Lifting control method, system, server and storage medium

Abstract

The present application is applicable to the field of artificial intelligence technology and provides a lifting control method, system, server, and storage medium. The method includes: obtaining liquid level data of a target vehicle's hydraulic oil tank and vehicle operating parameters of the target vehicle; determining the target vehicle's maximum lifting angle based on the liquid level data and vehicle operating parameters; and controlling a target cylinder in the target vehicle to perform a lifting operation based on the maximum lifting angle when a preset lifting condition is triggered. The present application can automatically determine the latest maximum lifting angle of the target cylinder based on the real-time hydraulic oil tank liquid level data and vehicle operating parameters, and automatically control the cylinder in the vehicle to perform lifting based on the latest maximum lifting angle, thereby helping to improve the unloading efficiency of hydraulic dump trucks while ensuring vehicle safety.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a lifting control method, system, server and storage medium. Background Art

[0002] A hydraulic dump truck is a vehicle that unloads its cargo by hydraulic lifting. The maximum lift angle is usually the maximum safe angle allowed between the cargo compartment and the vehicle frame.

[0003] In related technologies, if the maximum lifting angle is not determined accurately, the unloading efficiency of the hydraulic dump truck will be easily reduced. For example, if the determined maximum lifting angle is too small, the unloading efficiency will be reduced. If the determined maximum lifting angle is too large, it may cause rollover. Summary of the Invention

[0004] In view of this, embodiments of the present application provide a lifting control method, system, server and storage medium to solve the problem in related technologies that if the maximum lifting angle is not accurately determined, the unloading efficiency of the hydraulic dump truck will be easily reduced.

[0005] In a first aspect, an embodiment of the present application provides a lifting control method, comprising:

[0006] Acquiring liquid level data of a hydraulic oil tank of a target vehicle and vehicle operating parameters of the target vehicle;

[0007] Determine the maximum lift angle of the target vehicle based on the liquid level data and vehicle operating parameters;

[0008] When a preset lifting condition is triggered, a target cylinder in the target vehicle is controlled to perform a lifting operation based on the maximum lift angle.

[0009] Furthermore, the vehicle operating parameters include: pump operating parameters of a lift pump for lifting a target cylinder in the target vehicle, structural parameters of the target cylinder, and a body inclination angle of the target vehicle.

[0010] Furthermore, the maximum lift angle of the target vehicle is determined based on the liquid level data and the vehicle operating parameters, including:

[0011] Determine the amount of lifting oil used to lift the target cylinder based on the liquid level data and pump operating parameters;

[0012] Determine the maximum lifting angle corresponding to the target cylinder based on the lifting oil volume, structural parameters and vehicle body inclination angle.

[0013] Furthermore, the maximum lifting angle corresponding to the target cylinder is determined according to the lifting oil volume, structural parameters and vehicle body tilt angle, including:

[0014] The desired lift angle of the target cylinder is determined based on the lift oil volume and structural parameters, and the difference between the desired lift angle and the vehicle body inclination angle is determined as the maximum lift angle.

[0015] Furthermore, the method further comprises:

[0016] During the process of controlling the target cylinder in the target vehicle to perform a lifting operation, acquiring lifting state-related data of the target vehicle according to a preset data acquisition cycle, the lifting state-related data including at least one of the following: lifting pressure, lifting flow rate, and cargo box tilt angle;

[0017] The lifting operation is adjusted according to the lifting status related data at multiple consecutive moments.

[0018] Furthermore, the lifting operation is adjusted based on the lifting state related data at multiple consecutive moments, including at least one of the following:

[0019] When the cargo box tilt angle at a plurality of consecutive moments indicates that the tilt angle change rate of the cargo box of the target vehicle is greater than a preset tilt angle change rate threshold, reducing the lifting speed of the target cylinder in the lifting operation;

[0020] When the lifting pressure change rate of the target vehicle indicated by the lifting pressure at multiple consecutive moments is less than a preset pressure change rate threshold, the lifting operation is suspended. When the lifting operation is in the suspended state, if the liquid level data of the hydraulic oil tank is detected to be lower than a preset liquid level value, the lifting operation is terminated.

[0021] Furthermore, when the preset lifting condition is triggered, controlling the target cylinder in the target vehicle to perform a lifting operation based on the maximum lifting angle includes:

[0022] When the preset lifting condition is triggered, the target cylinder is controlled based on the maximum lifting angle to perform a target lifting operation adapted to the current scene of the target vehicle;

[0023] Among them, the preset lifting conditions include: detecting that the current scene of the target vehicle belongs to the target scene, detecting that the vehicle state of the target vehicle belongs to the target vehicle state, and detecting that the stacking state at the unloading point of the target vehicle belongs to the target stacking state.

[0024] In a second aspect, an embodiment of the present application provides a lifting controller, comprising:

[0025] a data acquisition unit, configured to acquire liquid level data of a hydraulic oil tank of a target vehicle and vehicle operating parameters of the target vehicle;

[0026] a data determination unit, configured to determine a maximum lift angle of a target vehicle based on the liquid level data and vehicle operating parameters;

[0027] The operation control unit is used to control the target cylinder in the target vehicle to perform a lifting operation based on the maximum lifting angle when a preset lifting condition is triggered.

[0028] Furthermore, the vehicle operating parameters include: pump operating parameters of a lift pump for lifting a target cylinder in the target vehicle, structural parameters of the target cylinder, and a body inclination angle of the target vehicle.

[0029] Furthermore, the data determination unit is specifically configured to:

[0030] Determine the amount of lifting oil used to lift the target cylinder based on the liquid level data and pump operating parameters;

[0031] Determine the maximum lifting angle corresponding to the target cylinder based on the lifting oil volume, structural parameters and vehicle body inclination angle.

[0032] Furthermore, the data determination unit determines the maximum lift angle corresponding to the target cylinder based on the lift oil volume, structural parameters, and vehicle body inclination angle, including:

[0033] The desired lift angle of the target cylinder is determined based on the lift oil volume and structural parameters, and the difference between the desired lift angle and the vehicle body inclination angle is determined as the maximum lift angle.

[0034] Furthermore, the lifting controller also includes an information collection unit and an operation adjustment unit.

[0035] An information acquisition unit is configured to acquire data related to a lifting state of the target vehicle according to a preset data acquisition cycle during a process of controlling a target cylinder in the target vehicle to perform a lifting operation, the lifting state data including at least one of the following: lifting pressure, lifting flow rate, and cargo box tilt angle;

[0036] The operation adjustment unit is used to adjust the lifting operation according to the lifting state related data at multiple consecutive moments.

[0037] Furthermore, the operation adjustment unit is specifically configured to perform at least one of the following:

[0038] When the cargo box tilt angle at a plurality of consecutive moments indicates that the tilt angle change rate of the cargo box of the target vehicle is greater than a preset tilt angle change rate threshold, reducing the lifting speed of the target cylinder in the lifting operation;

[0039] When the lifting pressure change rate of the target vehicle indicated by the lifting pressure at multiple consecutive moments is less than a preset pressure change rate threshold, the lifting operation is suspended. When the lifting operation is in the suspended state, if the liquid level data of the hydraulic oil tank is detected to be lower than a preset liquid level value, the lifting operation is terminated.

[0040] Furthermore, the operation control unit is specifically configured to: when a preset lifting condition is triggered, control the target cylinder based on the maximum lifting angle to perform a target lifting operation adapted to the current scene of the target vehicle;

[0041] Among them, the preset lifting conditions include: detecting that the current scene of the target vehicle belongs to the target scene, detecting that the vehicle state of the target vehicle belongs to the target vehicle state, and detecting that the stacking state at the unloading point of the target vehicle belongs to the target stacking state.

[0042] In a third aspect, an embodiment of the present application provides a lift control system, comprising a lift controller and an image capture device electrically connected to the lift controller, wherein the image capture device is fixedly disposed at the rear of a cargo box of a target vehicle;

[0043] a lifting controller configured to obtain liquid level data of a hydraulic oil tank of a target vehicle and vehicle operating parameters of the target vehicle; determine a maximum lifting angle of the target vehicle based on the liquid level data and the vehicle operating parameters; and control a target cylinder in the target vehicle to perform a lifting operation based on the maximum lifting angle when a preset lifting condition is triggered;

[0044] The image capturing device is used to collect images of the rear area of ​​the target vehicle, and the images of the rear area are used to identify the current scene of the target vehicle.

[0045] In a fourth aspect, an embodiment of the present application provides a server comprising a memory, a processor, and a computer program stored in the memory and executable on the server. When the processor executes the computer program, the steps of the lifting control method provided in the first aspect are implemented.

[0046] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the various steps of the lifting control method provided in the first aspect.

[0047] In a sixth aspect, an embodiment of the present application provides a computer program product, which, when running on a server, enables the server to execute any one of the above-mentioned lifting control methods.

[0048] Compared with the related art, the beneficial effects of the embodiments of the present application are: since the vehicle is in different situations, such as on a slope and on flat ground, the maximum safe angle allowed between the cargo compartment and the frame is usually different, the latest maximum lifting angle of the target cylinder is automatically determined based on the real-time hydraulic oil tank liquid level data and vehicle operating parameters, and based on the latest maximum lifting angle obtained, the cylinder in the vehicle is automatically controlled to lift, which helps to improve the unloading efficiency of the hydraulic dump truck while ensuring vehicle safety.

[0049] It can be understood that the beneficial effects of the second to sixth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0051] Figure 1 This is a flowchart of an implementation of a lifting control method provided in one embodiment of the present application;

[0052] Figure 2 This is a schematic diagram of the relationship between the hydraulic oil tank and the oil cylinder provided in one embodiment of the present application;

[0053] Figure 3 This is a schematic diagram of the effect of the dump truck lifting process provided by one embodiment of the present application;

[0054] Figure 4 This is a structural block diagram of a lifting controller provided in one embodiment of the present application;

[0055] Figure 5 This is a structural block diagram of a lifting control system provided by an embodiment of the present application;

[0056] Figure 6 This is a structural block diagram of a server provided in one embodiment of the present application. DETAILED DESCRIPTION

[0057] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0058] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0059] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0060] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0061] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0062] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0063] In order to illustrate the technical solution of the present application, the following examples are provided for illustration.

[0064] See also Figure 1 , an embodiment of the present application provides a lifting control method, including:

[0065] Step 101: Acquire the liquid level data of the hydraulic oil tank of the target vehicle and the vehicle operating parameters of the target vehicle.

[0066] The target vehicle is typically a pre-set hydraulic dump truck. In practical applications, the target vehicle is typically an unmanned hydraulic dump truck. The liquid level data is typically data indicating the amount of oil in the hydraulic oil tank.

[0067] In practice, the above-mentioned vehicle operating parameters may include but are not limited to: the pump operating parameters of the lifting pump used to lift the target cylinder in the target vehicle, the structural parameters of the target cylinder and the body inclination angle of the target vehicle. Among them, the above-mentioned pump operating parameters are usually parameters during the operation of the lifting pump. In practice, the above-mentioned pump operating parameters may include the rotational speed and pump displacement of the lifting pump. The above-mentioned target cylinder is usually a cylinder on the target vehicle used to support the lifting of the cargo box. The structural parameters of the above-mentioned target cylinder are usually parameters used to indicate the size of the target cylinder, such as the cylinder diameter. The above-mentioned body inclination angle usually refers to the angle formed by the entire vehicle and the road.

[0068] In this embodiment, the execution entity of the lift control method is typically a vehicle, and specifically a lift controller within the vehicle. The execution entity can obtain the liquid level data, the pump operating parameters, and the vehicle body inclination angle via sensors. For example, the liquid level data can be acquired via a liquid level sensor, and the rotational speed, one of the operating parameters, can be acquired via a speed sensor. The structural parameters of the target cylinder are typically fixed, and the execution entity can directly obtain these parameters.

[0069] Figure 2 This is a schematic diagram of the relationship between the hydraulic oil tank and the oil cylinder provided in the embodiment of the present application. Figure 2 In the embodiment, when the lift valve 204 is in the open state, the lift pump 203 can pump the oil in the hydraulic oil tank 201 into the oil cylinder 202, causing the oil cylinder to extend, thereby driving the cargo box at the rear of the target vehicle to rise.

[0070] Step 102: Determine the maximum lift angle of the target vehicle based on the liquid level data and vehicle operating parameters.

[0071] Here, the execution entity may use the acquired liquid level data and the vehicle operating parameters to determine the maximum lift angle of the target vehicle. For example, the execution entity may use the liquid level data, pump operating parameters, and vehicle body tilt angle to query a table to obtain the maximum lift angle corresponding to the liquid level data, pump operating parameters, and vehicle body tilt angle.

[0072] Step 103 : When the preset lifting condition is triggered, the target cylinder in the target vehicle is controlled to perform a lifting operation based on the maximum lifting angle.

[0073] The preset lifting conditions are typically pre-set conditions for triggering a lift. For example, the preset lifting conditions may include reaching the target location. In practice, the preset lifting conditions may include, but are not limited to, detecting that the target vehicle's current scene is a target scene, detecting that the target vehicle's vehicle state is a target vehicle state, and detecting that the material stacking state at the target vehicle's unloading point is a target material stacking state.

[0074] The target scenarios mentioned above can include crushing station unloading scenarios and stockpile unloading scenarios. The target vehicle state is typically a pre-set state, such as a good oil temperature or a moderate oil pressure. It should be noted that the target vehicle state can be a single state or a combination of states. The target stockpile state is typically a pre-set state, such as a stockpile height less than a preset value.

[0075] In practice, the above-mentioned execution subject can collect images of the surrounding area of ​​the rear end of the target vehicle, perform scene recognition on the images of the surrounding area of ​​the rear end of the vehicle, and obtain the current scene. As an example, the images of the surrounding area of ​​the rear end of the vehicle can be input into a pre-trained scene recognition model to obtain the above-mentioned current scene. In addition, the above-mentioned execution subject can monitor the vehicle status by analyzing the data collected by the sensors installed on the target vehicle. For example, the temperature data collected by the temperature sensor can be used to detect whether the vehicle status is a high temperature state. In addition, the above-mentioned execution subject can use an image camera device, such as a camera, to collect images at the unloading point, analyze the collected images to determine the stockpiling status, or determine the stockpiling status by other means, such as using a laser radar to perform boundary recognition to determine the stockpiling status.

[0076] Here, the above-mentioned execution subject can directly control the target cylinder in the target vehicle to perform a lifting operation based on the maximum lifting angle when the preset lifting condition is triggered, which can accurately and efficiently control the lifting of the target cylinder and help improve the unloading efficiency of the dump truck.

[0077] The method provided in this embodiment determines the latest maximum lifting angle of the target cylinder based on the real-time hydraulic oil tank liquid level data and vehicle operating parameters, because the maximum safety angle allowed between the cargo compartment and the frame usually varies when the vehicle is in different situations, such as on a slope and on flat ground. Based on the latest maximum lifting angle obtained, the cylinder in the vehicle is automatically controlled to lift, which helps to improve the unloading efficiency of hydraulic dump trucks while ensuring vehicle safety.

[0078] In some optional implementations, obtaining the liquid level data of the hydraulic oil tank of the target vehicle may include: collecting liquid level measurement data of the hydraulic oil tank, and performing data calibration processing on the liquid level measurement data to obtain the liquid level data.

[0079] The above-mentioned liquid level measurement data is usually measured data indicating the amount of oil.

[0080] The execution entity may acquire the liquid level measurement data using a liquid level sensor. The liquid level measurement data may then be calibrated and used as the liquid level data. For example, the execution entity may calibrate the liquid level measurement data based on the inclination angle of the hydraulic oil tank to obtain the liquid level data.

[0081] It should be pointed out that by performing data calibration on the liquid level measurement data, more accurate liquid level data can be obtained, thereby facilitating the determination of a more accurate maximum lift angle.

[0082] In some optional implementations, the above-mentioned data calibration processing of the liquid level measurement data to obtain the liquid level data may include: adjusting the liquid level measurement data according to the tank temperature data of the hydraulic oil tank, the body inclination angle of the target vehicle and the installation position information of the target liquid level sensor to obtain the liquid level data.

[0083] The target liquid level sensor is usually a liquid level sensor used to measure the liquid level of a hydraulic oil tank.

[0084] The above-mentioned installation position information is usually used to indicate the relative position relationship between the above-mentioned target liquid level sensor and the hydraulic oil tank.

[0085] Here, the executing entity can obtain fuel tank temperature data using a temperature sensor and measure the target vehicle's current body tilt angle using an angle measuring device, such as a gyroscope. It should be noted that when the target vehicle is on flat ground, the body tilt angle is zero degrees. Furthermore, the executing entity can directly obtain pre-stored installation location information for the target liquid level sensor. Thus, the executing entity can use the fuel tank temperature data, the body tilt angle, and the target liquid level sensor installation location information to adjust the liquid level measurement data to obtain the liquid level data. For example, if the fuel tank temperature data indicates a tank temperature of 60 degrees, the body tilt angle indicates an uphill tilt of 30 degrees, the target liquid level sensor installation location information indicates that the target liquid level sensor is located near the rear of the fuel tank, and the liquid level measurement data indicates a measured oil volume of 19 liters, the executing entity can first calculate an oil volume using the fuel tank diameter and the body tilt angle, for example, 18 liters. Then, using the tank temperature data, the corresponding oil volume for 60 degrees can be found in the tank temperature-oil volume table, for example, 18.2 liters. Finally, the above execution entity can use the average of the calculated and found oil volumes as the actual oil volume. In this case, the adjusted oil level data is 18.1 liters, where 18.1 = (18 + 18.2) ÷ 2.

[0086] In some optional implementations, after the above adjustment of the liquid level measurement data, the method further includes: obtaining at least one historical liquid level data, and performing a secondary adjustment on the liquid level measurement data based on the at least one historical liquid level data, and determining the secondary adjusted liquid level measurement data as the liquid level data.

[0087] The above historical liquid level data are usually liquid level data at historical moments.

[0088] Here, since the total amount of oil in the target vehicle is usually fixed under normal conditions, the accuracy of the adjusted liquid level measurement data can be determined by analyzing multiple historical liquid level data. If the difference between the two is large, such as the difference is greater than a predetermined value, the adjusted liquid level measurement data can be adjusted again to obtain more accurate liquid level data, that is, to make the obtained liquid level data more accurate. In addition, the above-mentioned execution entity can determine whether the target vehicle has oil leakage and the amount of oil leaked each time by analyzing multiple historical liquid level data, and then adjust the adjusted liquid level measurement data again based on the amount of oil leaked. In other words, even in the case of a trace amount of oil leakage, accurate liquid level data can still be obtained. For example, if the liquid level data at time T1 is 18.5 liters, the liquid level data at time T2 is 18.4 liters, the liquid level data at time T3 is 18.3 liters, and the current time is T4, the liquid level data is 18.1 liters, and the liquid level data at three consecutive times from T1 to T3 decreases, then the target vehicle may have an oil leak, and the amount of oil leaked at every other moment is 0.1 liter. At this time, the above-mentioned execution entity can take the oil leakage into consideration and obtain a theoretical oil volume of 18.2 liters at the current moment. There is a large difference between the theoretical oil volume and the oil volume obtained after the first adjustment. The liquid level data at the current moment can be adjusted a second time to obtain more accurate liquid level data of 18.15 liters, where 18.15 = (18.2 + 18.1) ÷ 2.

[0089] In some optional implementations of this embodiment, determining the maximum lift angle of the target vehicle based on the liquid level data and the vehicle operating parameters may include the following first and second steps.

[0090] In the first step, the amount of lifting oil used to lift the target cylinder is determined based on the liquid level data and pump operating parameters.

[0091] Here, the above-mentioned execution subject can use the pump operating parameters of the lifting pump to determine the amount of oil required by the lifting pump based on inertia after the stop lifting command is issued. Here, for the sake of convenience of description, the amount of oil required by the lifting pump based on inertia is recorded as the safe remaining oil amount. In practice, other factors can usually be combined, such as the installation position of the oil suction port of the lifting pump and the body inclination angle of the vehicle, to determine the above-mentioned safe remaining oil amount. Afterwards, the above-mentioned lifting oil amount can be calculated based on the safe remaining oil amount and the total oil amount of the hydraulic oil tank. In practice, since the target vehicle may have multiple components that need to be controlled based on hydraulics, and these multiple components share the above-mentioned hydraulic oil tank, at this time, more oil usually needs to be reserved in the above-mentioned hydraulic oil tank.

[0092] The second step is to determine the maximum lifting angle corresponding to the target cylinder based on the lifting oil volume, structural parameters and vehicle body inclination angle.

[0093] After determining the lifting fluid volume, the actuator can calculate the maximum extendable capacity of the target cylinder based on its structural parameters, such as its diameter. Since the target cylinder, cargo box, and vehicle frame typically form a triangle, the maximum lift angle can be calculated based on the target cylinder's maximum extendable capacity, the cargo box length, and the vehicle frame length. This allows the actuator to determine the maximum lift angle based on the lifting fluid volume, structural parameters, and vehicle body tilt angle, and to control the lift of the target cylinder in the target vehicle.

[0094] Figure 3 A schematic diagram of the effect during the lifting process of a dump truck provided in an embodiment of the present application. Figure 3 In the embodiment, the oil cylinder 302 is movably connected to the vehicle frame 303, and the movable connection point between the oil cylinder 302 and the vehicle frame 303 is the front rotation point 304. The cargo box 301 is movably connected to the vehicle frame 303, and the movable connection point between the cargo box 301 and the vehicle frame 303 is the rear rotation point 305. Figure 3 As shown, when the oil cylinder is in the raised state, a triangle can be formed between the oil cylinder 302, the cargo box 301 and the vehicle frame 303.

[0095] In some optional implementations, the above-mentioned determination of the maximum lifting angle corresponding to the target cylinder based on the lifting oil volume, structural parameters and vehicle body inclination angle may include: determining the expected lifting angle of the target cylinder based on the lifting oil volume and structural parameters, and determining the difference between the expected lifting angle and the vehicle body inclination angle as the maximum lifting angle.

[0096] Here, the execution entity can calculate the maximum extendable capacity of the target cylinder based on its structural parameters. It then calculates the desired lift angle based on the maximum extendable capacity, the cargo box length, and the vehicle frame length. The difference between this desired lift angle and the vehicle body inclination angle is then used as the maximum lift angle. This ensures that a dump truck on a slope can be safely lifted.

[0097] It's important to note that by calibrating the liquid level measurement data, more accurate liquid level data can be obtained. Subsequently, the amount of lifting fluid available in the target cylinder is determined based on the lift pump's operating parameters. The maximum lift angle is then determined based on the lifting fluid amount, the target cylinder's structural parameters, and the vehicle body's inclination angle, resulting in an accurate maximum lift angle. Automatically controlling dump truck unloading based on this accurate maximum lift angle allows for safe and efficient control of the truck, further improving its unloading efficiency.

[0098] In some optional implementations of this embodiment, the above-mentioned lifting control method may further include the following steps 1 and 2.

[0099] Step 1: While controlling the target cylinder in the target vehicle to perform a lifting operation, data related to the lifting state of the target vehicle is obtained according to a preset data acquisition cycle.

[0100] The lifting status-related data includes at least one of the following: lifting pressure, lifting flow rate, and cargo box tilt angle. It should be noted that the lifting status-related data can typically be acquired through corresponding sensors. For example, the lifting pressure can be acquired through a pressure sensor. The lifting pressure is typically the output pressure of the lifting pump, and the lifting flow rate is typically the amount of oil input into the target cylinder per unit time. The cargo box tilt angle is typically the angle between the cargo box and the vehicle frame.

[0101] The above-mentioned cargo box tilt angle may include the cargo box longitudinal tilt angle and the cargo box lateral tilt angle. The above-mentioned preset data acquisition period is usually a pre-set period value, such as 5 seconds. The lifting state related data is usually data related to the lifting state.

[0102] Here, the execution subject may collect lifting status related data in real time while controlling the target cylinder in the target vehicle to perform the lifting operation.

[0103] Step 2: Adjust the lifting operation based on the lifting state related data at multiple consecutive moments.

[0104] Here, the execution entity may determine a method for adjusting the lifting operation by analyzing a plurality of lifting state-related data at consecutive moments.

[0105] This embodiment can make timely adjustments to the lifting operation in combination with real-time lifting status related data, can achieve safe and efficient control of the dump truck, and help further improve the unloading efficiency of the dump truck.

[0106] In some optional implementations, adjusting the lifting operation based on the lifting state-related data at multiple consecutive moments may include at least one of the following two items.

[0107] The first item is to reduce the lifting speed of the target cylinder in the lifting operation when the cargo box tilt angle at multiple consecutive moments indicates that the tilt angle change rate of the cargo box of the target vehicle is greater than a preset tilt angle change rate threshold.

[0108] The preset tilt angle change rate threshold is usually a pre-set value.

[0109] Here, the above-mentioned execution entity can use the cargo box inclination angle at multiple consecutive moments to calculate the inclination change rate of the cargo box. If the inclination change rate of the cargo box is greater than the preset inclination change rate threshold, the lifting speed of the target cylinder can be slowed down, thereby making the lifting process safer.

[0110] The second item is to suspend the lifting operation when the lifting pressure change rate of the target vehicle indicated by the lifting pressure at multiple consecutive moments is less than a preset pressure change rate threshold, and to terminate the lifting operation if the liquid level data of the hydraulic oil tank is detected to be lower than a preset liquid level value when the lifting operation is in the paused state.

[0111] The above-mentioned preset pressure change rate threshold is usually a preset value. The above-mentioned preset liquid level value is usually a preset value.

[0112] Here, the execution entity can use the lifting pressure at multiple consecutive moments to calculate a lifting pressure change rate. If the calculated lifting pressure change rate is less than a preset pressure change rate threshold, this indicates a possible fault, such as a pipeline failure. In this case, the lifting operation can be paused. Furthermore, if the hydraulic oil tank level is detected to be low, below a preset level, while the lifting operation is paused, it is likely that other components on the target vehicle that share the same hydraulic oil tank are also using the oil. In this case, to improve operational efficiency and oil utilization, the lifting operation can be terminated.

[0113] This embodiment can continuously monitor the lifting status-related data and adjust the lifting operation based on the lifting status-related data during the process of controlling the target cylinder to perform the lifting operation. Multiple adjustment methods coexist, and the lifting of the target cylinder can be flexibly controlled. It is more practical and can achieve safe and efficient control of the dump truck, which helps to further improve the unloading efficiency of the dump truck.

[0114] In some optional implementations of this embodiment, when the preset lifting condition is triggered, the target cylinder in the target vehicle is controlled to perform a lifting operation based on the maximum lifting angle, including: when the preset lifting condition is triggered, the target cylinder is controlled to perform a target lifting operation that is adapted to the current scene of the target vehicle based on the maximum lifting angle.

[0115] Among them, the above-mentioned preset lifting conditions are usually pre-set conditions for triggering lifting. In practice, the preset lifting conditions may include: detecting that the current scene of the target vehicle belongs to the target scene, detecting that the vehicle state of the target vehicle belongs to the target vehicle state, and detecting that the stacking state at the target vehicle unloading point belongs to the target stacking state. Among them, the above-mentioned target scenes may include crushing station unloading scenes and yard unloading scenes. The above-mentioned target vehicle state is usually a pre-set state, such as a state where the oil temperature is good or a state where the oil pressure is moderate. It should be pointed out that the target vehicle state can be a single state or a combination of a series of states. The above-mentioned target stacking state is usually a pre-set state, such as a state where the stacking height is less than a preset height value.

[0116] In practice, the above-mentioned execution subject can collect images of the surrounding area of ​​the rear end of the target vehicle, perform scene recognition on the images of the surrounding area of ​​the rear end of the vehicle, and obtain the current scene. As an example, the images of the surrounding area of ​​the rear end of the vehicle can be input into a pre-trained scene recognition model to obtain the above-mentioned current scene. In addition, the above-mentioned execution subject can monitor the vehicle status by analyzing the data collected by the sensors installed on the target vehicle. For example, the temperature data collected by the temperature sensor can be used to detect whether the vehicle status is a high temperature state. In addition, the above-mentioned execution subject can use an image camera device, such as a camera, to collect images at the unloading point, analyze the collected images to determine the stockpiling status, or determine the stockpiling status by other means, such as using a laser radar to perform boundary recognition to determine the stockpiling status.

[0117] The target lift operation is typically a lift operation that is appropriate for the current scenario of the target vehicle. In practice, a corresponding lift operation can be set for each scenario. Subsequently, lift control can be performed directly based on the corresponding lift operation, given the current scenario.

[0118] As an example, when the target vehicle is currently unloading at a crushing station, the target lifting operation may include: upon detecting that there is no or little residual material at the crushing port, controlling the target cylinder to lift; upon detecting that the lifting angle has reached the maximum lifting angle, determining whether there is residual material in the cargo box based on the target cylinder pressure; if there is no residual material in the cargo box, stopping the lift; if there is residual material in the cargo box, controlling the target cylinder to descend to the repose angle and then resuming control of the target cylinder lifting. It should be noted that if there is residual material in the cargo box, since the cargo in the cargo box does not move relative to the cargo box at the repose angle, controlling the target cylinder to descend to the repose angle and then resuming control of the target cylinder lifting can save significantly more time than controlling the target cylinder to descend to zero degrees and then resuming control of the target cylinder lifting, thereby helping to further increase the unloading speed.

[0119] As another example, if the target vehicle is currently unloading materials at a storage yard, the target lift operation may include: upon entering the storage yard, if no materials are detected at the unloading point, the target cylinder will be controlled to lift. If materials are detected at the unloading point and exceed a certain height, the vehicle will move forward a certain distance and continue to check the next unloading point for material. When the lift angle reaches the maximum lift angle, the target cylinder pressure will be used to determine whether there is residual material in the cargo box. If there is no residual material in the cargo box, the lift will be stopped. If there is residual material in the cargo box, the vehicle will first move forward a certain distance, control the target cylinder to descend to the repose angle, and then restart the target cylinder lift control.

[0120] In this embodiment, when the preset lifting condition is triggered, the above-mentioned execution entity can control the target cylinder based on the maximum lifting angle to perform a target lifting operation that is adapted to the current scene of the target vehicle, and can accurately and efficiently control the lifting of the target cylinder, thereby further improving the unloading efficiency of the dump truck.

[0121] See also Figure 4 , Figure 4 This is a structural block diagram of a lifting controller 400 provided in an embodiment of the present application. In this embodiment, the lifting controller includes various units for executing Figure 1-Figure 3 Each step in the corresponding embodiment. Please refer to Figure 1-Figure 3 as well as Figure 1-Figure 3 For the convenience of explanation, only the parts related to this embodiment are shown. Figure 4 , the lifting controller 400 includes:

[0122] The data acquisition unit 401 is used to acquire the liquid level data of the hydraulic oil tank of the target vehicle and the vehicle operating parameters of the target vehicle;

[0123] a data determination unit 402 for determining a maximum lift angle of a target vehicle based on the liquid level data and vehicle operating parameters;

[0124] The operation control unit 403 is configured to control the target cylinder in the target vehicle to perform a lifting operation based on the maximum lifting angle when a preset lifting condition is triggered.

[0125] As an embodiment of the present application, the vehicle operating parameters include: pump operating parameters of a lift pump for lifting a target cylinder in the target vehicle, structural parameters of the target cylinder, and a body inclination angle of the target vehicle.

[0126] As an embodiment of the present application, the data determination unit 402 is specifically configured to:

[0127] Determine the amount of lifting oil used to lift the target cylinder based on the liquid level data and pump operating parameters;

[0128] Determine the maximum lifting angle corresponding to the target cylinder based on the lifting oil volume, structural parameters and vehicle body inclination angle.

[0129] As an embodiment of the present application, in the data determination unit 402, the maximum lifting angle corresponding to the target cylinder is determined based on the lifting oil volume, structural parameters and vehicle body inclination angle, including: determining the expected lifting angle of the target cylinder based on the lifting oil volume and structural parameters, and determining the difference between the expected lifting angle and the vehicle body inclination angle as the maximum lifting angle.

[0130] As one embodiment of the present application, the lifting controller further includes an information acquisition unit and an operation adjustment unit (not shown). The information acquisition unit is configured to acquire lifting status-related data of the target vehicle according to a preset data acquisition cycle while controlling the target cylinder in the target vehicle to perform a lifting operation. The lifting status-related data includes at least one of the following: lifting pressure, lifting flow rate, and cargo box tilt angle. The operation adjustment unit is configured to adjust the lifting operation based on the lifting status-related data at multiple consecutive moments.

[0131] As one embodiment of the present application, the operation adjustment unit is specifically configured to perform at least one of the following: first, reducing the lifting speed of the target cylinder during the lifting operation when the cargo box tilt angle at multiple consecutive moments indicates that the tilt angle change rate of the cargo box of the target vehicle is greater than a preset tilt angle change rate threshold. Second, pausing the lifting operation when the lifting pressure at multiple consecutive moments indicates that the lifting pressure change rate of the target vehicle is less than a preset pressure change rate threshold. Furthermore, while the lifting operation is paused, if the hydraulic oil tank liquid level data is detected to be lower than a preset liquid level value, terminating the lifting operation.

[0132] As one embodiment of the present application, the operation control unit 403 is specifically configured to, when a preset lifting condition is triggered, control the target cylinder based on the maximum lift angle to perform a target lifting operation adapted to the current scene of the target vehicle. The preset lifting condition includes: detecting that the current scene of the target vehicle is a target scene, detecting that the vehicle state of the target vehicle is a target vehicle state, and detecting that the material stacking state at the unloading point of the target vehicle is a target material stacking state.

[0133] The lifting controller provided in this embodiment automatically determines the latest maximum lifting angle of the target cylinder based on the real-time hydraulic oil tank liquid level data and vehicle operating parameters, because the maximum safety angle allowed between the cargo compartment and the frame usually differs when the vehicle is in different situations, such as on a slope and on flat ground. Based on the latest maximum lifting angle obtained, the cylinder in the vehicle is automatically controlled to lift. This helps to improve the unloading efficiency of hydraulic dump trucks while ensuring vehicle safety.

[0134] It should be understood that Figure 4 In the structural block diagram of the lifting controller shown, each unit is used to execute Figure 1-Figure 3 The steps in the corresponding embodiment, and for Figure 1-Figure 3 Each step in the corresponding embodiment has been explained in detail in the above embodiment. Figure 1-Figure 3 as well as Figure 1-Figure 3 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0135] See also Figure 5 , Figure 5 is a block diagram of a lift control system 500 provided in an embodiment of the present application. In this embodiment, the lift control system includes a lift controller 501 and an image capture device 502 electrically connected to the lift controller 501. The image capture device 502 is fixedly mounted at the rear of the cargo box of the target vehicle.

[0136] The lifting controller 501 is used to obtain the liquid level data of the hydraulic oil tank of the target vehicle and the vehicle operating parameters of the target vehicle; determine the maximum lifting angle of the target vehicle based on the liquid level data and the vehicle operating parameters; and control the target cylinder in the target vehicle to perform a lifting operation based on the maximum lifting angle when a preset lifting condition is triggered.

[0137] The image capturing device 502 is used to capture the image of the surrounding area of ​​the rear end of the target vehicle. The image of the surrounding area of ​​the rear end of the target vehicle is used to identify the current scene of the target vehicle.

[0138] For details on the function of the lift controller 501 in this embodiment, please refer to Figure 4 The relevant descriptions in the corresponding embodiments are not repeated here.

[0139] Figure 6 This is a structural block diagram of a server provided by another embodiment of the present application. Figure 6 As shown, the server 600 of this embodiment includes: a processor 601, a memory 602, and a computer program 603 stored in the memory 602 and executable on the processor 601, such as a program for the lift control method. When the processor 601 executes the computer program 603, the steps in each embodiment of the lift control method described above are implemented, such as Figure 1 Alternatively, the processor 601 executes the computer program 603 to implement the above Figure 4 The functions of each unit in the corresponding embodiment are, for example, Figure 4 For details on the functions of units 401 to 403, please refer to Figure 4 The relevant descriptions in the corresponding embodiments are not repeated here.

[0140] Exemplarily, computer program 603 may be divided into one or more units, one or more of which are stored in memory 602 and executed by processor 601 to implement the present application. One or more units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of computer program 603 in server 600. For example, computer program 603 may be divided into a data acquisition unit, a data determination unit, and an operation control unit, with the specific functions of each unit being as described above.

[0141] The server may include, but is not limited to, a processor 601 and a memory 602. Those skilled in the art will appreciate that Figure 6 This is only an example of the server 600 and does not constitute a limitation on the server 600. The server 600 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the turntable device may also include input and output devices, network access devices, buses, etc.

[0142] The processor 601 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0143] Memory 602 can be an internal storage unit of server 600, such as a hard drive or memory of server 600. Memory 602 can also be an external storage device of server 600, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. equipped on server 600. Furthermore, memory 602 can include both an internal storage unit of server 600 and an external storage device. Memory 602 is used to store computer programs and other programs and data required by the turntable device. Memory 602 can also be used to temporarily store data that has been output or is about to be output.

[0144] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0145] If the integrated module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium can be non-volatile or volatile. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device that can carry computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in computer-readable storage media can be appropriately increased or decreased according to the requirements of legislation and patent practices in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practices, computer-readable storage media do not include electrical carrier signals and telecommunications signals.

[0146] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A lifting control method, characterized in that: The method comprises: Acquiring liquid level data of a hydraulic oil tank of a target vehicle and vehicle operating parameters of the target vehicle; determining a maximum lift angle of the target vehicle based on the liquid level data and the vehicle operating parameters; When a preset lifting condition is triggered, controlling a target cylinder in the target vehicle to perform a lifting operation based on the maximum lifting angle; During the process of controlling the target cylinder in the target vehicle to perform a lifting operation, acquiring lifting state-related data of the target vehicle according to a preset data acquisition cycle, the lifting state-related data including at least one of the following: lifting pressure, lifting flow rate, and cargo box tilt angle; The lifting operation is adjusted according to the lifting state related data at multiple consecutive moments.

2. The lifting control method according to claim 1, characterized in that: The vehicle operating parameters include: pump operating parameters of a lift pump for lifting a target cylinder in the target vehicle, structural parameters of the target cylinder, and a body inclination angle of the target vehicle.

3. The lifting control method according to claim 2, characterized in that: Determining the maximum lift angle of the target vehicle based on the fluid level data and the vehicle operating parameters includes: determining a lift fluid volume for lifting the target cylinder based on the fluid level data and the pump operating parameters; The maximum lifting angle corresponding to the target cylinder is determined according to the lifting oil volume, the structural parameters and the vehicle body inclination angle.

4. The lifting control method according to claim 3, characterized in that: Determining the maximum lifting angle corresponding to the target cylinder based on the lifting oil volume, the structural parameters and the vehicle body inclination angle includes: determining the expected lifting angle of the target cylinder based on the lifting oil volume and the structural parameters, and determining the difference between the expected lifting angle and the vehicle body inclination angle as the maximum lifting angle.

5. The lifting control method according to claim 1, characterized in that: The adjusting the lifting operation according to the lifting state-related data at a plurality of consecutive moments includes at least one of the following: reducing the lifting speed of the target cylinder in the lifting operation when the cargo box tilt angles at a plurality of consecutive moments indicate that the tilt angle change rate of the cargo box of the target vehicle is greater than a preset tilt angle change rate threshold; When the lifting pressure at multiple consecutive moments indicates that the lifting pressure change rate of the target vehicle is less than a preset pressure change rate threshold, the lifting operation is suspended. When the lifting operation is in a suspended state, if it is detected that the liquid level data of the hydraulic oil tank is lower than a preset liquid level value, the lifting operation is terminated.

6. The lifting control method according to any one of claims 1 to 5, characterized in that: When a preset lifting condition is triggered, controlling the target cylinder in the target vehicle to perform a lifting operation based on the maximum lifting angle includes: when the preset lifting condition is triggered, controlling the target cylinder to perform a target lifting operation adapted to a current scene of the target vehicle based on the maximum lifting angle; Among them, the preset lifting conditions include: detecting that the current scene of the target vehicle belongs to the target scene, detecting that the vehicle state of the target vehicle belongs to the target vehicle state, and detecting that the stacking state at the unloading point of the target vehicle belongs to the target stacking state.

7. A lifting control system, characterized in that: The system includes a lift controller and an image capture device electrically connected to the lift controller, wherein the image capture device is fixedly disposed at the rear of the cargo box of the target vehicle; The lifting controller is configured to obtain liquid level data of a hydraulic oil tank of the target vehicle and vehicle operating parameters of the target vehicle; determine a maximum lifting angle of the target vehicle based on the liquid level data and the vehicle operating parameters; and control a target cylinder in the target vehicle to perform a lifting operation based on the maximum lifting angle when a preset lifting condition is triggered; The image capturing device is used to capture an image of the rear area of ​​the target vehicle, wherein the image of the rear area is used to identify the current scene of the target vehicle; The lifting controller also includes an information collection unit and an operation adjustment unit; The information acquisition unit is configured to acquire lifting state-related data of the target vehicle according to a preset data acquisition cycle during the process of controlling the target cylinder in the target vehicle to perform a lifting operation, wherein the lifting state-related data includes at least one of the following: lifting pressure, lifting flow rate, and cargo box tilt angle; The operation adjustment unit is used to adjust the lifting operation according to the lifting state related data at multiple consecutive moments.

8. A server comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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