Loader control method, control system and loader

Abstract

A loader control method, a control system, and a loader. The loader control method comprises: enabling a boom cylinder (1) and a bucket cylinder (2) to start a leveling action of a bucket; receiving in real time a stroke of the boom cylinder (1) detected by a first displacement sensor (3) and a stroke of the bucket cylinder (2) detected by a second displacement sensor (4), and respectively comparing same with a pre-set target stroke of the boom cylinder (1) and a pre-set target stroke of the bucket cylinder (2) of a bucket in a leveling mode; and according to a comparison result, adjusting the stroke of the boom cylinder (1) and the stroke of the bucket cylinder (2) to achieve leveling of the bucket.

Description

Loader control method, control system and loader

[0001] Cross-references to related applications

[0002] The present disclosure is based on and claims priority to the Chinese application with application number 202410807627.1 and application date June 21, 2024, and the Chinese application with application number 202410824928.5 and application date June 24, 2024, and the disclosure content of the Chinese application is hereby introduced into the present disclosure as a whole. Technical Field

[0003] The present disclosure relates to the technical field of engineering machinery, and in particular to a loader control method, a control system, and a loader. Background Art

[0004] Loaders are earthmoving and loading machines widely used in highway, railway, and mining construction projects. They are primarily used for shoveling bulk materials like soil, sand, and coal, but can also perform light excavation and loading of ore and hardened soil. During the loader's shoveling process, the proper positioning of the bucket as it enters the material is crucial. Incorrect positioning can lead to excessive shoveling resistance, insufficient bucket load, and tire slippage. Therefore, it is crucial to level the bucket and adjust its position before shoveling.

[0005] Summary of the Invention

[0006] Some embodiments of the present disclosure provide a loader control method, a control system, and a loader for accurately achieving automatic leveling of a loader bucket.

[0007] According to a first aspect of an embodiment of the present disclosure, a loader control method is provided, comprising:

[0008] Make the boom cylinder and bucket cylinder start the bucket leveling action;

[0009] receiving in real time the stroke of the boom cylinder detected by the first displacement sensor and the stroke of the bucket cylinder detected by the second displacement sensor, and comparing them with the preset target strokes of the boom cylinder and the bucket cylinder in the bucket leveling mode, respectively;

[0010] The stroke of the boom cylinder and the bucket cylinder are adjusted according to the comparison result to achieve bucket leveling.

[0011] In some embodiments, when the stroke of the boom cylinder is not equal to the target stroke of the boom cylinder, and / or the stroke of the bucket cylinder is not equal to the target stroke of the bucket cylinder, the stroke of the boom cylinder and the stroke of the bucket cylinder are fed back and adjusted;

[0012] When the stroke of the boom cylinder is equal to the target stroke of the boom cylinder and the stroke of the bucket cylinder is equal to the target stroke of the bucket cylinder, the bucket is leveled.

[0013] In some embodiments, the bucket includes a first leveling mode and a second leveling mode, the bucket is configured to have a first preset height relative to the ground in the first leveling mode, and the bucket is configured to have a second preset height relative to the ground in the second leveling mode, the first preset height being greater than the second preset height;

[0014] According to the type of material to be shoveled by the bucket, the bucket is selected to be in the first leveling mode, and the first control module is called to compare the stroke of the boom cylinder and the stroke of the bucket cylinder with the target stroke of the boom cylinder and the target stroke of the bucket cylinder corresponding to the bucket in the first leveling mode respectively through the first control module; or

[0015] According to the type of material that the bucket needs to shovel, the bucket is selected to be in the second leveling mode, and the second control module is called. Through the second control module, the stroke of the boom cylinder and the stroke of the bucket cylinder are respectively compared with the target stroke of the boom cylinder and the target stroke of the bucket cylinder corresponding to the bucket in the second leveling mode.

[0016] In some embodiments, the loader control method includes:

[0017] During the unloading process of the loader, the weight information of the material in the bucket detected by the weighing sensor is obtained to determine whether the loader is in an empty state;

[0018] When the vehicle is moving backward, the speed information of the vehicle is obtained;

[0019] Obtain the opening information of the operating handle for controlling the lowering of the boom;

[0020] In the no-load state, the target movement speed of the boom cylinder is calculated based on the opening information of the operating handle and the current driving speed information. The boom cylinder is used to control the movement of the boom.

[0021] In some embodiments, before the step of calculating the target movement speed of the boom cylinder, the method further includes:

[0022] Calculate the initial movement speed of the boom cylinder based on the opening information.

[0023] In some embodiments, calculating the initial movement speed of the boom cylinder according to the opening information includes:

[0024] Among them, V is the initial movement speed of the boom cylinder; D is the dead zone of the operating handle; X is the opening of the operating handle, with a value of 0-100, V max is the maximum initial movement speed of the boom cylinder.

[0025] In some embodiments, the loader control method further includes:

[0026] Set the lower and upper thresholds during boom cylinder movement.

[0027] In some embodiments, the step of calculating the target movement speed of the boom cylinder based on the opening information of the operating handle and the current driving speed information includes:

[0028] In the first vehicle speed range, the boom cylinder moves at a first target speed, and the first target speed does not exceed an upper threshold;

[0029] In a second vehicle speed interval, the boom cylinder moves at a second target speed, the second vehicle speed interval is greater than the first vehicle speed interval as a whole, the second target speed is less than the first target speed, and the second target speed is not less than a lower limit threshold; and

[0030] In the third vehicle speed interval, the target movement speed of the boom cylinder decreases from the first target speed to the second target speed, and the third vehicle speed interval is located between the first vehicle speed interval and the second vehicle speed interval.

[0031] In some embodiments, the first target speed is equal to an upper threshold, the second target speed is equal to a lower threshold, and the target movement speed of the boom cylinder decreases linearly from the upper threshold to the lower threshold.

[0032] In some embodiments, in the third vehicle speed range,

[0033] Among them, V c is the target movement speed of the boom cylinder, V cmax is the upper threshold, V cmin is the lower threshold, V h is the current vehicle speed, V h1 and V h2 They are the left and right endpoints of the third vehicle speed range respectively.

[0034] In some embodiments, V cmax =V max ×k(k<1)

[0035] Among them, V cmax is the upper threshold, V max is the maximum initial movement speed of the boom cylinder.

[0036] In some embodiments, the loader control method further includes:

[0037] Obtain the displacement information of the boom cylinder detected by the first displacement sensor and calculate the current actual movement speed V of the boom cylinder cur ;

[0038] in, L1 is the current displacement of the boom cylinder, and L2 is the displacement of the boom cylinder before Δt time.

[0039] In some embodiments, the loader control method further includes:

[0040] According to the actual current movement speed V of the boom cylinder cur The difference between the speed and the target speed is used for PID adjustment;

[0041] The motor drives the hydraulic pump based on torque control to adjust the flow of hydraulic oil supplied to the boom cylinder.

[0042] According to a second aspect of an embodiment of the present disclosure, a loader control system is provided for implementing the loader control method of the above embodiment.

[0043] According to a third aspect of an embodiment of the present disclosure, there is provided a loader, comprising:

[0044] boom;

[0045] bucket, connected to the boom;

[0046] A boom cylinder is connected to the boom and is used to drive the boom to move in a vertical plane;

[0047] A bucket cylinder, drivingly connected to the bucket; and

[0048] The loader control system of the above embodiment.

[0049] In some embodiments, the loader further comprises:

[0050] a first displacement sensor, provided on the boom cylinder and configured to detect the stroke of the boom cylinder; and

[0051] a second displacement sensor, provided on the bucket cylinder and configured to detect the stroke of the bucket cylinder;

[0052] Among them, the loader control system includes a controller, which is electrically connected to the first displacement sensor and the second displacement sensor. The controller includes a control module, which is configured to receive the stroke of the boom cylinder detected by the first displacement sensor and the stroke of the bucket cylinder detected by the second displacement sensor, and compare them with the target stroke of the boom cylinder and the target stroke of the bucket cylinder in the leveling mode preset therein, so as to adjust the stroke of the boom cylinder and the stroke of the bucket cylinder to achieve leveling of the bucket.

[0053] In some embodiments, the bucket includes a first leveling mode and a second leveling mode, the bucket is configured to have a first preset height from the ground in the first leveling mode, and the bucket is configured to have a second preset height from the ground in the second leveling mode, and the first preset height is greater than the second preset height.

[0054] In some embodiments, the control module includes a first control module and a second control module, and the first control module is preset with the target stroke of the boom cylinder and the target stroke of the bucket cylinder corresponding to the bucket in the first leveling mode; the second control module is preset with the target stroke of the boom cylinder and the target stroke of the bucket cylinder corresponding to the bucket in the second leveling mode.

[0055] In some embodiments, the loader further includes a display screen, which is electrically connected to the controller, and the display screen is configured to input instructions to the controller to call the first control module or the second control module.

[0056] In some embodiments, the loader further comprises:

[0057] A first hydraulic pump is connected to the boom cylinder via an oil circuit;

[0058] a second hydraulic pump connected to the bucket cylinder via an oil circuit; and

[0059] The motor is driven and connected to the first hydraulic pump and the second hydraulic pump, and the speed of the motor is adjustable.

[0060] In some embodiments, the loader further includes a power battery and a driver, wherein the driver connects the power battery and the motor.

[0061] In some embodiments, the loader further includes a handle provided with an enable key, the enable key being electrically connected to the controller, and the enable key being configured to send a signal to the controller when pressed to start the control module.

[0062] Based on the above technical solution, the present disclosure has at least the following beneficial effects:

[0063] The loader control method of this embodiment receives the stroke of the boom cylinder detected by the first displacement sensor and the stroke of the bucket cylinder detected by the second displacement sensor, and compares them with the target stroke of the boom cylinder and the target stroke of the bucket cylinder in the leveling mode preset therein, so as to provide feedback and adjust the stroke of the boom cylinder and the stroke of the bucket cylinder to achieve automatic leveling of the bucket. By controlling the automatic leveling of the bucket through the controller, the bucket position can be controlled more accurately to ensure the flatness of the loading or excavation operation, thereby improving the project quality, reducing the dependence on the driver's operating experience, and reducing the driver's labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of this application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:

[0065] FIG1 is a schematic diagram of an automatic leveling system for a loader bucket according to some embodiments of the present disclosure;

[0066] FIG2 is a schematic flow chart of a method for automatically leveling a loader bucket according to some embodiments of the present disclosure;

[0067] FIG3 is a schematic diagram of the module composition of some embodiments of the loader operation anti-shake system disclosed herein;

[0068] FIG4 is a flow chart of some embodiments of the loader operation anti-shake control method disclosed herein;

[0069] FIG5 is a graph showing the change in the initial movement speed of the boom cylinder with the handle opening;

[0070] FIG6 is a graph showing the target movement speed of the boom cylinder as a function of vehicle speed.

[0071] DESCRIPTION OF REFERENCE NUMERALS 1. Boom cylinder; 2. Bucket cylinder; 3. First displacement sensor; 4. Second displacement sensor; 5. Controller; 6. First hydraulic pump; 7. Second hydraulic pump; 8. Motor; 9. Driver; 10. Power battery; 11. Display screen; 12. Enable button; 13. First hydraulic valve; 14. Second hydraulic valve; 15. DCDC; 16. Vehicle speed sensor; 17. Load cell; 18. Operating handle

[0072] It should be understood that the size of each part shown in the drawings is not drawn according to the actual proportional relationship.In addition, the same or similar reference numerals represent the same or similar components. DETAILED DESCRIPTION

[0073] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure, its application, or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of parts and steps, the composition of materials, numerical expressions, and numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary and not as limiting.

[0074] The terms "first", "second" and similar terms used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. The terms "include" or "comprises" and similar terms mean that the elements before the term include the elements listed after the term, and do not exclude the possibility of also including other elements. The terms "upper", "lower", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0075] In the present disclosure, when a specific device is described as being located between a first device and a second device, an intervening device may or may not be present between the specific device and the first device or the second device. When a specific device is described as being connected to another device, the specific device may be directly connected to the other device without an intervening device, or may be not directly connected to the other device but with an intervening device.

[0076] All terms (including technical or scientific terms) used in this disclosure have the same meaning as those understood by one of ordinary skill in the art to which this disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, general dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined herein.

[0077] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0078] FIG1 is a schematic diagram of some embodiments of the automatic bucket leveling system for a loader according to the present disclosure. Referring to FIG1 , in some embodiments, the automatic bucket leveling system for a loader includes a boom, a bucket, a boom cylinder 1 , a bucket cylinder 2 , a first displacement sensor 3 , a second displacement sensor 4 , and a controller 5 .

[0079] The bucket is connected to the boom.

[0080] The boom cylinder 1 is driven and connected to the boom.

[0081] The bucket cylinder 2 is driven and connected to the bucket.

[0082] The first displacement sensor 3 is provided on the boom cylinder 1 , and the first displacement sensor 3 is configured to detect the stroke of the boom cylinder 1 .

[0083] The second displacement sensor 4 is provided at the bucket cylinder 2 , and the second displacement sensor 4 is configured to detect the stroke of the bucket cylinder 2 .

[0084] The controller 5 is electrically connected to the first displacement sensor 3 and the second displacement sensor 4. The controller 5 includes a control module, which is configured to receive the stroke of the boom cylinder 1 detected by the first displacement sensor 3 and the stroke of the bucket cylinder 2 detected by the second displacement sensor 4, and compare the received strokes with the target strokes of the boom cylinder 1 and the bucket cylinder 2 in the bucket leveling mode preset therein, respectively, to adjust the strokes of the boom cylinder 1 and the bucket cylinder 2 to achieve bucket leveling.

[0085] In the above embodiment, the controller 5 includes a control module, which is configured to receive the stroke of the boom cylinder 1 detected by the first displacement sensor 3 and the stroke of the bucket cylinder 2 detected by the second displacement sensor 4, and compare them with the target stroke of the boom cylinder 1 and the target stroke of the bucket cylinder 2 in the leveling mode preset therein, so as to provide feedback and adjust the stroke of the boom cylinder 1 and the stroke of the bucket cylinder 2 to achieve automatic leveling of the bucket. By controlling the automatic leveling of the bucket through the controller, the bucket position can be controlled more accurately to ensure the flatness of the loading or excavation operation, improve the quality of the project, reduce the dependence on the driver's operating experience, and reduce the driver's labor intensity.

[0086] In the above embodiment, the first displacement sensor 3 is provided in the boom cylinder 1 and the second displacement sensor 4 is provided in the bucket cylinder 2, which can prevent the sensors from being directly exposed to the working environment and improve the reliability of the sensors.

[0087] In some embodiments, the controller includes a vehicle controller (VCU).

[0088] In some embodiments, the bucket includes a first leveling mode and a second leveling mode, the bucket is configured to have a first preset height from the ground in the first leveling mode, and the bucket is configured to have a second preset height from the ground in the second leveling mode, and the first preset height is greater than the second preset height.

[0089] When the loader is shoveling materials, the optimal initial position of the bucket is different for different materials. The bucket includes a first leveling mode and a second leveling mode. The driver can select the corresponding leveling mode according to the different materials shoveled by the loader. This can avoid the problem of uneven load distribution on the loader's rear axle and wheel slippage caused by incorrect initial position of the bucket during shoveling materials, and can reduce shoveling resistance, achieve full loading of the bucket, and improve work efficiency.

[0090] In some embodiments, the first preset height range is selected based on the fact that the bucket is 5 cm to 10 cm from the ground.

[0091] In some embodiments, the second preset height range is selected based on: the bucket is 0 to 5 cm away from the ground, and the bucket is in contact with or close to the ground.

[0092] In the embodiment of the present disclosure, the leveling mode of the bucket is not limited to the first leveling mode and the second leveling mode, and a third leveling mode, a fourth leveling mode, etc. can also be set according to different materials.

[0093] In some embodiments, the control module includes a first control module and a second control module. The first control module is preset with the target stroke of the boom cylinder 1 and the target stroke of the bucket cylinder 2 corresponding to the bucket in the first leveling mode; the second control module is preset with the target stroke of the boom cylinder 1 and the target stroke of the bucket cylinder 2 corresponding to the bucket in the second leveling mode.

[0094] The first control module corresponds to the first leveling mode, and the second control module corresponds to the second leveling mode.

[0095] In the above embodiment, the bucket has different leveling modes, and corresponding control modules are preset in the controller. After the leveling mode of the bucket is selected, the corresponding control module is called accordingly. The purpose is to put the bucket in a better posture before shoveling, reduce shoveling resistance, realize full loading of the bucket, improve working efficiency, and avoid problems such as wheel slippage caused by uneven load distribution on the rear axle of the loader.

[0096] In some embodiments, the loader bucket automatic leveling system further includes a display screen 11 , which is electrically connected to the controller 5 . The display screen 11 is configured to input instructions to the controller 5 to call the first control module or the second control module.

[0097] In the above embodiment, the driver can select the corresponding leveling mode according to the different materials shoveled by the loader, call the first control module or the second control module in the controller 5 through the display screen 11, level the bucket, put the bucket in a better posture before shoveling, reduce the shoveling resistance, achieve full loading of the bucket, improve work efficiency, and avoid problems such as wheel slippage caused by uneven load distribution on the rear axle of the loader.

[0098] In some embodiments, the loader bucket automatic leveling system further includes a first hydraulic pump 6 , a second hydraulic pump 7 and a motor 8 .

[0099] The first hydraulic pump 6 is connected to the boom cylinder 1 through an oil passage. The second hydraulic pump 7 is connected to the bucket cylinder 2 through an oil passage.

[0100] The motor 8 is drivingly connected to the first hydraulic pump 6 and the second hydraulic pump 7. The speed of the motor 8 is adjustable.

[0101] In the above embodiment, the motor 8 drives the hydraulic pump, which provides hydraulic oil to drive the boom cylinder 1 and the bucket cylinder 2 to extend and retract, thereby achieving precise control of the cylinder movement and high energy utilization.

[0102] In some embodiments, the loader bucket automatic leveling system also includes a first hydraulic valve 13 and a second hydraulic valve 14. The first hydraulic valve 13 is arranged on the oil circuit between the first hydraulic pump 6 and the boom cylinder 1, and the second hydraulic valve 14 is arranged on the oil circuit between the second hydraulic pump 7 and the bucket cylinder 2.

[0103] In the above embodiment, the first hydraulic valve 13 and the second hydraulic valve 14 have the functions of controlling the on-off of the oil circuit and controlling the flow rate in the oil circuit.

[0104] In some embodiments, the loader bucket automatic leveling system further includes a power battery 10 and a driver 9 , and the driver 9 connects the power battery 10 and the motor 8 .

[0105] In the above embodiment, the power battery 10 is connected to the motor 10 through the driver 9. The driver 9 can adjust the output voltage and current according to demand to adapt to the working state of the motor 10, ensure the efficient operation of the motor 10, and can also adjust the speed of the motor 10 so that the motor 10 can operate efficiently under different working conditions.

[0106] In the above embodiment, the hydraulic pump is driven by the motor 8, and the hydraulic pump provides hydraulic oil to drive the cylinder. The speed of the motor 10 is adjusted by the driver 9 to control the power of the hydraulic pump. This can reduce the settings of the pressure control valve, flow control valve, etc., simplify the hydraulic system, facilitate the installation and maintenance of the automatic leveling system, and also reduce potential leakage points and sources of failure.

[0107] In some embodiments, the loader bucket automatic leveling system further includes a handle, on which is provided an enable key 12 , which is electrically connected to the controller 5 , and is configured to send a signal to the controller 5 when pressed to start the control module.

[0108] The driver can select the corresponding leveling mode according to the different materials shoveled by the loader, call the first control module or the second control module in the controller 5 through the display screen 11, and then press the enable key 12 to start the called first control module or the second control module to automatically level the bucket.

[0109] In the above embodiment, after calling the control module, the driver can issue an instruction to start the control module by pressing the enable button 12 on the handle, that is, issue an instruction for the bucket to start automatic leveling, or the driver can issue an instruction to shut down the control module by releasing the enable button 12 on the handle, that is, issue an instruction for the bucket to interrupt automatic leveling. Controlling the automatic leveling of the bucket through the controller can reduce the difficulty and intensity of the driver's operation and improve the operation accuracy and work efficiency.

[0110] In some embodiments, the loader bucket automatic leveling system further includes a DCDC 15 (DC-to-DC converter, also known as a DC-DC converter), which is connected to the power battery 10 and the controller 9 .

[0111] In some embodiments, the power battery 10 supplies energy to the motor 8, the driver 9 receives instructions from the controller 5 to control the operation of the motor 8, and the motor 8 directly drives the first hydraulic pump 6 and the second hydraulic pump 7 to provide power for the boom cylinder 1 and the bucket cylinder 2. The driver selects to switch the bucket leveling mode for different materials through the display screen 11, and sends a bucket automatic leveling instruction to the controller 5 by pressing the enable button 12 on the handle, or interrupts the automatic leveling instruction.

[0112] Some embodiments of the present disclosure further provide a loader, which includes the loader bucket automatic leveling system according to any of the above embodiments.

[0113] Some embodiments of the present disclosure further provide a method for automatically leveling a loader bucket, which is implemented using the automatic leveling system for a loader bucket in any of the above embodiments. The automatic leveling method includes:

[0114] The controller 5 controls the boom cylinder 1 and the bucket cylinder 2 to start the bucket leveling action;

[0115] The controller 5 receives in real time the stroke of the boom cylinder 1 detected by the first displacement sensor 3 and the stroke of the bucket cylinder 2 detected by the second displacement sensor 4, and compares them with the target strokes of the boom cylinder 1 and the bucket cylinder 2 in the bucket leveling mode preset therein;

[0116] The controller 5 adjusts the stroke of the boom cylinder 1 and the stroke of the bucket cylinder 2 according to the comparison result to achieve leveling of the bucket.

[0117] In some embodiments, when the stroke of the boom cylinder 1 is not equal to the target stroke of the boom cylinder 1 and / or the stroke of the bucket cylinder 2 is not equal to the target stroke of the bucket cylinder 2, the stroke of the boom cylinder 1 and the stroke of the bucket cylinder 2 are fed back and adjusted;

[0118] When the stroke of the boom cylinder 1 is equal to the target stroke of the boom cylinder 1 and the stroke of the bucket cylinder 2 is equal to the target stroke of the bucket cylinder 2 , the bucket is leveled.

[0119] In the above embodiment, the controller 5 receives the stroke of the boom cylinder 1 detected by the first displacement sensor 3 and the stroke of the bucket cylinder 2 detected by the second displacement sensor 4, and compares them with the target stroke of the boom cylinder 1 and the target stroke of the bucket cylinder 2 in the leveling mode preset therein, so as to provide feedback and adjust the stroke of the boom cylinder 1 and the stroke of the bucket cylinder 2 to realize automatic leveling of the bucket. By controlling the automatic leveling of the bucket through the controller, the bucket position can be controlled more accurately to ensure the flatness of the loading or excavation operation, improve the quality of the project, reduce the dependence on the driver's operating experience, and reduce the driver's labor intensity.

[0120] In some embodiments, the bucket includes a first leveling mode and a second leveling mode, the bucket is configured to have a first preset height from the ground in the first leveling mode, and the bucket is configured to have a second preset height from the ground in the second leveling mode, and the first preset height is greater than the second preset height; the control module includes a first control module and a second control module.

[0121] In some embodiments, the loader bucket automatic leveling method further includes:

[0122] According to the type of material that the bucket needs to shovel, the bucket is selected to be in the first leveling mode, and the first control module is called. The first control module compares the stroke of the boom cylinder 1 and the stroke of the bucket cylinder 2 with the target stroke of the boom cylinder 1 and the target stroke of the bucket cylinder 2 corresponding to the bucket in the first leveling mode.

[0123] In some embodiments, the loader bucket automatic leveling method further includes:

[0124] According to the type of material that the bucket needs to shovel, the bucket is selected to be in the second leveling mode, and the second control module is called. The second control module compares the stroke of the boom cylinder 1 and the stroke of the bucket cylinder 2 with the target stroke of the boom cylinder 1 and the target stroke of the bucket cylinder 2 corresponding to the bucket in the second leveling mode.

[0125] The driver can select the corresponding leveling mode according to the different materials shoveled by the loader. There are different leveling modes for the bucket. The corresponding control module is preset in the controller. After selecting the leveling mode of the bucket, the corresponding control module is called to put the bucket in a better posture before shoveling, reducing the shoveling resistance and achieving full loading of the bucket, thereby improving work efficiency, avoiding wheel slippage caused by uneven load distribution on the rear axle of the loader, and improving work efficiency.

[0126] The following describes in detail the control method for automatic leveling of the bucket posture during shoveling conditions based on the classification of materials shoveled by loaders, for example, into fine sand and large rocks.

[0127] Shoveling fine sand materials:

[0128] S11, the driver inputs the type of material to be shoveled through the display screen 11 and selects the bucket as the first leveling mode;

[0129] S12, the controller 5 automatically switches to the corresponding control mode according to the input command;

[0130] S13, the driver controls the vehicle to adjust the direction and presses the enable key 12 on the handle to start calling the first control module, and the bucket starts to automatically adjust its posture;

[0131] S14, after the controller 5 receives the automatic leveling enable instruction, it controls the motor 8 to start and operate at a constant speed, and at the same time controls the first hydraulic valve 13 and the second hydraulic valve 14 to open;

[0132] S15, the boom cylinder 1 and the bucket cylinder 2 start to move, and the controller 5 monitors the displacement of the boom cylinder 1 and the bucket cylinder 2 in real time through the first displacement sensor 3 and the second displacement sensor 4 respectively;

[0133] S16. When it is detected that the displacement of the boom cylinder 1 and the bucket cylinder 2 reaches the specified position, that is, the lower surface of the bucket remains parallel to the road surface and the bucket maintains a first preset height (5 cm to 10 cm) above the ground, the display screen 11 displays the bucket posture in real time and displays the height above the ground. The motor 8, the boom cylinder 1, and the bucket cylinder 2 stop working, and the first hydraulic valve 13 and the second hydraulic valve 14 are closed.

[0134] S17, the driver operates the vehicle to perform shoveling operation, releases the enable key 12 on the handle, and the operation is completely dependent on the driver.

[0135] Shoveling large rocks:

[0136] S21, the driver inputs the type of material to be shoveled through the display screen 11 - selects the bucket as the second leveling mode;

[0137] S22, the controller 5 automatically switches to the corresponding control mode according to the input command;

[0138] S23, the driver controls the vehicle to adjust the direction and presses the enable key 12 on the handle to start calling the second control module, and the bucket starts to automatically adjust its posture;

[0139] S24, after the controller 5 receives the automatic leveling enable instruction, it controls the motor 8 to start and operate at a constant speed, and at the same time controls the first hydraulic valve 13 and the second hydraulic valve 14 to open;

[0140] S25, the boom cylinder 1 and the bucket cylinder 2 start to move, and the controller 5 monitors the displacement of the boom cylinder 1 and the bucket cylinder 2 in real time through the first displacement sensor 3 and the second displacement sensor 4 respectively;

[0141] S26. When it is detected that the displacements of the boom cylinder 1 and the bucket cylinder 2 have reached a specified position, i.e., the lower surface of the bucket remains parallel to the road surface and the bucket is close to the ground (the bucket maintains a second preset height above the ground, e.g., 0 to 5 cm), the display screen 11 displays the bucket posture in real time and displays the height above the ground. The motor 8, boom cylinder 1, and bucket cylinder 2 stop operating, and the first hydraulic valve 13 and the second hydraulic valve 14 are closed.

[0142] S27, the driver operates the vehicle to perform shoveling operation, releases the enable key 12 on the handle, and the operation is completely dependent on the driver.

[0143] Through the description of the above embodiments, the loader bucket automatic leveling system and method automatically adjusts the bucket posture through the controller, which can reduce the driver's operating intensity, improve operating accuracy and work efficiency, and can select different leveling modes for the bucket for different materials, adjust the bucket posture during shoveling, and ensure as much as possible whether the bucket is horizontally set close to the ground when fully loaded, or whether it maintains height and other factors, to avoid problems such as tire slippage, and the hydraulic pump is driven by an electric motor to improve control accuracy, which can alleviate the problems of response lag and low control accuracy that exist when relying entirely on hydraulic solenoid valve control; and the displacement sensor is arranged in the oil cylinder, which can avoid the sensor being directly exposed to harsh working environments, thereby improving the service life and reliability of the sensor.

[0144] Secondly, loaders are earthmoving and loading machines widely used in highway, railway, and mining construction projects. They are primarily used for shoveling bulk materials like soil, sand, gravel, and coal, but can also perform light excavation and loading of ore and hardened soil. During loading and unloading, the unloaded boom lowers, and the vehicle is traveling in reverse. This mismatch between the boom lowering speed and the vehicle's travel speed causes severe vehicle jitter, poor operational stability, and reduced driver comfort, impacting operational efficiency.

[0145] Under the above working conditions, the whole vehicle shakes severely. Currently, the driver is mainly relied on to intervene based on his experience, such as temporarily interrupting the lowering of the boom or stopping the vehicle, and then operating the operating device after the shaking of the whole vehicle stops. This type of operation method cannot effectively prevent the shaking of the whole vehicle and reduces the working efficiency. At the same time, this treatment method needs to rely on the driver's operating experience, and the effect of suppressing shaking is not ideal.

[0146] The loader control method of some embodiments of the present disclosure also includes a loader operation anti-shake control method, which can achieve a better anti-shake effect.

[0147] Based on the above technical solution, the present disclosure has at least the following beneficial effects: the loader operation anti-shake method of the embodiment of the present disclosure, for the problem that when the loader is loading and unloading materials, the boom is dropped in an unloaded state and the vehicle is in a reverse driving condition, the vehicle shakes violently back and forth. The boom lowering speed is adjusted in real time according to the opening information of the operating handle and the current driving speed information, and the hydraulic oil flow can be accurately controlled to control the boom lowering speed, which can reduce the problem of vehicle shaking under this working condition and avoid the low efficiency and delayed action caused by the hydraulic valve control method.

[0148] In some embodiments, referring to FIG3 , the present disclosure provides a loader control method, including:

[0149] During the unloading process of the loader, the weight information of the material in the bucket detected by the weighing sensor 17 is obtained to determine whether the loader is in an unloaded state;

[0150] When the vehicle is moving backward, the speed information of the vehicle is obtained;

[0151] Obtaining the opening information of the operating handle 18 for controlling the lowering of the boom;

[0152] In the no-load state, the target movement speed of the boom cylinder 1 is calculated based on the opening information of the operating handle 18 and the current driving speed information. The boom cylinder 1 is used to control the movement of the boom.

[0153] During the unloading process, the loader can keep its position still, and the weighing sensor 17 detects the weight information of the material in the bucket to determine whether the loader is in an empty state or a loaded state. In the loaded state, the material can be fully loaded or occupy part of the volume of the bucket.

[0154] After unloading, the loader is in an unloaded state. The driver can then control the boom cylinder 1 through the operating handle 18 to lower the boom. Generally, the entire vehicle can be controlled to move backward at the same time. The driver can apply an initial opening position to the operating handle 18. The controller 5 (such as the vehicle controller VCU) can then automatically adjust the control signal sent to the driver 9 according to the opening information and the backward driving speed information of the entire vehicle. The driver 9 controls the rotation of the drive motor 8, thereby changing the speed of the first hydraulic pump 6. The first hydraulic pump 6 controls the extension and retraction of the boom cylinder 1 through the first hydraulic valve 13 to change the hydraulic oil passing through the boom cylinder 1, thereby controlling the lowering speed of the boom.

[0155] This embodiment addresses the problem of severe vehicle shaking back and forth when the boom is lowered in an unloaded state and the vehicle is in reverse during the loading and unloading process of the loader. The boom lowering speed is adjusted in real time according to the opening information of the operating handle 18 and the current driving speed information, and the hydraulic oil flow can be accurately controlled to control the boom lowering speed. This can reduce the problem of vehicle shaking under such conditions, improve the operator's operating comfort, and avoid the low efficiency and delayed action caused by the hydraulic valve control method.

[0156] In some embodiments, before the step of calculating the target movement speed of the boom cylinder 1 , the control method further includes:

[0157] The initial movement speed of the boom cylinder 1 is calculated based on the opening information.

[0158] This embodiment takes into account that the opening information applied by the driver to the operating handle 18 can reflect the speed at which the driver wants the boom cylinder 1 to move. The initial movement speed of the boom cylinder 1 calculated based on the opening information can provide a basis for the movement speed of the boom during the descent process. For example, in order to ensure safety and reduce shaking, the real-time movement speed of the boom can be lower than the initial movement speed as a whole.

[0159] In some embodiments, calculating the initial movement speed of the boom cylinder 1 according to the opening information includes:

[0160] Wherein, V is the initial movement speed of the boom cylinder 1; D is the dead zone of the operating handle 18; X is the opening of the operating handle 18, with a value of 0-100, V max is the maximum initial movement speed of boom cylinder 1.

[0161] As shown in Figure 5, when the opening of the operating handle 18 is within D, the boom cylinder 1 does not move. By setting a dead zone, the operating handle 18 can be prevented from malfunctioning, thereby improving the safety of unloading. When the opening of the operating handle 18 is after D, the maximum initial movement speed of the boom cylinder 1 increases linearly with the opening of the operating handle 18. When the opening of the operating handle 18 reaches 100%, the maximum initial movement speed of the boom cylinder 1 reaches V max .

[0162] This embodiment can accurately and quantitatively calculate the initial movement speed of the boom cylinder 1 based on the opening information applied by the driver to the operating handle 18, so that the boom cylinder 1 can descend at an appropriate speed to prevent violent shaking caused by excessive speed.

[0163] In some embodiments, as shown in FIG6 , the loader operation anti-shake control method further includes:

[0164] Set the lower threshold value V during the movement of boom cylinder 1 cmin and the upper threshold Vcmax .

[0165] In this embodiment, the lower limit threshold V is set during the descending process of the boom cylinder 1. cmin , which can prevent the boom from descending too slowly and ensure the working efficiency as much as possible while controlling the vibration within a reasonable range; set the upper limit threshold V during the descent of the boom cylinder 1 cmax It can prevent the boom from descending too quickly and causing excessive vehicle shaking, thereby improving the driver's operating comfort.

[0166] In some embodiments, the step of calculating the target movement speed of the boom cylinder 1 according to the opening information of the operating handle 18 and the current driving speed information includes:

[0167] In the first vehicle speed range, the boom cylinder 1 moves at a first target speed, which does not exceed an upper threshold value;

[0168] In the second vehicle speed range, the boom cylinder 1 moves at a second target speed. The second vehicle speed range is larger than the first vehicle speed range as a whole, the second target speed is smaller than the first target speed, and the second target speed is not smaller than the lower limit threshold.

[0169] In the third vehicle speed interval, the target movement speed of the boom cylinder 1 decreases from the first target speed to the second target speed. The third vehicle speed interval is located between the first vehicle speed interval and the second vehicle speed interval.

[0170] The first speed interval, the third speed interval, and the second speed interval are set sequentially, and the first speed interval and the third speed interval are adjacent, and the third speed interval and the second speed interval are adjacent. For example, the first speed interval is [0, Vh1], the third speed interval is (Vh1, Vh2), and the second speed interval is [Vh2, Vh3].

[0171] When this embodiment is in the first vehicle speed range, the boom can be allowed to descend at a higher speed due to the low vehicle speed, but in order to prevent large vibrations, the speed cannot exceed the upper threshold, and in order to simplify control, the target movement speed of the boom cylinder 1 in this range can be set to a constant value; in the second vehicle speed range, due to the high vehicle speed, the boom's descending speed needs to be limited, but in order to prevent the boom's descending speed from being too slow to affect the working efficiency, the speed cannot be lower than the lower threshold, and in order to simplify control, the target movement speed of the boom cylinder 1 in this range can be set to a constant value; in the third vehicle speed range, which is a vehicle speed range commonly used by loaders, the target movement speed of the boom cylinder 1 in this range decreases from the first target speed to the second target speed to prevent large vibrations when the vehicle speed is fast, and the boom's descending speed can be precisely adjusted.

[0172] In some embodiments, the first target speed is equal to an upper threshold, the second target speed is equal to a lower threshold, and the target movement speed of the boom cylinder 1 decreases linearly from the upper threshold to the lower threshold.

[0173] In this embodiment, when the vehicle is in the first speed range, due to the low vehicle speed, the boom is directly lowered at the speed of the upper threshold, thereby preventing large vibrations and maximizing operating efficiency; in the second speed range, due to the high vehicle speed, it is necessary to limit the lowering speed of the boom, thereby directly lowering the boom at the speed of the lower threshold, thereby minimizing the vibration of the vehicle when reversing at high speed and improving operating safety; in the third speed range, the target movement speed of the boom cylinder 1 is linearly decreased from the upper threshold to the lower threshold, thereby conveniently determining the target movement speed according to the vehicle speed and reducing the difficulty of control.

[0174] Specifically, as shown in FIG6 , in the third vehicle speed range, namely V h1 ≤V h ≤V h2 ,

[0175] Among them, V c is the target motion speed of boom cylinder 1, V cmax is the upper threshold, V cmin is the lower threshold, V h is the current vehicle speed, V h1 and V h2 They are the left and right endpoints of the third vehicle speed range respectively.

[0176] Furthermore, in the first vehicle speed range, namely V h ≤V h1 , V c =V cmax In the second speed range, V h ≥V h2 , V c =V cmin .

[0177] In some embodiments, V cmax =V max ×k(k<1)

[0178] Among them, V cmax is the upper threshold, V max is the maximum initial movement speed of boom cylinder 1.

[0179] This embodiment determines the upper limit threshold value during the descending process according to the maximum initial movement speed of the boom cylinder 1, and makes the upper limit threshold value not exceed the maximum initial movement speed, thereby improving operation safety and reducing vibration.

[0180] In some embodiments, the loader operation anti-shake control method further includes:

[0181] Get the displacement information of the boom cylinder 1 detected by the displacement sensor 3 and calculate the current actual movement speed V of the boom cylinder 1 cur ;

[0182] in, L1 is the current displacement of boom cylinder 1, and L2 is the displacement of boom cylinder 1 before Δt time.

[0183] This embodiment can calculate the actual movement speed of the boom cylinder 1 in real time based on the feedback information of the displacement sensor 3, so as to perform more accurate control by comparing it with the target movement speed, thereby achieving the target movement speed and improving the control accuracy.

[0184] In some embodiments, the loader operation anti-shake control method further includes:

[0185] According to the current actual movement speed V of the boom cylinder 1 cur The difference between the speed and the target speed is used for PID adjustment;

[0186] The motor 8 drives the first hydraulic pump 6 based on torque control to adjust the flow rate of hydraulic oil supplied to the boom cylinder 1 .

[0187] In this embodiment, the actual movement speed V of the boom cylinder 1 is cur PID control achieves closed-loop control, improving control accuracy. This precisely controls the flow of hydraulic oil into boom cylinder 1, thereby accurately controlling the boom's lowering speed and effectively suppressing vibration during the loader's reverse movement. Furthermore, the torque-based control method employed for motor 8, using torque as the control output parameter, ensures smoother operation of boom cylinder 1 and reduces vibration.

[0188] Secondly, the present disclosure provides a loader operation anti-shake system, which is characterized by being used to implement the loader operation anti-shake control method of the above embodiment.

[0189] Again, the present disclosure provides a loader, as shown in FIG3 , which, in some embodiments, includes:

[0190] boom;

[0191] Boom cylinder 1, used to drive the boom to move in a vertical plane; and

[0192] The loader operation anti-shake system of claim 11.

[0193] This embodiment addresses the problem of severe vehicle shaking back and forth when the boom is lowered in an unloaded state and the vehicle is in reverse during the loading and unloading process of the loader. The boom lowering speed is adjusted in real time according to the opening information of the operating handle 18 and the current driving speed information, and the hydraulic oil flow can be accurately controlled to control the boom lowering speed. This can reduce the problem of vehicle shaking under such conditions, improve the operator's operating comfort, and avoid the low efficiency and delayed action caused by the hydraulic valve control method.

[0194] In some embodiments, as shown in FIG3 , the loader further comprises:

[0195] Weighing sensor 17, used to detect the weight of the material in the bucket;

[0196] A first displacement sensor 3, used to detect the displacement information of the boom cylinder 1; and

[0197] The vehicle speed sensor 16 is used to detect the driving speed of the loader.

[0198] Among them, the weighing sensor 17 can be installed on the bucket; the first displacement sensor 3 can be installed on the boom cylinder 1, or the boom cylinder 1 with its own first displacement sensor 3 can be used; the vehicle speed sensor 16 can be a GPS or a speed sensor, etc.

[0199] This embodiment uses the weighing sensor 17, the first displacement sensor 3 and the vehicle speed sensor 16 to obtain the target movement speed of the boom cylinder 1 in real time according to the current travel speed information when the boom is dropped in the unloaded state and the vehicle is in the reverse driving condition, and compares it with the actual movement speed V of the boom cylinder 1. cur Compared to accurately control the falling speed of the boom.

[0200] In some specific embodiments, as shown in Figure 1, the loader can be an electric or fuel-controlled loader. The electric loader also includes a battery pack for powering the loader.

[0201] The controller 5 (e.g., a vehicle control unit (VCU)) is connected to the vehicle speed sensor 16, load cell 17, first displacement sensor 3, and operating handle 18 via low-voltage signal connections. It also sends a drive control signal to the driver 9, controlling the motor 8 to drive the first hydraulic pump 6. Oil is supplied to the boom cylinder 1 through the first hydraulic valve 13, driving the boom up and down. The first displacement sensor 3 is used to detect the displacement of the boom cylinder 1. The driver issues a boom-lowering command via the operating handle 18.

[0202] As shown in Figure 4, the anti-shake control method for loader operation is as follows:

[0203] (1) The loader starts unloading and the material weight is fed back through the weighing sensor 17 to determine whether the vehicle is in an empty state;

[0204] (2) When the vehicle is in an unloaded state, the driver controls the vehicle to move backward, and the controller 5 (e.g., the vehicle controller VCU) calculates the vehicle speed based on the feedback information from the travel system drive motor 8;

[0205] (3) The driver simultaneously operates the handle 18 to control the boom to fall. The controller 5 (e.g., the vehicle control unit VCU) calculates the target movement speed of the boom cylinder 1 based on the opening information of the operating handle 18 and the current vehicle speed, and sets the upper and lower limit thresholds of the cylinder movement speed.

[0206] (4) Calculating the current real-time movement speed of the boom cylinder 1 based on the feedback information of the first displacement sensor 3;

[0207] (5) PID adjustment is performed according to the difference between the real-time speed and the target speed of the boom cylinder 1, and the motor 8 drives the first hydraulic pump 6 based on torque control, thereby achieving precise control of the boom lowering speed.

[0208] Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art will understand that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that the above embodiments may be modified or some technical features may be replaced with equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A loader control method, comprising: The boom cylinder (1) and the bucket cylinder (2) start the bucket leveling action; receiving in real time the stroke of the boom cylinder (1) detected by the first displacement sensor (3) and the stroke of the bucket cylinder (2) detected by the second displacement sensor (4), and comparing them with the preset target strokes of the boom cylinder (1) and the bucket cylinder (2) in the leveling mode of the bucket, respectively; The stroke of the boom cylinder (1) and the stroke of the bucket cylinder (2) are adjusted according to the comparison result to achieve leveling of the bucket.

2. The loader control method according to claim 1, wherein: When the stroke of the boom cylinder (1) is not equal to the target stroke of the boom cylinder (1), and / or the stroke of the bucket cylinder (2) is not equal to the target stroke of the bucket cylinder (2), feedback is given to adjust the stroke of the boom cylinder (1) and the stroke of the bucket cylinder (2); When the stroke of the boom cylinder (1) is equal to the target stroke of the boom cylinder (1), and the stroke of the bucket cylinder (2) is equal to the target stroke of the bucket cylinder (2), the bucket is leveled.

3. The loader control method according to claim 1 or 2, wherein the bucket comprises a first leveling mode and a second leveling mode, the bucket is configured to have a first preset height with the ground in the first leveling mode, and the bucket is configured to have a second preset height with the ground in the second leveling mode, and the first preset height is greater than the second preset height; According to the type of material to be shoveled by the bucket, the bucket is selected to be in the first leveling mode, and the first control module is called, and the stroke of the boom cylinder (1) and the stroke of the bucket cylinder (2) are respectively compared with the target stroke of the boom cylinder (1) and the target stroke of the bucket cylinder (2) corresponding to the bucket in the first leveling mode through the first control module; or, According to the type of material that the bucket needs to shovel, the bucket is selected to be in the second leveling mode, and the second control module is called. Through the second control module, the stroke of the boom cylinder (1) and the stroke of the bucket cylinder (2) are respectively compared with the target stroke of the boom cylinder (1) and the target stroke of the bucket cylinder (2) corresponding to the bucket in the second leveling mode.

4. The loader control method according to any one of claims 1 to 3, comprising: During the unloading process of the loader, the weight information of the material in the bucket detected by the weighing sensor (17) is obtained. To determine whether the loader is in an unloaded state; When the vehicle is moving backward, the driving speed information of the whole vehicle is obtained; Acquiring the opening information of the operating handle (18) for controlling the lowering of the boom; In the no-load state, the target movement speed of the boom cylinder (1) is calculated based on the opening information of the operating handle (18) and the current travel speed information, and the boom cylinder (1) is used to control the movement of the boom.

5. The loader control method according to claim 4, wherein before the step of calculating the target movement speed of the boom cylinder (10), it further comprises: The initial movement speed of the boom cylinder (1) is calculated according to the opening information.

6. The loader control method according to claim 5, wherein the initial movement speed of the boom cylinder (10) is calculated according to the opening information, comprising: Wherein, V is the initial movement speed of the boom cylinder (1); D is the dead zone of the operating handle (18); X is the opening of the operating handle (18), ranging from 0 to 100, V max is the maximum initial movement speed of the boom cylinder (1).

7. The loader control method according to any one of claims 4 to 6, further comprising: A lower threshold and an upper threshold during the movement of the boom cylinder (1) are set.

8. The loader control method according to claim 7, wherein the step of calculating the target movement speed of the boom cylinder (1) according to the opening information of the operating handle (18) and the current travel speed information comprises: In a first vehicle speed interval, the boom cylinder (1) moves at a first target speed, and the first target speed does not exceed the upper limit threshold; In a second vehicle speed range, the boom cylinder (1) moves at a second target speed, the second vehicle speed range as a whole is greater than the first vehicle speed range, the second target speed is less than the first target speed, and the second target speed is not less than the lower limit threshold; and In a third vehicle speed interval, the target movement speed of the boom cylinder (1) decreases from the first target speed to the second target speed, and the third vehicle speed interval is located between the first vehicle speed interval and the second vehicle speed interval.

9. The loader control method as claimed in claim 8, wherein the first target speed is equal to the upper threshold, the second target speed is equal to the lower threshold, and the target movement speed of the boom cylinder (1) decreases linearly from the upper threshold to the lower threshold.

10. The loader control method according to claim 9, wherein in the third vehicle speed range, in, V c is the target movement speed of the boom cylinder (1), V cmax is the upper threshold, V cmin is the lower threshold, V h is the current vehicle speed, V h1 and V h2 They are respectively the left and right endpoints of the third vehicle speed interval.

11. The loader control method according to any one of claims 7 to 10, wherein: V cmax =V max ×k(k<1) Among them, V cmax is the upper threshold, V max is the maximum initial movement speed of the boom cylinder (1).

12. The loader control method according to any one of claims 4 to 11, further comprising: Obtain the displacement information of the boom cylinder (1) detected by the first displacement sensor (3), and calculate the current actual movement speed V of the boom cylinder (1) cur ; in, L1 is the current displacement of the boom cylinder (1), and L2 is the displacement of the boom cylinder (1) Δt time ago.

13. The loader control method according to any one of claims 4 to 11, further comprising: According to the current actual movement speed V of the boom cylinder (10) cur The difference between the speed of the target and the speed of the target is used for PID adjustment; The motor drives the hydraulic pump based on torque control to adjust the flow of hydraulic oil supplied to the boom cylinder (1).

14. A loader control system, used to implement the loader control method according to any one of claims 1 to 13.

15. A loader, comprising: Boom; A bucket connected to the boom; A boom cylinder (1) is drivingly connected to the boom and is used to drive the boom to move in a vertical plane; A bucket cylinder (2) drivingly connected to the bucket; and The loader control system as claimed in claim 14.

16. The loader according to claim 15, further comprising: A first displacement sensor (3) is provided on the boom cylinder (1) and is configured to detect the stroke of the boom cylinder (1); as well as A second displacement sensor (4) is provided on the bucket cylinder (2) and is configured to detect the displacement of the bucket cylinder (2) itinerary; The loader control system comprises a controller (5) electrically connected to the first displacement sensor (3) and the second displacement sensor (4); the controller (5) comprises a control module, the control module being configured to receive the stroke of the boom cylinder (1) detected by the first displacement sensor (3) and the stroke of the bucket cylinder (2) detected by the second displacement sensor (4), and to compare the strokes with the target strokes of the boom cylinder (1) and the bucket cylinder (2) preset therein in the leveling mode of the bucket, respectively, so as to adjust the strokes of the boom cylinder (1) and the bucket cylinder (2) to achieve leveling of the bucket.

17. The loader according to claim 16, wherein the bucket comprises a first leveling mode and a second leveling mode, the bucket being configured to have a first preset height relative to the ground in the first leveling mode, and the bucket being configured to have a second preset height relative to the ground in the second leveling mode, the first preset height being greater than the second preset height.

18. The loader according to claim 17, wherein the control module comprises a first control module and a second control module, the first control module being preset with target strokes of the boom cylinder (1) and the bucket cylinder (2) corresponding to the bucket in the first leveling mode; the second control module being preset with target strokes of the boom cylinder (1) and the bucket cylinder (2) corresponding to the bucket in the second leveling mode.

19. The loader according to claim 18 further comprises a display screen (11), wherein the display screen (11) is electrically connected to the controller (5), and the display screen (11) is configured to input instructions to the controller (5) to call the first control module or the second control module.

20. The loader according to any one of claims 15 to 19, further comprising: A first hydraulic pump (6) connected to the boom cylinder (1) via an oil circuit; A second hydraulic pump (7) connected to the bucket cylinder (2) via an oil circuit; as well as The motor (8) is drivingly connected to the first hydraulic pump (6) and the second hydraulic pump (7), and the rotation speed of the motor (8) is adjustable.

21. The loader according to claim 20, further comprising a power battery (10) and a driver (9), wherein the driver (9) connects the power battery (10) and the motor (8).

22. The loader according to any one of claims 15 to 21, further comprising a handle, on which is provided an enable key (12), the enable key (12) being electrically connected to the controller (5), and the enable key (12) being configured to send a signal to the controller (5) when pressed to start the control module.

23. The loader according to any one of claims 15 to 22, further comprising: A weighing sensor (17) is used to detect the weight information of the material in the bucket; and A vehicle speed sensor (16) is used to detect the travel speed of the loader.

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