Diesel off-road scissor lift travel control method, device, equipment and medium

Abstract

The present application discloses a method, device, equipment and medium for controlling the travel of a diesel off-road scissor lift truck. By pre-determining multiple groups of control parameter groups with the maximum speed of each vehicle speed interval as the target value and zero as the initial value, the multiple groups of control parameter groups can be adaptively used to complete the adjustment of the travel speed of the diesel off-road scissor lift truck based on the target set speed and the real-time speed. In addition, in the process of obtaining the multiple groups of control parameter groups in the present embodiment, the demand for speed surges and drops in off-road scenarios is taken into account, so that it can adapt to walking in outdoor venues very well and improve the walking ability of the diesel off-road scissor lift truck in outdoor scenarios.

Description

Technical Field

[0001] The present application relates to the field of scissor lift trucks, and in particular to a travel control method, device, equipment and medium for a diesel off-road scissor lift truck. Background Art

[0002] A diesel off-road scissor lift truck is a scissor lift truck used in outdoor scenes. At present, the travel control of a diesel off-road scissor lift truck mainly adopts open-loop control, that is, the corresponding valve opening is adjusted according to the voltage output corresponding to the thrust amount of the thrust handle to adjust the travel speed. However, this control method is prone to speed loss, which in turn causes uncontrollable safety accidents. In addition, there is a method of adjusting the speed using the travel speed as feedback for non-off-road scissor lift trucks on the market. Although this adjustment method solves the problem of loss of control, it is difficult to adapt to the application requirements in outdoor scenes. Therefore, at this stage, the outdoor travel control of diesel off-road scissor lift trucks is still completely dependent on manual operation. Summary of the invention

[0003] The present application aims to propose a method, device, equipment and medium for controlling the travel of a diesel off-road scissor lift truck, which can improve the travel ability of the diesel off-road scissor lift truck in outdoor scenarios.

[0004] According to the diesel off-road scissor lift truck travel control method of the first aspect of the present application, the diesel off-road scissor lift truck travel control method includes:

[0005] Get the target setting speed;

[0006] Acquire the real-time rotation frequency information of the traveling wheels of the diesel off-road scissor lift truck to determine the real-time speed of the diesel off-road scissor lift truck;

[0007] A control parameter group is selected according to the target setting speed, wherein there are multiple control parameter groups, the multiple control parameter groups correspond to different vehicle speed intervals, and the multiple vehicle speed intervals are continuous, wherein when the target setting speed is within the corresponding vehicle speed interval, the corresponding control parameter group is selected;

[0008] According to the target setting speed and the real-time speed, the diesel off-road scissor truck is controlled to move with the selected control parameter group;

[0009] Wherein, each of the control parameter groups is obtained by the following steps:

[0010] Set both the integral and differential parameters to zero;

[0011] Taking speed zero as an initial value and the maximum speed of the vehicle speed interval corresponding to the control parameter group as a target value, gradually increasing the proportional parameter from zero to obtain a plurality of first feedback speed time curves;

[0012] Determining a set ratio parameter according to a plurality of the first feedback speed time curves;

[0013] In case of determining the set proportional parameter, setting the derivative parameter to zero;

[0014] Taking speed zero as an initial value and the maximum speed of the vehicle speed interval corresponding to the control parameter group as a target value, the integral parameter is gradually increased from zero to obtain a plurality of second feedback speed time curves;

[0015] Determine and set an integral parameter according to a plurality of the second feedback speed time curves;

[0016] When the set proportional parameter and the set integral parameter are determined, the speed zero is taken as the initial value, the maximum speed of the vehicle speed interval corresponding to the control parameter group is taken as the target value, the differential parameter is gradually increased from zero, and a plurality of third feedback speed time curves are obtained;

[0017] Determining and setting a differential parameter according to the plurality of third feedback speed time curves;

[0018] The control parameter group is determined according to the set proportional parameter, the set integral parameter and the set differential parameter.

[0019] According to the second aspect of the present application, a diesel off-road scissor lift truck travel control device includes:

[0020] A first speed acquisition module, used to acquire a target setting speed;

[0021] A second speed acquisition module is used to acquire real-time rotation frequency information of the traveling wheels of the diesel off-road scissor lift truck to determine the real-time speed of the diesel off-road scissor lift truck;

[0022] a control parameter determination module, configured to select a control parameter group according to the target setting speed, wherein there are a plurality of control parameter groups, the plurality of control parameter groups correspond to different vehicle speed intervals, and the plurality of vehicle speed intervals are continuous, wherein when the target setting speed is within the corresponding vehicle speed interval, the corresponding control parameter group is selected;

[0023] A travel control module, used for controlling the travel of the diesel off-road scissor lift truck with the selected control parameter group according to the target set speed and the real-time speed;

[0024] Wherein, each of the control parameter groups is obtained by the following steps:

[0025] Set both the integral and differential parameters to zero;

[0026] Taking speed zero as an initial value and the maximum speed of the vehicle speed interval corresponding to the control parameter group as a target value, gradually increasing the proportional parameter from zero to obtain a plurality of first feedback speed time curves;

[0027] Determining a set ratio parameter according to a plurality of the first feedback speed time curves;

[0028] In case of determining the set proportional parameter, setting the derivative parameter to zero;

[0029] Taking speed zero as an initial value and the maximum speed of the vehicle speed interval corresponding to the control parameter group as a target value, the integral parameter is gradually increased from zero to obtain a plurality of second feedback speed time curves;

[0030] Determine and set an integral parameter according to a plurality of the second feedback speed time curves;

[0031] When the set proportional parameter and the set integral parameter are determined, the speed zero is taken as the initial value, the maximum speed of the vehicle speed interval corresponding to the control parameter group is taken as the target value, the differential parameter is gradually increased from zero, and a plurality of third feedback speed time curves are obtained;

[0032] Determining and setting a differential parameter according to the plurality of third feedback speed time curves;

[0033] The control parameter group is determined according to the set proportional parameter, the set integral parameter and the set differential parameter.

[0034] According to an electronic device of a third aspect of the present application, the device includes: a processor and a memory storing computer program instructions;

[0035] When the processor executes the computer program instructions, the traveling control method of the diesel off-road scissor lift truck as described in the first aspect is implemented.

[0036] According to the computer-readable storage medium of the fourth aspect embodiment of the present application, computer-executable instructions are stored, and the computer-executable instructions are used to execute the diesel off-road scissor lift travel control method as described in the first aspect embodiment.

[0037] The diesel off-road scissor lift truck travel control method, device, equipment and medium of the embodiments of the present application determine multiple groups of control parameter groups by pre-setting the maximum speed of each vehicle speed interval as the target value and zero as the initial value, and then can adaptively use the multiple groups of control parameter groups to complete the adjustment of the diesel off-road scissor lift truck's travel speed based on the target set speed and the real-time speed. In addition, in the process of obtaining the multiple groups of control parameter groups in the present embodiment, the need for speed surges and drops in off-road scenarios is taken into account, so that it can adapt to walking in outdoor venues very well and improve the walking ability of the diesel off-road scissor lift truck in outdoor scenarios.

[0038] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0040] Figure 1 A flow chart of an embodiment of a diesel off-road scissor lift travel control method provided in the present application;

[0041] Figure 2 A schematic diagram of the speed variation over time of the braking strategy in an embodiment of the diesel off-road scissor lift truck travel control method provided in the present application;

[0042] Figure 3 A schematic structural diagram of an embodiment of a travel control device for a diesel off-road scissor lift truck provided in the present application;

[0043] Figure 4 A schematic diagram of the structure of an embodiment of the electronic device provided in this application.

[0044] Reference numerals:

[0045] A diesel off-road scissor lift truck travel control device 100; a first speed acquisition module 110; a second speed acquisition module 120; a control parameter determination module 130; a travel control module 140;

[0046] Processor 201; memory 202; communication interface 203; bus 210. DETAILED DESCRIPTION

[0047] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0048] In the description of this application, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0049] In the description of the present application, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0050] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0051] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments.

[0052] See also Figure 1 As shown, Figure 1 1 is a flow chart of a diesel off-road scissor lift truck travel control method provided by an embodiment of the present application, the diesel off-road scissor lift truck travel control method comprises steps S110 to S140:

[0053] Step S110, obtaining a target setting speed;

[0054] Step S120, obtaining real-time rotation frequency information of the traveling wheels of the diesel off-road scissor lift truck to determine the real-time speed of the diesel off-road scissor lift truck;

[0055] Step S130, selecting a control parameter group according to the target setting speed, there are multiple control parameter groups, the multiple control parameter groups correspond to different vehicle speed intervals, and the multiple vehicle speed intervals are continuous, wherein when the target setting speed is within the corresponding vehicle speed interval, the corresponding control parameter group is selected;

[0056] Step S140, controlling the diesel off-road scissor lift truck to move according to the target setting speed and the real-time speed with the selected control parameter group;

[0057] Each control parameter group is obtained by the following steps:

[0058] Set both the integral and differential parameters to zero;

[0059] Taking speed zero as the initial value and the maximum speed of the vehicle speed interval corresponding to the control parameter group as the target value, the proportional parameter is gradually increased from zero to obtain a plurality of first feedback speed time curves;

[0060] Determining a set ratio parameter according to a plurality of first feedback speed time curves;

[0061] In case of determining the set proportional parameter, the derivative parameter is set to zero;

[0062] Taking speed zero as the initial value and the maximum speed of the vehicle speed interval corresponding to the control parameter group as the target value, the integral parameter is gradually increased from zero to obtain multiple second feedback speed time curves;

[0063] Determine and set an integral parameter according to a plurality of second feedback speed time curves;

[0064] When the set proportional parameter and the set integral parameter are determined, the speed zero is taken as the initial value, the maximum speed of the vehicle speed interval corresponding to the control parameter group is taken as the target value, and the differential parameter is gradually increased from zero to obtain a plurality of third feedback speed time curves;

[0065] Determining and setting a differential parameter according to a plurality of third feedback speed time curves;

[0066] A control parameter group is determined according to a set proportional parameter, a set integral parameter and a set differential parameter.

[0067] In the embodiment of the present application, multiple groups of control parameter groups are determined in advance with the maximum speed of each vehicle speed interval as the target value and zero as the initial value. Then, the multiple groups of control parameter groups can be adaptively used to adjust the travel speed of the diesel off-road scissor truck based on the target set speed and the real-time speed. In addition, in the process of obtaining the multiple groups of control parameter groups in the present embodiment, the demand for speed surges and drops in off-road scenarios is taken into account, so that it can adapt to walking in outdoor venues very well and improve the walking ability of the diesel off-road scissor truck in outdoor scenarios.

[0068] The above-mentioned target setting speed can be obtained according to the operation amount of the operating handle.

[0069] The above-mentioned real-time speed can be obtained based on the real-time rotation frequency information detected by the speed sensor provided on the diesel off-road scissor lift truck.

[0070] The above-mentioned multiple control parameter groups are adaptively selected according to the target setting speed, that is, when the target setting speed changes, the control parameter group corresponding to the target setting speed after the change will be re-determined.

[0071] The above-mentioned multiple speed intervals are set continuously. For example, when there are three speed intervals, they can be divided into a low speed interval (0-5KM / H), a medium speed interval (5-10KM / H), and a high speed interval (10-15KM / H).

[0072] The above-mentioned multiple control parameter groups correspond to multiple vehicle speed ranges. When the diesel off-road scissor lift truck is in different vehicle speed ranges, the vehicle state will be different, and the same environment will have different impacts on the vehicle. Therefore, different control parameter groups need to be used for operation.

[0073] The above-mentioned control of the diesel off-road scissor lift truck's movement according to the target setting speed and the real-time speed with the selected control parameter group can be understood as completing the PID speed control process with the target setting speed as the set value, the real-time speed as the feedback value, and the selected control parameter group as the control parameter group.

[0074] The above-mentioned multiple control parameter group settings fully consider the needs of speed surges and decreases in off-road situations. When determining the set proportional parameters, set integral parameters and set differential parameters in the corresponding control parameter group for each vehicle speed range, the test is carried out from zero to the maximum value of the speed range.

[0075] The above-mentioned proportional parameter is gradually increased from zero, and a discrete input method is adopted. By inputting multiple gradually increasing, discrete proportional parameters for actual measurement, the first feedback speed time curve corresponding to each proportional parameter can be obtained. Through multiple first feedback speed time curves, the adjustment effect of each proportional parameter can be intuitively determined, and then the set proportional parameter corresponding to the relationship curve with the most expected change trend can be selected from the proportional parameters corresponding to the multiple relationship curves. For example, the proportional parameter is gradually increased from 0 to 6 to obtain multiple first feedback speed time curves. In the process of gradually increasing the proportional parameter, the time required for the vehicle speed to increase is getting shorter and shorter. Assuming that the proportional parameter is 5, the vehicle speed can respond quickly to increase to 5KM / H, but there will be a slight overshoot phenomenon. At this time, the first feedback speed time curve will quickly return to 5KM / H after exceeding 5KM / H. If the proportional parameter exceeds 5, a more serious overshoot will occur, and the vehicle speed when recovering to stability will also be higher than 5KM / H, and the recovery time will also be longer. On the basis of the above, it can be considered that the proportional parameter meets expectations when it is 5, and the proportional parameter 5 can be confirmed as the set proportional parameter.

[0076] The above-mentioned stepwise increase of the integral parameter from zero adopts a discrete input method. By inputting multiple gradually increasing, discrete integral parameters for actual measurement, the second feedback speed time curve corresponding to each integral parameter can be obtained. Through multiple second feedback speed time curves, the adjustment effect of each integral parameter can be intuitively determined, and then the set integral parameter corresponding to the relationship curve with the most expected change trend can be selected from the integral parameters corresponding to the multiple relationship curves. For example, the integral parameter is gradually enlarged from 0 to 5 to obtain multiple second feedback speed time curves. In the process of gradually increasing the integral parameter, the vehicle speed will stabilize at around 5KM / H faster, but it will cause the time required for stabilization to become longer and the fluctuation to become larger. Assuming that when the integral parameter is 3, the vehicle speed can be stabilized at around 5KM / H, and the adjustment time and fluctuation meet expectations, the integral parameter 3 can be confirmed as the set integral parameter.

[0077] The above-mentioned stepwise increase of the differential parameter from zero adopts a discrete input method. By inputting multiple gradually increasing, discrete differential parameters for actual measurement, the third feedback speed time curve corresponding to each differential parameter can be obtained. Through multiple third feedback speed time curves, the adjustment effect of each differential parameter can be intuitively determined, and then the set differential parameter corresponding to the relationship curve with the most expected change can be selected from the differential parameters corresponding to the multiple relationship curves. For example, the differential parameter is gradually enlarged from 0 to 3 to obtain multiple third feedback speed time curves. In the process of gradually increasing the differential parameter to 3, the vehicle speed will fluctuate less and stabilize around 5KM / H. When the differential parameter reaches 3, the speed stabilized to 5KM / H and the fluctuation size meet expectations, and the differential parameter 3 can be confirmed as the set differential parameter.

[0078] Meeting expectations in the above-mentioned process of setting proportional parameters, setting integral parameters or setting differential parameters can be understood as meeting preset PID adjustment requirements, and the PID adjustment requirements can be adjusted according to actual needs to adapt to different expected control accuracy and expected adjustment speed requirements for the speed of off-road scissor lifts.

[0079] In some implementations, obtaining a target setting speed includes:

[0080] Get the current operation amount of the operating handle;

[0081] Determine the difference between the current operation amount and the preset dead zone operation amount;

[0082] The target setting speed is determined according to the operation amount difference, wherein the operation amount difference is positively correlated with the target setting speed.

[0083] When the above-mentioned operating handle is actually operated, in order to prevent the diesel off-road scissor truck from moving in the case of micro-motion, a preset dead zone operation amount is set, so that the diesel off-road scissor truck can only move when the operating handle is pushed sufficiently.

[0084] The above-mentioned operation amount difference can be obtained according to the difference between the current operation amount and the preset dead zone operation amount. By setting the corresponding relationship between the operation amount difference and the target setting speed, the corresponding target setting speed can be quickly determined when the operation amount difference is obtained. Specifically, assuming that the range of the operating handle is 0-100, 10-100 corresponds to the target preset vehicle speed 0 to the maximum target setting vehicle speed, and the reserved 10 is used as a dead zone to prevent micro-movement.

[0085] In some embodiments, obtaining real-time rotation frequency information of the travel wheels of the diesel off-road scissor lift truck to determine the real-time speed of the diesel off-road scissor lift truck includes:

[0086] Acquire real-time rotation frequency information of the traveling wheel, where the real-time rotation frequency information is detected by a rotation frequency sensor disposed on the traveling wheel of the diesel off-road scissor lift truck;

[0087] The real-time speed is determined according to the upper limit value of the measured speed frequency change range and the real-time rotation frequency information of the diesel off-road scissor lift truck.

[0088] In this embodiment, a rotation frequency sensor is used to directly obtain the real-time rotation frequency information of the walking wheel. The rotation frequency sensor can be set on all four walking wheels. On the one hand, it can reduce the error detected by a single rotation frequency sensor. On the other hand, it can also determine whether any rotation frequency sensor has a fault, thereby avoiding erroneous walking control with erroneous results, thereby causing a fault.

[0089] In addition, it should be noted that when walking in the wild, using a rotation frequency sensor as speed feedback can better adapt to the needs of field control scenarios compared to directly determining the speed using an acceleration sensor or using a positioning sensor to determine the speed.

[0090] The above-mentioned measured speed frequency change range can be understood as the change range of the rotation frequency corresponding to the set maximum driving speed from zero to the set maximum driving speed. The higher the speed, the greater the frequency. Taking the maximum driving speed of 15KM / H as an example, when the speed is zero, the corresponding rotation frequency is zero, and the speed of 15KM / H corresponds to the rotation frequency FRmax. Then the measured speed frequency change range is [0, FRmax]. FRmax will vary due to the different diameters of the traveling wheels of the diesel off-road scissor lift truck.

[0091] In some embodiments, the diesel off-road scissor lift truck travel control method further includes:

[0092] In response to the parameter adjustment instruction, a proportional parameter adjustment configuration parameter input by a user is obtained, the proportional parameter adjustment configuration parameter including a specified interval and a parameter adjustment amount, the specified interval being any vehicle speed interval other than the vehicle speed interval with the lowest speed, the parameter adjustment amount being used to adjust a set proportional parameter in a control parameter group corresponding to the specified interval, the parameter adjustment amount not exceeding a preset parameter adjustment dead zone range, and the parameter adjustment dead zone range being determined according to the working performance of the diesel off-road scissor lift truck;

[0093] The proportional parameters set in the corresponding control parameter group are adjusted according to the proportional parameter adjustment configuration parameters.

[0094] In this implementation, taking into account that in some scenarios, different users have different subjective feelings or different specific control needs, a means of adjusting the set proportional parameters is added. The user can complete the adjustment of the set proportional parameters corresponding to the specified interval by inputting the proportional parameter adjustment configuration parameters. In addition, in order to avoid the user's lack of understanding of the performance of the diesel off-road scissor lift truck, the parameter adjustment dead zone range will be preset before leaving the factory to avoid control problems caused by excessive adjustments by users.

[0095] The dead zone range of the above parameter adjustment can be set as a percentage. For example, if it is set to 10%, taking the upper limit of the low-speed vehicle speed range of 5KM / H as an example, the user can adjust the direction between 4.5KM / H and 5.5KM / H.

[0096] The above parameter adjustment dead zone range may also vary according to different vehicle models, that is, different models of diesel off-road scissor lift trucks have different adaptability to adjustment, which may result in the parameter adjustment dead zone range being appropriately enlarged or appropriately reduced.

[0097] In addition, in this embodiment, considering that the low-speed interval directly affects the control of the startup phase, the above-mentioned designated interval cannot specify the vehicle speed interval with the lowest speed, so as to improve the stability of the entire control logic.

[0098] The above-mentioned proportional parameter adjustment configuration parameters can be input by the user through the human-computer interaction interface.

[0099] The above parameter adjustment instruction may be generated after the user completes the determination operation of the proportional parameter adjustment configuration parameters through the human-computer interaction interface.

[0100] In some embodiments, the diesel off-road scissor lift truck travel control method further includes:

[0101] In response to the brake command, stop using the control parameter group to control the movement of the diesel off-road scissor lift truck, and execute a brake strategy to reduce the speed of the diesel off-road scissor lift truck to zero;

[0102] Among them, the braking strategy includes:

[0103] Get real-time speed;

[0104] Determine the current braking stage and the braking coefficient corresponding to the current braking stage according to the real-time speed, wherein each speed interval corresponds to a braking stage, and multiple braking stages correspond to multiple different braking coefficients. The higher the speed, the greater the corresponding braking coefficient of the speed interval. The current braking stage is any braking stage;

[0105] The diesel off-road scissor lift truck is decelerated according to the determined braking coefficient.

[0106] The above brake command can be generated when the user releases the operating handle and the operating handle returns to zero position. In addition, when the diesel off-road scissor lift truck is provided with an emergency brake pedal, it can also be generated when the emergency brake pedal is stepped on.

[0107] When the above brake command is detected, it means that the braking procedure has been entered. At this time, the PID vehicle speed control process needs to be stopped and the braking strategy needs to be executed.

[0108] During the execution of the above braking strategy, it is necessary to continuously obtain the real-time speed of the diesel off-road scissor lift truck to better determine whether the current braking stage is completed, so as to switch the braking coefficient in time and improve the efficiency and comfort during the braking process.

[0109] The above-mentioned multiple speed ranges correspond to multiple braking coefficients, and in order to improve the efficiency and comfort during braking, the braking coefficient will be reduced as the speed range decreases to avoid sudden stops.

[0110] The above deceleration operation process can be understood as a periodic deceleration process using a braking coefficient.

[0111] Specifically, refer to Figure 2 (In the figure, the horizontal axis is time and the vertical axis is speed). Taking the lowest speed interval as an example, the maximum speed of the speed interval is 5KM / H. Assuming that braking needs to be completed in 2S, and the preset execution cycle (which can be understood as the cycle for the controller to update the control parameters) is 0.5S, there are a total of 20 cycles, then the corresponding braking coefficient can be determined as 0.25, that is, it is reduced by 0.25KM / H each cycle. When it is determined that the real-time speed is in the lowest speed interval, the deceleration control of the diesel off-road scissor truck can be completed by decelerating by 0.25KM / H each cycle. It can be understood that different speed intervals correspond to different braking coefficients, so that when the real-time speed is in the corresponding speed interval, the corresponding braking coefficient can be used to complete the deceleration control of the diesel off-road scissor truck until the speed drops to the next speed interval or stops.

[0112] In some implementations, the braking coefficient corresponding to each braking stage is obtained by the following steps:

[0113] The allowed braking time is determined according to the vehicle speed range corresponding to the braking stage, wherein the higher the vehicle speed range, the longer the allowed braking time;

[0114] The braking coefficient is determined based on the allowed braking time, the corresponding vehicle speed range and the preset execution cycle.

[0115] The above-mentioned allowable braking time adopts a segmented setting method. The higher the speed range, the shorter the corresponding allowable braking time, so that the diesel off-road scissor lift truck can complete the braking control as soon as possible.

[0116] The above braking coefficient is determined by the allowed braking time, the corresponding speed range and the preset execution cycle. For details, refer to Figure 2 Taking the lowest vehicle speed range as an example, assuming that the maximum speed of the vehicle speed range is 5KM / H, assuming that braking needs to be completed within the allowed braking time (for example, 2S), assuming that the preset execution cycle (which can be understood as the cycle for the controller to update the control parameters) is 0.5S, there are a total of 20 cycles, then the corresponding braking coefficient can be determined as 0.25, that is, it is reduced by 0.25KM / H each cycle.

[0117] In some embodiments, the diesel off-road scissor lift truck travel control method further includes:

[0118] In response to the braking duration adjustment instruction, obtaining braking duration adjustment information, the braking duration adjustment information including an adjustment stage and a duration adjustment amount, the adjustment stage being used to indicate any braking stage;

[0119] The allowed braking duration of the corresponding braking phase is adjusted according to the braking duration adjustment information.

[0120] In this implementation, taking into account the different subjective adaptation levels to the braking process or different braking requirements of each user, an adjustment interface is provided to allow the user to actively adjust the allowed braking time corresponding to each braking stage. The user can input the braking time adjustment information through the human-computer interaction interface to complete the adjustment of the braking time adjustment information.

[0121] The above braking time adjustment instruction can be generated after the user completes confirmation of the braking time adjustment information through the human-computer interaction interface.

[0122] When the user sets the above-mentioned braking time adjustment information through the human-computer interaction interface, after the confirmation button is pressed, the braking coefficient corresponding to each braking stage will be automatically calculated, and the braking coefficient corresponding to each braking stage will be automatically detected whether the braking coefficient corresponding to the low speed range is less than or equal to the braking coefficient corresponding to the high speed range, so as to avoid an uneven braking process or low efficiency.

[0123] In some embodiments, the diesel off-road scissor lift truck travel control method further includes:

[0124] In response to the attitude change instruction, attitude change information is obtained, and the currently selected control parameter group is adjusted according to the attitude change information, where the attitude change information includes at least slope information and roll angle information;

[0125] Wherein, when the posture change information indicates that the diesel off-road scissor lift truck is in an uphill posture, the set proportional parameter of the selected control parameter group is adjusted according to the slope information, wherein the greater the slope indicated by the slope information, the greater the amount by which the set proportional parameter is reduced;

[0126] When the posture change information indicates that the diesel off-road scissor lift truck is in a downhill posture, the set proportional parameter of the selected control parameter group is adjusted according to the slope information, wherein the greater the slope indicated by the slope information, the greater the amount of increase in the set proportional parameter;

[0127] When the roll angle information indicates that the diesel off-road scissor truck is in a roll posture, the set proportional parameter of the selected control parameter group is adjusted according to the absolute value of the tilt angle corresponding to the roll angle information, wherein the more severe the tilt degree indicated by the absolute value of the tilt angle, the more the set proportional parameter is reduced.

[0128] The above-mentioned posture change instruction is generated when the posture corresponding to the posture change information is inconsistent with the posture corresponding to the horizontal state.

[0129] The above-mentioned posture change information includes at least slope information and roll angle information, which can reflect the posture of the diesel forklift, so that the controller can adaptively adjust the selected control parameter group according to different slope information and roll angle information to better adapt to the walking needs of off-road roads.

[0130] When the above-mentioned posture change information indicates that the diesel off-road scissor lift truck is in an uphill posture, it is necessary to avoid rapid adjustment of the vehicle speed to improve better grip, and thus it is necessary to reduce the set ratio parameter.

[0131] When the above-mentioned posture change information indicates that the diesel off-road scissor lift truck is in a downhill posture, it is necessary to enable the traveling wheels to better adapt to the rapid changes of the downhill road surface during the traveling process, and thus it is necessary to increase the set ratio parameter.

[0132] When the above-mentioned roll angle information indicates that the diesel off-road scissor lift truck is in a roll posture, the vehicle speed should be avoided to be adjusted quickly to prevent the diesel off-road scissor lift truck from tipping over due to the rapid adjustment, and thus the set ratio parameter needs to be reduced.

[0133] In this embodiment, the posture changes caused by changes in the outdoor road surface are fully considered, and the control parameter group is adaptively adjusted, so as to better improve the adaptability of the diesel off-road scissor lift truck in the embodiment of the present application to the outdoor road surface.

[0134] In some implementations, obtaining posture change information includes:

[0135] A set of tire pressure data at the current moment is obtained by using tire pressure sensors arranged in the four traveling wheels of the diesel off-road scissor lift truck; wherein, when each traveling wheel is on flat ground, the tire pressure data fed back by the corresponding tire pressure sensor is the same;

[0136] Based on a set of tire pressure data, posture change information is determined.

[0137] In this embodiment, a tire pressure sensor is directly used to detect the posture. Compared with the traditional direct detection method of the inclination sensor, the posture detection can also be realized, and it can be used to detect the tire pressure of each running wheel to determine the safety of the running wheel, thereby realizing the reuse of sensors and effectively controlling the cost. Moreover, because it is a field scene operation, there is a greater risk of tire blowout compared to ordinary field operations, and there is also a great need to set up a tire pressure sensor for tire pressure detection.

[0138] In some implementations, determining posture change information based on a set of tire pressure data includes:

[0139] Determine the slope information according to a first tire pressure difference between the tire pressure data of the front tire and the tire pressure data of the rear tire, wherein the greater the first tire pressure difference, the greater the corresponding slope information, and the positive or negative first tire pressure difference corresponds to an uphill state or a downhill state;

[0140] The roll angle information is determined based on the second tire pressure difference between the tire pressure data of the right tire and the tire pressure data of the left tire, wherein the larger the second tire pressure difference, the larger the corresponding roll angle information, and the positive or negative second tire pressure difference corresponds to a right-leaning state or a left-leaning state.

[0141] The tire pressure data of the two running wheels of the above-mentioned front tires need to be compared with the tire pressure data of the corresponding running wheels of the rear tires, that is, the left front and the left rear, and the right front and the right rear, so as to avoid the interference caused by the roll attitude data. When the tire pressure data of the front wheel is greater than the tire pressure data of the rear wheel, it means that it is in a downhill state, and when the tire pressure data of the rear wheel is greater than the tire pressure data of the front wheel, it means that it is in an uphill state.

[0142] The tire pressure data of the two running wheels of the right tire above needs to be compared with the tire pressure data of the corresponding running wheels of the left tire, that is, the left front is compared with the right front, and the left rear is compared with the right rear, so as to avoid the interference caused by the roll attitude data. When the tire pressure data of the right wheel is greater than the tire pressure data of the left wheel, it means that it is in a right-leaning state, and when the tire pressure data of the left wheel is greater than the tire pressure data of the right wheel, it means that it is in a left-leaning state.

[0143] The diesel off-road scissor lift truck travel control method provided in the embodiment of the present application can be executed by a diesel off-road scissor lift truck travel control device. In the embodiment of the present application, the diesel off-road scissor lift truck travel control method is executed by a diesel off-road scissor lift truck travel control device as an example to illustrate the diesel off-road scissor lift truck travel control method provided in the embodiment of the present application.

[0144] refer to Figure 3 The embodiment of the present application further provides a diesel off-road scissor lift truck travel control device 100, the diesel off-road scissor lift truck travel control device 100 comprising:

[0145] A first speed acquisition module 110 is used to acquire a target setting speed;

[0146] The second speed acquisition module 120 is used to acquire the real-time rotation frequency information of the traveling wheels of the diesel off-road scissor lift truck to determine the real-time speed of the diesel off-road scissor lift truck;

[0147] A control parameter determination module 130 is used to select a control parameter group according to a target setting speed, wherein there are multiple control parameter groups, each of which corresponds to different vehicle speed intervals, and the multiple vehicle speed intervals are continuous, wherein when the target setting speed is within a corresponding vehicle speed interval, the corresponding control parameter group is selected;

[0148] A travel control module 140, for controlling the travel of the diesel off-road scissor lift truck with a selected control parameter group according to a target set speed and a real-time speed;

[0149] Each control parameter group is obtained by the following steps:

[0150] Set both the integral and differential parameters to zero;

[0151] Taking speed zero as the initial value and the maximum speed of the vehicle speed interval corresponding to the control parameter group as the target value, the proportional parameter is gradually increased from zero to obtain a plurality of first feedback speed time curves;

[0152] Determining a set ratio parameter according to a plurality of first feedback speed time curves;

[0153] In case of determining the set proportional parameter, the derivative parameter is set to zero;

[0154] Taking speed zero as the initial value and the maximum speed of the vehicle speed interval corresponding to the control parameter group as the target value, the integral parameter is gradually increased from zero to obtain multiple second feedback speed time curves;

[0155] Determine and set an integral parameter according to a plurality of second feedback speed time curves;

[0156] When the set proportional parameter and the set integral parameter are determined, the speed zero is taken as the initial value, the maximum speed of the vehicle speed interval corresponding to the control parameter group is taken as the target value, and the differential parameter is gradually increased from zero to obtain a plurality of third feedback speed time curves;

[0157] Determining and setting a differential parameter according to a plurality of third feedback speed time curves;

[0158] A control parameter group is determined according to a set proportional parameter, a set integral parameter and a set differential parameter.

[0159] The diesel off-road scissor lift truck travel control device 100 in the embodiment of the present application can be an electronic device, or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or it can be other devices other than a terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (Ultra-mobile perSonal Computer, UMPC), a netbook or a personal digital assistant (perSonal digitalaSSiStant, PDA), etc. It can also be a server, a network attached storage (Network AttaChed Storage, NAS), a personal computer (perSonal Computer, PC), a television (teleViSion, TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.

[0160] Figure 4 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0161] The electronic device may include a processor 201 and a memory 202 storing computer program instructions.

[0162] Specifically, the processor 201 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0163] The memory 202 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 202 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 202 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 202 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 202 is a non-volatile solid-state memory.

[0164] In some embodiments, the memory 202 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage media device, an optical storage media device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0165] The processor 201 reads and executes the computer program instructions stored in the memory 202 to implement any one of the diesel off-road scissor lift travel control methods in the above embodiments.

[0166] In one example, the electronic device may further include a communication interface 203 and a bus 210. Figure 4 As shown, the processor 201, the memory 202, and the communication interface 203 are connected via a bus 210 and communicate with each other.

[0167] The communication interface 203 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0168] The bus 210 includes hardware, software or both, coupling the components of the electronic device to each other. For example, but not limitation, the bus may include an accelerated graphics port (AGP) or other graphics bus, an enhanced industry standard architecture (EISA) bus, a front-side bus (FSB), a hypertransport (HT) interconnect, an industry standard architecture (ISA) bus, an infinite bandwidth interconnect, a low pin count (LPC) bus, a memory bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standard association local (VLB) bus or other suitable bus or a combination of two or more of these. Where appropriate, the bus 210 may include one or more buses. Although the present application embodiment describes and illustrates a specific bus, the present application considers any suitable bus or interconnect.

[0169] The electronic device can execute the diesel off-road scissor lift truck travel control method in the embodiment of the present application, thereby realizing the combination Figure 1 A method and device for controlling the travel of a diesel off-road scissor lift truck are described.

[0170] An embodiment of the present application also provides a computer-readable storage medium, which stores computer-executable instructions. The computer-executable instructions are executed by a processor or a control module, so that the above-mentioned processor can execute the diesel off-road scissor lift travel control method in the above-mentioned embodiment, for example, execute the method described above.

[0171] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0172] The functional blocks shown in the above structural block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0173] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0174] Aspects of the present disclosure are described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / actions specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0175] The above are only specific implementation methods of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A diesel off-road scissor lift travel control method, characterized in that: include: Get the target setting speed; Acquire the real-time rotation frequency information of the traveling wheels of the diesel off-road scissor lift truck to determine the real-time speed of the diesel off-road scissor lift truck; A control parameter group is selected according to the target setting speed, wherein there are multiple control parameter groups, the multiple control parameter groups correspond to different vehicle speed intervals, and the multiple vehicle speed intervals are continuous, wherein when the target setting speed is within the corresponding vehicle speed interval, the corresponding control parameter group is selected; According to the target setting speed and the real-time speed, the diesel off-road scissor truck is controlled to move with the selected control parameter group; Wherein, each of the control parameter groups is obtained by the following steps: Set both the integral and differential parameters to zero; Taking speed zero as an initial value and the maximum speed of the vehicle speed interval corresponding to the control parameter group as a target value, gradually increasing the proportional parameter from zero to obtain a plurality of first feedback speed time curves; Determining a set ratio parameter according to a plurality of the first feedback speed time curves; In case of determining the set proportional parameter, setting the derivative parameter to zero; Taking speed zero as an initial value and the maximum speed of the vehicle speed interval corresponding to the control parameter group as a target value, the integral parameter is gradually increased from zero to obtain a plurality of second feedback speed time curves; Determine and set an integral parameter according to a plurality of the second feedback speed time curves; When the set proportional parameter and the set integral parameter are determined, the speed zero is taken as the initial value, the maximum speed of the vehicle speed interval corresponding to the control parameter group is taken as the target value, the differential parameter is gradually increased from zero, and a plurality of third feedback speed time curves are obtained; Determining and setting a differential parameter according to the plurality of third feedback speed time curves; The control parameter group is determined according to the set proportional parameter, the set integral parameter and the set differential parameter.

2. The diesel off-road scissor lift travel control method according to claim 1, characterized in that: The obtaining of the target setting speed comprises: Get the current operation amount of the operating handle; Determine an operation amount difference between the current operation amount and a preset dead zone operation amount; The target setting speed is determined according to the operation amount difference, wherein the operation amount difference is positively correlated with the target setting speed.

3. The diesel off-road scissor lift travel control method according to claim 1, characterized in that: The step of obtaining the real-time rotation frequency information of the traveling wheels of the diesel off-road scissor lift truck to determine the real-time speed of the diesel off-road scissor lift truck includes: Acquire real-time rotation frequency information of the traveling wheel, wherein the real-time rotation frequency information is detected by a rotation frequency sensor disposed on the traveling wheel of the diesel off-road scissor lift truck; The real-time speed is determined according to the upper limit value of the actually measured rotation speed frequency variation range of the diesel off-road scissor lift truck and the real-time rotation frequency information.

4. The diesel off-road scissor lift travel control method according to claim 3, characterized in that: The diesel off-road scissor lift truck travel control method further includes: In response to the parameter adjustment instruction, a proportional parameter adjustment configuration parameter input by a user is obtained, wherein the proportional parameter adjustment configuration parameter includes a specified interval and a parameter adjustment amount, wherein the specified interval is any vehicle speed interval other than the vehicle speed interval with the lowest speed, and the parameter adjustment amount is used to adjust the set proportional parameter in the control parameter group corresponding to the specified interval, and the parameter adjustment amount does not exceed a preset parameter adjustment dead zone range, and the parameter adjustment dead zone range is determined according to the working performance of the diesel off-road scissor lift truck; The proportional parameter set in the corresponding control parameter group is adjusted according to the proportional parameter adjustment configuration parameter.

5. The diesel off-road scissor lift travel control method according to claim 1, characterized in that: The diesel off-road scissor lift truck travel control method further includes: In response to a brake command, stop using the control parameter group to control the movement of the diesel off-road scissor lift truck, and execute a brake strategy to reduce the speed of the diesel off-road scissor lift truck to zero; The braking strategy includes: Obtaining the real-time speed; Determine the current braking stage and the braking coefficient corresponding to the current braking stage according to the real-time speed, wherein each speed interval corresponds to a braking stage, and multiple braking stages correspond to multiple different braking coefficients. The higher the speed, the greater the braking coefficient corresponding to the speed interval. The current braking stage is any of the braking stages; A deceleration operation is performed on the off-road scissor lift truck according to the determined braking coefficient.

6. The diesel off-road scissor lift travel control method according to claim 5, characterized in that: The braking coefficient corresponding to each braking stage is obtained by the following steps: Determine the allowed braking time according to the vehicle speed range corresponding to the braking stage, wherein the higher the vehicle speed range, the longer the allowed braking time; The braking coefficient is determined according to the allowed braking time, the corresponding range of the vehicle speed interval and the preset execution cycle.

7. The diesel off-road scissor lift travel control method according to claim 6, characterized in that: The diesel off-road scissor lift truck travel control method further includes: In response to the braking duration adjustment instruction, obtaining braking duration adjustment information, the braking duration adjustment information including an adjustment stage and a duration adjustment amount, the adjustment stage being used to indicate any of the braking stages; The allowed braking duration of the corresponding braking phase is adjusted according to the braking duration adjustment information.

8. A diesel off-road scissor lift travel control device, characterized in that: The diesel off-road scissor lift truck travel control device comprises: A first speed acquisition module, used to acquire a target setting speed; A second speed acquisition module is used to acquire real-time rotation frequency information of the traveling wheels of the diesel off-road scissor lift truck to determine the real-time speed of the diesel off-road scissor lift truck; a control parameter determination module, configured to select a control parameter group according to the target setting speed, wherein there are a plurality of control parameter groups, the plurality of control parameter groups correspond to different vehicle speed intervals, and the plurality of vehicle speed intervals are continuous, wherein when the target setting speed is within the corresponding vehicle speed interval, the corresponding control parameter group is selected; A travel control module, used for controlling the travel of the diesel off-road scissor lift truck with the selected control parameter group according to the target set speed and the real-time speed; Wherein, each of the control parameter groups is obtained by the following steps: Set both the integral and differential parameters to zero; Taking speed zero as an initial value and the maximum speed of the vehicle speed interval corresponding to the control parameter group as a target value, gradually increasing the proportional parameter from zero to obtain a plurality of first feedback speed time curves; Determining a set ratio parameter according to a plurality of the first feedback speed time curves; In case of determining the set proportional parameter, setting the derivative parameter to zero; Taking speed zero as an initial value and the maximum speed of the vehicle speed interval corresponding to the control parameter group as a target value, the integral parameter is gradually increased from zero to obtain a plurality of second feedback speed time curves; Determine and set an integral parameter according to a plurality of the second feedback speed time curves; When the set proportional parameter and the set integral parameter are determined, the speed zero is taken as the initial value, the maximum speed of the vehicle speed interval corresponding to the control parameter group is taken as the target value, the differential parameter is gradually increased from zero, and a plurality of third feedback speed time curves are obtained; Determining and setting a differential parameter according to the plurality of third feedback speed time curves; The control parameter group is determined according to the set proportional parameter, the set integral parameter and the set differential parameter.

9. An electronic device, characterized in that: The electronic device comprises a processor and a memory storing computer program instructions; When the processor executes the computer program, the traveling control method of a diesel off-road scissor lift truck as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the diesel off-road scissor lift travel control method as described in any one of claims 1 to 7.

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