for the electric control handle, assume that the range of its output electrical signal for left turn is -count_max to 0, and the range of its output electrical signal for right turn is 0 to count_max. For the loader wheels, assume that the range of their steering angle for left turn is -angle_max to 0, and the range of their steering angle for right turn is 0 to angle_max.

[0108] Where -count_max represents the maximum electrical signal output by the electric control handle when turning left, and count_max represents the maximum electrical signal output by the electric control handle when turning right. -angle_max represents the maximum left-turn steering angle of the loader wheels, and angle_max represents the maximum right-turn steering angle of the loader wheels.

[0109] Taking the electric control handle turning right as an example, within the range of 0~count_max of the electrical signal output for right turn, 0~10 is set as the zero response interval, 10~4010 is set as the response interval, and 4010~count_max is set as the saturation interval.

[0110] Understandably, within the zero-response interval, the steering angle of the loader wheels remains 0. Within the saturation interval, the steering angle of the loader wheels remains angle_max. In this embodiment, within the response interval, the mapping relationship between the electrical signal and the steering angle is set as a polynomial curve function, as follows:

[0111]

[0112] In the formula, Indicates the steering angle. It represents an electrical signal.

[0113] Therefore, the presupposed nonlinear relationship can be specifically expressed as:

[0114]

[0115] Illustratively, by differentiating the aforementioned pre-defined nonlinear relationship, i.e., by taking the derivative, the steering angular velocity of the loader wheels can be determined:

[0116]

[0117] In the formula, This indicates the angular velocity of the steering turn.

[0118] It is worth noting that since there are four parameters in the preset nonlinear relationship, namely a1, a2, a3, and a4, the specific values ​​of these four parameters can be determined by selecting four special positions. In one possible implementation, the four special positions selected are as follows: (1) =10, =0; (2) =4010, =40 (maximum right turn angle); (3) =10, =0; (4) =4010, =0.

[0119] As can be seen, by dividing the electrical signal range into partitions and generating a preset nonlinear relationship accordingly, the control unit can directly call the corresponding preset mapping rule to complete the conversion of the electrical signal to the steering angle after determining the target electrical signal range to which the electrical signal belongs.

[0120] Thus, the near-center and near-end positions of the electronic control handle exhibit different control characteristics. The steering response is smoother with small deflections, and the steering engagement is more direct with large deflections. The conversion from electrical signal to steering angle is no longer limited to a single fixed proportional relationship, allowing different electrical signal ranges to correspond to different steering angle variation patterns. This further makes the output steering angle more consistent with the characteristics of loader operation scenarios and improves the matching accuracy and control smoothness of the steering angle mapping.

[0121] S103. Combining the steering angular velocity and the preset steering angular velocity gear, a preset control algorithm is used to generate wheel steering control commands.

[0122] Explained, the steering angular velocity gears are used to provide angular velocity constraints under different operating conditions. The gear information can be input to the control unit via the electric control handle buttons, the human-machine interface, or preset operating modes. Different steering angular velocity gears correspond to different steering angular velocity constraint parameters or control parameters.

[0123] In a specific example, Figure 4 A schematic diagram of the electric control handle for the loader steering control method based on the electric control handle provided in the embodiments of this application is shown below. Figure 4 As shown, the switching button on the electric control handle is used to switch between different steering angular velocity gears.

[0124] In this example, the steering angular velocity settings include gear 1 and gear 2. Gear 1 limits the maximum steering angular velocity to 8° / s and is used for fine-tuning control, while gear 2 limits the maximum steering angular velocity to 16° / s and is used for rapid response control.

[0125] Specifically, in this step, the process of generating wheel steering control commands is as follows:

[0126] Step a1: Construct a predictive model between the steering angular velocity and the solenoid valve drive current of the loader.

[0127] In one possible implementation, the predictive model can be built offline based on test data from the loader's hydraulic steering system. Specifically, the test data includes samples of different steering angular velocities and corresponding solenoid valve drive current samples for each steering angular velocity.

[0128] Using each steering angular velocity sample as input and the solenoid valve drive current sample as a label, a pre-defined piecewise model is employed to create a prediction model. This prediction model indicates the mapping rule between steering angular velocity and solenoid valve drive current.

[0129] The interpretable, piecewise model can not only describe the dynamic relationship between the steering angular velocity sample and the solenoid valve drive current sample, but also describe the characteristics such as the zero response interval, response interval and saturation interval.

[0130] Step a2: Based on the preset steering angular velocity gear, use the preset control algorithm to solve the prediction model and obtain the target solenoid valve drive current.

[0131] In this step, the control unit inputs the steering angular velocity into the prediction model, and then solves for the target solenoid valve drive current output by the prediction model based on the pre-selected steering angular velocity gear. The preset control algorithm used in the solution process can be a constraint optimization algorithm, an interpolation algorithm, or a threshold-based piecewise mapping algorithm; no specific limitation is made here.

[0132] When solving the prediction model using a preset control algorithm, the upper limit of the steering angular velocity corresponding to the steering angular velocity gear is set as the target constraint (angular velocity constraint). Then, this target constraint is input into the preset control algorithm, and the preset control algorithm is used to solve the prediction model.

[0133] It should be noted that, in addition to setting the upper limit of the steering angular velocity corresponding to the steering angular velocity gear as the target constraint, in one possible implementation, the slope of the change in steering angular velocity can also be used as the target constraint (angular acceleration constraint).

[0134] It should be noted that since the prediction model is a piecewise model, the effects of the zero response interval, the response interval, and the saturation interval on the target solenoid valve drive current need to be considered.

[0135] For example, in the zero-response range, although the steering angular velocity is 0, a fixed solenoid valve drive current still needs to be output to maintain the current steering angle of the loader wheels. In the response range, the steering angular velocity is not 0, and the output solenoid valve drive current is determined according to the corresponding mapping rule. In the saturation range, a larger solenoid valve drive current is also required to ensure that the loader wheels maintain the maximum steering angle.

[0136] For example, in the zero-response range, the required solenoid valve drive current is 400mA. Calculations show that the electrical signal is within the response range, and within this range, the required solenoid valve drive current is 80mA. Therefore, the final target solenoid valve drive current should be 400mA + 80mA = 480mA.

[0137] Step a3: Generate wheel steering control commands based on the target solenoid valve drive current.

[0138] After obtaining the target solenoid valve drive current, the control unit converts the target solenoid valve drive current into the solenoid valve drive pulse width, duty cycle or analog output voltage, and generates wheel steering control commands accordingly, which are then output to the steering execution link.

[0139] Through steps a1 to a3, a solvable mapping relationship is established between the steering angular velocity and the solenoid valve drive current. The control unit can obtain the matching target solenoid valve drive current based on different steering angular velocity gears and generate wheel steering control commands accordingly. This results in better response consistency and gear adaptability of the loader's steering control, and provides stable support for precise steering control under remote control conditions.

[0140] S104. Based on the wheel steering control command, control the loader wheels to deflect to the steering angle.

[0141] When the control unit issues the wheel steering control command, the solenoid valves inside the loader adjust the hydraulic oil flow according to the target solenoid valve drive current, thereby driving the wheel steering mechanism to generate the corresponding steering angular velocity. The loader wheels then respond to this steering angular velocity through the steering execution link and, in combination with the steering angle, complete the actual deflection.

[0142] Figure 5 A schematic diagram illustrating the steering control principle of the loader steering control method based on an electronically controlled handle provided in this application embodiment is shown below. Figure 5 As shown, the steering actuation link mainly relies on solenoid valves and steering cylinders. After the control unit outputs the wheel steering control command to the solenoid valve, the solenoid valve drives the steering actuation link, which in turn drives the steering cylinder to extend and retract, ultimately causing the loader wheels to deflect around the steering kingpin to the specified steering angle.

[0143] To illustrate, the loader's wheels turning to a specified steering angle relies on a proportional-integral-derivative (PID) controller inside the loader. This PID controller, based on the wheel steering control command and the steering angular velocity, controls the loader's wheels to turn to the specified steering angle.

[0144] In a specific example, when the electric control handle returns from right to center, the steering angle converted by S102 also returns to zero. At this time, the preset control algorithm generates a return-to-center control command for the loader wheels and sends it to the solenoid valve. The solenoid valve drives the steering cylinder to move in the opposite direction, causing the loader wheels to return to the straight-ahead position.

[0145] When the electronic control lever is quickly switched from one side to the other, the steering angular velocity gear can be switched to gear 2. At this time, the control unit regenerates the wheel steering control command based on the updated steering angle and steering angular velocity gear constraints, and completes the direction change under speed-limited conditions.

[0146] Furthermore, after completing the loader's steering control, the control unit obtains the actual steering angle of the loader wheels and compares it with the specified steering angle. If the two are different, it means that there is a deviation in the wheel steering control command generated by the preset control algorithm, and the expected steering control cannot be achieved.

[0147] In this case, the parameters of the preset control algorithm can be corrected based on the difference between the actual steering angle and the specified steering angle until the generated wheel steering control command can make the actual steering angle of the loader wheel the same as the specified steering angle.

[0148] The loader steering control method based on an electronic control handle provided in this application receives an electrical signal output from the electronic control handle, which indicates the deflection angle and direction of the handle. Then, it determines the target electrical signal interval to which the signal belongs and calls a preset mapping rule corresponding to the target electrical signal interval from a preset nonlinear relationship to convert the signal into the steering angle of the loader wheels. The preset nonlinear relationship characterizes the mapping rule between the electrical signal and the steering angle of the loader wheels. Next, it constructs a prediction model between the steering angular velocity and the solenoid valve drive current of the loader, and sets target constraints based on preset steering angular velocity gears. The target constraints are input into a preset control algorithm, which solves the prediction model to obtain the target solenoid valve drive current. Further, based on this target solenoid valve drive current, a wheel steering control command is generated to control the loader wheels to deflect to the desired steering angle. This application, by employing a preset nonlinear relationship, creates a more matched response relationship between the electronic control handle's electrical signal and the wheel steering angle. Without relying on a fixed linear input-output relationship, the steering angular velocity is determined based on the change in wheel steering angle. On this basis, the constraint conditions of the steering angular velocity gear are superimposed to calculate the wheel steering control command applicable to the current execution link, so that the steering establishment process is consistent with the input intention, thereby taking into account high-precision steering control under different working conditions.

[0149] Figure 6 A schematic diagram of the loader steering control device based on an electronically controlled handle provided in this application embodiment is shown below. Figure 6 As shown, the loader steering control device 60 based on the electric control handle includes: a receiving module 601, a processing module 602, a generating module 603, and a control module 604.

[0150] The receiving module 601 is used to receive the electrical signal output by the electric control handle; the electrical signal is used to indicate the deflection angle and deflection direction of the electric control handle.

[0151] The processing module 602 is used to convert the electrical signal into the steering angle of the loader wheel based on a preset nonlinear relationship, and to determine the steering angular velocity of the loader wheel; wherein, the preset nonlinear relationship characterizes the mapping rule between the electrical signal and the steering angle of the loader wheel.

[0152] The generation module 603 is used to generate wheel steering control commands by combining the steering angular velocity and the preset steering angular velocity gear and using a preset control algorithm.

[0153] Control module 604 is used to control the loader wheels to deflect to the steering angle based on wheel steering control commands.

[0154] In one possible design, generation module 603 includes:

[0155] Submodule 6031 is constructed to build a prediction model between steering angular velocity and solenoid valve drive current of the loader; wherein, the prediction model is used to indicate the mapping rules between steering angular velocity and solenoid valve drive current;

[0156] The solver submodule 6032 is used to solve the prediction model based on the preset steering angular velocity gear and the preset control algorithm to obtain the target solenoid valve drive current.

[0157] The generation submodule 6033 is used to generate wheel steering control commands based on the target solenoid valve drive current.

[0158] In one possible design, solving submodule 6032 includes:

[0159] The setting component is used to set target constraints based on preset steering angular velocity gears;

[0160] The input component is used to input the target constraints into the preset control algorithm;

[0161] The solver component is used to solve the prediction model using a preset control algorithm.

[0162] In one possible design, the processing module 602 includes:

[0163] The first determining submodule 6021 is used to determine the target electrical signal interval to which the electrical signal belongs;

[0164] Submodule 6022 is invoked to call the preset mapping rule corresponding to the target electrical signal range in the preset nonlinear relationship, and convert the electrical signal into the steering angle of the loader wheel.

[0165] In one possible design, the processing module 602 is also used to partition the electrical signal range corresponding to the electric control handle to divide the electrical signal range into multiple electrical signal intervals.

[0166] The generation module 603 is also used to generate a preset nonlinear relationship based on the preset mapping rules of each electrical signal interval.

[0167] In one possible design, the electrical signal range includes a zero-response range, a response range, and a saturation range;

[0168] The generation module 603 further includes: a second determining submodule 6034, used to determine the zero-response interval zero-mapping rule, the response interval curve mapping rule, and the saturation interval saturation mapping rule; wherein, the zero-response interval represents the set of electrical signals within the electrical signal range that keep the steering angle of the loader wheels at zero, the response interval represents the set of electrical signals within the electrical signal range that make the steering angle of the loader wheels follow the change of the electrical signal, and the saturation interval represents the set of electrical signals within the electrical signal range that keep the steering angle of the loader wheels at a preset upper limit;

[0169] The generation submodule 6033 is also used to generate a preset nonlinear relationship based on the zero-return mapping rule, curve mapping rule and saturation mapping rule, using a preset segmented format.

[0170] In one possible design, the loader steering control device 60 based on the electric control handle also includes:

[0171] Module 605 is used to acquire the actual steering angle of the loader wheels;

[0172] The comparison module 606 is used to compare the actual steering angle with the steering angle.

[0173] The correction module 607 is used to correct the parameters of the preset control algorithm based on the difference between the actual steering angle and the actual steering angle if the actual steering angle is different from the actual steering angle.

[0174] The loader steering control device based on an electric control handle provided in this application embodiment can be used to execute the loader steering control method based on an electric control handle in any of the above embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0175] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented in software via processing element calls, while others are implemented in hardware. Additionally, these modules can be fully or partially integrated together, or implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. During implementation, each step of the above method or each of the above modules can be completed through the integrated logic circuits in the hardware of the processor element or through software instructions.

[0176] Figure 7 A schematic diagram of the structure of the electronic device provided in this application. Figure 7 As shown, the electronic device 70 provided in this embodiment includes at least one processor 701 and a memory 702. Optionally, the electronic device 70 further includes a communication component 703. The processor 701, memory 702, and communication component 703 are connected via a bus 704.

[0177] In the specific implementation process, at least one processor 701 executes computer execution instructions stored in memory 702, causing at least one processor 701 to execute the above-described loader steering control method based on an electric control handle.

[0178] The specific implementation process of processor 701 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0179] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0180] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0181] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0182] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described loader steering control method based on an electric control handle.

[0183] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described loader steering control method based on an electric control handle.

[0184] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0185] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an application-specific integrated circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0186] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0187] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0188] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0189] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0190] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0191] Finally, it should be noted that other embodiments of this application will readily conceive of by those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from its scope.

Claims

1. A loader steering control method based on an electronically controlled handle, characterized in that, include: Receives electrical signals output from the electronic control handle; wherein the electrical signals are used to indicate the deflection angle and deflection direction of the electronic control handle; Based on a preset nonlinear relationship, the electrical signal is converted into the steering angle of the loader wheel, and the steering angular velocity of the loader wheel is determined; wherein, the preset nonlinear relationship characterizes the mapping rule between the electrical signal and the steering angle of the loader wheel; Combining the steering angular velocity and the preset steering angular velocity gear, a preset control algorithm is used to generate wheel steering control commands; Based on the wheel steering control command, the loader wheels are controlled to deflect to the steering angle.

2. The method according to claim 1, characterized in that, Combining the steering angular velocity and the preset steering angular velocity gear, a preset control algorithm is used to generate wheel steering control commands, including: Construct a predictive model between the steering angular velocity and the solenoid valve drive current of the loader; wherein, the predictive model is used to indicate the mapping rule between the steering angular velocity and the solenoid valve drive current; Based on the preset steering angular velocity gear, the prediction model is solved using a preset control algorithm to obtain the target solenoid valve drive current; Based on the target solenoid valve drive current, wheel steering control commands are generated.

3. The method according to claim 2, characterized in that, Based on a preset steering angular velocity gear, a preset control algorithm is used to solve the prediction model, including: Target constraints are set based on preset steering angular velocity gears; The target constraints are input into a preset control algorithm, and the preset control algorithm is used to solve the prediction model.

4. The method according to claim 1, characterized in that, Based on a preset nonlinear relationship, the electrical signal is converted into the steering angle of the loader wheels, including: Determine the target electrical signal interval to which the electrical signal belongs; The preset mapping rule corresponding to the target electrical signal interval in the preset nonlinear relationship is invoked to convert the electrical signal into the steering angle of the loader wheel.

5. The method according to claim 4, characterized in that, Before determining the target electrical signal interval to which the electrical signal belongs, the method further includes: The electrical signal range corresponding to the electric control handle is partitioned to divide the electrical signal range into multiple electrical signal intervals; The preset nonlinear relationship is generated based on the preset mapping rules for each electrical signal interval.

6. The method according to claim 5, characterized in that, The electrical signal range includes a zero-response range, a response range, and a saturation range; Based on preset mapping rules for each electrical signal interval, the preset nonlinear relationship is generated, including: The zero-response interval is defined by a zero-mapping rule, a curve mapping rule for the response interval, and a saturation mapping rule for the saturation interval. The zero-response interval represents the set of electrical signals within the electrical signal range that keep the loader wheel's steering angle at zero. The response interval represents the set of electrical signals within the electrical signal range that make the loader wheel's steering angle follow the changes in the electrical signal. The saturation interval represents the set of electrical signals within the electrical signal range that keep the loader wheel's steering angle at a preset upper limit. Based on the zero-return mapping rule, the curve mapping rule, and the saturation mapping rule, the preset nonlinear relationship is generated using a preset segmentation format.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Obtain the actual steering angle of the loader wheels and compare the actual steering angle with the steering angle; If the actual steering angle is different from the steering angle, the parameters of the preset control algorithm are corrected based on the difference between the actual steering angle and the steering angle.

8. A loader steering control device based on an electronically controlled handle, characterized in that, include: A receiving module is used to receive electrical signals output by an electronic control handle; wherein the electrical signals are used to indicate the deflection angle and deflection direction of the electronic control handle. The processing module is used to convert the electrical signal into the steering angle of the loader wheel based on a preset nonlinear relationship, and to determine the steering angular velocity of the loader wheel; wherein the preset nonlinear relationship characterizes the mapping rule between the electrical signal and the steering angle of the loader wheel. The generation module is used to combine the steering angular velocity and the preset steering angular velocity gear, and generate wheel steering control commands using a preset control algorithm; The control module is used to control the loader wheels to deflect to the steering angle based on the wheel steering control command.

9. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the loader steering control method based on an electronically controlled handle as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the loader steering control method based on an electronically controlled handle as described in any one of claims 1 to 7.

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