Seat, vibration control method and device thereof, whole vehicle controller and engineering machinery

Abstract

The present disclosure provides a seat, a vibration control method and device thereof, a whole vehicle controller and a construction machine, and relates to the technical field of vibration control. The method comprises: obtaining the acceleration of a floor of a cab and the speed of a seat, wherein the seat is installed above the floor, the seat comprises a vibration damping suspension, and the directions of the acceleration of the floor and the speed of the seat are both perpendicular to the floor; and determining a vibration control strategy of the vibration damping suspension according to the acceleration of the floor and the speed of the seat.

Description

Technical Field

[0001] This disclosure relates to the field of vibration control technology, and in particular to a seat and its vibration reduction control method and device, a vehicle controller and engineering machinery. Background Technology

[0002] The vibration damping of seats in construction machinery affects the user's riding comfort and operational stability. Using seats with good vibration damping helps improve driving safety. Compared to cars driving on city roads, construction machinery operates in a more complex environment, and due to the harsh working environment, the seat vibrations are more intense during operation. Summary of the Invention

[0003] In related technologies, passive vibration dampers are used in the seats of construction machinery, and the vibration reduction effect needs to be improved. Furthermore, vibration reduction strategies commonly used in construction machinery are not suitable for seat vibration reduction, and may even lead to a further decrease in the vibration reduction effect.

[0004] To address the aforementioned problems, this disclosure provides the following technical solutions suitable for vibration damping control of seats.

[0005] According to one aspect of the present disclosure, a vibration damping control method for a seat is provided, comprising: acquiring the acceleration of the floor of a driver's cab and the velocity of the seat, wherein the seat is mounted above the floor, the seat includes a vibration damping suspension, and the directions of the floor acceleration and the seat velocity are both perpendicular to the floor; and determining a vibration control strategy for the vibration damping suspension based on the floor acceleration and the seat velocity.

[0006] In some embodiments, determining the vibration control strategy of the damping suspension based on the acceleration of the floor and the speed of the seat includes: determining the vibration control strategy as a first vibration control strategy when the acceleration of the floor and the speed of the seat meet a first preset condition, wherein the first preset condition includes the acceleration of the floor being greater than or equal to the product of a preset circular frequency and the speed of the seat; and determining the vibration control strategy as a second vibration control strategy when the acceleration of the floor and the speed of the seat do not meet the first preset condition.

[0007] In some embodiments, the first vibration control strategy includes: adjusting the damping coefficient of the adjustable damper in the vibration damping suspension to a first preset coefficient when the product of the difference between the speed of the floor and the speed of the seat and the speed of the floor is greater than or equal to 0; and adjusting the damping coefficient of the adjustable damper to a second preset coefficient when the product of the difference between the speed of the floor and the speed of the seat and the speed of the floor is less than 0, wherein the second preset coefficient is less than the first preset coefficient.

[0008] In some embodiments, the first preset coefficient is greater than the intermediate coefficient of the damping coefficient of the adjustable damper, and less than or equal to the maximum damping coefficient of the adjustable damper; and / or the second preset coefficient is less than the intermediate coefficient, and greater than or equal to the minimum damping coefficient of the adjustable damper.

[0009] In some embodiments, the first preset coefficient is the maximum damping coefficient of the adjustable damper, and the second preset coefficient is the minimum damping coefficient of the adjustable damper.

[0010] In some embodiments, the second vibration control strategy includes: adjusting the damping coefficient of the adjustable damper in the vibration damping suspension to a third preset coefficient when the product of the difference between the speed of the floor and the speed of the seat and the acceleration of the floor is greater than or equal to 0; and adjusting the damping coefficient of the adjustable damper to a fourth preset coefficient when the product of the difference between the speed of the floor and the speed of the seat and the acceleration of the floor is less than 0, wherein the fourth preset coefficient is less than the third preset coefficient.

[0011] In some embodiments, the third preset coefficient is greater than the intermediate coefficient of the damping coefficient of the adjustable damper, and less than or equal to the maximum damping coefficient of the adjustable damper; and / or the fourth preset coefficient is less than the intermediate coefficient, and greater than or equal to the minimum damping coefficient of the adjustable damper.

[0012] In some embodiments, the third preset coefficient is the maximum damping coefficient of the adjustable damper, and the fourth preset coefficient is the minimum damping coefficient of the adjustable damper.

[0013] In some embodiments, the method further includes: obtaining the extension and retraction displacement of the adjustable damper; and calculating the difference between the velocity of the floor and the velocity of the seat based on the extension and retraction displacement.

[0014] According to another aspect of the present disclosure, a vibration damping control device for a seat is provided, including a module for performing the method described in any of the above embodiments.

[0015] According to another aspect of the present disclosure, a vibration damping control device for a seat is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the method described in any of the above embodiments based on instructions stored in the memory.

[0016] According to another aspect of the present disclosure, a vehicle controller is provided, including the apparatus as described in any of the above embodiments.

[0017] According to another aspect of the present disclosure, a seat is provided, including the device as described in any of the above embodiments.

[0018] According to another aspect of the present disclosure, an engineering machine is provided, including a vehicle controller as described in any of the above embodiments or a seat as described in any of the above embodiments.

[0019] According to another aspect of the present disclosure, a computer-readable storage medium is provided, including computer program instructions, wherein the computer program instructions, when executed by a processor, implement the method described in any of the above embodiments.

[0020] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, wherein the computer program, when executed by a processor, implements the method described in any of the above embodiments.

[0021] In this embodiment, the vibration control strategy adopted by the damping suspension is determined based on the acceleration of the cab floor and the speed of the seat, so that the seat can achieve a better vibration reduction effect. This enables the construction machinery equipped with this type of seat to cope with more complex driving environments, and helps to improve the comfort and safety of the construction machinery.

[0022] The technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic flowchart of a vibration damping control method for a seat according to some embodiments of the present disclosure;

[0025] Figure 2 These are structural schematic diagrams of seats according to some embodiments of the present disclosure;

[0026] Figure 3 This is a structural schematic diagram of a vibration-damping suspension according to some embodiments of the present disclosure;

[0027] Figure 4 These are comparison diagrams of vibration reduction effects according to some embodiments of this disclosure;

[0028] Figure 5 This is a structural schematic diagram of a seat vibration damping control device according to some embodiments of the present disclosure;

[0029] Figure 6 This is a structural schematic diagram of a vibration damping control device for a seat according to some embodiments of the present disclosure;

[0030] Figure 7 This is a schematic diagram of a vibration damping control architecture for a seat according to some embodiments of the present disclosure. Detailed Implementation

[0031] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0032] Unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and coefficients set forth in these embodiments do not limit the scope of this disclosure.

[0033] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0034] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0035] In all the examples shown and discussed herein, any specific coefficients should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different coefficients.

[0036] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0037] Figure 1 This is a schematic flowchart of a vibration damping control method for a seat according to some embodiments of the present disclosure. Figure 2 This is a structural schematic diagram of a seat according to some embodiments of the present disclosure.

[0038] The following is combined Figure 1 and Figure 2 This disclosure introduces a vibration reduction control method for a seat according to some embodiments.

[0039] like Figure 1 As shown, the vibration damping control method for the seat includes steps 101 and 103.

[0040] In step 101, the acceleration of the cab floor and the velocity of the seat are obtained. The seat is mounted above the floor and includes a shock-absorbing suspension. The directions of both the floor acceleration and the seat velocity are perpendicular to the floor.

[0041] In this disclosure, acceleration and velocity are both vectors. For example, acceleration and velocity are positive when perpendicular to the floor upwards, and negative when perpendicular to the floor downwards; the reverse is also true.

[0042] Based on the positional relationship between the cab floor, suspension, and seat, the acceleration of the cab floor is also called the acceleration of the unsprung mass, and the speed of the seat is also called the speed of the sprung mass.

[0043] In some embodiments, such as Figure 1 The method shown is applied to, for example Figure 2 The seats shown. Figure 2 In the middle, the seat includes a shock-absorbing suspension 1, the upper end of which is fixed under the seat cushion 2, and the lower end of which is mounted on the floor of the cab.

[0044] In some embodiments, such as Figure 2 The seat shown also includes a backrest 3 and armrests 4 to enhance seat comfort and safety.

[0045] In some embodiments, the cab is the cab of construction machinery. For example, construction machinery includes excavators, earthmoving machinery, construction cranes, vehicles (e.g., industrial vehicles), compaction machinery, piling machinery, concrete machinery, steel reinforcement and prestressing machinery, decoration machinery, rock drilling machinery, etc.

[0046] In step 103, the vibration control strategy for the damping suspension is determined based on the floor acceleration and seat speed.

[0047] After determining the vibration control strategy for the damping suspension, the vibration control strategy is applied to the damping suspension of the seat to achieve seat vibration reduction.

[0048] In the above embodiments, the vibration control strategy adopted by the shock-absorbing suspension is determined according to the acceleration of the cab floor and the speed of the seat, so that the seat can achieve a better vibration reduction effect, enabling the construction machinery equipped with this type of seat to cope with more complex driving environments, and helping to improve the comfort and safety of the construction machinery.

[0049] It should be noted that, for example, in this disclosure, low-frequency vibration refers to the vibration frequency of the seat being below 20 Hz, while high-frequency vibration refers to the vibration frequency of the seat being above 20 Hz. For example, when construction machinery is breaking rocks, the vibration frequency of the seat is below 20 Hz, at which point the seat is within the range of low-frequency vibration.

[0050] In some embodiments, step 103 includes: determining a vibration control strategy as a first vibration control strategy when the floor acceleration and the seat velocity meet a first preset condition. The first preset condition includes that the floor acceleration is greater than or equal to the product of a preset angular frequency and the seat velocity. When the floor acceleration and the seat velocity do not meet the first preset condition, determining a vibration control strategy as a second vibration control strategy. It should be understood that the second vibration control strategy is different from the first vibration control strategy.

[0051] The acceleration of the floor is used The speed of the seat is indicated by... If the preset angular frequency is denoted by β, then the first preset condition includes... That is, When the first preset condition is not met, That is,

[0052] when At that time, the seat is considered to be in a relatively low-frequency vibration state, and a first vibration control strategy targeting the low-frequency vibration of the seat is adopted. When When the seat is considered to be in a relatively high-frequency vibration state, a second vibration control strategy targeting the high-frequency vibration of the seat is adopted. Under this method, the seat can adjust the vibration control strategy in a targeted manner according to the vibration state, making vibration control more precise and effective, and helping to improve the seat's vibration reduction effect.

[0053] In some implementations, the preset circular frequency β is used as the dividing line between low-frequency and high-frequency vibrations, depending on the floor acceleration. and seat speed The comparison with the preset circular frequency β determines whether the seat is in a high-frequency vibration state or a low-frequency vibration state.

[0054] In some embodiments, the first vibration control strategy includes: adjusting the damping coefficient of the adjustable damper in the shock-absorbing suspension to a first preset coefficient when the product of the difference between the floor speed and the seat speed and the floor speed is greater than or equal to 0; and adjusting the damping coefficient of the adjustable damper to a second preset coefficient when the product of the difference between the floor speed and the seat speed and the floor speed is less than 0. The second preset coefficient is less than the first preset coefficient.

[0055] The first vibration control strategy can be expressed as shown in Equation 1. In Equation 1, the floor velocity is represented by... The speed of the seat is indicated by... The damping coefficient of the adjustable damper in a shock-absorbing suspension is represented by C. in (GH) indicates that the first preset coefficient is represented by C1, and the second preset coefficient is represented by C2, where C2 <C1。

[0056]

[0057] The first vibration control strategy is also known as the ground hook control (GH) strategy. The first vibration control strategy is equivalent to adjusting the damping coefficient of the adjustable damper to the first preset coefficient when the direction of the floor velocity is the same as the direction of the difference between the floor velocity and the seat velocity, the floor velocity is 0, or the floor velocity is equal to the seat velocity; otherwise, the damping coefficient of the adjustable damper is adjusted to the second preset coefficient smaller than the first preset coefficient. When the seat is in the low-frequency state, the phase difference between the difference between the floor velocity and the seat velocity and the seat velocity is approximately 0°. When the seat is in the state of relatively low-frequency vibration, better vibration reduction effect can be achieved by adopting the first vibration control strategy.

[0058] In some embodiments, the first preset coefficient is greater than the middle coefficient of the damping coefficient of the adjustable damper and less than or equal to the maximum damping coefficient of the adjustable damper. For example, if the value range of the damping coefficient of the adjustable damper is 0 to 20 and the middle coefficient is 10, then 10 < C1 ≤ 20.

[0059] In some embodiments, the second preset coefficient is less than the middle coefficient of the damping coefficient of the adjustable damper and greater than or equal to the minimum damping coefficient of the adjustable damper. For example, if the value range of the damping coefficient of the adjustable damper is 0 to 20 and the middle coefficient is 10, then 0 ≤ C2 < 10.

[0060] In some other embodiments, the first preset coefficient is greater than the middle coefficient of the adjustable damper and less than or equal to the maximum damping coefficient, and the second preset coefficient is less than the middle coefficient and greater than or equal to the minimum damping coefficient. For example, if the value range of the damping coefficient of the adjustable damper is 0 to 20 and the middle coefficient is 10, then 10 < C1 ≤ 20, and 0 ≤ C2 < 10.

[0061] In some embodiments, the first preset coefficient is the maximum damping coefficient of the adjustable damper, and the second preset coefficient is the minimum damping coefficient of the adjustable damper. In the above manner, the vibration reduction suspension of the seat can achieve better vibration reduction effect when the seat is in relatively low-frequency vibration.

[0062] In some embodiments, the second vibration control strategy includes: when the product of the difference between the floor velocity and the seat velocity and the floor acceleration is greater than or equal to 0, adjusting the damping coefficient of the adjustable damper in the vibration reduction suspension to the third preset coefficient; when the product of the difference between the floor velocity and the seat velocity and the floor acceleration is less than 0, adjusting the damping coefficient of the adjustable damper to the fourth preset coefficient. The fourth preset coefficient is less than the third preset coefficient.

[0063] Similarly to the first vibration control strategy, the second vibration control strategy can be expressed in the form shown in Equation 2. In Equation 2, the velocity of the floor is represented by the acceleration of the floor is represented by the velocity of the seat is represented by the damping coefficient of the adjustable damper in the vibration damping suspension is represented by C in (RGH_ADD), the third preset coefficient is represented by C3, and the fourth preset coefficient is represented by C4, where C4 < C3.

[0064]

[0065] The second vibration control strategy is also known as the acceleration-driven damping control (ADD) strategy. The second vibration control strategy is equivalent to adjusting the damping coefficient of the adjustable damper to the third preset coefficient when the direction of the acceleration of the floor is the same as the direction of the difference between the velocity of the floor and the velocity of the seat, when the acceleration of the floor is 0, or when the velocity of the floor is equal to the velocity of the seat; otherwise, adjusting the damping coefficient of the adjustable damper to the fourth preset coefficient smaller than the third preset coefficient. When the seat is in a relatively high-frequency state, the phase difference between the difference between the velocity of the floor and the velocity of the seat and the velocity of the seat is approximately 180°. When the seat is in a relatively high-frequency vibration state, better vibration damping effects can be achieved by adopting the second vibration control strategy.

[0066] In some embodiments, the third preset coefficient is greater than the intermediate coefficient of the damping coefficient of the adjustable damper and less than or equal to the maximum damping coefficient of the adjustable damper. For example, if the value range of the damping coefficient of the adjustable damper is from 0 to 6 and the intermediate coefficient is 3, then 3 < C3 ≤ 6.

[0067] In some embodiments, the fourth preset coefficient is less than the intermediate coefficient of the damping coefficient of the adjustable damper and greater than or equal to the minimum damping coefficient of the adjustable damper. For example, if the value range of the damping coefficient of the adjustable damper is from 0 to 6 and the intermediate coefficient is 3, then 0 ≤ C4 < 3.

[0068] In other embodiments, the third preset coefficient is greater than the intermediate coefficient of the adjustable damper and less than or equal to the maximum damping coefficient, and the fourth preset coefficient is less than the intermediate coefficient and greater than or equal to the minimum damping coefficient. For example, if the value range of the damping coefficient of the adjustable damper is from 0 to 6 and the intermediate coefficient is 3, then 3 < C3 ≤ 6 and 0 ≤ C4 < 3.

[0069] In some embodiments, the third preset coefficient is the maximum damping coefficient of the adjustable damper, and the fourth preset coefficient is the minimum damping coefficient of the adjustable damper. Under these conditions, the seat's damping suspension can achieve better vibration reduction when the seat is experiencing relatively high-frequency vibrations.

[0070] In some embodiments, when The first vibration control strategy is adopted when The vibration reduction scheme that adopts the second vibration control strategy is collectively referred to as the ground-acceleration hybrid control (RGH_ADD) strategy.

[0071] Figure 3 This is a structural schematic diagram of a vibration-damping suspension according to some embodiments of the present disclosure.

[0072] In some embodiments, such as Figure 3 As shown, the vibration damping suspension includes an adjustable damper 6. The damping coefficient of the adjustable damper 6 can be adjusted to achieve different vibration control strategies. For example, the adjustable damper 6 is used to implement one of the first and second vibration control strategies described above.

[0073] In some embodiments, such as Figure 3 As shown, the damping suspension also includes a spring 7 for auxiliary damping. The spring 7 can be an air spring or a mechanical spring.

[0074] In some embodiments, the shock-absorbing suspension further includes a support frame 8, a mounting base 9, a top cover 10, and a crossbeam 11. The above structure serves to support the seat. Figure 2 The seat cushion 2 shown is installed above the upper cover plate 10, and the entire seat is installed above the cab floor via the mounting base 9.

[0075] In some embodiments, the adjustable damper 6 includes at least one damping rod, such as one or more damping rods.

[0076] In some embodiments, the adjustable damper 6 is an electromagnetic damper. Each damping rod includes a cylinder, a valve core, and a solenoid valve. The solenoid valve can automatically adjust the valve opening according to a control electrical signal to change the damping coefficient of the adjustable damper 6.

[0077] In some embodiments, the adjustable damper 6 is a damper with switchable gears and is provided with multiple gears, each gear corresponding to a different preset damping coefficient. The damping coefficient of the adjustable damper 6 can be switched between multiple gears.

[0078] For example, the adjustable damper 6 has four settings, corresponding to the first, second, third, and fourth preset coefficients, respectively. Alternatively, the adjustable damper 6 may have two settings, corresponding to the maximum and minimum damping coefficients, respectively. The adjustable damper 6 can be adjusted according to the current vibration control strategy to obtain different damping coefficients.

[0079] In some embodiments, each damping rod in the adjustable damper 6 includes an upper mounting joint and a lower mounting joint. When there are multiple damping rods, the upper mounting joints of each damping rod are mounted on the same first component, and the lower mounting joints are all mounted on the same second component. This arrangement can improve the adjustment range of the damping coefficient of the adjustable damper 6.

[0080] In some embodiments, when there are multiple damping rods, the multiple damping rods are installed in parallel, which can further improve the adjustable range of the damping coefficient of the adjustable damper 6. Furthermore, the parallel connection helps to reduce the size of the adjustable damper 6, making it more suitable for seats with limited installation space.

[0081] In some embodiments, when there are multiple damping rods, the multiple damping rods are installed in parallel, which helps to further improve the adjustable range of the damping coefficient.

[0082] In some embodiments, the damping coefficient of the damper is adjustable from 1 / 3 to 3 times the standard damping coefficient. The standard damping coefficient is the damping coefficient of a conventional, non-adjustable damper used for seat vibration reduction. Providing a larger adjustable range for the damping coefficient helps improve vibration reduction performance.

[0083] In some embodiments, the acceleration of the cab floor is acquired by a first acceleration sensor.

[0084] In some embodiments, the first acceleration sensor is located below the adjustable damper 6. For example, the first acceleration sensor is located on the floor of the cab. As another example, the first acceleration sensor is located as... Figure 3 The mounting base has 9 locations as shown.

[0085] In some embodiments, the acceleration of the seat is also monitored. The acceleration of the seat is acquired by a second acceleration sensor.

[0086] In some embodiments, the second acceleration sensor is located above the adjustable damper 6. For example, the second acceleration sensor is located as follows: Figure 2 In the seat cushion 2 shown. For example, the second accelerometer is located in, for example, in... Figure 3 The top cover plate is shown in 10 places.

[0087] In some embodiments, the vibration damping control method for the seat further includes: acquiring the extension and retraction displacement of an adjustable damper; and calculating the difference between the velocity of the floor and the velocity of the seat based on the extension and retraction displacement. The extension and retraction displacement of the damper is readily available, and the velocity difference calculated based on the extension and retraction displacement of the damper is more accurate, which helps to more accurately determine the vibration control strategy and further improve the vibration damping effect of the seat.

[0088] In some embodiments, the expansion and contraction displacement of the adjustable damper 6 is acquired by a displacement sensor. The displacement sensor and the adjustable damper 6 are fixed to the same component.

[0089] In some embodiments, to improve the accuracy of the acquired extensional displacement, the displacement sensor is mounted in parallel with the adjustable damper 6.

[0090] In some embodiments, the angle of the displacement sensor is adjustable. The adjustable damper 6 extends or shortens with the vibration of the seat and the floor. By making the angle of the displacement sensor adjustable, the angle of the displacement sensor can be flexibly changed with the extension or shortening of the adjustable damper 6, thereby improving the accuracy of the obtained extension and contraction displacement.

[0091] In some embodiments, the seat speed is acquired by a first speed sensor positioned above the adjustable damper 6. For example, the first speed sensor is located as follows: Figure 2 In the seat cushion 2 shown. For example, the first speed sensor is located in, as shown... Figure 3 The top cover plate is shown in 10 places.

[0092] In some embodiments, the floor speed is acquired by a second speed sensor located below the adjustable damper 6. For example, the second speed sensor is located on the floor of the cab. As another example, the second speed sensor is located as... Figure 3 The mounting base has 9 locations as shown.

[0093] Figure 4 These are comparison diagrams of vibration reduction effects according to some embodiments of this disclosure.

[0094] To facilitate understanding, the following will be combined with Figure 4 The vibration reduction effect of some embodiments of the vibration reduction control method of this disclosure will be described.

[0095] In some embodiments, such as Figure 4 As shown, seat 1 is a seat that uses only passive damping suspension, and its vibration response is as follows: Figure 4 The lines indicating seat 1 are shown in the diagram. Seat 2 is a seat employing the vibration reduction control method of this disclosure, and its vibration response is as follows: Figure 4 The lines indicating seat 2 are shown in the diagram. This is understandable. Figure 4The vibration response shown is a graph depicting the relationship between the seat's acceleration and the frequency of its vibration. A greater seat acceleration indicates more intense vibration and poorer vibration damping. The unit for seat acceleration is meters per second (m / s). 2 (m / s 2 The unit for the frequency of seat vibration is Hertz (Hz).

[0096] Table 1

[0097]

[0098] Table 1 compares the vibration damping effects of seat 1 and seat 2. Figure 4 The peak acceleration (vibration response) and corresponding frequencies of seats 1 and 2 are shown in Table 1. Table 1 also shows the improvement rate of vibration damping effect of seat 2 compared to seat 1 at the same vibration frequency. From Table 1 and... Figure 4 It can be seen that the vibration damping control method of the seat disclosed herein has a significantly improved vibration damping effect compared with the seat 1 which only uses passive vibration damping suspension.

[0099] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus embodiments, since they largely correspond to the method embodiments, the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0100] Figure 5 This is a structural schematic diagram of a seat vibration damping control device according to some embodiments of the present disclosure.

[0101] In some embodiments, such as Figure 5 As shown, the seat's vibration damping control device includes an acquisition module 501 and a determination module 502.

[0102] Acquisition module 501 is configured to acquire the acceleration of the cab floor and the velocity of the seat. The seat is mounted above the floor and includes damping suspension; the directions of both acceleration and velocity are perpendicular to the floor.

[0103] The determination module 502 is configured to determine the vibration control strategy of the damping suspension based on the floor acceleration and seat speed.

[0104] In some embodiments, the seat's vibration damping control device may also include other modules to perform the methods of the other embodiments described above.

[0105] Figure 6 This is a structural schematic diagram of a seat vibration damping control device according to some embodiments of the present disclosure.

[0106] like Figure 6 As shown, the seat vibration damping control device 600 includes a memory 601 and a processor 602 coupled to the memory 601. The processor 602 is configured to execute the method of any of the foregoing embodiments based on instructions stored in the memory 601.

[0107] The memory 601 may include, for example, system memory, fixed non-volatile storage media, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs.

[0108] The seat's vibration damping control device 600 may also include an input / output interface 603, a network interface 604, and a storage interface 605. The input / output interface 603, network interface 604, and storage interface 605, as well as the memory 601 and processor 602, can be connected via, for example, a bus 606. The input / output interface 603 provides a connection interface for input / output devices such as monitors, mice, keyboards, and touchscreens. The network interface 604 provides a connection interface for various networked devices. The storage interface 605 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0109] This disclosure also provides a seat, including the vibration damping control device of any of the above embodiments.

[0110] This disclosure also provides a vehicle controller and a seat vibration damping control device for any of the above embodiments.

[0111] In some embodiments, the seat vibration damping control method can also be implemented by the vehicle controller.

[0112] Figure 7 This is a schematic diagram of a vibration damping control architecture for a seat according to some embodiments of the present disclosure.

[0113] In some embodiments, such as Figure 7 As shown, the vibration damping control method for the seat can also be achieved by a vibration damping controller deployed at the seat and a vehicle controller.

[0114] like Figure 7 As shown, the acceleration of the cab floor is acquired by the vibration damping controller 710. In some embodiments, the vibration damping controller 710 is also responsible for acquiring the acceleration of the seat. The floor acceleration and the seat acceleration are acquired by the first acceleration sensor 701 and the second acceleration sensor 702, respectively.

[0115] In some embodiments, the vibration damping controller 710 acquires the displacement of the floor and seat through the displacement sensor 703, and sends the acquired displacement to the vehicle controller 720. The vehicle controller 720 calculates the speed of the floor and the speed of the seat to achieve the following: Figure 1 The steps are shown.

[0116] In some embodiments, the vehicle controller 720 performs the following... Figure 1 Step 103, as shown, determines a vibration control strategy for the damping suspension based on the floor acceleration and seat speed. In some embodiments, the vehicle controller 720 inputs a drive electrical signal according to the determined vibration control strategy to control the damping coefficient of the adjustable damper in the damping suspension. Implementing the calculation and determination of the vibration control strategy through the vehicle controller 720 saves resources, reduces the size of the damping controller 710, and lowers costs.

[0117] In some embodiments, the vehicle controller 720 and the vibration damping controller 710 exchange information via a controller area network (CAN) bus.

[0118] In other embodiments, the method of any of the above embodiments is executed independently by the vibration damping controller 710 or the vehicle controller 720.

[0119] This disclosure also provides a computer-readable storage medium including computer program instructions that, when executed by a processor, implement the method of any of the above embodiments.

[0120] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the method of any of the above embodiments.

[0121] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0122] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0123] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that the functions specified in one or more flows in the flowchart illustrations and / or one or more blocks in the block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate functions for implementing the processes... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0124] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0125] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0126] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A method for vibration control of a seat, comprising: obtaining an acceleration of a floor of a cab and a velocity of the seat, wherein the seat is mounted above the floor, the seat comprises a vibration suspension, and directions of the acceleration of the floor and the velocity of the seat are both perpendicular to the floor; determining a vibration control strategy of the vibration suspension according to the acceleration of the floor and the velocity of the seat, comprising: determining the vibration control strategy as a first vibration control strategy when the acceleration of the floor and the velocity of the seat satisfy a first preset condition, the first preset condition comprising that the acceleration of the floor is greater than or equal to a product of a preset circular frequency and the velocity of the seat; determining the vibration control strategy as a second vibration control strategy when the acceleration of the floor and the velocity of the seat do not satisfy the first preset condition; the first vibration control strategy comprising: adjusting a damping coefficient of an adjustable damper in the vibration suspension to a first preset coefficient when a product of a difference between the velocity of the floor and the velocity of the seat and the velocity of the floor is greater than or equal to 0; and adjusting the damping coefficient of the adjustable damper to a second preset coefficient smaller than the first preset coefficient when the product of the difference between the velocity of the floor and the velocity of the seat and the velocity of the floor is less than 0; the second vibration control strategy comprising: adjusting a damping coefficient of an adjustable damper in the vibration suspension to a third preset coefficient when a product of a difference between the velocity of the floor and the velocity of the seat and the acceleration of the floor is greater than or equal to 0; and adjusting the damping coefficient of the adjustable damper to a fourth preset coefficient smaller than the third preset coefficient when the product of the difference between the velocity of the floor and the velocity of the seat and the acceleration of the floor is less than 0. 2.The method according to claim 1, wherein: the first preset coefficient is greater than a middle coefficient of the damping coefficient of the adjustable damper and smaller than or equal to a maximum damping coefficient of the adjustable damper; and / or the second preset coefficient is smaller than the middle coefficient and greater than or equal to a minimum damping coefficient of the adjustable damper. the first preset coefficient is the maximum damping coefficient of the adjustable damper, and the second preset coefficient is the minimum damping coefficient of the adjustable damper.

3. The method of claim 2, wherein, 4.The method according to any one of claims 1-3, wherein: the third preset coefficient is greater than a middle coefficient of the damping coefficient of the adjustable damper and smaller than or equal to a maximum damping coefficient of the adjustable damper; and / or the fourth preset coefficient is smaller than the middle coefficient and greater than or equal to a minimum damping coefficient of the adjustable damper. the third preset coefficient is the maximum damping coefficient of the adjustable damper, and the fourth preset coefficient is the minimum damping coefficient of the adjustable damper. 6.The method according to any one of claims 1-3, further comprising:

5. The method of claim 4, wherein, obtaining an extension displacement of the adjustable damper; and calculating the difference between the velocity of the floor and the velocity of the seat according to the extension displacement. ​ ​ 7. A damping control device of a seat, comprising a module for performing the method of any one of claims 1-6.

8. A damping control device of a seat, comprising: a memory; and a processor coupled to the memory and configured to perform the method of any one of claims 1-6 based on instructions stored in the memory.

9. A vehicle controller comprising the device of claim 7 or 8.

10. A seat comprising the device of claim 7 or 8.

11. A working machine comprising the vehicle controller of claim 9 or the seat of claim 10. the computer program instructions, when executed by the processor, implement the method of any one of claims 1-6.

12. A computer readable storage medium comprising computer program instructions, wherein, ​

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