CN115107858B - Loader steering control method, device, equipment and storage medium - Google Patents
Loader steering control method, device, equipment and storage medium Download PDFInfo
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- CN115107858B CN115107858B CN202210881845.0A CN202210881845A CN115107858B CN 115107858 B CN115107858 B CN 115107858B CN 202210881845 A CN202210881845 A CN 202210881845A CN 115107858 B CN115107858 B CN 115107858B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a loader steering control method, a device, equipment and a storage medium, wherein the method comprises the following steps: acquiring the rotation angle and the rotation angular speed of the electronic steering wheel through a remote controller; determining a target steering angle of the loader according to the corresponding relation between the electronic steering wheel rotation angle and the loader steering angle; determining a target steering angular speed of the loader according to the electronic steering wheel rotation angular speed; determining a target working mode of a steering controller according to the target steering angle, the actual steering angle of the loader and the mechanical steering angular speed of the mechanical steering wheel; and controlling the loader to steer through the steering controller based on the target working mode, the target steering angular speed, the target steering angle and the actual steering angle. Through the scheme, the steering of the loader can be remotely controlled, so that the safety of operators is ensured, and meanwhile, the steering control precision of the loader is ensured.
Description
Technical Field
The embodiment of the invention relates to the field of computers, in particular to a loader steering control method, a loader steering control device, loader steering control equipment and a storage medium.
Background
The loader is used as important equipment for infrastructure construction and is widely applied to the fields of earth and stone construction, water conservancy and hydropower construction, mining field energy development and the like. At present, a manual operation mode is basically adopted to carry out steering control on the loader, and the steering control mode can influence the normal operation of operators and even damage the health of the operators under certain special working condition conditions, such as high temperature or high risk severe environment. Therefore, how to realize the remote control of the steering of the loader, ensure the health of operators and ensure the steering control precision of the loader at the same time is a problem to be solved.
Disclosure of Invention
The invention provides a steering control method, a device, equipment and a storage medium for a loader, which can realize remote control of steering of the loader, thereby ensuring the safety of operators and ensuring the steering control precision of the loader.
According to an aspect of the present invention, there is provided a loader steering control method including:
acquiring the rotation angle and the rotation angular speed of the electronic steering wheel through a remote controller;
determining a target steering angle of the loader according to the corresponding relation between the electronic steering wheel rotation angle and the loader steering angle;
Determining a target steering angular speed of the loader according to the electronic steering wheel rotation angular speed;
determining a target working mode of a steering controller according to the target steering angle, the actual steering angle of the loader and the mechanical steering angular speed of the mechanical steering wheel;
and controlling the loader to steer through the steering controller based on the target working mode, the target steering angular speed, the target steering angle and the actual steering angle.
According to another aspect of the present invention, there is provided a loader steering control device, the device comprising:
the rotating angle acquisition module is used for acquiring the rotating angle of the electronic steering wheel and the rotating angular speed of the electronic steering wheel through the remote controller;
the target steering angle determining module is used for determining the target steering angle of the loader according to the corresponding relation between the electronic steering wheel rotating angle and the loader steering angle;
the target steering angular velocity determining module is used for determining the target steering angular velocity of the loader according to the electronic steering wheel rotating angular velocity;
the target working mode determining module is used for determining a target working mode of the steering controller according to the target steering angle, the actual steering angle of the loader and the mechanical steering angular speed of the mechanical steering wheel;
And the loader steering control module is used for controlling the loader to steer through the steering controller based on the target working mode, the target steering angular speed, the target steering angle and the actual steering angle.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the loader steering control method according to any of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a loader steering control method according to any of the embodiments of the present invention.
According to the technical scheme, the electronic steering wheel rotation angle and the electronic steering wheel rotation angular speed are obtained through a remote controller; determining a target steering angle of the loader according to the corresponding relation between the electronic steering wheel rotation angle and the loader steering angle; determining a target steering angular speed of the loader according to the electronic steering wheel rotation angular speed; determining a target working mode of a steering controller according to the target steering angle, the actual steering angle of the loader and the mechanical steering angular speed of the mechanical steering wheel; the loader is controlled to steer by a steering controller based on the target operating mode, the target steering angular velocity, the target steering angle, and the actual steering angle. According to the scheme, the target steering angle and the target steering angular speed of the loader can be determined according to the electronic steering wheel rotating angle and the electronic steering wheel rotating angular speed; and controlling, by the steering controller, the loader steering based on the target operating mode, the target steering angular velocity, the target steering angle sum, the actual steering angle. The electronic steering wheel is used for remotely controlling the steering of the loader, so that the health hazard of the loader to the operator is avoided when the operator of the loader is under the severe working condition, and the steering control precision of the loader is ensured while the health of the operator of the loader is ensured.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a loader steering control method according to an embodiment of the present invention;
fig. 2 is a flowchart of a loader steering control method according to a second embodiment of the present invention;
FIG. 3 is a flow chart of a loader steering control method according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a steering control device of a loader according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "current," "target," "first," and "second," and the like in the description and claims of the present invention and in the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "includes," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a loader steering control method according to an embodiment of the present invention, which is applicable to a case of remotely controlling steering of a loader. The method may be performed by a loader steering control device, which may be implemented in hardware and/or software, which may be configured in an electronic device, such as a steering control system of an electronic device.
In this embodiment, the steering control system is mainly composed of a vehicle-mounted control subsystem and a remote control subsystem. The vehicle-mounted control subsystem comprises a whole vehicle controller of the loader, a mechanical steering wheel, a steering controller, a vehicle-mounted display, a vehicle-mounted sensor, a steering electromagnetic valve and a vehicle-mounted mobile network terminal. The remote control subsystem comprises a remote control controller, an electronic steering wheel, a remote display, remote operation keys and a remote mobile network terminal.
The vehicle-mounted sensor comprises a steering column angle sensor, a steering column angular velocity sensor and a piston rod displacement sensor in the steering cylinder. The piston rod displacement sensor is arranged inside the steering oil cylinder and used for collecting displacement data of a piston rod in the steering oil cylinder. The steering column is an element which is connected with the steering wheel and the steering controller in the vehicle-mounted control subsystem, and can transmit torque to the steering controller through the steering column to drive the steering controller to realize steering. The vehicle-mounted mobile network terminal can be connected with the whole vehicle controller through a network cable, so that the vehicle-mounted control subsystem can be connected with the mobile network and is communicated with the remote control subsystem integrated with the remote mobile network terminal.
As shown in fig. 1, the method includes:
s110, acquiring the rotation angle and the rotation angular speed of the electronic steering wheel through a remote controller.
The remote controller is used for receiving the sensing data transmitted by the sensor when the remote control loader turns. The sensor is a sensor in an electronic steering wheel. The electronic steering wheel is a steering wheel with a remote control function, which can be rotated by an operator when the remote control loader turns.
Specifically, when an operator rotates the electronic steering wheel, the sensor on the electronic steering wheel transmits the electronic steering wheel rotation angle and the electronic steering wheel rotation angular speed to the remote controller in real time.
S120, determining a target steering angle of the loader according to the corresponding relation between the electronic steering wheel rotation angle and the loader steering angle.
The steering angle of the loader refers to the angle required to be rotated by the loader when an operator rotates an electronic steering wheel and remotely controls the loader to steer. The target steering angle of the loader refers to the steering angle of the loader corresponding to the rotation angle of the electronic steering wheel when the loader is remotely controlled to steer.
Specifically, according to the actual situation, the corresponding relation between the rotation angle of the electronic steering wheel and the steering angle of the loader is preset, and the corresponding relation is stored in the remote control. And determining the steering angle of the loader corresponding to the electronic steering wheel rotation angle as the target steering angle of the loader according to the corresponding relation between the electronic steering wheel rotation angle and the steering angle of the loader through the remote controller.
S130, determining the target steering angular speed of the loader according to the electronic steering wheel rotation angular speed.
The target steering angular speed is the angular speed of the loader in the steering process when the loader steers according to the received steering control signal. The steering control signal may be a signal for controlling the steering of the loader, which is sent by an operator through turning an electronic steering wheel, or a signal for controlling the steering of the loader, which is sent by an operator through turning a mechanical steering wheel.
When the electronic steering wheel is rotated to realize remote control of the steering of the loader, the rotation angular speed of the electronic steering wheel can represent the speed of the steering angular speed of the loader when the steering of the loader is controlled. For example, if the electronic steering wheel rotates at a high angular velocity, it is indicated that it is necessary to control the loader to make a sharp turn.
Specifically, the electronic steering wheel rotation angular velocity is determined to be the target steering angular velocity of the loader through the remote control.
And S140, determining a target working mode of the steering controller according to the target steering angle, the actual steering angle of the loader and the mechanical steering angular speed of the mechanical steering wheel.
The actual steering angle of the loader is the steering angle of the loader in the actual steering process when the loader is remotely controlled to steer by rotating the electronic steering wheel. The actual steering angle of the loader is dynamically changed during the steering of the loader. The mechanical steering wheel is a steering wheel which is arranged on the loader and used for controlling the steering of the loader in a short distance. The steering controller is a PID (Proportion Integration Differentiation, proportional-integral-derivative) controller, and the PID controller is a feedback loop component applied to the field of industrial control and consists of a proportional unit P, an integral unit I and a derivative unit D.
Specifically, after the remote controller determines the target steering angle and the target steering angular velocity, the target steering angle and the target steering angular velocity are used as steering control instructions for the loader, the steering control instructions are converted into data instructions in a TCP/IP protocol format, and the data instructions are sent to the whole vehicle controller of the loader through moving data. After the whole vehicle controller acquires the data instruction, the data instruction is converted into a steering control instruction according to a TCP/IP protocol, a target steering angle and a target steering angular speed are determined according to the steering control instruction, and the target steering angle and the target steering angular speed are sent to the steering controller. The steering controller determines a target operating mode based on the mechanical steering angle speed of the mechanical steering wheel and an angle difference between the target steering angle and an actual steering angle of the loader.
By way of example, the target operating mode of the steering controller may be determined by the following substeps:
s1401, if the mechanical steering angular velocity of the mechanical steering wheel is greater than the set angular velocity, and the angle difference between the target steering angle and the actual steering angle of the loader is smaller than or equal to the first difference, determining that the target working mode of the steering controller is the mechanical working mode; in the machine mode of operation, the steering controller preferably executes machine steering wheel commands.
The set angular speed is determined according to the operation experience of an operator on the loader and the vibration condition of the vehicle. The function of setting the angular velocity is to avoid the problem of incorrect steering of the loader due to small shaking of the mechanical steering wheel caused by vibration impact, acceleration and deceleration or steering of the loader. The first difference value is set according to actual needs, and when the loader is controlled to steer, the maximum error value between the allowable target steering angle and the actual steering angle is set. The mechanical working mode refers to a working mode for controlling the steering of the loader at a short distance, namely a working mode for executing a mechanical steering wheel command sent by a mechanical steering wheel by a steering controller. The mechanical steering wheel command may be issued by rotating a mechanical steering wheel, the mechanical steering wheel command including a mechanical steering angle and a mechanical steering angular velocity when the mechanical steering wheel is rotated.
Specifically, the set angular velocity is set according to the operating experience of the operator on the loader and the vibration condition of the vehicle. And determining whether an operator operates the mechanical steering wheel according to the comparison result of the mechanical steering angular speed of the mechanical steering wheel and the set angular speed. If the mechanical steering angular velocity is greater than the set angular velocity, it is determined that the operator of the loader is operating the mechanical steering wheel. Further, an angle difference between the target steering angle and the actual steering angle of the loader is calculated, and if the angle difference is smaller than or equal to the first difference, the target working mode of the steering controller is determined to be a mechanical working mode. In the mechanical working mode, the steering controller preferentially executes steering control instructions sent by the mechanical steering wheel, and in the mechanical working mode, if the mechanical steering wheel and the electronic steering wheel send steering control instructions at the same time, the steering controller executes the steering control instructions sent by the mechanical steering wheel, and the steering controller controls the steering of the loader according to the mechanical steering angular speed and the mechanical steering angle of the mechanical steering wheel.
S1402, if the mechanical steering angular velocity is smaller than the set angular velocity, and the angle difference between the target steering angle and the actual steering angle is larger than the first difference and smaller than the second difference, determining that the target working mode of the steering controller is a remote control working mode; in the remote control mode of operation, the steering controller executes electronic steering wheel commands.
The remote control working mode refers to a working mode of remotely controlling the steering of the loader, namely, a working mode of executing an electronic steering wheel instruction sent by an electronic steering wheel by a steering controller. The electronic steering wheel command may be issued by rotating the electronic steering wheel, the electronic steering wheel command including an electronic steering wheel rotation angle and an electronic steering wheel rotation angular velocity when the mechanical steering wheel is rotated. The second difference value refers to an upper error limit between the target steering angle and the actual steering angle when the loader is remotely controlled to steer. It will be appreciated that if the angle difference between the target steering angle and the actual steering angle is greater than the second difference, it may be considered that the electronic steering wheel command sent by the electronic steering wheel has a transmission error in the transmission process, and the steering controller does not execute the electronic steering wheel command.
Specifically, whether an operator operates the mechanical steering wheel is determined based on a comparison of the mechanical steering angular velocity of the mechanical steering wheel and the set angular velocity. If the mechanical steering angular velocity is smaller than the set angular velocity, the mechanical steering wheel is determined not to be operated by an operator at the moment. Further, an angle difference between the target steering angle and the actual steering angle of the loader is calculated, and if the angle difference is greater than the first difference and less than the second difference, the target working mode of the steering controller is determined to be a remote control working mode. In the remote control mode of operation, only the electronic steering wheel will issue steering control commands, i.e., electronic steering wheel commands. When the electronic steering wheel sends out an electronic steering wheel instruction, the steering controller controls the loader to steer according to the received target steering angle and target steering angular speed.
S1403, if the mechanical steering angular speed is greater than the set angular speed, and the angle difference between the target steering angle and the actual steering angle is greater than the first difference and less than the second difference, determining that the target working mode of the steering controller is a safe working mode; in the safe operating mode, the steering controller executes a mechanical steering wheel command.
The safety operation mode is an operation mode in which the steering controller does not execute an electronic steering wheel command and only executes a mechanical steering wheel command.
Specifically, whether an operator operates the mechanical steering wheel is determined based on a comparison of the mechanical steering angular velocity of the mechanical steering wheel and the set angular velocity. If the mechanical steering angular velocity is greater than the set angular velocity, it is determined that the operator of the loader is operating the mechanical steering wheel. Further, an angle difference between the target steering angle and the actual steering angle of the loader is calculated, and if the angle difference is greater than the first difference and less than the second difference, the target working mode of the steering controller is determined to be a safe working mode. In the safe working mode, the steering controller only executes the steering control instruction sent by the mechanical steering wheel and does not execute the steering control instruction sent by the electronic steering wheel, and after the safe working mode is released, the steering controller can determine whether to execute the steering control instruction sent by the electronic steering wheel according to the target steering angle, the actual steering angle of the loader and the mechanical steering angular speed of the mechanical steering wheel. Releasing the safe operating mode requires restarting the steering control system, which may be implemented via a remote operation key in the remote control subsystem.
It can be understood that, according to the comparison result between the mechanical steering angular speed and the set angular speed and the difference between the actual steering angle and the target steering angle of the loader, the target working mode of the steering controller is determined, so that when the mechanical steering wheel and the electronic steering wheel send steering instructions to the steering controller at the same time, the steering controller can be ensured to execute the steering instructions sent by the mechanical steering wheel preferentially; and when the mechanical steering wheel and the electronic steering wheel send different steering instructions, the target working mode of the steering controller is adjusted to be a safe working mode, so that the operation safety of operators is ensured, and the steering control precision of the loader is ensured.
And S150, controlling the steering of the loader through a steering controller based on the target working mode, the target steering angular speed, the target steering angle and the actual steering angle.
Specifically, if the target operation mode is the mechanical operation mode, when the electronic steering wheel and the mechanical steering wheel simultaneously issue a steering control command, the steering controller preferentially executes the mechanical steering wheel command, and uses the mechanical steering angle of the mechanical steering wheel as the target steering angle and the mechanical steering angular velocity of the mechanical steering wheel as the target steering angular velocity.
If the target working mode is a remote control working mode, when the electronic steering wheel sends out a steering control instruction, the steering controller executes the electronic steering wheel instruction, determines a target steering angle according to the rotating angle of the electronic steering wheel, and targets the steering angular speed according to the rotating angular speed of the electronic steering wheel.
If the target operation mode is the mechanical operation mode, the steering controller can only execute the mechanical steering wheel instruction, and the steering controller takes the mechanical steering angle of the mechanical steering wheel as the target steering angle and takes the mechanical steering angular velocity of the mechanical steering wheel as the target steering angular velocity.
After the target steering angle and the target steering angular velocity are determined, the control parameters of the steering controller are adjusted according to the target steering angular velocity, wherein the control parameters comprise a proportional adjustment coefficient, an integral adjustment coefficient and a differential adjustment coefficient. And then taking the target steering angle and the actual steering angle as input parameters of a steering controller, so that the steering controller controls the steering of the loader according to the control parameters and the input parameters.
According to the technical scheme provided by the embodiment, the electronic steering wheel rotation angle and the electronic steering wheel rotation angular speed are obtained through a remote controller; determining a target steering angle of the loader according to the corresponding relation between the electronic steering wheel rotation angle and the loader steering angle; determining a target steering angular speed of the loader according to the electronic steering wheel rotation angular speed; determining a target working mode of a steering controller according to the target steering angle, the actual steering angle of the loader and the mechanical steering angular speed of the mechanical steering wheel; the loader is controlled to steer by a steering controller based on the target operating mode, the target steering angular velocity, the target steering angle, and the actual steering angle. According to the scheme, the target steering angle and the target steering angular speed of the loader can be determined according to the electronic steering wheel rotating angle and the electronic steering wheel rotating angular speed; and controlling, by the steering controller, the loader steering based on the target operating mode, the target steering angular velocity, the target steering angle sum, the actual steering angle. The electronic steering wheel is used for remotely controlling the steering of the loader, so that the health hazard of the loader to the operator is avoided when the operator of the loader is under the severe working condition, and the steering control precision of the loader is ensured while the health of the operator of the loader is ensured.
Example two
Fig. 2 is a flowchart of a steering control method for a loader according to a second embodiment of the present invention, in which the present embodiment is optimized based on the above-mentioned embodiments, and a preferred implementation manner of controlling the steering of the loader by a steering controller based on a target operation mode, a target steering angular velocity, a target steering angle and an actual steering angle is provided. Specifically, as shown in fig. 2, the method includes:
s210, acquiring the rotation angle and the rotation angular speed of the electronic steering wheel through a remote controller.
S220, determining a target steering angle of the loader according to the corresponding relation between the electronic steering wheel rotation angle and the loader steering angle.
S230, determining the target steering angular speed of the loader according to the electronic steering wheel rotation angular speed.
S240, determining a target working mode of the steering controller according to the target steering angle, the actual steering angle of the loader and the mechanical steering angular speed of the mechanical steering wheel.
S250, correcting the target steering angular velocity according to the current vehicle speed, and determining the corrected steering angular velocity.
The current vehicle speed refers to the running speed of the loader when the whole vehicle controller acquires a steering control instruction. The corrected steering angular velocity is an angular velocity value that meets the current vehicle speed demand of the loader and approximates the target steering angular velocity.
When the current vehicle speed is high and the target steering angular speed is high, if the steering controller directly controls the steering of the loader according to the target steering angular speed, the stability of the running of the loader may be affected, and the loader may be turned over.
Specifically, after the vehicle controller acquires the steering control instruction, the target steering angular speed is determined according to the steering control instruction. And judging whether the target steering angular speed can influence the running stability of the loader according to the target steering angular speed and the current vehicle speed. If yes, the target steering angular velocity is corrected according to a preset correction rule, and the corrected target steering angular velocity is taken as the corrected steering angular velocity.
Illustratively, determining the corrected steering angle based on the current vehicle speed and the target steering angle may be accomplished by the sub-steps of:
s2501, determining the maximum steering angular velocity corresponding to the current vehicle speed;
the maximum steering angular velocity is a maximum value of the steering angular velocity of the loader that can keep the loader stably traveling when the loader travels based on the current vehicle speed and the loader steering needs to be controlled.
Specifically, a calculation rule between the current vehicle speed and the maximum steering angular velocity of the loader may be preset according to the actual running condition of the loader. According to the calculation rule, the maximum steering angular speed corresponding to the current vehicle speed can be calculated through the current vehicle speed. In the calculation rule, if the current vehicle speed is smaller than or equal to the vehicle speed threshold value, the larger the current vehicle speed is, the smaller the maximum steering angular speed is; and if the current vehicle speed is greater than the vehicle speed threshold, the maximum steering angular speed corresponding to the current vehicle speed is the maximum steering angular speed corresponding to the vehicle speed threshold. The vehicle speed threshold may be set according to the actual running condition of the loader.
S2502, if the target steering angular velocity is greater than the maximum steering angular velocity, the maximum steering angular velocity is regarded as the corrected steering angular velocity.
Specifically, after determining the maximum steering angular velocity according to the current vehicle speed, comparing the target steering angular velocity with the maximum steering angular velocity, and if the target steering angular velocity is greater than the maximum steering angular velocity, taking the maximum steering angular velocity as the corrected steering angular velocity.
S2503, if the target steering angular velocity is less than or equal to the maximum steering angular velocity, determining the target steering angular velocity as the corrected steering angular velocity.
Specifically, if the target steering angular velocity is less than or equal to the maximum steering angular velocity as a result of the comparison between the target steering angular velocity and the maximum steering angular velocity, the target steering angular velocity is taken as the corrected steering angular velocity.
It can be understood that the target steering angular velocity is corrected according to the maximum steering angular velocity corresponding to the target steering angular velocity and the current vehicle speed, and the corrected steering angular velocity is determined, so that the influence of the vehicle speed of the loader on the steering of the loader can be fully considered when the steering of the loader is controlled, and the problem of unstable vehicle body in the steering process of the loader due to the fact that the vehicle speed and the steering speed of the loader are too high is avoided. The safety and stability of the loader during steering are guaranteed.
S260, controlling the loader to steer through a steering controller based on the target working mode, the corrected steering angular speed, the target steering angle and the actual steering angle.
Specifically, if the target operation mode is the mechanical operation mode, the steering controller preferentially executes the mechanical steering wheel command, and sets the mechanical steering angle of the mechanical steering wheel as the target steering angle and the mechanical steering angular velocity of the mechanical steering wheel as the target steering angular velocity. And determining a corrected steering angular velocity based on the target steering angular velocity.
If the target working mode is a remote control working mode, the steering controller determines a target steering angle according to the rotation angle of the electronic steering wheel and targets steering angular speed according to the rotation angular speed of the electronic steering wheel. And determining a corrected steering angular velocity based on the target steering angular velocity.
If the target operation mode is the mechanical operation mode, the steering controller sets the mechanical steering angle of the mechanical steering wheel as the target steering angle and sets the mechanical steering angular velocity of the mechanical steering wheel as the target steering angular velocity. And determining a corrected steering angular velocity based on the target steering angular velocity.
After the target steering angle and the corrected steering angular velocity are determined, the control parameters of the steering controller are adjusted according to the corrected steering angular velocity, wherein the control parameters comprise a proportional adjustment coefficient, an integral adjustment coefficient and a differential adjustment coefficient. And then taking the target steering angle and the actual steering angle as input parameters of a steering controller, so that the steering controller controls the steering of the loader according to the control parameters and the input parameters.
According to the technical scheme, the electronic steering wheel rotation angle and the electronic steering wheel rotation angular speed are obtained through a remote controller; determining a target steering angle of the loader according to the corresponding relation between the electronic steering wheel rotation angle and the loader steering angle; determining a target steering angular speed of the loader according to the electronic steering wheel rotation angular speed; determining a target working mode of a steering controller according to the target steering angle, the actual steering angle of the loader and the mechanical steering angular speed of the mechanical steering wheel; correcting the target steering angular speed according to the current vehicle speed, and determining the corrected steering angular speed; the loader is controlled to steer by a steering controller based on the target operating mode, the corrected steering angular velocity, the target steering angle, and the actual steering angle. According to the scheme, the maximum steering angular speed which can be borne by the loader at present can be determined according to the current speed of the loader, and the corrected steering angular speed is determined from the target steering angular speed and the maximum steering angular speed according to the comparison result of the target steering angular speed and the maximum steering angular speed, so that the steering controller controls the loader to steer based on the corrected steering angular speed, and the steering angular speed of the loader in the steering process is ensured not to influence the stability of the loader; the control precision of the steering control of the loader is ensured, and the safety and stability of the loader in steering are improved.
Example III
Fig. 3 is a flowchart of a loader steering control method according to a third embodiment of the present invention, in which the loader steering is controlled by a steering controller based on a target operation mode, a corrected steering angular velocity, a target steering angle, and an actual steering angle, which is optimized based on the above embodiment. Specifically, as shown in fig. 3, the method includes:
s310, acquiring the rotation angle and the rotation angular speed of the electronic steering wheel through a remote controller.
S320, determining a target steering angle of the loader according to the corresponding relation between the electronic steering wheel rotation angle and the loader steering angle.
S330, determining the target steering angular speed of the loader according to the electronic steering wheel rotation angular speed.
S340, determining a target working mode of the steering controller according to the target steering angle, the actual steering angle of the loader and the mechanical steering angular speed of the mechanical steering wheel.
S350, correcting the target steering angular velocity according to the current vehicle speed, and determining the corrected steering angular velocity.
S360, determining control parameters of the steering controller based on the corrected steering angular speed.
Wherein the control parameters include a proportional adjustment coefficient, an integral adjustment coefficient, and a differential adjustment coefficient. The proportional adjustment coefficient plays roles of accelerating the response speed of the controller, improving the adjustment precision of the controller and quickly adjusting errors in the PID controller; the integral regulating coefficient plays roles in eliminating residual errors and regulating steady state time in the PID controller; the differential regulation coefficient plays roles of improving the dynamic performance of the system, predicting the error trend and correcting the error in advance in the PID controller.
Specifically, the corrected steering angular velocity and the control parameter may be stored in advance in correspondence according to the parameter adjustment experience. After the corrected steering angular velocity is determined, a control parameter corresponding to the corrected steering angular velocity is determined.
And S370, based on the target working mode, inputting the target steering angle and the actual steering angle into the steering controller as input parameters, so that the steering controller determines the control current of the steering electromagnetic valve according to the control parameters and the input parameters.
The steering electromagnetic valve is an industrial device controlled by electromagnetic, and can be matched with different circuits to realize steering control of the loader.
Specifically, the target steering angle is determined from the mechanical steering angle and the electronic steering wheel rotation angle based on the target operation mode. The target steering angle and the actual steering angle are used as input parameters of a steering controller. The steering controller adjusts the proportional adjustment coefficient, the integral adjustment coefficient and the differential adjustment coefficient of the steering controller according to the control parameter corresponding to the corrected steering angular speed. And calculating the control current of the steering electromagnetic valve according to the input parameters by the steering controller after parameter adjustment.
S380, controlling the steering of the loader by controlling the current.
Specifically, the control current is acted on a steering electromagnetic valve in the steering controller for controlling the steering of the loader, and the oil passage conduction state of the steering oil cylinder is controlled by changing the opening of the steering electromagnetic valve, so that the oil quantity of hydraulic oil flowing through the steering controller of the hydraulic oil passage is controlled, and the steering of the loader is controlled.
According to the technical scheme, the electronic steering wheel rotation angle and the electronic steering wheel rotation angular speed are obtained through a remote controller; determining a target steering angle of the loader according to the corresponding relation between the electronic steering wheel rotation angle and the loader steering angle; determining a target steering angular speed of the loader according to the electronic steering wheel rotation angular speed; determining a target working mode of a steering controller according to the target steering angle, the actual steering angle of the loader and the mechanical steering angular speed of the mechanical steering wheel; correcting the target steering angular speed according to the current vehicle speed, and determining the corrected steering angular speed; determining control parameters of a steering controller based on the corrected steering angular velocity; based on the target working mode, inputting a target steering angle and an actual steering angle into a steering controller as input parameters, so that the steering controller determines the control current of the steering electromagnetic valve according to the control parameters and the input parameters; by controlling the current, the loader is controlled to turn. According to the scheme, the control parameters corresponding to the corrected steering angle are determined according to the corrected steering angle, and the target steering angle and the actual steering angle are used as input parameters of the steering controller, so that the steering controller determines the steering solenoid valve control current based on the control parameters and the input parameters, and the steering of the loader is controlled by the control current. The control parameters of the proper steering controller are determined according to the corrected steering angle, so that the steering control precision of the steering controller on the loader is improved.
The displacement data of the piston rod in the steering cylinder can be obtained in the steering process of the loader; determining a current steering angle according to the displacement data; and taking the current steering angle as the updated actual steering angle.
The displacement data of the piston rod is the position change data of the steering oil cylinder when the steering oil cylinder moves. The current steering angle refers to the value of the steering angle of the loader during steering. The current steering angle of the loader is dynamically changed during steering.
Specifically, the displacement data of the piston rod of the steering cylinder can be obtained according to the piston rod displacement sensor, the current steering angle of the loader is determined according to the corresponding relation between the displacement data and the current steering angle, and the current steering angle is used as the updated actual steering angle.
When the loader turns left, the correspondence between the displacement data and the current turning angle can be expressed by the formula (1):
wherein A is a mounting point of the steering cylinder on the front frame of the loader; b is a mounting point of the steering cylinder on the rear frame of the loader; o is the intermediate point between the front frame and the rear frame, and can be determined according to actual measurement. The frame is a frame structure which is bridged on the front axle and the rear axle of the loader and is a base body of the loader. θ is the angle between the front frame and the rear frame of the loader; alpha is the angle between OA and OA when the steering angle is zero degrees; Δl is displacement data.
When the loader turns right, the correspondence between the displacement data and the current turning angle can be expressed by the formula (2):
it can be appreciated that in the process of controlling the steering of the loader, the current steering angle is obtained in real time, and the current steering angle is used as the updated actual steering angle. The closed-loop control of the steering controller on the steering of the loader can be realized, the updated steering angle is obtained in real time in the process of controlling the steering of the loader by the steering controller, the target working mode is adjusted according to the updated actual steering angle, and meanwhile, the control current of the steering electromagnetic valve is adjusted according to the updated actual steering angle, so that the accuracy of steering control of the loader is improved.
Example IV
Fig. 4 is a schematic structural diagram of a steering control device for a loader according to a fourth embodiment of the present invention. The embodiment can be applied to the situation of remotely controlling the steering of the loader. As shown in fig. 4, the loader steering control device includes: a rotation angle acquisition module 410, a target steering angle determination module 420, a target steering angular velocity determination module 430, a target operating mode determination module 440, and a loader steering control module 450.
The rotation angle obtaining module 410 is configured to obtain, through a remote controller, an electronic steering wheel rotation angle and an electronic steering wheel rotation angular velocity;
The target steering angle determining module 420 is configured to determine a target steering angle of the loader according to a correspondence between an electronic steering wheel rotation angle and a loader steering angle;
a target steering angular velocity determination module 430 for determining a target steering angular velocity of the loader according to the electronic steering wheel rotational angular velocity;
a target operation mode determining module 440 for determining a target operation mode of the steering controller according to the target steering angle, the actual steering angle of the loader, and the mechanical steering angular velocity of the mechanical steering wheel;
the loader steering control module 450 is configured to control the loader steering via the steering controller based on the target operating mode, the target steering angular velocity, the target steering angle, and the actual steering angle.
According to the technical scheme provided by the embodiment, the electronic steering wheel rotation angle and the electronic steering wheel rotation angular speed are obtained through a remote controller; determining a target steering angle of the loader according to the corresponding relation between the electronic steering wheel rotation angle and the loader steering angle; determining a target steering angular speed of the loader according to the electronic steering wheel rotation angular speed; determining a target working mode of a steering controller according to the target steering angle, the actual steering angle of the loader and the mechanical steering angular speed of the mechanical steering wheel; the loader is controlled to steer by a steering controller based on the target operating mode, the target steering angular velocity, the target steering angle, and the actual steering angle. According to the scheme, the target steering angle and the target steering angular speed of the loader can be determined according to the electronic steering wheel rotating angle and the electronic steering wheel rotating angular speed; and controlling, by the steering controller, the loader steering based on the target operating mode, the target steering angular velocity, the target steering angle sum, the actual steering angle. The electronic steering wheel is used for remotely controlling the steering of the loader, so that the health hazard of the loader to the operator is avoided when the operator of the loader is under the severe working condition, and the steering control precision of the loader is ensured while the health of the operator of the loader is ensured.
Illustratively, the target operating mode determination module 440 includes:
the mechanical working mode determining unit is used for determining that the target working mode of the steering controller is a mechanical working mode if the mechanical steering angular speed of the mechanical steering wheel is greater than the set angular speed and the angle difference between the target steering angle and the actual steering angle of the loader is smaller than or equal to the first difference; in the mechanical working mode, the steering controller preferentially executes mechanical steering wheel instructions;
the remote control mode determining unit is used for determining that the target working mode of the steering controller is a remote control working mode if the mechanical steering angular speed is smaller than the set angular speed and the angle difference between the target steering angle and the actual steering angle is larger than the first difference and smaller than the second difference; in a remote control operating mode, the steering controller executes an electronic steering wheel instruction;
the safe working mode determining unit is used for determining that the target working mode of the steering controller is a safe working mode if the mechanical steering angular speed is greater than the set angular speed and the angle difference between the target steering angle and the actual steering angle is greater than the first difference and less than the second difference; in the safe operating mode, the steering controller executes a mechanical steering wheel command.
Exemplary, loader steering control module 450 includes
The steering angular velocity correction unit is used for correcting the target steering angular velocity according to the current vehicle speed and determining the corrected steering angular velocity;
and the steering control unit is used for controlling the steering of the loader through the steering controller based on the target working mode, the corrected steering angular speed, the target steering angle and the actual steering angle.
The steering angular velocity correction unit is specifically used for example:
determining the maximum steering angular speed corresponding to the current vehicle speed;
if the target steering angular velocity is larger than the maximum steering angular velocity, taking the maximum steering angular velocity as the corrected steering angular velocity;
and if the target steering angular velocity is smaller than or equal to the maximum steering angular velocity, determining the target steering angular velocity as the corrected steering angular velocity.
Illustratively, the steering control unit is specifically configured to:
determining control parameters of a steering controller based on the corrected steering angular velocity;
based on the target working mode, inputting a target steering angle and an actual steering angle into a steering controller as input parameters, so that the steering controller determines the control current of the steering electromagnetic valve according to the control parameters and the input parameters;
by controlling the current, the loader is controlled to turn.
Further, the loader steering control device further includes:
the displacement data acquisition module is used for acquiring displacement data of a piston rod in a steering oil cylinder in the steering controller in the process of controlling the steering of the loader;
the current steering angle determining module is used for determining the current steering angle according to the displacement data;
and the actual steering angle updating module is used for taking the current steering angle as the updated actual steering angle.
The steering control device for the loader provided by the embodiment can be applied to the steering control method for the loader provided by any embodiment, and has corresponding functions and beneficial effects.
Example five
Fig. 5 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the loader steering control method.
In some embodiments, the loader steering control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the loader steering control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the loader steering control method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable loader steering control device such that the computer programs, when executed by the processor, cause the functions/operations specified in the flowchart and/or block diagram to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (8)
1. A loader steering control method, comprising:
acquiring the rotation angle and the rotation angular speed of the electronic steering wheel through a remote controller;
determining a target steering angle of the loader according to the corresponding relation between the electronic steering wheel rotation angle and the loader steering angle;
determining a target steering angular speed of the loader according to the electronic steering wheel rotation angular speed;
Determining a target working mode of a steering controller according to the target steering angle, the actual steering angle of the loader and the mechanical steering angular speed of the mechanical steering wheel;
controlling, by the steering controller, the loader to steer based on the target operating mode, the target steering angular velocity, the target steering angle, and the actual steering angle;
wherein, the determining the target working mode of the steering controller according to the target steering angle, the actual steering angle of the loader and the mechanical steering angular speed of the mechanical steering wheel comprises the following steps:
if the mechanical steering angular speed of the mechanical steering wheel is greater than the set angular speed and the angle difference between the target steering angle and the actual steering angle of the loader is smaller than or equal to the first difference, determining that the target working mode of the steering controller is a mechanical working mode; in a mechanical operating mode, the steering controller preferentially executes mechanical steering wheel commands;
if the mechanical steering angular speed is smaller than the set angular speed, and the angle difference between the target steering angle and the actual steering angle is larger than the first difference and smaller than the second difference, determining that the target working mode of the steering controller is a remote control working mode; in a remote control working mode, the steering controller executes an electronic steering wheel instruction;
If the mechanical steering angular speed is greater than the set angular speed, and the angle difference between the target steering angle and the actual steering angle is greater than the first difference and less than the second difference, determining that the target working mode of the steering controller is a safe working mode; in the safe operating mode, the steering controller executes a mechanical steering wheel command.
2. The method of claim 1, wherein the controlling, by the steering controller, the loader steering based on the target operating mode, the target steering angular velocity, the target steering angle, and the actual steering angle comprises:
correcting the target steering angular velocity according to the current vehicle speed, and determining a corrected steering angular velocity;
and controlling the loader to steer through the steering controller based on the target working mode, the corrected steering angular speed, the target steering angle and the actual steering angle.
3. The method of claim 2, wherein correcting the target steering angular velocity based on the current vehicle speed, determining a corrected steering angular velocity, comprises:
determining the maximum steering angular speed corresponding to the current vehicle speed;
If the target steering angular velocity is larger than the maximum steering angular velocity, taking the maximum steering angular velocity as a corrected steering angular velocity;
and if the target steering angular velocity is smaller than or equal to the maximum steering angular velocity, determining the target steering angular velocity as a corrected steering angular velocity.
4. The method of claim 2, wherein the controlling, by the steering controller, the loader steering based on the target operating mode, the corrected steering angular velocity, the target steering angle, and the actual steering angle comprises:
determining control parameters of the steering controller based on the corrected steering angular velocity;
inputting the target steering angle and the actual steering angle into the steering controller as input parameters based on the target working mode, so that the steering controller determines the control current of the steering electromagnetic valve according to the control parameters and the input parameters;
and controlling the steering of the loader through the control current.
5. The method according to claim 4, comprising:
in the process of controlling the steering of the loader, acquiring displacement data of a piston rod in a steering oil cylinder;
Determining a current steering angle according to the displacement data;
and taking the current steering angle as the updated actual steering angle.
6. A loader steering control device, comprising:
the rotating angle acquisition module is used for acquiring the rotating angle of the electronic steering wheel and the rotating angular speed of the electronic steering wheel through the remote controller;
the target steering angle determining module is used for determining the target steering angle of the loader according to the corresponding relation between the electronic steering wheel rotating angle and the loader steering angle;
the target steering angular velocity determining module is used for determining the target steering angular velocity of the loader according to the electronic steering wheel rotating angular velocity;
the target working mode determining module is used for determining a target working mode of the steering controller according to the target steering angle, the actual steering angle of the loader and the mechanical steering angular speed of the mechanical steering wheel;
the loader steering control module is used for controlling the loader to steer through the steering controller based on the target working mode, the target steering angular speed, the target steering angle and the actual steering angle;
the target working mode determining module comprises:
The mechanical working mode determining unit is used for determining that the target working mode of the steering controller is a mechanical working mode if the mechanical steering angular speed of the mechanical steering wheel is greater than the set angular speed and the angle difference between the target steering angle and the actual steering angle of the loader is smaller than or equal to a first difference; in a mechanical operating mode, the steering controller preferentially executes mechanical steering wheel commands;
the remote control mode determining unit is used for determining that the target working mode of the steering controller is a remote control working mode if the mechanical steering angular speed is smaller than the set angular speed and the angle difference between the target steering angle and the actual steering angle is larger than a first difference and smaller than a second difference; in a remote control working mode, the steering controller executes an electronic steering wheel instruction;
the safety working mode determining unit is used for determining that the target working mode of the steering controller is a safety working mode if the mechanical steering angular speed is greater than the set angular speed and the angle difference between the target steering angle and the actual steering angle is greater than the first difference and smaller than the second difference; in the safe operating mode, the steering controller executes a mechanical steering wheel command.
7. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the loader steering control method of any of claims 1-5.
8. A computer readable storage medium storing computer instructions for causing a processor to implement the loader steering control method of any of claims 1-5 when executed.
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