Vehicle-mounted platform control system, method and device, electronic equipment and vehicle

Abstract

The invention relates to a vehicle-mounted platform control system, method and device, electronic equipment and a vehicle and relates to the field of vehicle-mounted platform control, and the method comprises the steps that communication information is received, the communication information comprises a target working mode used for representing a vehicle-mounted platform, and the target working mode is a mode enabling articles on the vehicle-mounted platform to be kept static relative to the vehicle-mounted platform; obtaining platform state information, and determining control information and an inclination angle calculation strategy corresponding to the control information based on the platform state information; in the target working mode, determining a target inclination angle of the vehicle-mounted platform based on the platform state information and an inclination angle calculation strategy; according to the scheme, the initial inclination angle of the vehicle-mounted platform relative to the horizontal ground is adjusted to be the target inclination angle, relative rest of the vehicle-mounted platform and the articles can be achieved, some easily-damaged articles which are not easy to package can be directly placed on the vehicle-mounted platform, a user can take the articles at any time when using the articles, and the use experience feeling of the user is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle-mounted platform control, and specifically to a vehicle-mounted platform control system, method, device, electronic equipment and vehicle. Background Art

[0002] With the popularity of smart cars, users can feel the items in the car sliding or shaking if they are not fixed when the vehicle is driving, turning or braking. In an emergency, such as braking or being rear-ended, the items in the car will fall forward or backward as a whole, and some items will even hit the front windshield, posing a great safety hazard to the vehicle's driving and damaging the items in the car. Therefore, it is very important to fix the items in the car.

[0003] At present, the physical fixing method is adopted for placing items in the car, generally through various supports to stabilize the objects in the moving car. Among them, larger items, such as suitcases, storage boxes, etc., are fixed by net bags, and some small items are usually placed in storage boxes or armrest boxes. Some fragile items also need to be fixed with a large amount of foam. This fixing method is not applicable and inconvenient for some items, such as a cup of coffee, a piece of cake and other fragile items that are not easy to pack. Moreover, this fixing method is not only time-consuming and labor-intensive, but also cannot be taken out as needed, which is very inconvenient. Summary of the invention

[0004] In view of this, the present disclosure provides a vehicle-mounted platform control system, method, device, electronic equipment and vehicle, the main purpose of which is to solve the problems in the current vehicle-mounted platform control system that the fixing method is time-consuming and labor-intensive, cannot be used as needed, and cannot fix liquids and some fragile items.

[0005] In a first aspect, the present disclosure provides a vehicle-mounted platform control method, the method comprising:

[0006] receiving communication information, wherein the communication information is used to characterize an operating mode of the vehicle-mounted platform, wherein the operating mode includes a target operating mode, and the target operating mode is a mode in which an object on the vehicle-mounted platform remains relatively still with respect to the vehicle-mounted platform;

[0007] Acquiring platform status information, and determining control information for controlling the tilt angle of the vehicle-mounted platform and a tilt angle calculation strategy corresponding to the control information based on the platform status information;

[0008] In the target working mode, based on the platform state information and the tilt angle calculation strategy corresponding to the control information, a target tilt angle of the vehicle-mounted platform is determined, wherein the target tilt angle is an angle at which an object on the vehicle-mounted platform remains relatively still with respect to the vehicle-mounted platform;

[0009] The initial tilt angle of the vehicle-mounted platform relative to the horizontal ground is adjusted to the target tilt angle.

[0010] In a second aspect, the present disclosure provides a vehicle-mounted platform control device, comprising:

[0011] A receiving module, used for receiving communication information, wherein the communication information is used for characterizing the working mode of the vehicle-mounted platform, wherein the working mode includes a target working mode, wherein the target working mode is a mode for keeping the items on the vehicle-mounted platform relatively still with respect to the vehicle-mounted platform;

[0012] An acquisition module, used to acquire platform status information, and determine control information for controlling the tilt angle of the vehicle-mounted platform and a tilt angle calculation strategy corresponding to the control information based on the platform status information;

[0013] A determination module, configured to determine, in the target working mode, a target tilt angle of the vehicle-mounted platform based on the platform state information and a tilt angle calculation strategy corresponding to the control information, wherein the target tilt angle is an angle at which an object on the vehicle-mounted platform remains relatively still with respect to the vehicle-mounted platform;

[0014] The adjustment module is used to adjust the initial inclination angle of the vehicle-mounted platform relative to the horizontal ground to the target inclination angle.

[0015] In a third aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the vehicle-mounted platform control method described in the first aspect is implemented.

[0016] In a fourth aspect, the present disclosure provides an electronic device, comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein the processor implements the vehicle platform control method described in the first aspect when executing the computer program.

[0017] In a fifth aspect, the present disclosure provides a vehicle, comprising: the device as described in the second aspect, or the electronic device as described in the fourth aspect.

[0018] By means of the above technical scheme, the present disclosure provides a vehicle-mounted platform control system, method, device, electronic device and vehicle. Compared with the current existing technology, the present disclosure can receive communication information, and the communication information is used to characterize the working mode of the vehicle-mounted platform, and the working mode includes a target working mode, and the target working mode is a mode in which objects on the vehicle-mounted platform remain relatively still with respect to the vehicle-mounted platform; obtain platform status information, and determine control information for controlling the inclination angle of the vehicle-mounted platform and a inclination angle calculation strategy corresponding to the control information based on the platform status information; in the target working mode, determine the target inclination angle of the vehicle-mounted platform based on the platform status information and the inclination angle calculation strategy corresponding to the control information, and the target inclination angle is the angle in which objects on the vehicle-mounted platform remain relatively still with respect to the vehicle-mounted platform; and adjust the initial inclination angle of the vehicle-mounted platform relative to the horizontal ground to the target inclination angle. Through the scheme disclosed in the present invention, based on the platform status information, the target tilt angle of the vehicle-mounted platform in the target working mode can be calculated, and by adjusting the vehicle-mounted platform to the target tilt angle, the gravity of the object and the supporting force can be balanced, and the supporting force can make the acceleration of the object and the vehicle-mounted platform consistent, so that the vehicle-mounted platform and the object can be relatively still. Some fragile items that are difficult to pack can be placed directly on the vehicle-mounted platform, such as a cup of coffee, a piece of cake, etc. Even under complex working conditions, the items will remain still and users can take them whenever they need them, which is very convenient and improves the user experience.

[0019] The above description is only an overview of the technical solution of the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific implementation methods of the present disclosure are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0022] Figure 1 A schematic diagram of the structure of a vehicle-mounted platform control system provided by an embodiment of the present disclosure is shown;

[0023] Figure 2 A schematic diagram of a process flow of a vehicle-mounted platform control method provided by an embodiment of the present disclosure is shown;

[0024] Figure 3 A schematic diagram of the principle flow of a vehicle-mounted platform control provided by an embodiment of the present disclosure is shown;

[0025] Figure 4 A schematic diagram of a process flow of a vehicle-mounted platform control method provided by an embodiment of the present disclosure is shown;

[0026] Figure 5 A schematic structural diagram of a vehicle-mounted platform control device provided in an embodiment of the present disclosure is shown.

[0027] Figure 1 middle:

[0028] 1-Terminal equipment;

[0029] 2-sensor module, 21-pressure sensor, 22-attitude sensor;

[0030] 3- Platform controller;

[0031] 4- Fast charging protocol chip;

[0032] 5-voltage stabilizing circuit;

[0033] 6- Motor. DETAILED DESCRIPTION

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0035] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0036] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0038] In order to improve the problems in the current vehicle-mounted platform control system that the fixing method is time-consuming and labor-intensive, cannot be used and taken at any time, and cannot fix liquids and some fragile items, the disclosed embodiments provide a vehicle-mounted platform control system, method, device, electronic equipment and vehicle.

[0039] like Figure 1 As shown, an embodiment of the present disclosure provides a vehicle-mounted platform control system, which includes: a terminal device 1, a sensor module 2 and a platform controller 3; the terminal device 1 is connected to the platform controller 3, and the terminal device 1 is used to send communication information to the platform controller 3, and the communication information is used to characterize the working mode of the vehicle-mounted platform, and the working mode includes a target working mode, and the target working mode is a mode in which the objects on the vehicle-mounted platform remain relatively still with respect to the vehicle-mounted platform; the sensor module 2 is connected to the platform controller 3, and the sensor module 2 is used to collect platform status information and send the platform status information to the platform controller 3; the platform controller 3 is used to determine the control mode for controlling the tilt angle of the vehicle-mounted platform based on the platform status information. Control information and the tilt angle calculation strategy corresponding to the control information, in the target working mode, based on the platform status information and the tilt angle calculation strategy corresponding to the control information, the target tilt angle of the vehicle-mounted platform is determined, and the initial tilt angle of the vehicle-mounted platform relative to the horizontal ground is adjusted to the target tilt angle, the target tilt angle is the angle at which the objects on the vehicle-mounted platform remain relatively still with the vehicle-mounted platform, wherein the terminal device 1 is used to support networking and has the function of sending communication information, such as including but not limited to vehicle-mounted system, game console, mobile phone, tablet computer, laptop computer, etc., taking the terminal device 1 as a vehicle-mounted system as an example, the technical solution in the present disclosure is explained, but it does not constitute a specific limitation on the technical solution in the present disclosure.

[0040] In a specific application scenario, the terminal device 1 is used to send a target working mode to the platform controller 3, wherein the target working mode is a mode in which the items on the vehicle-mounted platform remain relatively still with the vehicle-mounted platform. The platform controller 3 receives the target working mode and obtains the platform state information collected by the sensor module 2, wherein the sensor module 2 includes a pressure sensor 21 and a posture sensor 22, wherein the pressure sensor 21 is connected to the platform controller 3, and the pressure sensor 21 is used to collect the platform pressure value and send the platform pressure value to the platform controller 3; the posture sensor 22 is connected to the platform controller 3, and the posture sensor 22 is used to collect the platform acceleration value and send the platform acceleration value to the platform controller 3. The platform state information is information used to characterize the current state of the vehicle-mounted platform, and may include a platform pressure value and a platform acceleration value, wherein the platform pressure value is used to characterize the pressure magnitude of the vehicle-mounted platform borne by the items on the platform, and the platform acceleration value is used to characterize the current acceleration magnitude of the vehicle-mounted platform. Based on the platform pressure value and the platform acceleration value, the platform controller 3 can determine the target tilt angle of the vehicle-mounted platform in the self-stabilizing mode by a preset angle calculation method, wherein the preset angle calculation method may be multiple, and no specific limitation is made thereto. The initial tilt angle of the vehicle platform relative to the horizontal ground is adjusted to the target tilt angle. By vector decomposing the supporting force of the object along the X-axis and the Z-axis, the gravity of the object and the supporting force can be balanced. The supporting force can keep the acceleration of the object and the vehicle platform consistent, so that the vehicle platform and the object can be relatively still.

[0041] In a specific application scenario, the vehicle-mounted platform control system also includes: a fast charging protocol chip 4, a voltage stabilizing circuit 5 and a motor 6; the fast charging protocol chip 4 is connected to the terminal device 1, and is used to adjust the output voltage of the terminal device 1 to the first working voltage of the motor 6; the voltage stabilizing circuit 5 is connected to the fast charging protocol chip 4, and the voltage stabilizing circuit 5 is used to convert the first working voltage into the second working voltage of the platform controller 3. Among them, the terminal device 1 can be used to provide voltage to the motor 6 and the platform controller 3. Exemplarily, the voltage that the terminal device 1 can provide is 5v, and the terminal device 1 sends the 5v voltage to the motor 6 through the USB interface. Since the voltage that the motor 6 can accept is 12v, the terminal device 1 needs to pass through the fast charging protocol chip 4 to increase the 5v voltage to 12v to power the motor 6 before passing the 5v voltage to the motor 6; since the output voltage of the terminal device 1 has become 12v after the fast charging protocol chip 4, and the voltage that the platform controller 3 can accept is 3.3v, it is necessary to use the voltage stabilizing circuit 5 to stabilize the 12V voltage to 3.3v voltage to power the platform controller 3. Among them, the voltage stabilizing circuit 5 is a voltage stabilizer for adjusting the voltage, which is used to stabilize the received voltage to be consistent with the voltage of the current device; the fast charging protocol chip 4 is a fast charging (Power Delivery, PD) protocol chip at the power receiving end. The fast charging protocol chip 4 has a built-in PD communication module. By handshaking with the PD protocol chip at the power supply end (such as the terminal device 1), it can apply for the required voltage (such as motor 6) to power the product (motor 6).

[0042] like Figure 2 As shown, an embodiment of the present disclosure provides a vehicle-mounted platform control method, which can be applied to the above-mentioned vehicle-mounted platform control system and executed by a platform controller in the vehicle-mounted platform control system, wherein the vehicle-mounted platform control method may include:

[0043] Step 101: Receive communication information, where the communication information is used to characterize the working mode of the vehicle-mounted platform. The working mode includes a target working mode, where the target working mode is a mode in which an object on the vehicle-mounted platform remains relatively still with respect to the vehicle-mounted platform.

[0044] Among them, as a possible implementation method, communication information can be sent by a terminal device, and the terminal device is used to support networking and has the function of sending communication information, such as but not limited to game consoles, mobile phones, tablet computers, laptops, car systems, etc., taking the terminal device as a car system as an example, the technical solution in the present disclosure is explained, but it does not constitute a specific limitation on the technical solution in the present disclosure. The vehicle-mounted platform is a fixed or detachable container for placing any items in the car, which can be set at any position in the car that can be touched by any user. The vehicle-mounted platform can be a tray or other container for placing items, and there is no specific limitation on this. The communication information can be used to characterize the working mode of the vehicle-mounted platform. The working mode may include self-stabilizing mode information, horizontal mode information, support mode information, etc., and there is no specific limitation on this. In the embodiment of the present disclosure, the communication information is taken as self-stabilizing mode information, horizontal mode information, and support mode information. The technical solution in the present disclosure is explained, but it does not constitute a specific limitation on the technical solution in the present disclosure. The target working mode is a mode in which the items on the vehicle-mounted platform remain relatively still with respect to the vehicle-mounted platform. The mode may be a self-stabilizing mode. The self-stabilizing mode is a mode in which the items on the vehicle-mounted platform remain relatively still with respect to the vehicle-mounted platform.

[0045] For the embodiments of the present disclosure, since the movement of an object comes from a force, if you want to keep the object still, as a possible way to achieve this, you can keep the object in a force balance. For example, if you want the items on the vehicle platform to remain relatively still with the vehicle platform, you can make the object's motion state equal to the motion state of the vehicle platform, where the motion state may include but is not limited to acceleration and speed. Since the vehicle is accelerating, decelerating, turning, etc. during driving, the items in the vehicle will be subject to acceleration from all directions. If the vehicle platform can be tilted at a certain angle along the X-axis and Y-axis, the support force of the vehicle platform on the items can be used to make the items reach the same acceleration as the vehicle platform, so that the vehicle platform and the items can be relatively still.

[0046] For example, during the acceleration of a car, the acceleration is along the positive direction of the X-axis, and the vehicle-mounted platform is tilted at a certain angle toward the X-axis. The support force of the vehicle-mounted platform on the object is vector-decomposed along the X-axis and the Z-axis. The gravity of the object on the Z-axis and the support force reach a force balance, and the object will be supported by the X-axis. As long as the tilt angle is appropriate, the support force of the X-axis can make the acceleration of the object and the vehicle-mounted platform consistent, so that the vehicle-mounted platform and the object can be relatively still.

[0047] For the disclosed embodiment, the execution subject may be a platform controller, wherein the platform controller may be developed using, but not limited to, a TC397 chip of a microcontroller (MCU), and the platform controller may be connected to the terminal device through, but not limited to, a USB interface and a USB to serial port, wherein the USB to serial port may realize the conversion between the computer USB interface and the physical serial port, and may add a serial port to a computer or other USB host without a serial port. The platform controller may receive the self-stabilizing mode information sent by the terminal device, and by determining the target tilt angle of the platform status information of the vehicle-mounted platform in the self-stabilizing mode, and adjusting the initial tilt angle of the vehicle-mounted platform relative to the horizontal ground to the target tilt angle, the vehicle-mounted platform and the items may be relatively still, so that no matter how the vehicle is driven, any items placed can be in a relatively still state with the vehicle-mounted platform, and can be taken and used at any time, thereby improving the riding experience. Among them, the vehicle-mounted platform can be used to replace the armrest box or fixed inside any box in the vehicle, and may be, but not limited to, placed with some fragile or commonly used items, and no matter how the vehicle is driven, there is no need to worry about collision, squeezing or spilling of the items.

[0048] As a possible implementation method, when the vehicle is not started or is driving on a smooth and non-bumpy road, the platform controller can receive the horizontal mode information sent by the terminal device, and can control the initial inclination angle between the vehicle-mounted platform and the horizontal ground to be adjusted to 0, that is, keep the vehicle-mounted platform parallel to the horizontal ground, wherein the horizontal mode information is information to keep the vehicle-mounted platform parallel to the horizontal ground.

[0049] As another possible implementation method, when the vehicle is not started or is traveling on a smooth and non-bumpy road, the platform controller can receive the support mode information sent by the terminal device. The platform controller may not control the vehicle-mounted platform. The user can adjust the initial inclination angle of the vehicle-mounted platform relative to the horizontal ground to any inclination angle, and the motor can be locked to keep the vehicle-mounted platform fixed. At this time, the vehicle-mounted platform can be used as an ordinary bracket.

[0050] like Figure 3As shown, before the platform controller receives the communication information sent by the terminal device, it must first perform a power-on self-test. The power-on self-test is to detect the vehicle components, voltage, etc. to determine whether there is a fault. If there is no fault, data communication can be performed with the vehicle system, and the target command sent by the vehicle system can be received. The target command can select and control the vehicle components (such as the vehicle-mounted platform). The vehicle system can be provided with a selection mode. The selection mode is used to allow the user to select the required mode and control the corresponding vehicle component (such as the vehicle-mounted platform) to perform the corresponding operation. The selection mode may include but is not limited to a self-stabilizing mode, a horizontal mode, and a supporting mode. If the selection mode is the self-stabilizing mode, the platform controller can receive the self-stabilizing mode information and control the vehicle-mounted The platform adjusts the tilt angle so that the items on the vehicle platform remain relatively still with the vehicle platform; if the selected mode is the horizontal mode, the platform controller can receive the horizontal mode information, and can control the initial tilt angle between the vehicle platform and the horizontal ground to be adjusted to 0, that is, keep the vehicle platform parallel to the horizontal ground; if the selected mode is the support mode, the platform controller can receive the support mode information, the platform controller can not control the vehicle platform, the user can adjust the initial tilt angle of the vehicle platform relative to the horizontal ground to any tilt angle, and can lock the motor to keep the vehicle platform fixed. At this time, the vehicle platform can be used as an ordinary bracket, wherein the motor can be used to adjust the tilt angle of the vehicle platform.

[0051] Step 102: Acquire platform status information, and determine control information for controlling the tilt angle of the vehicle-mounted platform and a tilt angle calculation strategy corresponding to the control information based on the platform status information.

[0052] Among them, as a possible implementation method, a sensor module can be used to collect platform status information. The sensor module is used to detect information about the object being measured and can convert the detected information into electrical signals or other required forms of information output according to a certain rule to meet the requirements of information transmission, processing, storage, display, recording and control. The sensors in the sensor module may be, but are not limited to, attitude sensors, pressure sensors, etc. The platform status information is information used to characterize the current state of the vehicle-mounted platform, and may include, but are not limited to, platform pressure values ​​and platform acceleration values. The platform pressure value is used to characterize the pressure of the vehicle-mounted platform on the objects on the platform, and the platform acceleration value is used to characterize the current acceleration of the vehicle-mounted platform. The attitude sensor may be, but is not limited to, an inertial measurement unit (IMU). The IMU sensor is used to detect acceleration and angular velocity to represent movement and movement intensity, and may be, but is not limited to, an ASM330LHH model attitude sensor. The pressure sensor may be, but is not limited to, an HX711 model pressure sensor. The control information may include a pressure level for determining a tilt angle calculation strategy, and the pressure level is a constant parameter of the vehicle-mounted platform under the current platform pressure value. The tilt angle calculation strategy may include multiple types, such as using a proportional integral differential control algorithm as a tilt angle calculation strategy, which is not specifically limited. The proportional integral differential control algorithm is used as an example of a tilt angle calculation strategy to illustrate the technical solution in the present disclosure, but it does not constitute a specific limitation on the technical solution in the present disclosure.

[0053] For the disclosed embodiment, the platform controller can obtain the platform status information collected by the sensor module, and can determine the pressure level of the vehicle-mounted platform at the current tilt angle based on the platform status information. The corresponding tilt angle calculation strategies are also different at different pressure levels.

[0054] Step 103: Under the target working mode, the target tilt angle of the vehicle-mounted platform is determined based on the platform status information and the tilt angle calculation strategy corresponding to the control information.

[0055] The target tilt angle is an angle at which the objects on the vehicle-mounted platform remain relatively still with respect to the vehicle-mounted platform.

[0056] For the embodiments of the present disclosure, the self-stabilizing mode is taken as an example as the target working mode to illustrate the technical solution in the present disclosure, but it does not constitute a specific limitation on the technical solution in the present disclosure. As a possible implementation method, the platform state value under the current vehicle-mounted platform can be calculated through the platform state information, and the target tilt angle of the vehicle-mounted platform can be calculated by substituting the platform state value into the corresponding tilt angle calculation strategy under the current vehicle-mounted platform pressure level.

[0057] Step 104: Adjust the initial tilt angle of the vehicle-mounted platform relative to the horizontal ground to a target tilt angle.

[0058] For the embodiment of the present disclosure, the initial tilt angle is the angle between the vehicle-mounted platform and the horizontal ground when the angle has not been adjusted. The platform controller controls the motor to adjust the initial tilt angle of the vehicle-mounted platform relative to the horizontal ground to the target tilt angle calculated in step 103, wherein the motor can be, but is not limited to, a steering gear, which can be used to adjust the tilt angle of the vehicle-mounted platform. In the embodiment of the present disclosure, the motor is taken as an example of a steering gear to illustrate the technical solution in the present disclosure, but it does not constitute a specific limitation on the technical solution in the present disclosure. Among them, the steering gear is a position (angle) servo driver, which is suitable for those execution modules of closed-loop control that require angles to change continuously and can be maintained. The number of motors (servos) is at least 2, which can be installed at both ends of the vehicle-mounted platform respectively. During operation, the motor can make the two ends of the vehicle-mounted platform at different heights to ensure that the vehicle-mounted platform can have a tilt angle with the horizontal ground.

[0059] In summary, according to the vehicle-mounted platform control method provided by the present disclosure, compared with the current existing technology, the present disclosure can receive communication information, the communication information is used to characterize the working mode of the vehicle-mounted platform, the working mode includes a target working mode, the target working mode is a mode in which the objects on the vehicle-mounted platform remain relatively still with respect to the vehicle-mounted platform; obtain platform status information, and determine control information for controlling the inclination angle of the vehicle-mounted platform and a inclination angle calculation strategy corresponding to the control information based on the platform status information; in the target working mode, determine the target inclination angle of the vehicle-mounted platform based on the platform status information and the inclination angle calculation strategy corresponding to the control information, the target inclination angle being the angle in which the objects on the vehicle-mounted platform remain relatively still with respect to the vehicle-mounted platform; and adjust the initial inclination angle of the vehicle-mounted platform relative to the horizontal ground to the target inclination angle. Through the scheme disclosed in the present invention, based on the platform status information, the target tilt angle of the vehicle-mounted platform in the target working mode can be calculated, and by adjusting the vehicle-mounted platform to the target tilt angle, the gravity of the object and the supporting force can be balanced, and the supporting force can make the acceleration of the object and the vehicle-mounted platform consistent, so that the vehicle-mounted platform and the object can be relatively still. Some fragile items that are difficult to pack can be placed directly on the vehicle-mounted platform, such as a cup of coffee, a piece of cake, etc. Even under complex working conditions, the items will remain still and users can take them whenever they need them, which is very convenient and improves the user experience.

[0060] Further, as a refinement and extension of the above embodiment, in order to fully illustrate the specific implementation process of the method of this embodiment, this embodiment provides the following Figure 4 The specific method shown includes:

[0061] Step 201: Receive communication information, where the communication information is used to characterize the working mode of the vehicle-mounted platform. The working mode includes a target working mode, where the target working mode is a mode in which an object on the vehicle-mounted platform remains relatively still with respect to the vehicle-mounted platform.

[0062] For the implementation process of the embodiment of the present disclosure, please refer to the relevant description in step 101 of the embodiment, which will not be repeated here.

[0063] Step 202: Acquire platform status information, and determine a target pressure level corresponding to the platform pressure value and used to control the tilt angle of the vehicle-mounted platform based on a preset first corresponding relationship.

[0064] Among them, the first corresponding relationship is the corresponding relationship between the platform pressure value and the pressure level, which may include but is not limited to a preset fuzzy matrix table. Taking the first corresponding relationship as a fuzzy matrix table as an example, the technical solution in the present disclosure is explained, but it does not constitute a specific limitation on the technical solution in the present disclosure.

[0065] For the embodiment of the present disclosure, based on the preset first corresponding relationship, the target pressure level corresponding to the platform pressure value for controlling the tilt angle of the vehicle-mounted platform is determined. The specific implementation process can be described as: querying the target constant parameter corresponding to the platform pressure value in the fuzzy matrix table as the target pressure level, the target constant parameter is a constant parameter matching the platform pressure value in the proportional integral differential control algorithm, and k in the formula characteristic description of the following proportional integral differential control algorithm p , k i and k d It can be used as a constant parameter, and the proportional integral differential control algorithm is used as a tilt angle calculation strategy. Among them, the fuzzy matrix table is a pre-set constant parameter corresponding to the proportional integral differential control algorithm for querying the platform pressure value. The proportional integral differential control algorithm is a (Proportional Integral Differential, PID) fuzzy control algorithm, also known as a PID fuzzy adaptive algorithm. The parameter P represents the proportion, the parameter I represents the integral, and the parameter D represents the differential. For example, the formula feature description of the proportional integral differential control algorithm can be:

[0066] Δu(k)=k p (e(k)-e(k-1))+k i e(k)+k d (e(k)-2e(k-1)+e(k-2))

[0067] Among them, Δu(k) represents the target tilt angle; k represents different moments in the preset time period, such as the 1st second, the 2nd second, etc.; e is the acceleration error value; p represents proportion, i represents integration, and d represents differentiation.

[0068] In specific application scenarios, considering the uncertainty of the weight and volume of the object, as well as the uncertainty of the magnitude and direction of the acceleration, the platform controller controls the inclination angle of the vehicle platform under different weights and volumes at different platform accelerations. The platform controller can use the platform pressure value collected by the pressure sensor as a reference to query the target constant parameter (such as k) corresponding to the platform pressure value in the fuzzy matrix table. p =5, k i =6, k d =7). The platform controller can be, but is not limited to, a closed-loop control system that is adaptive and independent of the external environment. The attitude sensor and the pressure sensor are respectively embedded in the platform controller, and the X-axis and Y-axis of the two servos that control the platform controller can be used as output terminals, but are not limited to, and a proportional integral differential control algorithm can be used to form a closed-loop control system. Among them, a closed-loop control system is a type of control system, and the specific content refers to: part or all of the output of the control system is sent back to the input terminal of the system through a certain method and device, and then the feedback information is compared with the original input information, and the comparison result is applied to the system for control to prevent the system from deviating from the predetermined target.

[0069] Step 203: Determine the tilt angle calculation strategy corresponding to the platform acceleration value at the target pressure level based on a preset second corresponding relationship, wherein the second corresponding relationship is the corresponding relationship between the platform acceleration value and the tilt angle calculation strategy at different pressure levels.

[0070] For the embodiment of the present disclosure, based on the preset second corresponding relationship, the inclination angle calculation strategy corresponding to the platform acceleration value under the target pressure level is determined. The specific implementation process can be described as: adjusting the initial constant parameters in the proportional-integral-differential control algorithm to the target pressure level, and obtaining the proportional-integral-differential control algorithm after parameter adjustment as the inclination angle calculation strategy corresponding to the platform acceleration value.

[0071] For the embodiment of the present disclosure, the vehicle-mounted platform has different corresponding target constant parameters at different pressure levels. By changing the initial constant parameters (such as k p =3, k i =2, k d =8) is compared with the target constant parameter, and the initial constant parameter in the proportional integral differential control algorithm is adjusted to the target constant parameter to meet the influence of the weight of different items at different times on the constant parameter of the proportional integral differential control algorithm, wherein the constant parameter can be k in the formula feature description. p、 k i and k d , and meet the requirements of acceleration error value and error change rate at different times for self-tuning of constant parameters.

[0072] Step 204: In the target working mode, based on the platform status information and the tilt angle calculation strategy corresponding to the control information, determine the target tilt angle of the vehicle-mounted platform.

[0073] For the disclosed embodiment, based on the platform state information and the tilt angle calculation strategy corresponding to the control information, the target tilt angle of the vehicle-mounted platform is determined. The specific implementation process can be described as follows: based on the preset platform acceleration value, the acceleration error value and the error change rate of the platform acceleration value are calculated. The acceleration error value is the difference between the platform acceleration value at different times within the preset time period and the preset platform acceleration value. The error change rate is the ratio of the acceleration error values ​​corresponding to adjacent times within the preset time period; the acceleration error value and the error change rate of the platform acceleration value are input into the tilt angle calculation strategy corresponding to the platform acceleration value to obtain the target tilt angle of the vehicle-mounted platform. Among them, the preset platform acceleration value is a platform acceleration value that can be pre-set according to actual conditions, and the value is not specifically limited.

[0074] The acceleration error value and the error change rate of the platform acceleration value are input into the tilt angle calculation strategy corresponding to the platform acceleration value to obtain the target tilt angle of the vehicle platform. The specific implementation process can be described as: the acceleration error value and the error change rate of the platform acceleration value are input into the proportional integral differential control algorithm under the constant parameters corresponding to the pressure level to obtain the target tilt angle of the vehicle platform.

[0075] For example, after determining that the constant parameter in the proportional-integral-derivative control algorithm is the target constant parameter, assuming that the preset platform acceleration value is 10 m / s 2 , the platform acceleration value in the first second is 7m / s 2 , the platform acceleration value at the second second is 8m / s 2 , the platform acceleration value at the second second is 9m / s 2 , the acceleration error value of the 1st second is 3, the acceleration error value of the 2nd second is 2, and the acceleration error value of the 3rd second is 1. The error change rate between the 1st second and the 2nd second is 3 / 2, and the error change rate between the 2nd second and the 3rd second is 2. The calculated acceleration error value and error change rate of the vehicle platform are input into the proportional-integral-differential control algorithm to calculate the target tilt angle of the vehicle platform.

[0076] Step 205: Adjust the initial tilt angle of the vehicle-mounted platform relative to the horizontal ground to a target tilt angle.

[0077] For the implementation process of the embodiment of the present disclosure, please refer to the relevant description in step 103 of the embodiment, which will not be repeated here.

[0078] In summary, according to the vehicle-mounted platform control method provided by the present disclosure, compared with the current existing technology, the present disclosure can receive communication information, the communication information is used to characterize the working mode of the vehicle-mounted platform, the working mode includes a target working mode, the target working mode is a mode in which the objects on the vehicle-mounted platform remain relatively still with respect to the vehicle-mounted platform; obtain platform status information, and determine control information for controlling the inclination angle of the vehicle-mounted platform and a inclination angle calculation strategy corresponding to the control information based on the platform status information; in the target working mode, determine the target inclination angle of the vehicle-mounted platform based on the platform status information and the inclination angle calculation strategy corresponding to the control information, the target inclination angle being the angle in which the objects on the vehicle-mounted platform remain relatively still with respect to the vehicle-mounted platform; and adjust the initial inclination angle of the vehicle-mounted platform relative to the horizontal ground to the target inclination angle. Through the scheme disclosed in the present invention, based on the platform status information, the target tilt angle of the vehicle-mounted platform in the target working mode can be calculated, and by adjusting the vehicle-mounted platform to the target tilt angle, the gravity of the object and the supporting force can be balanced, and the supporting force can make the acceleration of the object and the vehicle-mounted platform consistent, so that the vehicle-mounted platform and the object can be relatively still. Some fragile items that are difficult to pack can be placed directly on the vehicle-mounted platform, such as a cup of coffee, a piece of cake, etc. Even under complex working conditions, the items will remain still and users can take them whenever they need them, which is very convenient and improves the user experience.

[0079] Based on the above Figure 2 and Figure 4 The specific implementation of the method shown in this embodiment provides a vehicle-mounted platform control device, such as Figure 5 As shown, the device includes: a receiving module 31, an acquiring module 32, a determining module 33, and an adjusting module 34;

[0080] A receiving module 31 is used to receive communication information, where the communication information is used to characterize the working mode of the vehicle-mounted platform, where the working mode includes a target working mode, where the target working mode is a mode in which the objects on the vehicle-mounted platform remain relatively still with respect to the vehicle-mounted platform;

[0081] An acquisition module 32, used to acquire platform status information, and determine control information for controlling the tilt angle of the vehicle-mounted platform and a tilt angle calculation strategy corresponding to the control information based on the platform status information;

[0082] A determination module 33 is used to determine a target tilt angle of the vehicle-mounted platform in a target working mode based on the platform state information and the tilt angle calculation strategy corresponding to the control information, wherein the target tilt angle is an angle at which an object on the vehicle-mounted platform remains relatively still with respect to the vehicle-mounted platform;

[0083] The adjustment module 34 is used to adjust the initial tilt angle of the vehicle-mounted platform relative to the horizontal ground to a target tilt angle.

[0084] In a specific application scenario, the platform status information includes a platform pressure value and a platform acceleration value, and the control information includes a pressure level. The acquisition module 32 can be used to determine a target pressure level for controlling the tilt angle of the vehicle-mounted platform corresponding to the platform pressure value based on a preset first corresponding relationship, wherein the first corresponding relationship is the corresponding relationship between the platform pressure value and the pressure level; and to determine a tilt angle calculation strategy corresponding to the platform acceleration value at the target pressure level based on a preset second corresponding relationship, wherein the second corresponding relationship is the corresponding relationship between the platform acceleration value and the tilt angle calculation strategy at different pressure levels.

[0085] In a specific application scenario, the preset first corresponding relationship is a preset fuzzy matrix table, and the acquisition module 32 can be used to query the target constant parameter corresponding to the platform pressure value in the fuzzy matrix table as the target pressure level. The target constant parameter is a constant parameter that matches the platform pressure value in the proportional integral differential control algorithm, and the proportional integral differential control algorithm is used as the tilt angle calculation strategy.

[0086] In a specific application scenario, the tilt angle calculation strategy is a proportional-integral-differential control algorithm; the acquisition module 32 can be used to adjust the initial constant parameters in the proportional-integral-differential control algorithm to the target pressure level, and obtain the proportional-integral-differential control algorithm after parameter adjustment as the tilt angle calculation strategy corresponding to the platform acceleration value.

[0087] In a specific application scenario, the determination module 33 can be used to calculate the acceleration error value and the error change rate of the platform acceleration value based on the preset platform acceleration value, the acceleration error value is the difference between the platform acceleration value at different times within a preset time period and the preset platform acceleration value, and the error change rate is the ratio of the corresponding acceleration error values ​​at adjacent times within the preset time period; the acceleration error value and the error change rate of the platform acceleration value are input into the tilt angle calculation strategy corresponding to the platform acceleration value to obtain the target tilt angle of the vehicle-mounted platform.

[0088] In a specific application scenario, the determination module 33 can be used to input the acceleration error value and the error change rate of the platform acceleration value into the proportional integral differential control algorithm under the constant parameters corresponding to the pressure level to obtain the target tilt angle of the vehicle-mounted platform.

[0089] It should be noted that for other corresponding descriptions of the functional units involved in the vehicle-mounted platform control device provided in this embodiment, reference can be made to Figure 2 and Figure 4 The corresponding description in will not be repeated here.

[0090] Based on the above Figure 2 and Figure 4The method shown in the embodiment also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned Figure 2 and Figure 4 The method shown.

[0091] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of various implementation scenarios of the present application.

[0092] Based on the above Figure 2 and Figure 4 The method shown, and Figure 5 In order to achieve the above-mentioned purpose, the embodiment of the present application also provides an electronic device that can be configured on the vehicle (such as an electric vehicle) side, and the device includes a storage medium and a processor; the storage medium is used to store a computer program; the processor is used to execute the computer program to achieve the above-mentioned Figure 2 and Figure 4 The method shown.

[0093] Optionally, the above-mentioned physical device may also include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a WI-FI module, etc. The user interface may include a display, an input unit such as a keyboard, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), etc.

[0094] Those skilled in the art will appreciate that the above-mentioned physical device structure provided in this embodiment does not constitute a limitation on the physical device, and may include more or fewer components, or a combination of certain components, or different arrangements of components.

[0095] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the above-mentioned physical device, and supports the operation of the information processing program and other software and / or programs. The network communication module is used to realize the communication between the components inside the storage medium, and the communication with other hardware and software in the information processing physical device.

[0096] Through the description of the above implementation methods, the technical personnel in this field can clearly understand that the present application can be implemented by means of software plus the necessary general hardware platform, or by hardware. By applying the scheme of this embodiment, compared with the current prior art, the present disclosure can receive communication information, the communication information is used to characterize the working mode of the vehicle-mounted platform, the working mode includes a target working mode, the target working mode is a mode that keeps the items on the vehicle-mounted platform relatively still with the vehicle-mounted platform; obtain platform status information, and determine the control information for controlling the inclination angle of the vehicle-mounted platform and the inclination angle calculation strategy corresponding to the control information based on the platform status information; in the target working mode, based on the platform status information and the inclination angle calculation strategy corresponding to the control information, determine the target inclination angle of the vehicle-mounted platform, the target inclination angle is the angle that keeps the items on the vehicle-mounted platform relatively still with the vehicle-mounted platform; adjust the initial inclination angle of the vehicle-mounted platform relative to the horizontal ground to the target inclination angle. Through the scheme disclosed in the present invention, based on the platform status information, the target tilt angle of the vehicle-mounted platform in the target working mode can be calculated, and by adjusting the vehicle-mounted platform to the target tilt angle, the gravity of the object and the supporting force can be balanced, and the supporting force can make the acceleration of the object and the vehicle-mounted platform consistent, so that the vehicle-mounted platform and the object can be relatively still. Some fragile items that are difficult to pack can be placed directly on the vehicle-mounted platform, such as a cup of coffee, a piece of cake, etc. Even under complex working conditions, the items will remain still and users can take them whenever they need them, which is very convenient and improves the user experience.

[0097] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0098] The above is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments herein, but will conform to the widest scope consistent with the principles and novel features applied for herein.

Claims

1. A vehicle-mounted platform control method, characterized in that: include: receiving communication information, wherein the communication information is used to characterize an operating mode of the vehicle-mounted platform, wherein the operating mode includes a target operating mode, and the target operating mode is a mode in which an object on the vehicle-mounted platform remains relatively still with respect to the vehicle-mounted platform; Acquiring platform status information, and determining control information for controlling the tilt angle of the vehicle-mounted platform and a tilt angle calculation strategy corresponding to the control information based on the platform status information; In the target working mode, based on the platform state information and the tilt angle calculation strategy corresponding to the control information, a target tilt angle of the vehicle-mounted platform is determined, wherein the target tilt angle is an angle at which an object on the vehicle-mounted platform remains relatively still with respect to the vehicle-mounted platform; The initial tilt angle of the vehicle-mounted platform relative to the horizontal ground is adjusted to the target tilt angle.

2. The method according to claim 1, characterized in that The platform state information includes a platform pressure value and a platform acceleration value, the control information includes a pressure level, and the control information for controlling the tilt angle of the vehicle-mounted platform determined based on the platform state information and the tilt angle calculation strategy corresponding to the control information include: Based on a preset first corresponding relationship, determining a target pressure level for controlling the tilt angle of the vehicle-mounted platform corresponding to the platform pressure value, wherein the first corresponding relationship is a corresponding relationship between the platform pressure value and the pressure level; Based on a preset second corresponding relationship, the tilt angle calculation strategy corresponding to the platform acceleration value under the target pressure level is determined, wherein the second corresponding relationship is the corresponding relationship between the platform acceleration value and the tilt angle calculation strategy under different pressure levels.

3. The method according to claim 2, characterized in that The preset first corresponding relationship is a preset fuzzy matrix table; the determining, based on the preset first corresponding relationship, a target pressure level for controlling the tilt angle of the vehicle-mounted platform corresponding to the platform pressure value includes: The target constant parameter corresponding to the platform pressure value in the fuzzy matrix table is queried as the target pressure level, the target constant parameter is a constant parameter matching the platform pressure value in the proportional integral differential control algorithm, and the proportional integral differential control algorithm is used as the tilt angle calculation strategy.

4. The method according to claim 2 or 3, characterized in that: The tilt angle calculation strategy is a proportional-integral-differential control algorithm; the tilt angle calculation strategy corresponding to the platform acceleration value at the target pressure level is determined based on the preset second corresponding relationship, including: The initial constant parameter in the proportional-integral-differential control algorithm is adjusted to the target pressure level, and the proportional-integral-differential control algorithm after parameter adjustment is obtained as the inclination angle calculation strategy corresponding to the platform acceleration value.

5. The method according to claim 2, characterized in that: The determining the target tilt angle of the vehicle-mounted platform based on the platform state information and the tilt angle calculation strategy corresponding to the control information includes: Based on a preset platform acceleration value, calculating an acceleration error value and an error change rate of the platform acceleration value, wherein the acceleration error value is a difference between the platform acceleration value and the preset platform acceleration value at different times within a preset time period, and the error change rate is a ratio of the acceleration error values ​​corresponding to adjacent times within the preset time period; The acceleration error value and the error change rate of the platform acceleration value are input into the inclination angle calculation strategy corresponding to the platform acceleration value to obtain the target inclination angle of the vehicle-mounted platform.

6. The method according to claim 5, characterized in that The step of inputting the acceleration error value and the error change rate of the platform acceleration value into the inclination angle calculation strategy corresponding to the platform acceleration value to obtain the target inclination angle of the vehicle-mounted platform includes: The acceleration error value of the platform acceleration value and the error change rate are input into a proportional-integral-differential control algorithm under constant parameters corresponding to the pressure level to obtain a target tilt angle of the vehicle-mounted platform.

7. A vehicle-mounted platform control device, characterized in that: include: A receiving module, used for receiving communication information, wherein the communication information is used for characterizing the working mode of the vehicle-mounted platform, wherein the working mode includes a target working mode, wherein the target working mode is a mode for keeping the objects on the vehicle-mounted platform relatively still with respect to the vehicle-mounted platform; An acquisition module, used to acquire platform status information, and determine control information for controlling the tilt angle of the vehicle-mounted platform and a tilt angle calculation strategy corresponding to the control information based on the platform status information; A determination module, configured to determine, in the target working mode, a target tilt angle of the vehicle-mounted platform based on the platform state information and a tilt angle calculation strategy corresponding to the control information, wherein the target tilt angle is an angle at which an object on the vehicle-mounted platform remains relatively still with respect to the vehicle-mounted platform; The adjustment module is used to adjust the initial inclination angle of the vehicle-mounted platform relative to the horizontal ground to the target inclination angle.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

9. An electronic device comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: include: The device as claimed in claim 7 or the electronic device as claimed in claim 9.

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