CN113737884A - Loader control method and device, electronic equipment and storage medium - Google Patents
Loader control method and device, electronic equipment and storage medium Download PDFInfo
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- CN113737884A CN113737884A CN202110906704.5A CN202110906704A CN113737884A CN 113737884 A CN113737884 A CN 113737884A CN 202110906704 A CN202110906704 A CN 202110906704A CN 113737884 A CN113737884 A CN 113737884A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
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Abstract
本申请提供一种装载机控制方法、装置、电子设备及存储介质，涉及机械控制领域；该方法包括：获取装载机的档位信息、刹车信息和铲斗压力；根据档位信息、刹车信息和铲斗压力，确定装载机对应的扭矩控制信息；扭矩控制信息用于表征装载机的扭矩与转速的对应关系；基于扭矩控制信息，控制装载机进行作业。由于本申请实施例是在根据装载机的档位信息、刹车信息和铲斗压力确定出装载机在现阶段对应的扭矩控制信息后，基于确定出的扭矩控制信息，控制装载机进行作业，能够为装载机提供合适的扭矩控制信息，控制喷油量，从而降低油耗。
The application provides a loader control method, device, electronic device and storage medium, and relates to the field of mechanical control; the method includes: acquiring gear position information, brake information and bucket pressure of a loader; Bucket pressure, determine the torque control information corresponding to the loader; the torque control information is used to represent the corresponding relationship between the torque and the rotational speed of the loader; based on the torque control information, the loader is controlled to operate. Because in the embodiment of the present application, after the torque control information corresponding to the loader at the current stage is determined according to the gear position information, brake information and bucket pressure of the loader, and based on the determined torque control information, the loader is controlled to perform operations, which can Provide appropriate torque control information for the loader to control the amount of fuel injection, thereby reducing fuel consumption.
Description
Technical Field
The application relates to the field of mechanical control, in particular to a loader control method and device, electronic equipment and a storage medium.
Background
At present, when a loader works, the oil injection quantity of an engine required by the loader during the working is determined according to the opening degree of an accelerator of the loader. Specifically, determining the corresponding torque of the loader in the operation process according to the rotating speed corresponding to the accelerator opening of the loader; and then, determining the engine oil injection amount corresponding to the loader at the rotating speed according to the determined torque, and performing operation.
However, when the loader works, the load of the whole loader changes along with the change of the working stage; under the working condition that the loader is fully loaded and under the working condition that the loader is unloaded, the corresponding fuel injection quantity is the same under the same rotating speed, so that the fuel consumption of the loader is higher under some working conditions that efficiency is not pursued or under short-distance working conditions.
Disclosure of Invention
In order to solve the existing technical problem, embodiments of the present application provide a loader control method, an apparatus, an electronic device, and a storage medium, so as to reduce oil consumption of a loader.
In order to achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:
in a first aspect, an embodiment of the present application provides a loader control method, where the method includes:
acquiring gear information, brake information and bucket pressure of a loader;
determining torque control information corresponding to the loader according to the gear information, the brake information and the bucket pressure; the torque control information is used for representing the corresponding relation between the torque and the rotating speed of the loader;
and controlling the loader to work based on the torque control information.
According to the embodiment of the application, after the torque control information corresponding to the loader at the current stage is determined according to the gear information, the brake information and the bucket pressure of the loader, the loader is controlled to operate based on the determined torque control information, the proper torque control information can be provided for the loader at different operation stages, and then the proper fuel injection quantity can be provided for the loader at different operation stages, so that the fuel consumption of the loader in the operation process is reduced.
An optional implementation manner is that, the determining a corresponding torque control map of the loader according to the gear information, the brake information and the bucket pressure includes:
determining an operation stage corresponding to the loader according to the gear information, the brake information and the bucket pressure;
and determining the torque control information corresponding to the working stage based on the corresponding relation between the preset working stage and the torque control information.
Because this application embodiment is based on gear information, brake information and scraper bowl pressure, after the operation stage of confirming the loader, confirm the moment of torsion control information that this loader corresponds at this operation stage, and then can confirm the suitable fuel injection quantity that the loader corresponds at this operation stage, reduce the unnecessary oil consumption of loader at the operation stage to reach the purpose that reduces the oil consumption of loader.
In an optional embodiment, before obtaining the gear information, the brake information and the bucket pressure of the loader, the method further comprises:
and determining the operation mode selected by the user as an intelligent operation mode.
In an optional implementation manner, the method further includes:
if the operation mode selected by the user is determined to be the efficient operation mode, controlling the loader to operate based on efficient torque control information; or
If the operation mode selected by the user is determined to be a standard operation mode, controlling the loader to operate based on the standard torque control information; compared with the standard torque control information, the high-efficiency torque control information has the same rotating speed, and the torque corresponding to the high-efficiency torque control information is larger; or
And if the user is determined not to select the operation mode, determining that the torque control information corresponding to the loader is the efficient torque control information, and controlling the loader to operate based on the efficient torque control information.
According to the method and the device, after the user selects the standard operation mode, the loader is controlled based on the standard torque control information; after the user selects the high-efficiency operation mode, controlling the loader to operate based on the high-efficiency torque control information; and after the fact that the user does not select the operation mode is determined, the loader is controlled to operate based on the efficient torque control information, flexible switching of the torque control information is achieved, and working efficiency of the loader is guaranteed.
An optional implementation is that, after controlling the loader to perform work based on the torque control information, the method further comprises:
and after the loader operation is finished, using the high-efficiency torque control information as default torque control information of the loader, and after the loader is restarted, performing operation based on the high-efficiency torque control information.
According to the embodiment of the application, after the loader is started again, the high-efficiency torque control information is set as the default torque control information, so that the loader can be started again and operated based on the high-efficiency torque control information, and the working efficiency of the loader is guaranteed.
In a second aspect, an embodiment of the present application provides a loader control apparatus, including:
the obtaining unit is used for obtaining gear information, brake information and bucket pressure of the loader;
the determining unit is used for determining torque control information corresponding to the loader according to the gear information, the brake information and the bucket pressure; the torque control information is used for representing the corresponding relation between the torque and the rotating speed of the loader;
and the control unit is used for controlling the loader to work based on the torque control information.
An optional implementation manner is that the determining unit is specifically configured to:
determining an operation stage corresponding to the loader according to the gear information, the brake information and the bucket pressure;
and determining the torque control information corresponding to the working stage based on the corresponding relation between the preset working stage and the torque control information.
In an optional embodiment, before acquiring the gear information, the brake information and the bucket pressure of the loader, the acquiring unit is further configured to:
and determining the operation mode selected by the user as an intelligent operation mode.
In an optional embodiment, the control unit is further configured to:
if the obtaining unit determines that the operation mode selected by the user is the efficient operation mode, controlling the loader to operate based on efficient torque control information; or
If the obtaining unit determines that the operation mode selected by the user is a standard operation mode, controlling the loader to operate based on the standard torque control information; compared with the standard torque control information, the high-efficiency torque control information has the same rotating speed, and the torque corresponding to the high-efficiency torque control information is larger; or
And if the obtaining unit determines that the user does not select the operation mode, determining that the torque control information corresponding to the loader is the efficient torque control information, and controlling the loader to operate based on the efficient torque control information.
In an optional embodiment, after controlling the loader to perform the work based on the torque control information, the control unit is further configured to:
and after the loader operation is finished, using the high-efficiency torque control information as default torque control information of the loader, and after the loader is restarted, performing operation based on the high-efficiency torque control information.
In a third aspect, an embodiment of the present application provides an electronic device, including a memory and a processor, where the memory stores a computer program executable on the processor, and when the computer program is executed by the processor, the processor is enabled to implement the loader control method according to any one of the first aspect.
In a fourth aspect, embodiments of the present application provide a computer storage medium having stored therein computer program instructions, which when run on a computer, cause the computer to perform the loader control method of any one of the above-mentioned first aspects.
For technical effects brought by any one implementation manner in the second aspect to the fourth aspect, reference may be made to technical effects brought by a corresponding implementation manner in the first aspect, and details are not described here.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a loader control method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a loader console according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of efficient torque control information provided by an embodiment of the present application;
FIG. 4 is a diagram illustrating standard torque control information provided by an embodiment of the present application;
FIG. 5 is a schematic diagram of a universal chart corresponding to a maximum efficiency V-type operation according to an embodiment of the present disclosure;
fig. 6 is a schematic view of a universal chart corresponding to a constant-efficiency V-type operation according to an embodiment of the present disclosure;
fig. 7 is a schematic flowchart illustrating a complete control method of a loader according to an embodiment of the present application;
fig. 8 is a block diagram of a structure of a loader control device according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present disclosure better understood by those of ordinary skill in the art, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
Some terms appearing herein are explained below:
(1) torque: is a special moment that causes the object to rotate. The torque of the engine is the torque output by the engine from the crankshaft. Under the condition of fixed power, the engine speed and the engine speed are in inverse proportion, the higher the speed and the lower the torque, and the higher the speed and the torque are, the load capacity of the automobile in a certain range is reflected. The external torque is called torque or external couple torque, and the internal torque is called internal couple torque or torque.
(2) External characteristic curve: the curve refers to the change curve of the maximum torque of the current engine along with the change of the rotating speed and under each rotating speed when the loader works. Representing the maximum capacity of the loader engine.
At present, in the prior art, when a loader works, the load of the whole loader changes along with the change of a working stage; under the working condition that the loader is fully loaded and under the working condition that the loader is unloaded, the corresponding fuel injection quantity is the same under the same rotating speed, so that the fuel consumption of the loader is higher under some working conditions that efficiency is not pursued or under short-distance working conditions.
Based on the above problem, as shown in fig. 1, an embodiment of the present application provides a loader control method, including the following steps:
and step S101, acquiring gear information, brake information and bucket pressure of the loader.
The gear information, the brake information and the pressure of the bucket of the loader can be obtained through the sensor in the loader.
In some embodiments, after determining that the operation mode selected by the user is the intelligent operation mode, the embodiment of the application acquires gear information, brake information and bucket pressure of the loader.
In specific implementation, a user can select an intelligent operation mode on a control console of the loader, and after the loader determines that the operation mode selected by the user is the intelligent operation mode, gear information, brake information and bucket pressure are acquired through sensors in the loader.
For example, as shown in fig. 2, the user may set the operation mode of the loader to the smart operation mode by pressing a smart operation mode start button on the console of the loader.
In some embodiments, the present disclosure may obtain gear information of the loader through a loader gear identification sensor, obtain brake information of the loader through a brake sensor, and obtain bucket pressure of the loader through a bucket cylinder pressure sensor.
And step S102, determining torque control information corresponding to the loader according to the gear information, the brake information and the bucket pressure.
The torque control information is used to represent the correspondence relationship between the torque and the rotational speed of the loader.
According to the embodiment of the application, the corresponding operation stage of the loader is determined according to the acquired gear information, the acquired brake information and the acquired bucket pressure; and then, determining the torque control information corresponding to the working stage based on the corresponding relation between the preset working stage and the torque control information.
It should be noted that the torque control information includes, but is not limited to, efficient torque control information and standard torque control information.
For example, as shown in fig. 3, embodiments of the present application provide a schematic diagram of efficient torque control information; as shown in fig. 4, the embodiment of the present application provides a schematic diagram of standard torque control information.
In step S103, the loader is controlled to perform work based on the torque control information.
After the torque control information corresponding to the loader in the current operation stage is determined, the torque corresponding to the rotating speed of the current loader is determined based on the determined torque control information, and then the oil injection amount is determined according to the determined torque to control the loader to operate.
According to the embodiment of the application, after the torque control information corresponding to the loader at the current stage is determined according to the gear information, the brake information and the bucket pressure of the loader, the loader is controlled to operate based on the determined torque control information, the proper torque control information can be provided for the loader at different operation stages, and then the proper fuel injection quantity can be provided for the loader at different operation stages, so that the fuel consumption of the loader in the operation process is reduced.
In some embodiments, the application embodiments may determine the corresponding operation stage of the loader by:
in implementation, the working phase corresponding to the loader is determined according to the acquired gear information, the acquired brake information and the acquired bucket pressure.
The gear information of the loader includes: forward first gear, forward second gear, reverse first gear and reverse second gear. The brake information of the loader comprises: and detecting a braking signal and not detecting the braking signal.
Specifically, if the obtained bucket pressure is greater than a first pressure threshold, the embodiment of the application determines that the loader loads goods, or the loader loads goods; if the obtained bucket pressure is greater than the second pressure threshold, the embodiment of the application determines that the loader is full.
In one operation process of the loader in the embodiment of the application, the corresponding operation stages include but are not limited to: the method comprises the following steps of no-load advancing stage, parking loading stage, full-load backing stage, full-load advancing stage, parking unloading stage, no-load backing stage and parking preparation advancing stage again.
In some embodiments, when the acquired gear information is first forward gear or second forward gear, the acquired bucket pressure is less than or equal to a first pressure threshold, and the acquired brake information is determined that no brake signal is detected, the corresponding operation phase of the loader is determined to be an idle forward phase.
For example, the first pressure threshold is 500N; the gear information of the loader obtained in the embodiment of the application is a forward first gear, the pressure of the bucket is determined to be 300N and smaller than a first pressure threshold value 500N, and when the brake information is obtained, a working stage of the loader is determined to be an idle forward stage.
In other embodiments, when the acquired gear information is a first forward gear, the acquired bucket pressure is greater than a first pressure threshold, and the acquired brake information is determined to be a detected brake signal, the operation phase corresponding to the loader is determined to be an empty loading phase.
For example, the first pressure threshold is 500N; the gear information of the loader obtained in the embodiment of the application is a forward first gear, the pressure of the bucket is determined to be 1000N and larger than a first pressure threshold value 500N, and when the brake information is obtained and a brake signal is detected, the operation stage of the loader is determined to be an idle load stage.
In other embodiments, when the acquired gear information is a reverse first gear, the acquired bucket pressure is greater than a second pressure threshold, and it is determined that the acquired brake information is that no brake signal is detected, the operation stage corresponding to the loader is determined to be a full-load reverse stage in the embodiments of the present application.
For example, the second pressure threshold is 100000N; according to the method and the device, the obtained gear information of the loader is determined to be a first reverse gear, the obtained bucket pressure is determined to be 102000N, the obtained bucket pressure is greater than a second pressure threshold value and is 100000N, and when the obtained brake information is determined to be that no brake signal is detected, the operation stage corresponding to the loader is determined to be a full-load reverse stage.
In other embodiments, when the acquired gear information is a first forward gear, the acquired bucket pressure is greater than a second pressure threshold, and it is determined that the acquired brake information is that no brake signal is detected, the working phase corresponding to the loader is determined to be a full-load forward phase.
For example, the second pressure threshold is 100000N; according to the method and the device, the obtained gear information of the loader is determined to be the first forward gear, the obtained bucket pressure is determined to be 102000N, the obtained bucket pressure is greater than a second pressure threshold value and is 100000N, and when the obtained brake information is determined to be that no brake signal is detected, the operation stage corresponding to the loader is determined to be the full-load forward stage.
In other embodiments, when the acquired gear information is a first forward gear, the acquired bucket pressure is greater than a second pressure threshold, and the acquired brake information is determined to be the detected brake signal, the working phase corresponding to the loader is determined to be a parking unloading phase according to the embodiments of the present application.
For example, the second pressure threshold is 100000N; according to the method and the device, the obtained gear information of the loader is determined to be the first forward gear, the obtained bucket pressure is determined to be 102000N, the obtained bucket pressure is greater than the second pressure threshold value and is 100000N, and when the obtained brake information is determined to be the detected brake signal, the operation stage corresponding to the loader is determined to be the parking unloading stage.
In other embodiments, when the acquired gear information is first reverse gear or second reverse gear, the acquired bucket pressure is less than or equal to a first pressure threshold, and it is determined that the acquired brake information is that no brake signal is detected, the operation stage corresponding to the loader is determined to be an idle-load reverse stage in the embodiments of the present application.
For example, the first pressure threshold is 500N; the gear information of the loader obtained in the embodiment of the application is a first reverse gear, the pressure of a bucket is determined to be 300N and smaller than a first pressure threshold value of 500N, and when the brake information is obtained, a brake signal is not detected, the operation stage of the loader is determined to be an idle-load reverse stage.
In other embodiments, when the acquired gear information is a reverse first gear, the acquired bucket pressure is less than or equal to a first pressure threshold value, and the acquired brake information is determined to be a detected brake signal, the working phase corresponding to the loader is determined to be a parking preparation forward phase.
For example, the first pressure threshold is 500N; the gear information of the loader acquired in the embodiment of the application is a reverse first gear, the pressure of a bucket is determined to be 300N and smaller than a first pressure threshold value 500N, and when the brake information is acquired and a brake signal is detected, the operation stage in which the loader is located is determined as a parking preparation second forward stage.
After the working stage corresponding to the loader is determined, the torque control information corresponding to the working stage is determined based on the corresponding relation between the preset working node and the torque control information.
Specifically, the correspondence relationship between the operation stage and the torque control information in the embodiment of the present application is shown in table 1:
TABLE 1 correspondence between operating phases and Torque control information
| Working phase | Torque control information |
| Advancing without load | Standard torque control information |
| Parking load | Efficient torque control information |
| Full-load reversing | Efficient torque control information |
| Full load forward | Efficient torque control information |
| Parking unloading | Efficient torque control information |
| No-load reversing | Standard torque control information |
| Parking ready to go forward again | Standard torque control information |
Wherein, the no-load advancing stage, the no-load backing stage and the parking preparation re-advancing stage are constant-efficiency V-shaped operation stages; the parking loading stage, the full-load reversing stage, the full-load advancing stage and the parking unloading stage are the maximum-efficiency V-shaped operation stages.
In specific implementation, according to the determined operation stage corresponding to the loader, the embodiment of the application determines the torque control information corresponding to the loader at the operation stage.
The high-efficiency torque control information corresponds to a larger torque than the standard torque control information at the same rotation speed. And, the larger the torque, the larger the corresponding fuel injection amount, and correspondingly, the greater the fuel consumption of the loader in the operation stage.
In some embodiments, after determining that the operation stage of the loader is the idle-load reversing stage, the embodiment of the application determines that the torque control information corresponding to the idle-load reversing stage is the standard torque control information, and switches the default torque control information corresponding to the operation of the loader from the efficient torque control information to the standard torque control information.
When the loader is in the idle forward stage, the idle reverse stage and the parking preparation forward stage again, the loader does not need to load goods, and compared with the parking loading stage, the full-load reverse stage, the full-load forward stage and the parking unloading stage, the engine of the loader has less oil consumption under the same rotating speed.
In some embodiments, the torque control information corresponding to the working phase may be determined by the embodiments of the present application in the following manner.
According to the embodiment of the application, when the loader works, the rotating speed and the torque value of the engine of the loader during working can be obtained according to the set time interval, point accumulation is carried out in the universal map, and the universal distribution map of the loader during working is obtained.
For example, in the embodiment of the application, when the loader works, the rotating speed and the torque value of the engine in working are collected every 0.2 second and are accumulated into a universal graph; the cycle time of the maximum efficiency V-type work of the loader is about 19 seconds, and the cycle time of the constant efficiency V-type work is within 30 seconds.
According to the embodiment of the application, the high-efficiency torque control information corresponding to the maximum-efficiency V-shaped operation is determined to be not suitable for the constant-efficiency V-shaped operation when the loader works according to the universal graphs when the engine of the loader performs the maximum-efficiency V-shaped operation and the universal graphs when the constant-efficiency V-shaped operation is performed.
For example, as shown in fig. 5, in the embodiment of the present application, based on the universal map corresponding to the maximum efficiency V-type work, the torque control information corresponding to the maximum efficiency V-type work of the loader is determined to be the efficient torque control information shown in fig. 3; as shown in fig. 6, in the embodiment of the present application, from the universal map corresponding to the constant-efficiency V-type work, the torque control information corresponding to the loader in the constant-efficiency V-type work is determined to be the standard torque control information shown in fig. 4. Wherein, the line segment is an external characteristic curve, and the gray point is a rotating speed torque value when the engine works.
In other embodiments, if the embodiment determines that the operation mode selected by the user is the efficient operation mode, the loader is controlled to perform the operation based on the efficient torque control information.
Specifically, the user may place the loader in the efficient work mode by pressing an efficient work mode start button on the console of the loader, performing work based on the efficient torque control information.
In other embodiments, if the embodiment determines that the operation mode selected by the user is the standard operation mode, the loader is controlled to perform the operation based on the standard torque control information.
Specifically, the user may place the loader in the standard work mode by pressing a standard work mode start button on the console of the loader, performing work based on the standard torque control information.
In other embodiments, if it is determined that the user does not select the operation mode, the torque control information corresponding to the loader is determined to be efficient torque control information, and the loader is controlled to perform an operation based on the efficient torque control information.
After the torque control information corresponding to the loader is determined, the embodiment of the application performs work based on the determined torque control information.
In specific implementation, the embodiments of the present application can be operated in the following manner.
After the torque control information corresponding to the loader is determined, the opening degree of the accelerator is determined; and determining the target rotating speed corresponding to the engine according to the opening degree of the accelerator.
The target rotation speed is an ideal rotation speed corresponding to the accelerator opening degree when no load is applied.
In some embodiments, the target rotation speed corresponding to the engine is determined based on the corresponding relation between the accelerator opening and the rotation speed.
According to the method and the device, after the target rotating speed is determined, the load of the whole loader of the loader is obtained, and the actual rotating speed corresponding to the engine is determined based on the obtained load of the whole loader and the target rotating speed.
It should be noted that the load of the entire vehicle includes, but is not limited to: the loader loads the load of the goods, the vehicle speed load and the ground friction resistance load.
According to the embodiment of the application, the torque corresponding to the rotating speed is determined based on the torque control information according to the target rotating speed and the actual rotating speed.
It should be noted that the torque control information includes a plurality of sets of corresponding relationships between the rotational speed and the torque; wherein each set of corresponding relationships corresponds to a target rotational speed. For example, the torque control information includes correspondence between the rotational speeds and torques of three groups of the empty vehicle 1000, the empty vehicle 1200, and the empty vehicle 1400; wherein 1000, 1200, 1400 represent the target rotation speed corresponding to the accelerator opening.
In specific implementation, after the target rotating speed is determined, the corresponding relation between the rotating speed corresponding to the target rotating speed and the torque is determined; and determining the actual rotating speed corresponding to the actual engine according to the load of the whole vehicle, taking the torque corresponding to the actual rotating speed as the accelerator torque of the engine, and controlling the fuel injection quantity to enable the loader to operate.
For example, as shown in fig. 4, the torque control information is standard torque control information, and the target rotation speed is 1000 r/min; in the embodiment of the application, the corresponding relationship between the rotating speed and the torque corresponding to the target rotating speed 1000r/min is determined from the standard torque control information, and the group is the corresponding relationship between the rotating speed and the torque of the empty vehicle 1000. According to the method and the device, the actual rotating speed 600r/min corresponding to the engine is determined based on the obtained load and the target rotating speed of the whole vehicle, and then the torque corresponding to the actual rotating speed 900r/min is 380N × m from the corresponding relation between the rotating speed and the torque of the empty vehicle 1000 in the group; according to the 380N m determined, the corresponding fuel injection quantity is determined, the engine is filled with fuel, and power is provided for the loader to operate.
After determining that the loader works, the efficient torque control information is used as the default torque control information of the loader, and the loader is restarted and works based on the efficient torque control information.
In specific implementation, after determining that the loader works, the electronic device uses the high-efficiency torque control information as default torque control information of the loader, so that when the loader is started and the working mode is not selected, the loader works based on the high-efficiency torque control information.
As shown in fig. 7, the present application provides a complete flow chart of a loader control method, which includes the following steps:
step S701, determining that the loader starts to work;
step S702, determining whether the user selects the operation mode; if yes, go to step S703; if not, go to step S709;
step S703, determining the operation mode selected by the user; if the operation mode is the intelligent operation mode, go to step S704; if the operation mode is the standard operation mode, go to step S708; if the operation mode is the high-efficiency operation mode, executing step S709;
step S704, gear information, brake information and bucket pressure of the loader are obtained;
step S705, determining a working stage corresponding to the loader according to the gear information, the brake information and the bucket pressure;
step S706, determining torque control information corresponding to the working stage based on the corresponding relation between the preset working stage and the torque control information;
the torque control information is used for representing the corresponding relation between the torque and the rotating speed of the loader;
step S707, controlling the loader to work based on the determined torque control information;
step 708, controlling the loader to perform work based on the standard torque control information;
step S709 of controlling the loader to perform work based on the high-efficiency torque control information;
it should be noted that, compared with the standard torque control information, the high-efficiency torque control information has the same rotation speed, and the torque corresponding to the high-efficiency torque control information is larger;
step S710, determining that the operation of the loader is finished;
in step S711, the high-efficiency torque control information is used as default torque control information of the loader, and the loader is restarted and then performs work based on the high-efficiency torque control information.
Based on the same inventive concept, the embodiment of the present application further provides a loader control device, and as the principle of the device for solving the problem is similar to the loader control method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and repeated details are omitted.
As shown in fig. 8, an embodiment of the present application provides a loader control device, including:
an acquisition unit 801 for acquiring gear information, brake information, and bucket pressure of the loader;
the determining unit 802 is configured to determine torque control information corresponding to the loader according to the gear information, the brake information, and the bucket pressure; the torque control information is used for representing the corresponding relation between the torque and the rotating speed of the loader;
and a control unit 803 for controlling the loader to perform work based on the torque control information.
An optional implementation manner is that the determining unit 802 is specifically configured to:
determining a corresponding operation stage of the loader according to the gear information, the brake information and the pressure of the bucket;
and determining the torque control information corresponding to the working stage based on the corresponding relation between the preset working stage and the torque control information.
In an alternative embodiment, before acquiring the gear information, the brake information and the bucket pressure of the loader, the acquiring unit 801 is further configured to:
and determining the operation mode selected by the user as an intelligent operation mode.
In an optional embodiment, the control unit 803 is further configured to:
if the obtaining unit 801 determines that the operation mode selected by the user is the efficient operation mode, the loader is controlled to perform operation based on the efficient torque control information; or
If the obtaining unit 801 determines that the operation mode selected by the user is the standard operation mode, the loader is controlled to perform operation based on the standard torque control information; compared with the standard torque control information, the high-efficiency torque control information has the same rotating speed and larger torque corresponding to the high-efficiency torque control information; or
If the obtaining unit 801 determines that the user does not select the work mode, it determines that the torque control information corresponding to the loader is the efficient torque control information, and controls the loader to perform work based on the efficient torque control information.
In an alternative embodiment, after controlling the loader to perform the work based on the torque control information, the control unit 803 is further configured to:
after the loader operation is finished, the efficient torque control information is used as default torque control information of the loader, and after the loader is restarted, the operation is carried out based on the efficient torque control information.
The embodiment of the application provides an electronic device based on the same inventive concept as the loader control method shown in fig. 1. As shown in fig. 9, for convenience of explanation, only the parts related to the embodiments of the present application are shown, and specific technical details are not disclosed, and reference may be made to the parts of the embodiments of the method of the present application. The electronic device may be an engine controller.
The device comprises at least a memory for storing data and a processor for data processing. The processor for data Processing may be implemented by a microprocessor, a CPU, a GPU (Graphics Processing Unit), a DSP, or an FPGA when executing Processing. For the memory, the memory stores therein operation instructions, which may be computer executable codes, and the operation instructions implement the steps in the flow of the loader control method according to the embodiment of the present application.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application; as shown in fig. 9, the electronic device 100 in the embodiment of the present application includes: a memory 131, a communication module 133, and one or more processors 132.
A memory 131 for storing computer programs executed by the processor 132. The memory 131 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a program required for running an instant messaging function, and the like; the storage data area can store various instant messaging information, operation instruction sets and the like.
The processor 132 may include one or more Central Processing Units (CPUs), or be a digital processing unit, etc. The processor 132 is configured to implement the above-mentioned loader control method when calling the computer program stored in the memory 131.
The communication module 133 is used for communicating with the sensor to acquire data.
The specific connection medium among the memory 131, the communication module 133 and the processor 132 is not limited in the embodiments of the present application. In fig. 9, the memory 131 and the processor 132 are connected by a bus 134, the bus 134 is represented by a thick line in fig. 9, and the connection manner between other components is merely illustrative and not limited. The bus 134 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 9, but this does not indicate only one bus or one type of bus.
According to an aspect of the application, a computer program product or computer program is provided, comprising computer instructions, the computer instructions being stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the loader control method in any of the above embodiments.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A loader control method, characterized by comprising:
acquiring gear information, brake information and bucket pressure of a loader;
determining torque control information corresponding to the loader according to the gear information, the brake information and the bucket pressure; the torque control information is used for representing the corresponding relation between the torque and the rotating speed of the loader;
and controlling the loader to work based on the torque control information.
2. The method of claim 1, wherein determining a torque control map for the loader based on the gear information, the brake information, and the bucket pressure comprises:
determining an operation stage corresponding to the loader according to the gear information, the brake information and the bucket pressure;
and determining the torque control information corresponding to the working stage based on the corresponding relation between the preset working stage and the torque control information.
3. The method of claim 1, wherein prior to obtaining gear information, brake information, and bucket pressure of the loader, the method further comprises:
and determining the operation mode selected by the user as an intelligent operation mode.
4. The method of claim 3, further comprising:
if the operation mode selected by the user is determined to be the efficient operation mode, controlling the loader to operate based on efficient torque control information; or
If the operation mode selected by the user is determined to be a standard operation mode, controlling the loader to operate based on standard torque control information; compared with the standard torque control information, the high-efficiency torque control information has the same rotating speed, and the torque corresponding to the high-efficiency torque control information is larger; or
And if the user is determined not to select the operation mode, determining that the torque control information corresponding to the loader is the efficient torque control information, and controlling the loader to operate based on the efficient torque control information.
5. The method of any of claims 1-4, wherein after controlling the loader for operation based on the torque control information, the method further comprises:
and after the loader operation is finished, using the high-efficiency torque control information as default torque control information of the loader, and after the loader is restarted, performing operation based on the high-efficiency torque control information.
6. A loader control apparatus characterized by comprising:
the obtaining unit is used for obtaining gear information, brake information and bucket pressure of the loader;
the determining unit is used for determining torque control information corresponding to the loader according to the gear information, the brake information and the bucket pressure; the torque control information is used for representing the corresponding relation between the torque and the rotating speed of the loader;
and the control unit is used for controlling the loader to work based on the torque control information.
7. The apparatus according to claim 6, wherein the determining unit is specifically configured to:
determining an operation stage corresponding to the loader according to the gear information, the brake information and the bucket pressure;
and determining the torque control information corresponding to the working stage based on the corresponding relation between the preset working stage and the torque control information.
8. The apparatus of claim 6, wherein the obtaining unit is further configured to, prior to obtaining the gear information, the brake information, and the bucket pressure of the loader:
and determining the operation mode selected by the user as an intelligent operation mode.
9. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, the computer program, when executed by the processor, implementing the method of any of claims 1-5.
10. A computer-readable storage medium having a computer program stored therein, the computer program characterized by: the computer program, when executed by a processor, implements the method of any of claims 1-5.
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| CN202110906704.5A CN113737884A (en) | 2021-08-09 | 2021-08-09 | Loader control method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110906704.5A CN113737884A (en) | 2021-08-09 | 2021-08-09 | Loader control method and device, electronic equipment and storage medium |
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| CN113737884A true CN113737884A (en) | 2021-12-03 |
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| CN202110906704.5A Pending CN113737884A (en) | 2021-08-09 | 2021-08-09 | Loader control method and device, electronic equipment and storage medium |
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Cited By (1)
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| WO2025097581A1 (en) * | 2023-11-07 | 2025-05-15 | 江苏徐工国重实验室科技有限公司 | Loader control method, controller, control system, storage medium and loader |
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