Method, device and controller for controlling an automatic lifting system

Abstract

The application discloses a method, device and controller for controlling an automatic lifting system. The method comprises: acquiring a rotation angle of a container; determining a target rotation angle change rate according to the rotation angle; determining a running stage in which the container is located according to the rotation angle; in a case where it is determined that the container is in a lifting stage, correcting the target rotation angle change rate according to a motor torque change rate of a main drive motor to obtain a corrected target rotation angle change rate; in a case where it is determined that the container is in a descending stage, correcting the target rotation angle change rate according to an actual rotation angle change rate to obtain a corrected target rotation angle change rate; and controlling a speed of the automatic lifting system according to the corrected target rotation angle change rate. The application controls the speed of the automatic lifting system based on the rotation angle change rate of the container, can more accurately control the speed of the automatic lifting system in the lifting and descending processes, and thus effectively reduces the impact force of the container on a vehicle frame.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and more specifically to a method, apparatus and controller for controlling an automatic lifting system. Background Technology

[0002] Autonomous driving achieves the autonomous operation of vehicles' driving, braking, gear shifting, parking, steering, and obstacle avoidance functions through environmental perception, vehicle positioning, decision-making and planning, and trajectory tracking. For dump trucks in specific scenarios, such as mining and urban waste transportation, lifting the cargo box is also necessary for unloading. How to achieve closed-loop automatic lifting with a smooth, shock-free process is an urgent problem to be solved in order to realize unmanned operation of the entire loading, transportation, and unloading process in specific scenarios.

[0003] In existing technology, the position sensor communicates with the controller. When the vehicle reaches the correct unloading position, the controller sends an action command to the electronically controlled proportional valve to raise, lower, and stop the lifting cylinder. When approaching the maximum lifting angle or about to lower to the final position, the cargo box will touch the position sensor. The position sensor feeds back the cargo box position to the controller, which then controls the electronically controlled proportional valve to achieve slow raising and lowering, thereby preventing the cylinder from detaching or impacting the chassis during descent.

[0004] However, while existing technologies can reduce the impact of automatic lifting systems on the vehicle frame during operation to some extent, relying solely on position sensors to report the cargo box position introduces significant errors in practical applications. Therefore, existing technologies suffer from the inability to precisely control the speed of the automatic lifting system and the difficulty in effectively reducing the impact force exerted by the cargo box on the vehicle frame during lifting and lowering. Summary of the Invention

[0005] The purpose of this application is to provide a method, apparatus, and controller for controlling an automatic lifting system, in order to solve the problem in the prior art that it is impossible to accurately control the speed of the automatic lifting system during the lifting and lowering process, and that it is difficult to reduce the impact force of the cargo box on the vehicle frame.

[0006] To achieve the above objectives, a first aspect of this application provides a method for controlling an automatic lifting system, the automatic lifting system including a cargo box and a main drive motor, the method comprising:

[0007] Get the corner of the cargo box;

[0008] Determine the target angle change rate based on the turning angle;

[0009] Determine the operational stage of the cargo container based on the turning angle;

[0010] When it is determined that the cargo box is in the lifting stage, the target angle change rate is corrected according to the change rate of the motor torque of the main drive motor to obtain the corrected target angle change rate.

[0011] Given that the cargo box is in the descent phase, the target angle change rate is corrected based on the actual angle change rate to obtain the corrected target angle change rate.

[0012] The speed of the automatic lifting system is controlled based on the corrected target angle change rate.

[0013] In this embodiment of the application, when it is determined that the cargo box is in the lifting stage, the target angle change rate is corrected according to the motor torque change rate of the main drive motor to obtain the corrected target angle change rate, including:

[0014] Obtain the absolute value of the rate of change of motor torque;

[0015] If the absolute value of the motor torque change rate is greater than the first preset value, the target angle change rate is corrected until the absolute value of the motor torque change rate is less than the second preset value.

[0016] The first preset value is greater than the second preset value.

[0017] In this embodiment of the application, when the absolute value of the motor torque change rate is greater than a first preset value, correcting the target angle change rate includes:

[0018] If the absolute value of the motor torque change rate is greater than the first preset value, determine the first difference between the absolute value of the motor torque change rate and the first preset value.

[0019] The correction value is determined based on the first difference;

[0020] The target angle change rate is adjusted based on the correction value.

[0021] In this embodiment of the application, when it is determined that the cargo box is in the descent phase, the target angle change rate is corrected according to the actual angle change rate to obtain the corrected target angle change rate, including:

[0022] If the absolute value of the actual angle change rate is greater than the third preset value, the target angle change rate is corrected until the absolute value of the actual angle change rate is less than the fourth preset value.

[0023] The third preset value is greater than the fourth preset value.

[0024] In this embodiment of the application, when the absolute value of the actual angle change rate is greater than a third preset value, correcting the target angle change rate includes:

[0025] If the absolute value of the actual angle change rate is greater than the third preset value, determine the second difference between the absolute value of the actual angle change rate and the third preset value;

[0026] The correction value is determined based on the second difference;

[0027] The target angle change rate is adjusted based on the correction value.

[0028] In this embodiment of the application, determining the target angle change rate based on the turning angle includes:

[0029] When the turning angle is greater than or equal to the first preset turning angle value and less than the second preset turning angle value, the target turning angle change rate is determined to be the first preset change rate;

[0030] When the turning angle is greater than or equal to the second preset turning angle value and less than the third preset turning angle value, the target turning angle change rate is determined based on the cosine triangle curve, the first preset change rate and the second preset change rate.

[0031] If the turning angle is greater than or equal to the third preset turning angle value and less than the fourth preset turning angle value, the target turning angle change rate is determined to be the second preset change rate.

[0032] When the turning angle is greater than or equal to the fourth preset turning angle value and less than the fifth preset turning angle value, the target turning angle change rate is determined based on the cosine triangle curve, the first preset change rate, and the second preset change rate.

[0033] If the turning angle is greater than or equal to the fifth preset turning angle value and less than the sixth preset turning angle value, the target turning angle change rate is determined to be the first preset change rate.

[0034] Among them, the first preset corner value, the second preset corner value, the third preset corner value, the fourth preset corner value, the fifth preset corner value and the sixth preset corner value increase sequentially, and the second preset change rate is greater than the first preset change rate.

[0035] In this embodiment of the application, controlling the speed of the automatic lifting system according to the modified target angle change rate includes:

[0036] Given that the cargo box is in the lifting phase, determine the third difference between the corrected target angle change rate and the actual angle change rate;

[0037] The speed of the main drive motor is controlled based on the third difference, thereby controlling the speed of the automatic lifting system.

[0038] In this embodiment, the automatic lifting system further includes an electronically controlled proportional valve, and controlling the speed of the automatic lifting system according to the corrected target angle change rate further includes:

[0039] Once it is determined that the cargo box is in the lowering phase, the current of the electronically controlled proportional valve is controlled based on the third difference to control the speed of the automatic lifting system.

[0040] A second aspect of this application provides an apparatus for controlling an automatic lifting system, comprising:

[0041] The corner acquisition module is configured to acquire the corner of the cargo box;

[0042] The target angle change rate determination module is configured to determine the target angle change rate based on the angle.

[0043] The operation phase determination module is configured to determine the operation phase of the cargo box based on the corner.

[0044] The lifting phase correction module is configured to, when it is determined that the cargo box is in the lifting phase, correct the target angle change rate according to the change rate of the motor torque of the main drive motor, so as to obtain the corrected target angle change rate.

[0045] The descent phase correction module is configured to, when it is determined that the cargo box is in the descent phase, correct the target angle change rate according to the actual angle change rate to obtain the corrected target angle change rate.

[0046] The speed control module is configured to control the speed of the automatic lifting system based on the corrected target angle change rate.

[0047] A third aspect of this application provides a controller, comprising:

[0048] The memory is configured to store instructions; and

[0049] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned method for controlling the automatic lifting system.

[0050] A fourth aspect of this application provides an automatic lifting system, comprising:

[0051] Cargo containers are used to load goods.

[0052] The main drive motor is used to provide power to the automatic lifting system;

[0053] The aforementioned controller communicates with the cargo box and the main drive motor.

[0054] In this embodiment of the application, the automatic lifting system further includes:

[0055] An electronically controlled proportional valve, electrically connected to the controller, is used to control the flow rate of fluid in an automatic lifting system.

[0056] This application obtains the turning angle of the cargo box and determines the target turning angle change rate and the operating stage of the cargo box based on the turning angle. When the cargo box is determined to be in the lifting stage, the target turning angle change rate is corrected based on the change rate of the main drive motor's torque to obtain the corrected target turning angle change rate. When the cargo box is determined to be in the lowering stage, the target turning angle change rate is corrected based on the actual turning angle change rate to obtain the corrected target turning angle change rate. Finally, the speed of the automatic lifting system is controlled based on the corrected target turning angle change rate. This application controls the speed of the automatic lifting system based on the turning angle change rate of the cargo box, enabling more precise control of the speed of the automatic lifting system during lifting and lowering, thereby effectively reducing the impact force of the cargo box on the vehicle frame.

[0057] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0058] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0059] Figure 1 A flowchart illustrating a method for controlling an automatic lifting system according to an embodiment of this application is shown schematically.

[0060] Figure 2 This illustration schematically shows a diagram illustrating the operation process of an automatic lifting system according to an embodiment of this application;

[0061] Figure 3 The diagram illustrates a cargo box speed based on segmented control according to an embodiment of this application.

[0062] Figure 4 A flowchart illustrating a specific embodiment of the present application for controlling the lifting speed of a cargo box is shown schematically.

[0063] Figure 5 A flowchart illustrating a method for controlling the descent speed of a cargo box according to another specific embodiment of this application is shown schematically;

[0064] Figure 6 This schematic diagram illustrates a structural block diagram of an apparatus for controlling an automatic lifting system according to an embodiment of this application;

[0065] Figure 7 A schematic block diagram of a controller according to an embodiment of this application is shown. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0067] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0068] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0069] Figure 1 A flowchart illustrating a method for controlling an automatic lifting system according to an embodiment of this application is shown schematically. Figure 1 As shown in the figure, this application provides a method for controlling an automatic lifting system, which may include the following steps.

[0070] Step 101: Obtain the corner of the cargo box;

[0071] Step 102: Determine the target angle change rate based on the turning angle;

[0072] Step 103: Determine the operating stage of the cargo container based on the turning angle;

[0073] Step 104: When it is determined that the cargo box is in the lifting stage, the target angle change rate is corrected according to the motor torque change rate of the main drive motor to obtain the corrected target angle change rate.

[0074] Step 105: If it is determined that the cargo box is in the descent phase, correct the target angle change rate according to the actual angle change rate to obtain the corrected target angle change rate.

[0075] Step 106: Control the speed of the automatic lifting system according to the corrected target angle change rate.

[0076] The following description will primarily use a processor as the execution entity to illustrate the method for controlling an automatic lifting system provided in the embodiments of this application.

[0077] In this embodiment, the automatic lifting system includes, but is not limited to, a main drive motor, a gearbox, a power take-off (PTO), an oil pump, lifting cylinders, and a cargo box. The main drive motor is mechanically connected to the gearbox, and the PTO draws power from the gearbox's intermediate shaft via a mechanical connection to drive the oil pump. The oil pump is connected to one end of the lifting cylinder, and the bottom of the cargo box is connected to the other end of the lifting cylinder. By controlling the amount of hydraulic oil pumped into the lifting cylinder, the lifting cylinder can be extended or retracted to lift and lower the cargo box. Furthermore, since the maximum stroke achievable by each lifting cylinder is limited, the automatic lifting system in this embodiment is equipped with multiple lifting cylinders.

[0078] The processor can acquire the cargo box's turning angle using a tilt sensor and determine the target turning angle change rate and the cargo box's operating stage based on this angle. The operating stages include a lifting stage and a lowering stage. The lifting stage includes an initial lifting stage, a rapid lifting stage, and a top-lifting stage; the lowering stage includes an initial lowering stage, a rapid lowering stage, and a bottom-reaching stage. First, the cargo box's turning angle at the maximum stroke of each lifting cylinder can be pre-measured to determine the range of the turning angle in different operating stages. Therefore, during actual operation, the processor can determine the cargo box's operating stage based on the actually measured turning angle. Furthermore, the processor can determine the target turning angle change rate based on the turning angle, a first preset change rate, and a second preset change rate. The first preset change rate refers to a smaller turning angle change rate measured based on actual conditions. The second preset change rate refers to a larger turning angle change rate measured based on actual conditions.

[0079] When the cargo box is confirmed to be in the lifting phase, the processor can control the lifting speed of the cargo box by controlling the rotational speed of the main drive motor. The main drive motor features rapid speed adjustment and measurable torque. Therefore, the processor can acquire the motor torque of the main drive motor and determine its rate of change. Based on this rate of change, the processor can correct the target angle change rate to obtain the corrected target angle change rate. In one example, the processor can acquire the motor torque of the main drive motor via the Controller Area Network (CAN) bus and determine the rate of change of the motor torque within the sampling period to obtain the motor torque change rate. This reduces the use of solenoid valves, shortens the control path, improves the real-time performance of lifting speed adjustment, and increases control precision.

[0080] When the cargo box is determined to be in the lowering phase, the processor can determine the rate of change of the cargo box's angle within the sampling period based on the cargo box's turning angle, thus obtaining the actual rate of change of angle. This actual rate of change of angle is then used to correct the target rate of change of angle, resulting in the corrected target rate of change of angle. After determining the corrected target rate of change of angle, the processor can control the speed of the automatic lifting system based on it. This improves the accuracy of controlling the speed of the automatic lifting system.

[0081] This application obtains the turning angle of the cargo box and determines the target turning angle change rate and the operating stage of the cargo box based on the turning angle. When the cargo box is determined to be in the lifting stage, the target turning angle change rate is corrected based on the change rate of the main drive motor's torque to obtain the corrected target turning angle change rate. When the cargo box is determined to be in the lowering stage, the target turning angle change rate is corrected based on the actual turning angle change rate to obtain the corrected target turning angle change rate. Finally, the speed of the automatic lifting system is controlled based on the corrected target turning angle change rate. This application controls the speed of the automatic lifting system based on the turning angle change rate of the cargo box, enabling more precise control of the speed of the automatic lifting system during lifting and lowering, thereby effectively reducing the impact force of the cargo box on the vehicle frame.

[0082] In this embodiment of the application, step 104, when it is determined that the cargo box is in the lifting stage, correcting the target angle change rate according to the motor torque change rate of the main drive motor to obtain the corrected target angle change rate may include:

[0083] Obtain the absolute value of the rate of change of motor torque;

[0084] If the absolute value of the motor torque change rate is greater than the first preset value, the target angle change rate is corrected until the absolute value of the motor torque change rate is less than the second preset value.

[0085] The first preset value is greater than the second preset value.

[0086] Specifically, the first preset value is a preset value determined based on actual conditions to determine whether the target angle change rate needs to be corrected during the lifting phase. The second preset value is also a preset value determined based on actual conditions to determine whether the target angle change rate needs to be corrected during the lifting phase. Furthermore, the first preset value is greater than the second preset value. When it is determined that the cargo box is in the lifting phase, the processor can obtain the absolute value of the motor torque change rate and determine whether the absolute value of the motor torque change rate is greater than the first preset value. If the absolute value of the motor torque change rate is greater than the first preset value, the target angle change rate is corrected until the absolute value of the motor torque change rate is less than the second preset value. In one example, the processor can monitor the absolute value ΔT of the motor torque change rate in real time. gradWhen the absolute value of the rate of change of motor torque ΔT grad When the value is greater than the first preset value ΔT1, the processor can adjust the value ω according to the correction value. cor Correct the target angle change rate. When the absolute value of the motor torque change rate ΔT grad If the value is less than the second preset value ΔT2, then the correction is terminated, and the correction value ω is adjusted. cor The value is 0. The first preset value ΔT1 is greater than the second preset value ΔT2. Thus, when the cargo box is determined to be in the lifting phase, the processor can correct the target angle change rate based on the motor torque change rate.

[0087] In this embodiment of the application, when the absolute value of the motor torque change rate is greater than a first preset value, correcting the target angle change rate may include:

[0088] If the absolute value of the motor torque change rate is greater than the first preset value, determine the first difference between the absolute value of the motor torque change rate and the first preset value.

[0089] The correction value is determined based on the first difference;

[0090] The target angle change rate is adjusted based on the correction value.

[0091] Specifically, the first difference refers to the difference between the absolute value of the motor torque change rate and a first preset value. When the absolute value of the motor torque change rate ΔT... grad When the value is greater than the first preset value ΔT1, the processor can determine the value based on the absolute value ΔT of the motor torque change rate. grad The difference between the value and the first preset value ΔT1 determines the correction value ω for the rate of change of the cargo box angle. cor The correction value satisfies formula (1):

[0092] ω cor =k T (ΔT grad -ΔT1); (1)

[0093] Where, ω cor k is the correction value. T ΔT is a calibrable torque correction factor. grad ΔT1 is the absolute value of the rate of change of motor torque, and ΔT1 is the first preset value.

[0094] Therefore, the processor can determine the correction value of the automatic lifting system during the lifting phase. Based on the correction value, the processor can correct the target angle change rate to obtain the corrected target angle change rate. The corrected target angle change rate satisfies formula (2):

[0095] ω=ω sub -ω cor (2)

[0096] Where ω is the corrected rate of change of the target rotation angle, ω sub Let ω be the rate of change of the target rotation angle. cor This is a correction value.

[0097] In this embodiment of the application, step 105, when it is determined that the cargo box is in the descent phase, correcting the target angle change rate according to the actual angle change rate to obtain the corrected target angle change rate may include:

[0098] If the absolute value of the actual angle change rate is greater than the third preset value, the target angle change rate is corrected until the absolute value of the actual angle change rate is less than the fourth preset value.

[0099] The third preset value is greater than the fourth preset value.

[0100] Specifically, the third preset value is a preset value determined based on actual conditions to determine whether the target angle change rate needs to be corrected during the descent phase. The fourth preset value is also a preset value determined based on actual conditions to determine whether the target angle change rate needs to be corrected during the descent phase. Furthermore, the third preset value is greater than the fourth preset value. When it is determined that the cargo box is in the descent phase, the processor can obtain the absolute value of the actual angle change rate and determine whether the absolute value of the actual angle change rate is greater than the third preset value. If the absolute value of the actual angle change rate is greater than the third preset value, the target angle change rate is corrected until the absolute value of the actual angle change rate is less than the fourth preset value. In one example, the processor can monitor the absolute value Δω of the actual angle change rate of the cargo box in real time. grad When the absolute value of the actual rate of change of rotation Δω grad When the value is greater than the third preset value Δω1, the processor can adjust the value based on the correction value ω. cor Correct the target angle change rate. When the absolute value of the actual angle change rate Δω grad If the value is less than the fourth preset value Δω2, then the correction is terminated, and the correction value ω is adjusted. cor The value is 0. The third preset value Δω1 is greater than the fourth preset value Δω2. Thus, when it is determined that the cargo box is in the descent phase, the processor can correct the target angle change rate based on the actual angle change rate.

[0101] In this embodiment of the application, when the absolute value of the actual angle change rate is greater than a third preset value, correcting the target angle change rate may include:

[0102] If the absolute value of the actual angle change rate is greater than the third preset value, determine the second difference between the absolute value of the actual angle change rate and the third preset value;

[0103] The correction value is determined based on the second difference;

[0104] The target angle change rate is adjusted based on the correction value.

[0105] Specifically, the second difference refers to the difference between the absolute value of the actual angle change rate and the third preset value. When the absolute value of the actual angle change rate is greater than the third preset value, the processor can determine the difference based on the absolute value Δω of the actual angle change rate. grad The difference between the value and the third preset value Δω1 determines the correction value ω for the rate of change of the cargo box angle. cor The correction value satisfies formula (3):

[0106] ω cor =k ω (Δω grad -Δω1); (3)

[0107] Where, ω cor k is the correction value. ω Δω is a calibrable angle correction factor. grad Δω1 is the absolute value of the actual rate of change of rotation angle, and Δω1 is the third preset value.

[0108] Therefore, the processor can determine the correction value for the automatic lifting system during the descent phase. Similarly, based on the correction value, the processor can adjust the target angle change rate to obtain the corrected target angle change rate.

[0109] In this embodiment of the application, determining the target angle change rate based on the turning angle may include:

[0110] When the turning angle is greater than or equal to the first preset turning angle value and less than the second preset turning angle value, the target turning angle change rate is determined to be the first preset change rate;

[0111] When the turning angle is greater than or equal to the second preset turning angle value and less than the third preset turning angle value, the target turning angle change rate is determined based on the cosine triangle curve, the first preset change rate and the second preset change rate.

[0112] If the turning angle is greater than or equal to the third preset turning angle value and less than the fourth preset turning angle value, the target turning angle change rate is determined to be the second preset change rate.

[0113] When the turning angle is greater than or equal to the fourth preset turning angle value and less than the fifth preset turning angle value, the target turning angle change rate is determined based on the cosine triangle curve, the first preset change rate, and the second preset change rate.

[0114] If the turning angle is greater than or equal to the fifth preset turning angle value and less than the sixth preset turning angle value, the target turning angle change rate is determined to be the first preset change rate.

[0115] Among them, the first preset corner value, the second preset corner value, the third preset corner value, the fourth preset corner value, the fifth preset corner value and the sixth preset corner value increase sequentially, and the second preset change rate is greater than the first preset change rate.

[0116] Specifically, the processor can determine the preset angle value for different operating stages based on the stroke of each lifting cylinder. In this way, during actual operation, the processor can determine the operating stage of the cargo box based on the preset angle value. Figure 2 The diagram illustrates the operation process of an automatic lifting system according to an embodiment of this application. Figure 2 As shown, θ is the turning angle of the cargo box, O is the rotation center of the cargo box, A is the rotation center of the lifting cylinder, B1 is the initial position of the hinge point between the lifting cylinder and the cargo box, and B2 is the hinge point between the lifting cylinder and the cargo box. During the operation of the automatic lifting system, the processor can determine the stroke of each stage of the lifting cylinder. The stroke of the lifting cylinder satisfies formula (4):

[0117]

[0118] Where S(t) is the stroke of the lifting cylinder, Let be the rotation center of the lifting cylinder and the distance between the lifting cylinder and the hinge point of the cargo box. This refers to the initial position of the rotation center of the lifting cylinder and the hinge point of the lifting cylinder relative to the cargo box.

[0119] The rotation center of the lifting cylinder and the distance between the lifting cylinder and the hinge point of the cargo box satisfy formula (5):

[0120]

[0121] in, Let be the rotation center of the lifting cylinder and the distance between the lifting cylinder and the hinge point of the cargo box. L is the initial distance between the rotation center of the cargo box and the hinge point of the lifting cylinder. OA Let θ be the distance between the rotation center of the cargo box and the rotation center of the lifting cylinder, θ be the rotation angle of the cargo box, and β be the angle between the rotation center of the lifting cylinder and the initial position of the lifting cylinder and the hinge point of the cargo box.

[0122] The angle between the rotation center of the lifting cylinder and the initial position of the lifting cylinder and the hinge point of the cargo box satisfies formula (6):

[0123]

[0124] Where β is the angle between the rotation center of the lifting cylinder and the initial position of the lifting cylinder and the hinge point of the cargo box. L is the distance between the rotation center of the lifting cylinder and the initial position of the hinge point of the lifting cylinder and the cargo box. OAThis is the distance between the rotation center of the cargo box and the rotation center of the lifting cylinder.

[0125] Therefore, the preset turning angle of the cargo box can be determined based on the stroke of the lifting cylinder. The preset turning angle of the cargo box satisfies formula (7):

[0126]

[0127] Where, θ set For the preset angle value, L is the initial distance between the rotation center of the cargo box and the hinge point of the lifting cylinder. OA Let S be the distance between the rotation center of the cargo box and the rotation center of the lifting cylinder, and let S be the stroke of the lifting cylinder. This refers to the initial position of the rotation center of the lifting cylinder and the hinge point of the lifting cylinder relative to the cargo box.

[0128] Therefore, the processor can determine the first preset angle value, the second preset angle value, the third preset angle value, the fourth preset angle value, the fifth preset angle value, and the sixth preset angle value corresponding to different operating stages of each lifting cylinder during the operation process.

[0129] Figure 3 The illustration schematically depicts a cargo box speed based on segmented control according to an embodiment of this application. For example... Figure 3As shown, θ1 is the first preset angle value, θ2 is the second preset angle value, θ3 is the third preset angle value, θ4 is the fourth preset angle value, θ5 is the fifth preset angle value, and θ6 is the sixth preset angle value. Further, when switching to the next level lifting cylinder, the fifth preset angle value corresponding to the previous level lifting cylinder during operation is the first preset angle value corresponding to the next level lifting cylinder during operation, and the sixth preset angle value corresponding to the previous level lifting cylinder during operation is the second preset angle value corresponding to the next level lifting cylinder during operation. The lifting stage includes the initial lifting stage, the rapid lifting stage, and the lifting to the top stage; the lowering stage includes the initial lowering stage, the rapid lowering stage, and the lowering to the bottom stage. θ1~θ2 is the initial lifting stage or the lowering to the bottom stage; θ3~θ4 is the rapid lifting stage or the rapid lowering stage; θ5~θ6 is the lifting to the top stage, the initial lowering stage, or the inter-stage switching stage; θ2~θ3 and θ4~θ5 are smooth transition stages. The inter-stage switching phase refers to the phase of switching the lifting cylinder, while the smooth transition phase refers to the phase where the target angle change rate transitions from a first preset rate to a second preset rate, or vice versa. When the cargo box is in the initial lifting phase or the top lifting phase, the processor can control the cargo box to move at the first preset rate ω1. When the cargo box is in the rapid lifting phase, the processor can control the cargo box to move at the second preset rate ω2. When the cargo box is in the smooth transition phase, the processor can use a cosine triangle curve to smoothly transition the cargo box's angle change rate from the first preset rate ω1 to the second preset rate ω2, further reducing the impact on the chassis. Similarly, when the cargo box is in the initial descent phase or the bottom descent phase, the processor can control the cargo box to move at the first preset rate ω1. When the cargo box is in the rapid descent phase, the processor can control the cargo box to move at the second preset rate ω2. When the cargo box is in a smooth transition phase of operation, the processor can control the rate of change of the cargo box's turning angle to smoothly transition from a first preset rate of change ω1 to a second preset rate of change ω2 using a cosine triangle curve. The first and second preset rates of change are calibrated according to actual needs, and the second preset rate of change is greater than the first preset rate of change.

[0130] Therefore, the relationship between the target turning angle change rate of the cargo box and the turning angle of the cargo box satisfies formula (8):

[0131]

[0132] Where, ω sub(θ) is the target turning angle change rate of the cargo box, ω1 is the first preset change rate, ω2 is the second preset change rate, θ1 is the first preset turning angle value, θ2 is the second preset turning angle value, θ3 is the third preset turning angle value, θ4 is the fourth preset turning angle value, θ5 is the fifth preset turning angle value, θ6 is the sixth preset turning angle value, and θ is the turning angle of the cargo box.

[0133] In this embodiment of the application, step 106, controlling the speed of the automatic lifting system according to the corrected target angle change rate, may include:

[0134] Given that the cargo box is in the lifting phase, determine the third difference between the corrected target angle change rate and the actual angle change rate;

[0135] The speed of the main drive motor is controlled based on the third difference, thereby controlling the speed of the automatic lifting system.

[0136] Specifically, when the cargo box is in the lifting phase, the processor can determine the third difference between the corrected target angle change rate and the actual angle change rate, and adjust the main drive motor speed from the initial motor speed n based on the third difference. int Adjust to the target motor speed n tgt This allows the processor to control the speed of the automatic lifting system. In this way, the processor can control the speed of the automatic lifting system based on the corrected target angle change rate, thereby reducing the impact on the vehicle frame.

[0137] In this embodiment, the automatic lifting system further includes an electronically controlled proportional valve, and step 106, controlling the speed of the automatic lifting system according to the corrected target angle change rate, may further include:

[0138] Once it is determined that the cargo box is in the lowering phase, the current of the electronically controlled proportional valve is controlled based on the third difference to control the speed of the automatic lifting system.

[0139] Specifically, the relationship between the current of the electronically controlled proportional valve and the turning angle and rate of change of the cargo box is first measured, and a current lookup calibration table is generated with the turning angle and rate of change of the cargo box on the horizontal and vertical axes, respectively. When the cargo box is in the descending phase, the processor can obtain the initial current value i by querying this current lookup calibration table, and determine the corrected target rate of change of the turning angle ω and the actual rate of change of the turning angle ω. real The processor can determine the adjustment current based on the third difference, and add the initial current value i to the adjustment current to determine the target current value i. tgt The processor can adjust the electronically controlled proportional valve from its initial current value to the target current value i. tgt This allows the processor to control the speed of the automatic lifting system. In this way, the processor can control the speed of the automatic lifting system based on the corrected target angle change rate, thereby reducing the impact force of the cargo box on the vehicle frame.

[0140] Figure 4 A flowchart illustrating a specific embodiment of this application for controlling the lifting speed of a cargo box is shown. Figure 4 As shown in a specific embodiment of this application, controlling the lifting speed of the cargo box may include:

[0141] S1. Determine if the cargo box turning angle θ is not less than the initial lifting angle θ1 + 0.5. If yes, proceed to S2; otherwise, proceed to S8.

[0142] S2. Determine the absolute value ΔT of the motor torque change rate. grad Is it greater than the first preset value? If yes, proceed to S4; otherwise, proceed to S3.

[0143] S3. Determine the absolute value ΔT of the motor torque change rate. grad Is it less than the second preset value? If yes, proceed to S5; otherwise, proceed to S7.

[0144] S4. Correction calculation module activated;

[0145] S5, Exit the correction calculation module;

[0146] S6. Based on the difference ΔT grad -ΔT1 is used to calculate the correction value ω for the rate of change of the cargo box angle. cor =k T (ΔT grad -ΔT1);

[0147] S7. Determine whether the previous state of the correction calculation module was active. If yes, proceed to S6; otherwise, proceed to S8.

[0148] S8、ω cor =0. Enter S10;

[0149] S9. Determine the target rate of change of the turning angle ω of the cargo box for segmented control based on the current turning angle θ of the cargo box. sub ;

[0150] S10. Determine the corrected target angle change rate ω = ω sub -ω cor ;

[0151] S11. Control the speed of the main drive motor according to the corrected target angle change rate ω.

[0152] In a specific embodiment of this application, when the cargo box is in the lifting stage, it is first determined whether the cargo box turning angle θ is not less than the initial lifting angle θ1+0.5. If the cargo box turning angle θ is not less than θ1+0.5, it is determined whether the absolute value of the motor torque change rate is greater than a first preset value. If the absolute value of the motor torque change rate is greater than the first preset value, the correction calculation module is activated. The correction value of the cargo box turning angle change rate is determined based on the difference between the absolute value of the motor torque change rate and the first preset value. The target turning angle change rate is corrected based on the correction value to obtain the corrected target turning angle change rate. The speed of the main drive motor is controlled based on the corrected target turning angle change rate, thereby controlling the speed of the automatic lifting system.

[0153] If the absolute value of the motor torque change rate is not greater than the first preset value, then it is determined whether the absolute value of the motor torque change rate is greater than the second preset value. If it is greater than the second preset value, the correction calculation module exits, making ω... cor =0, and determine the corrected target angle change rate. The speed of the main drive motor can be controlled based on the corrected target angle change rate. If it is not greater than the second preset value, then determine whether the state of the correction calculation module at the previous moment was active. If it is active, then determine the correction value of the cargo box angle change rate based on the difference between the absolute value of the motor torque change rate and the first preset value. The target angle change rate is corrected based on the correction value to obtain the corrected target angle change rate, and the speed of the main drive motor is controlled based on the corrected target angle change rate. If it is not active, then make ω cor =0, and determine the corrected target angle change rate. The speed of the main drive motor can be controlled based on the corrected target angle change rate.

[0154] Figure 5 A flowchart illustrating a control of the cargo box descent speed according to another specific embodiment of this application is shown. Figure 5 As shown, in another specific embodiment of this application, controlling the lifting speed of the cargo box may include:

[0155] S501. Determine if the cargo box turning angle θ is not greater than the maximum lifting angle θ6-0.5. If yes, proceed to S502; otherwise, proceed to S508.

[0156] S502. Determine the absolute value Δω of the actual rate of change of rotation angle. grad Is it greater than the third preset value? If yes, proceed to S504; otherwise, proceed to S503.

[0157] S503. Determine the absolute value Δω of the actual rate of change of rotation angle. grad Is it less than the fourth preset value? If yes, proceed to S505; otherwise, proceed to S507.

[0158] S504, Correction calculation module activated;

[0159] S505, Correction calculation module exit;

[0160] S506, Based on the difference Δω grad -Δω1 is used to calculate the correction value ω for the rate of change of the cargo box angle. cor =k ω (Δω grad -Δω1);

[0161] S507. Determine whether the previous state of the correction calculation module was active. If yes, proceed to S506; otherwise, proceed to S508.

[0162] S508, ω cor =0. Enter S510;

[0163] S509. Determine the target angle change rate ω of the segmented control of the cargo box based on the current turning angle θ of the cargo box. sub ;

[0164] S510. Determine the corrected target angle change rate ω = ω sub -ω cor ;

[0165] S511. Control the current of the electronically controlled proportional valve according to the corrected target angle change rate ω.

[0166] In another specific embodiment of this application, when the cargo box is in the lowering phase, it is first determined whether the cargo box turning angle θ is not greater than the maximum lifting angle θ6-0.5. If the cargo box turning angle θ is not greater than θ6-0.5, it is determined whether the absolute value of the actual turning angle change rate is greater than a third preset value. If the absolute value of the actual turning angle change rate is greater than the third preset value, the correction calculation module is activated. The correction value of the cargo box turning angle change rate is determined based on the difference between the absolute value of the actual turning angle change rate and the third preset value. The target turning angle change rate is corrected according to the correction value to obtain the corrected target turning angle change rate. The current of the electronically controlled proportional valve is controlled according to the corrected target turning angle change rate, thereby controlling the speed of the automatic lifting system.

[0167] If the absolute value of the actual angle change rate is not greater than the third preset value, then it is determined whether the absolute value of the actual angle change rate is greater than the fourth preset value. If it is greater than the fourth preset value, the correction calculation module exits, making ω... cor=0, and determine the corrected target angle change rate. The current of the electronically controlled proportional valve can be controlled based on the corrected target angle change rate. If it is not greater than the fourth preset value, determine whether the previous state of the correction calculation module was active. If active, determine the correction value of the cargo box angle change rate based on the difference between the absolute value of the actual angle change rate and the third preset value. Correct the target angle change rate based on the correction value to obtain the corrected target angle change rate, and control the current of the electronically controlled proportional valve based on the corrected target angle change rate. If not active, make ω cor =0, and determine the corrected target angle change rate. The current of the electronically controlled proportional valve can be controlled based on the corrected target angle change rate.

[0168] Figure 6 This schematically illustrates a structural block diagram of an apparatus for controlling an automatic lifting system according to an embodiment of this application. Figure 6 As shown in the figure, this application provides an apparatus for controlling an automatic lifting system, which may include:

[0169] The corner acquisition module 610 is configured to acquire the corner of the cargo box;

[0170] The target angle change rate determination module 620 is configured to determine the target angle change rate based on the angle.

[0171] The operation phase determination module 630 is configured to determine the operation phase of the cargo box based on the turning angle;

[0172] The lifting phase correction module 640 is configured to, when it is determined that the cargo box is in the lifting phase, correct the target angle change rate according to the motor torque change rate of the main drive motor, so as to obtain the corrected target angle change rate.

[0173] The descent phase correction module 650 is configured to, when it is determined that the cargo box is in the descent phase, correct the target angle change rate according to the actual angle change rate to obtain the corrected target angle change rate.

[0174] The speed control module 660 is configured to control the speed of the automatic lifting system based on the corrected target angle change rate.

[0175] Specifically, the corner acquisition module 610 can acquire the corner of the cargo box. The target corner change rate determination module 620 can determine the target corner change rate based on the corner. The operation phase determination module 630 can determine the operation phase of the cargo box based on the corner. When the lifting phase correction module 640 determines that the cargo box is in the lifting phase, the lifting phase correction module 640 can acquire the motor torque of the main drive motor and determine the motor torque change rate of the main drive motor, thereby correcting the target corner change rate based on the motor torque change rate of the main drive motor to obtain the corrected target corner change rate. When the descent phase correction module 650 determines that the cargo box is in the descent phase, the descent phase correction module 650 can determine the corner change rate of the cargo box within the sampling period based on the corner of the cargo box to obtain the actual corner change rate, and correct the target corner change rate based on the actual corner change rate to obtain the corrected target corner change rate. After the lifting phase correction module 640 or the descent phase correction module 650 determines the corrected target angle change rate, the speed control module 660 can control the speed of the automatic lifting system based on the corrected target angle change rate. This improves the accuracy of controlling the speed of the automatic lifting system.

[0176] Figure 7 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 7 As shown in the figure, this application provides a controller that may include:

[0177] Memory 710 is configured to store instructions; and

[0178] The processor 720 is configured to retrieve instructions from memory 710 and, when executing the instructions, to implement the aforementioned method for controlling the automatic lifting system.

[0179] Specifically, in this embodiment of the application, the processor 720 can be configured to:

[0180] Get the corner of the cargo box;

[0181] Determine the target angle change rate based on the turning angle;

[0182] Determine the operational stage of the cargo container based on the turning angle;

[0183] When it is determined that the cargo box is in the lifting stage, the target angle change rate is corrected according to the change rate of the motor torque of the main drive motor to obtain the corrected target angle change rate.

[0184] Given that the cargo box is in the descent phase, the target angle change rate is corrected based on the actual angle change rate to obtain the corrected target angle change rate.

[0185] The speed of the automatic lifting system is controlled based on the corrected target angle change rate.

[0186] Furthermore, the processor 720 can also be configured as follows:

[0187] Obtain the absolute value of the rate of change of motor torque;

[0188] If the absolute value of the motor torque change rate is greater than the first preset value, the target angle change rate is corrected until the absolute value of the motor torque change rate is less than the second preset value.

[0189] The first preset value is greater than the second preset value.

[0190] Furthermore, the processor 720 can also be configured as follows:

[0191] If the absolute value of the motor torque change rate is greater than the first preset value, determine the first difference between the absolute value of the motor torque change rate and the first preset value.

[0192] The correction value is determined based on the first difference;

[0193] The target angle change rate is adjusted based on the correction value.

[0194] Furthermore, the processor 720 can also be configured as follows:

[0195] If the absolute value of the actual angle change rate is greater than the third preset value, the target angle change rate is corrected until the absolute value of the actual angle change rate is less than the fourth preset value.

[0196] The third preset value is greater than the fourth preset value.

[0197] Furthermore, the processor 720 can also be configured as follows:

[0198] If the absolute value of the actual angle change rate is greater than the third preset value, determine the second difference between the absolute value of the actual angle change rate and the third preset value;

[0199] The correction value is determined based on the second difference;

[0200] The target angle change rate is adjusted based on the correction value.

[0201] Furthermore, the processor 720 can also be configured as follows:

[0202] When the turning angle is greater than or equal to the first preset turning angle value and less than the second preset turning angle value, the target turning angle change rate is determined to be the first preset change rate;

[0203] When the turning angle is greater than or equal to the second preset turning angle value and less than the third preset turning angle value, the target turning angle change rate is determined based on the cosine triangle curve, the first preset change rate and the second preset change rate.

[0204] If the turning angle is greater than or equal to the third preset turning angle value and less than the fourth preset turning angle value, the target turning angle change rate is determined to be the second preset change rate.

[0205] When the turning angle is greater than or equal to the fourth preset turning angle value and less than the fifth preset turning angle value, the target turning angle change rate is determined based on the cosine triangle curve, the first preset change rate, and the second preset change rate.

[0206] If the turning angle is greater than or equal to the fifth preset turning angle value and less than the sixth preset turning angle value, the target turning angle change rate is determined to be the first preset change rate.

[0207] Among them, the first preset corner value, the second preset corner value, the third preset corner value, the fourth preset corner value, the fifth preset corner value and the sixth preset corner value increase sequentially, and the second preset change rate is greater than the first preset change rate.

[0208] Furthermore, the processor 720 can also be configured as follows:

[0209] Given that the cargo box is in the lifting phase, determine the third difference between the corrected target angle change rate and the actual angle change rate;

[0210] The speed of the main drive motor is controlled based on the third difference, thereby controlling the speed of the automatic lifting system.

[0211] Furthermore, the processor 720 can also be configured as follows:

[0212] Once it is determined that the cargo box is in the lowering phase, the current of the electronically controlled proportional valve is controlled based on the third difference to control the speed of the automatic lifting system.

[0213] This application obtains the turning angle of the cargo box and determines the target turning angle change rate and the operating stage of the cargo box based on the turning angle. When the cargo box is determined to be in the lifting stage, the target turning angle change rate is corrected based on the change rate of the main drive motor's torque to obtain the corrected target turning angle change rate. When the cargo box is determined to be in the lowering stage, the target turning angle change rate is corrected based on the actual turning angle change rate to obtain the corrected target turning angle change rate. Finally, the speed of the automatic lifting system is controlled based on the corrected target turning angle change rate. This application controls the speed of the automatic lifting system based on the turning angle change rate of the cargo box, enabling more precise control of the speed of the automatic lifting system during lifting and lowering, thereby effectively reducing the impact force of the cargo box on the vehicle frame.

[0214] This application embodiment also provides an automatic lifting system, which may include:

[0215] Cargo containers are used to load goods.

[0216] The main drive motor is used to provide power to the automatic lifting system;

[0217] The aforementioned controller communicates with the cargo box and the main drive motor.

[0218] Specifically, the controller communicates with the cargo box and the main drive motor to control them. The automatic lifting system includes, but is not limited to, the controller, main drive motor, gearbox, power take-off (PTO), hydraulic pump, lifting cylinder, and cargo box. The main drive motor is mechanically connected to the gearbox, and the PTO is mechanically connected to the gearbox's intermediate shaft to draw power from the shaft, thereby driving the hydraulic pump. The hydraulic pump is connected to one end of the lifting cylinder, and the bottom of the cargo box is connected to the other end. By controlling the amount of hydraulic oil pumped into the lifting cylinder, the lifting cylinder can be extended or retracted to lift and lower the cargo box.

[0219] In this embodiment of the application, the automatic lifting system further includes:

[0220] An electronically controlled proportional valve, electrically connected to the controller, is used to control the flow rate of fluid in an automatic lifting system.

[0221] Specifically, an electronically controlled proportional valve is a valve that adjusts the cross-sectional area of ​​its valve core according to the magnitude of a control signal, thereby regulating the pressure. In this embodiment, the electronically controlled proportional valve is electrically connected to a controller to control the flow rate of fluid in the automatic lifting system. By controlling the current of the electronically controlled proportional valve, the processor can control the speed of the automatic lifting system during the descent of the cargo box.

[0222] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the above-described method for controlling an automatic lifting system.

[0223] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0224] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or 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 instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0225] 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.

[0226] 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.

[0227] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0228] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0229] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0230] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0231] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling an automatic lifting system, characterized in that, The automatic lifting system includes a cargo box and a main drive motor, and the method includes: Obtain the corner of the cargo box; Determine the target angle change rate based on the stated angle; The operating stage of the cargo container is determined based on the turning angle; When it is determined that the cargo box is in the lifting stage, the absolute value of the motor torque change rate is obtained; if the absolute value of the motor torque change rate is greater than a first preset value, the target angle change rate is corrected until the absolute value of the motor torque change rate is less than a second preset value; wherein, the first preset value is greater than the second preset value. If it is determined that the cargo box is in the descent phase, and if the absolute value of the actual angle change rate is greater than a third preset value, the target angle change rate is corrected until the absolute value of the actual angle change rate is less than a fourth preset value; wherein, the third preset value is greater than the fourth preset value; The speed of the automatic lifting system is controlled according to the corrected target angle change rate; Wherein, controlling the speed of the automatic lifting system according to the corrected target angle change rate includes: If it is determined that the cargo box is in the lifting stage, a third difference between the corrected target angle change rate and the actual angle change rate is determined; The speed of the main drive motor is controlled based on the third difference, thereby controlling the speed of the automatic lifting system.

2. The method according to claim 1, characterized in that, When the absolute value of the motor torque change rate is greater than a first preset value, correcting the target angle change rate includes: If the absolute value of the motor torque change rate is greater than a first preset value, a first difference between the absolute value of the motor torque change rate and the first preset value is determined. The correction value is determined based on the first difference; The target angle change rate is corrected based on the correction value.

3. The method according to claim 1, characterized in that, If the absolute value of the actual angle change rate is greater than a third preset value, correcting the target angle change rate includes: If the absolute value of the actual angle change rate is greater than a third preset value, a second difference between the absolute value of the actual angle change rate and the third preset value is determined. The correction value is determined based on the second difference; The target angle change rate is corrected based on the correction value.

4. The method according to claim 1, characterized in that, Determining the target angle change rate based on the angle includes: If the turning angle is greater than or equal to a first preset turning angle value and less than a second preset turning angle value, the target turning angle change rate is determined to be the first preset change rate. When the turning angle is greater than or equal to the second preset turning angle value and less than the third preset turning angle value, the target turning angle change rate is determined according to the cosine triangle curve, the first preset change rate and the second preset change rate. If the turning angle is greater than or equal to the third preset turning angle value and less than the fourth preset turning angle value, the target turning angle change rate is determined to be the second preset change rate. When the turning angle is greater than or equal to the fourth preset turning angle value and less than the fifth preset turning angle value, the target turning angle change rate is determined according to the cosine triangle curve, the first preset change rate and the second preset change rate. If the turning angle is greater than or equal to the fifth preset turning angle value and less than the sixth preset turning angle value, the target turning angle change rate is determined to be the first preset change rate. The first preset corner value, the second preset corner value, the third preset corner value, the fourth preset corner value, the fifth preset corner value, and the sixth preset corner value increase sequentially, and the second preset rate of change is greater than the first preset rate of change.

5. The method according to claim 1, characterized in that, The automatic lifting system also includes an electronically controlled proportional valve, and controlling the speed of the automatic lifting system according to the corrected target angle change rate further includes: When it is determined that the cargo box is in the lowering phase, the current of the electronically controlled proportional valve is controlled according to the third difference to control the speed of the automatic lifting system.

6. A device for controlling an automatic lifting system, characterized in that, include: The corner acquisition module is configured to acquire the corner of the cargo box; The target angle change rate determination module is configured to determine the target angle change rate based on the angle. The operation phase determination module is configured to determine the operation phase of the cargo box based on the turning angle; The lifting phase correction module is configured to, when it is determined that the cargo box is in the lifting phase, obtain the absolute value of the motor torque change rate; and, if the absolute value of the motor torque change rate is greater than a first preset value, correct the target angle change rate until the absolute value of the motor torque change rate is less than a second preset value; wherein, the first preset value is greater than the second preset value. The descent phase correction module is configured to, when it is determined that the cargo box is in the descent phase, correct the target angle change rate until the absolute value of the actual angle change rate is less than a fourth preset value, provided that the absolute value of the actual angle change rate is greater than a third preset value; wherein the third preset value is greater than the fourth preset value. The speed control module is configured to control the speed of the automatic lifting system according to the corrected target angle change rate, wherein controlling the speed of the automatic lifting system according to the corrected target angle change rate includes: determining a third difference between the corrected target angle change rate and the actual angle change rate when it is determined that the cargo box is in the lifting stage; and controlling the rotational speed of the main drive motor according to the third difference to control the speed of the automatic lifting system.

7. A controller, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method for controlling an automatic lifting system according to any one of claims 1 to 5.

8. An automatic lifting system, characterized in that, include: Cargo containers are used to load goods. The main drive motor is used to provide power to the automatic lifting system; The controller according to claim 7 communicates with the cargo box and the main drive motor.

9. The system according to claim 8, characterized in that, The automatic lifting system also includes: An electronically controlled proportional valve, electrically connected to the controller, is used to control the flow rate of fluid in the automatic lifting system.

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