Control method and control device for container of dumper

Abstract

The invention provides a control method and a control device for a container of a dumper. The method comprises the steps that vehicle state information of a vehicle is obtained, wherein the vehicle state information at least comprises a lifting enable signal of a container, a hopper falling enable signal of the container and a lifting angle of the container; determining a target state identifier of the vehicle according to the vehicle state information; determining the current state of the vehicle according to the vehicle state information and the target state identifier; and according to the current state, controlling a lifting valve group system of the vehicle to control lifting, bucket falling or floating of the container. The target state identification of the vehicle and the current state of the vehicle are determined according to the vehicle state information, judgment is conducted according to the target state identification and the current state of the vehicle, the current state of the vehicle is finally obtained, and the lifting valve set system can be controlled according to the current state of the vehicle in the unmanned driving state to control lifting, hopper falling or floating of a container. And more accurate lifting and bucket falling control of the container of the dumper are realized.

Description

Technical Field

[0001] The present application relates to the technical field of dump truck control, and in particular to a control method and a control device for a dump truck cargo box. Background Art

[0002] At present, dump trucks use a hydraulic lifting mechanism fixed on the chassis of the vehicle to push the cargo box to unload the cargo. Dump trucks are mainly used in open-pit coal mines and are suitable for loading and unloading earth, sand and coal. At present, most dump trucks are unloaded by drivers manually controlling the hydraulic control valve. Due to the harsh working environment, there is a large error in manually judging whether the cargo box is lifted and the bucket is in place, and the floating and hovering functions of the cargo box cannot be accurately realized. In addition, there are inevitable mistakes in manual control, which leads to a high degree of danger in unloading work and a great safety hazard. Summary of the invention

[0003] The main purpose of the present application is to provide a control method and control device for a dump truck cargo box, so as to at least solve the problem in the prior art that it is impossible to accurately judge the real-time status of the vehicle cargo box manually, resulting in a high degree of danger in the unloading work.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a control method for a dump truck cargo box is provided, the control method comprising: acquiring vehicle status information of the vehicle, the vehicle status information comprising at least: a lifting enable signal of the cargo box, a bucket drop enable signal of the cargo box and a lifting angle of the cargo box; determining a target state identifier of the vehicle according to the vehicle status information; determining a current state of the vehicle according to the vehicle status information and the target state identifier; and according to the current state, controlling the lifting valve group system of the vehicle to control the lifting, bucket drop or floating of the cargo box.

[0005] Optionally, determining the target state identifier of the vehicle based on the vehicle state information includes: determining a first target state identifier of the cargo box at least based on the lifting enable signal and the lifting angle, the lifting angle including a target lifting angle and a current lifting angle; determining a second target state identifier of the cargo box at least based on the bucket drop enable signal and the lifting angle.

[0006] Optionally, determining the first target state identifier of the cargo box at least based on the lifting enable signal and the lifting angle includes: when the lifting enable signal is obtained but the top arrival signal of the vehicle status information is not obtained, judging whether the absolute value of the difference between the target lifting angle and the current lifting angle satisfies a first preset range, and when the first judgment result indicates yes, determining the first target state identifier as a first sub-target state identifier; when the lifting enable signal and the top arrival signal are obtained, judging whether the absolute value of the difference between the target lifting angle and the current lifting angle satisfies a second preset range, and when the second judgment result indicates yes, determining the first target state identifier as a second sub-target state identifier.

[0007] Optionally, the second target state identifier of the cargo box is determined at least based on the bucket drop enable signal and the lifting angle, including: when the bucket drop enable signal is obtained but the bottom-in-place signal of the vehicle status information is not obtained, judging whether the absolute value of the difference between the target lifting angle and the current lifting angle satisfies a third preset range, and when the third judgment result indicates yes, determining the second target state identifier as a third sub-target state identifier; when the bucket drop enable signal and the bottom-in-place signal are obtained, judging whether the absolute value of the difference between the target lifting angle and the current lifting angle satisfies a fourth preset range, and when the fourth judgment result indicates yes, determining the second target state identifier as a fourth sub-target state identifier.

[0008] Optionally, determining the current state of the vehicle based on the vehicle state information and the target state identifier includes: determining a target difference based on the target lifting angle and the current lifting angle; when the lifting enable signal is obtained, judging whether the target difference satisfies a fifth preset range, and when the fifth judgment result indicates yes, determining that the current state of the vehicle is in a lifted state.

[0009] Optionally, determining the current state of the vehicle based on the vehicle state information and the target state identifier includes: determining a target difference based on the target lifting angle and the current lifting angle; when the lifting enable signal is obtained, judging whether the target difference satisfies a sixth preset range, and when the sixth judgment result indicates yes, determining that the current state of the vehicle is in a drop bucket state.

[0010] Optionally, determining the current state of the vehicle based on the vehicle state information and the target state identifier includes: determining a target difference based on the target lifting angle and the current lifting angle; when the lifting enable signal is not obtained, judging whether the target difference satisfies a seventh preset range, and when the seventh judgment result indicates yes, determining that the current state of the vehicle is in a floating state.

[0011] According to another aspect of the present application, a control device for a dump truck cargo box is provided, which adopts the control method for the dump truck cargo box, including: an acquisition module, used to acquire vehicle status information of the vehicle, and the vehicle status information at least includes: a lifting enable signal of the cargo box, a bucket drop enable signal of the cargo box and a lifting angle of the cargo box; a first determination module, used to determine a target state identifier of the vehicle according to the vehicle status information; a second determination module, used to determine a current state of the vehicle according to the vehicle status information and the target state identifier; a control module, used to control the lifting valve group system of the vehicle to control the lifting, bucket drop or floating of the cargo box according to the current state.

[0012] According to another aspect of the present application, a computer program product is provided, comprising computer instructions, wherein when the computer instructions are executed by a processor, the method for controlling a dump truck cargo box is implemented.

[0013] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method for controlling the dump truck cargo box.

[0014] The technical solution of the method for controlling the cargo box of a dump truck of the present application is applied. First, the vehicle status information such as the cargo box lifting enable signal, the cargo box bucket drop enable signal and the cargo box lifting angle are obtained; the target state identifier of the vehicle is determined according to the vehicle status information; the current state of the vehicle is determined according to the vehicle status information and the target state identifier; according to the current state, the lifting valve group system of the vehicle is controlled to control the lifting, bucket drop or floating of the cargo box. By determining the target state identifier of the vehicle and the current state of the vehicle according to the vehicle status information, judging based on the above two, the current state of the vehicle is finally obtained. In the unmanned driving state, the lifting valve group system can be controlled according to the current state of the vehicle to control the lifting, bucket drop or floating of the cargo box, thereby realizing more precise lifting and bucket drop control of the dump truck cargo box. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for executing a method for controlling a dump truck cargo box provided in an embodiment of the present application is shown;

[0017] Figure 2 A schematic flow chart of a method for controlling a dump truck cargo box according to an embodiment of the present application is shown;

[0018] Figure 3 A structural block diagram of a control method device for a dump truck cargo box provided according to an embodiment of the present application is shown.

[0019] The above drawings include the following reference numerals:

[0020] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0021] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0022] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] As introduced in the background technology, in the prior art, dump trucks mostly have the driver manually operate the hydraulic control valve to unload cargo. Due to the harsh working environment, there is a large error in manual judgment of whether the cargo box is lifted and the bucket is in place, and the floating and hovering functions of the cargo box cannot be accurately realized. In addition, there are inevitable errors in manual operation, resulting in a high degree of danger in the unloading work and a major safety hazard.

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0026] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal for controlling a dump truck cargo box according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0027] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the control method of the dump truck cargo box in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0028] In this embodiment, a method for controlling a dump truck cargo box running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0029] Figure 2 FIG. 1 is a flow chart of a method for controlling a dump truck cargo box according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0030] Step S201, obtaining the vehicle status information of the vehicle, the above-mentioned vehicle status information at least includes: a lifting enable signal of the cargo box, a bucket drop enable signal of the cargo box and a lifting angle of the cargo box; continuously obtaining the real-time status information of the vehicle, this information should at least include the following three key data: a lifting enable signal of the cargo box, which indicates whether the system instructs the cargo box to perform a lifting operation; a bucket drop enable signal of the cargo box, which is used to confirm whether the cargo box is instructed to perform a bucket drop action; and a real-time lifting angle of the cargo box, this information is collected in real time by an angle sensor to reflect the current degree of inclination of the cargo box.

[0031] Step S202, according to the above vehicle status information, determine the target state identifier of the above vehicle; after collecting the above vehicle status information, determine the target state identifier of the vehicle based on these data through a preset algorithm logic. The target state identifier refers to a target state set by the system for the cargo box action according to the current vehicle status and operation requirements, which will guide subsequent control decisions. For example, the system may determine whether the cargo box needs to continue to be lifted, start to drop the bucket, or maintain the current position or enter a floating state to adapt to different cargo loading and unloading requirements;

[0032] Step S203, determine the current state of the above-mentioned vehicle according to the above-mentioned vehicle state information and the above-mentioned target state identifier; comprehensively consider the vehicle state information and the target state identifier to judge the current state of the vehicle in real time. This process is implemented through the software logic in the control unit, which will accurately calculate the difference between the current lifting angle of the cargo box and the target angle, as well as the state of the enable signal, so as to determine whether the vehicle is in a lifting, dropping, holding or floating state. This real-time feedback and dynamic adjustment mechanism ensures that the vehicle can make the best response under any working conditions, avoids the leakage of goods during loading and unloading or severe vibration of the cargo box, and significantly improves the safety and efficiency of the operation;

[0033] Step S204, according to the above current state, control the lifting valve group system of the above vehicle to control the above cargo box to lift, drop or float; the lifting valve group system is a key executive component of the dump truck, and through the combination of the solenoid valve and the oil circuit unit, the precise control of the lifting angle of the cargo box is achieved. This control strategy based on state information ensures the smooth movement of the cargo box and reduces the impact on the vehicle structure. At the same time, through the introduction of the floating state, the cargo box can automatically adjust its position according to the load, further improving the efficiency and safety of cargo loading and unloading.

[0034] By obtaining the vehicle status information such as the lifting enable signal of the cargo box, the drop bucket enable signal of the cargo box, and the lifting angle of the cargo box; according to the vehicle status information, determine the target state identifier of the vehicle; according to the vehicle status information and the target state identifier, determine the current state of the vehicle; according to the current state, control the vehicle's lifting valve group system to control the lifting, dropping or floating of the cargo box. By determining the vehicle's target state identifier and the vehicle's current state according to the vehicle status information, judging based on the above two, and finally obtaining the current state of the vehicle, the lifting valve group system can be controlled according to the vehicle's current state in the unmanned driving state to control the lifting, dropping or floating of the cargo box, thereby achieving more precise lifting and dropping control of the dump truck cargo box.

[0035] In some optional embodiments, the target state identification of the vehicle is determined based on the vehicle state information, including: determining the first target state identification of the cargo box at least based on the lifting enable signal and the lifting angle, the lifting angle including the target lifting angle and the current lifting angle; determining the second target state identification of the cargo box at least based on the bucket drop enable signal and the lifting angle.

[0036] In the above optional implementation, the current lifting angle of the cargo box is read in real time by an angle sensor installed on the cargo box according to whether a lifting enable signal is issued. The lifting angle includes a current lifting angle and a target lifting angle, and the preset target lifting angle is compared with the current actual lifting angle. The first target state identifier is determined at least according to the comparison result and whether the lifting enable signal is issued. The current lifting angle of the cargo box is read in real time by an angle sensor installed on the cargo box according to whether a drop bucket enable signal is issued. The lifting angle includes a current lifting angle and a target lifting angle, and the preset target lifting angle is compared with the current actual lifting angle. The second target state identifier is determined at least according to the comparison result and whether the drop bucket enable signal is issued.

[0037] In some optional embodiments, when the lift enable signal is obtained but the top-in-position signal of the vehicle status information is not obtained, it is determined whether the absolute value of the difference between the target lift angle and the current lift angle satisfies a first preset range, and when the first judgment result indicates yes, the first target state identifier is determined to be a first sub-target state identifier; when the lift enable signal and the top-in-position signal are obtained, it is determined whether the absolute value of the difference between the target lift angle and the current lift angle satisfies a second preset range, and when the second judgment result indicates yes, the first target state identifier is determined to be a second sub-target state identifier.

[0038] In the above optional implementation manner, the vehicle status information also includes a top-in-position signal, and the first target status identifier includes two different identifiers. First, it is determined whether a lifting enable signal and a top-in-position signal are received.

[0039] When the lifting enable signal is received but the top-reaching position signal is not received, it indicates that the cargo box is still in the lifting process. If the absolute value of the difference between the target lifting angle and the current lifting angle satisfies the first preset range, it indicates that the angle difference feedback information indicates that the cargo box has reached the lifting requirement of the target lifting angle. Since the top-reaching position signal is a signal that is sent only when the mechanical device is triggered, the top-reaching position signal will be triggered as long as the cargo box reaches the top. Therefore, there is a false alarm at this time. This situation is determined as the first sub-preset identifier.

[0040] When it is determined that the lifting enable signal and the top-reaching signal are received, it indicates that the cargo box has reached the top. If the difference between the target lifting angle and the current lifting angle satisfies the second preset range, it can be determined that the cargo box has actually reached the top. This situation is determined as the second sub-preset identifier.

[0041] Exemplarily, the target lifting angle is 100°, the first preset range is [98°, 100°), and the second preset range is ≤98.

[0042] In some optional embodiments, the second target state identifier of the cargo box is determined at least based on the bucket drop enable signal and the lifting angle, including: when the bucket drop enable signal and the bottom-in-place signal are obtained, judging whether the absolute value of the difference between the target lifting angle and the current lifting angle satisfies a third preset range, and when the third judgment result indicates yes, determining the second target state identifier as the third sub-target state identifier; when the bucket drop enable signal is obtained but the bottom-in-place signal of the vehicle status information is not obtained, judging whether the absolute value of the difference between the target lifting angle and the current lifting angle satisfies a fourth preset range, and when the fourth judgment result indicates yes, determining the second target state identifier as the fourth sub-target state identifier.

[0043] In the above optional implementation manner, the vehicle status information also includes a bottoming-in position signal, and the second target status identifier includes two different identifiers. First, it is determined whether a bucket drop enable signal and a bottoming-in position signal are received.

[0044] When it is judged that the bucket drop enable signal and the bottoming signal are received, it indicates that the cargo box has reached the bottom, and if it is judged that the difference between the target lifting angle and the current lifting angle meets the third preset range, it can be judged that the cargo box has actually reached the bottom, but according to the angle difference, it has not reached the bottom, but the difference is within a relatively small range, and this situation is determined as the third sub-preset mark;

[0045] When the bucket drop enable signal is received but the bottoming signal is not received, it indicates that the cargo box is still in the bucket drop process. If at this time it is judged that the absolute value of the difference between the target lifting angle and the current lifting angle meets the fourth preset range, it indicates that the information fed back by the angle difference is that the cargo box has reached the bucket drop requirement of the target lifting angle. Since the bottoming signal is a signal issued only when the mechanical device is triggered, the bottoming signal will be triggered as soon as the cargo box reaches the bottom, indicating that it has actually reached the bottom. This situation is determined as the fourth sub-preset identifier.

[0046] Exemplarily, the target lifting angle is 0°, the third preset range is >2, and the fourth preset range is (0, 2).

[0047] In some optional embodiments, the current state of the vehicle is determined based on the vehicle state information and the target state identifier, including: determining a target difference based on the target lifting angle and the current lifting angle; when the lifting enable signal is obtained, judging whether the target difference satisfies a fifth preset range, and when the fifth judgment result indicates yes, determining that the current state of the vehicle is in a lifted state.

[0048] In the above optional implementation, a method for determining that the vehicle is currently in a lifted state is as follows: after the above step of determining the first target state identifier, if the first target state identifier is determined to be the first sub-target state identifier, it can be determined that the vehicle is currently in a lifted state; a second method for determining: when it is determined that a lift enable signal has been received, and it is determined that the target lift angle and the target difference between the current lift angle are within the fifth preset range, indicating that the lift has not reached the target lift angle at this time, it can be determined that the vehicle is currently in a lifted state. For example, the fifth preset range>2.

[0049] In some optional embodiments, the current state of the vehicle is determined based on the vehicle state information and the target state identifier, including: determining a target difference based on the target lifting angle and the current lifting angle; when the lifting enable signal is obtained, judging whether the target difference satisfies a sixth preset range, and when the sixth judgment result indicates yes, determining that the current state of the vehicle is in a bucket drop state.

[0050] In the above optional implementation, a method for determining that the vehicle is currently in a bucket drop state: after the above step of determining the second target state identifier, if the second target state identifier is determined to be the fourth sub-target state identifier, it can be determined that the vehicle is currently in a bucket drop state; a second method of determination: if it is determined that a lifting enable signal has been received, and the target difference between the target lifting angle and the current lifting angle is within the sixth preset range, indicating that the bucket has not reached the target lifting angle at this time, it can be determined that the vehicle is currently in a bucket drop state. For example, the sixth preset range is greater than 5.

[0051] In some optional embodiments, the current state of the vehicle is determined based on the vehicle state information and the target state identifier, including: determining a target difference based on the target lifting angle and the current lifting angle; in the case where the lifting enable signal is not obtained, judging whether the target difference satisfies a seventh preset range, and in the case where the seventh judgment result indicates yes, determining that the current state of the vehicle is in a floating state.

[0052] In the above optional implementation, one method of determining that the current state of the above vehicle is in a floating state is: after the above step of determining the first target state identifier, if the first target state identifier is determined to be the second sub-target state identifier, it can be determined that the vehicle currently meets the target lifting angle and is in a floating state; the second method is: when it is determined that the lifting enable signal is not received, and it is determined that the target difference between the target lifting angle and the current lifting angle is within the seventh preset range, it indicates that the vehicle currently meets the target lifting angle, but there is a small error between the target lifting angle and the target lifting angle, and it can be determined that the vehicle is currently in a floating state. For example, the seventh preset range is [-5, 0].

[0053] In the above optional implementation manner, a third method for determining that the current state of the above vehicle is in a floating state: after the above step of determining the second target state identifier, if the second target state identifier is determined to be the third sub-target state identifier, it can be determined that the vehicle currently meets the target lifting angle of the bucket drop condition and is in a floating state.

[0054] In the above optional implementation, it is also possible to determine whether the vehicle is in a holding state according to certain conditions. One method is: when it is determined that a lifting enable signal is received and no top to bottom signal is received, the absolute value of the preset difference satisfies the eighth preset range, and the target lifting angle is within the ninth preset range, indicating that the cargo box is in a lifting, dropping or floating state at this time and the difference is small and basically meets the requirement of the target lifting angle, it can be confirmed that the cargo box is in the bottom or floating state, and then the condition that the target lifting angle is within the ninth preset range is added, it can be confirmed that the setting of the target lifting angle at this time is to keep the cargo box in a holding state.

[0055] Exemplarily, the eighth preset range is [0, 2], and the ninth preset range is ≥ 5. When the target lifting angle is ≥ 5, it exceeds the range of floating and bottoming, that is, it is in the holding state.

[0056] The current target lifting angle is compared with the target lifting angle at the previous moment. If the two are equal, it indicates that the cargo box meets the target lifting angle condition at this time, and it is confirmed that the vehicle is in a state where the cargo box will not shake. The second method is: when it is determined that the vehicle is in a state where the cargo box will not shake, it is determined that the vehicle is in a holding state.

[0057] In the case where it is determined that the vehicle is currently in a lifting state, the gear position of the vehicle is neutral, and the corresponding solenoid valve current is given to lift the vehicle.

[0058] In the case where it is determined that the vehicle is currently in the bucket-dropping state, the vehicle gear is in neutral, and the corresponding solenoid valve current is given to lift the vehicle.

[0059] The embodiment of the present application also provides a control device for a dump truck cargo box. It should be noted that the control device for the dump truck cargo box of the embodiment of the present application can be used to execute the control method for the dump truck cargo box provided by the embodiment of the present application. The system is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the system described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0060] The following is an introduction to the control device for the dump truck cargo box provided in an embodiment of the present application.

[0061] Figure 3 Schematic diagram of a control device for a dump truck cargo box according to an embodiment of the present application. Figure 3 As shown, the device includes: an acquisition module 100, used to acquire vehicle status information of the vehicle, the above-mentioned vehicle status information at least includes: a lifting enable signal of the cargo box, a bucket drop enable signal of the cargo box and a lifting angle of the cargo box; a first determination module 200, used to determine the target state identifier of the above-mentioned vehicle according to the above-mentioned vehicle status information; a second determination module 300, used to determine the current state of the above-mentioned vehicle according to the above-mentioned vehicle status information and the above-mentioned target state identifier; a control module 400, used to control the lifting valve group system of the above-mentioned vehicle to control the lifting, bucket drop or floating of the above-mentioned cargo box according to the above-mentioned current state.

[0062] The control device of the dump truck cargo box of the present application includes an acquisition module, a first determination module, a second determination module and a control module, wherein the acquisition module is used to acquire information such as the lifting enable signal of the cargo box of the vehicle state, the bucket drop enable signal of the cargo box and the lifting angle of the cargo box; the first determination module is used to determine the target state identifier of the vehicle according to the vehicle state information; the second determination module is used to determine the current state of the vehicle according to the vehicle state information and the target state identifier; the control module is used to control the lifting valve group system of the vehicle to control the lifting, bucket drop or floating of the cargo box according to the current state. By determining the target state identifier of the vehicle and the current state of the vehicle according to the vehicle state information, judging based on the above two, the current state of the vehicle is finally obtained. In the unmanned driving state, the lifting valve group system can be controlled according to the current state of the vehicle to control the lifting, bucket drop or floating of the cargo box, thereby realizing more precise lifting and bucket drop control of the dump truck cargo box.

[0063] In some optional embodiments, the first determination module includes a first sub-determination module and a second sub-determination module, wherein the first sub-determination module is used to determine the first target state identifier of the cargo box at least based on the lifting enable signal and the lifting angle, and the lifting angle includes a target lifting angle and a current lifting angle; the second sub-determination module is used to determine the second target state identifier of the cargo box at least based on the drop bucket enable signal and the lifting angle.

[0064] In some optional embodiments, the first sub-determination module includes a first sub-determination unit and a second sub-determination unit, wherein the first sub-determination unit is used to determine whether the absolute value of the difference between the target lifting angle and the current lifting angle satisfies a first preset range when the lifting enable signal is obtained but the top-in-position signal of the vehicle status information is not obtained, and when the first judgment result indicates yes, determines that the first target state identifier is the first sub-target state identifier; the second sub-determination unit is used to determine whether the absolute value of the difference between the target lifting angle and the current lifting angle satisfies a second preset range when the lifting enable signal and the top-in-position signal are obtained, and when the second judgment result indicates yes, determines that the first target state identifier is the second sub-target state identifier.

[0065] In some optional embodiments, the second sub-determination module includes a third sub-determination unit and a fourth sub-determination unit, wherein the third sub-determination unit is used to determine whether the absolute value of the difference between the target lifting angle and the current lifting angle satisfies a third preset range when the above-mentioned bucket drop enable signal is obtained but the above-mentioned vehicle status information has not been fully arrived in position signal, and when the third judgment result indicates yes, determines that the above-mentioned second target state is identified as the third sub-target state identifier; the fourth sub-determination unit is used to determine whether the absolute value of the difference between the above-mentioned target lifting angle and the current lifting angle satisfies a fourth preset range when the above-mentioned bucket drop enable signal and the above-mentioned fully arrived position signal are obtained, and when the fourth judgment result indicates yes, determines that the above-mentioned second target state is identified as the fourth sub-target state identifier.

[0066] In some optional embodiments, the second determination module includes a third sub-determination module and a fourth sub-determination module, wherein the third sub-determination module is used to determine the target difference based on the target lifting angle and the current lifting angle; the fourth sub-determination module is used to determine whether the target difference satisfies a fifth preset range when the lifting enable signal is obtained, and determine that the current state of the vehicle is in a lifted state when the fifth judgment result indicates no.

[0067] In some optional embodiments, the second determination module includes a fifth sub-determination module and a sixth sub-determination module, wherein the fifth sub-determination module is used to determine the target difference based on the target lifting angle and the current lifting angle; the sixth sub-determination module is used to determine whether the target difference satisfies a sixth preset range when the lifting enable signal is obtained, and determine that the current state of the vehicle is in a bucket drop state when the sixth judgment result indicates no.

[0068] In some optional embodiments, the second determination module includes a seventh sub-determination module and an eighth sub-determination module, wherein the seventh sub-determination module is used to determine the target difference based on the target lifting angle and the current lifting angle; the eighth sub-determination module is used to determine whether the target difference satisfies a seventh preset range when the lifting enable signal is not obtained, and determine that the current state of the vehicle is in a floating state when the seventh judgment result indicates yes.

[0069] The control device for the dump truck cargo box includes a processor and a memory. The acquisition modules and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0070] The processor includes a kernel, which calls the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters are adjusted to solve the problem of security risks in multi-source power data caused by the influence of malicious nodes on the security of power Internet of Things data transmission in the prior art.

[0071] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0072] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the control method for the dump truck cargo box.

[0073] Specifically, the control method of the dump truck cargo box includes:

[0074] Step S201, obtaining vehicle status information of the vehicle, the vehicle status information at least including: a lifting enable signal of the cargo box, a drop bucket enable signal of the cargo box, and a lifting angle of the cargo box;

[0075] Step S202, determining a target state identifier of the vehicle according to the vehicle state information;

[0076] Step S203, determining the current state of the vehicle according to the vehicle state information and the target state identifier;

[0077] Step S204, according to the above current state, control the lifting valve group system of the above vehicle to control the above cargo box to lift, drop or float.

[0078] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the control method of the dump truck cargo box is executed when the program is run.

[0079] Specifically, the control method of the dump truck cargo box includes:

[0080] Step S201, obtaining vehicle status information of the vehicle, the vehicle status information at least including: a lifting enable signal of the cargo box, a drop bucket enable signal of the cargo box, and a lifting angle of the cargo box;

[0081] Step S202, determining a target state identifier of the vehicle according to the vehicle state information;

[0082] Step S203, determining the current state of the vehicle according to the vehicle state information and the target state identifier;

[0083] Step S204, according to the above current state, control the lifting valve group system of the above vehicle to control the above cargo box to lift, drop or float.

[0084] An embodiment of the present invention provides an electronic device, the device comprising a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0085] Step S201, obtaining vehicle status information of the vehicle, the vehicle status information at least including: a lifting enable signal of the cargo box, a drop bucket enable signal of the cargo box, and a lifting angle of the cargo box;

[0086] Step S202, determining a target state identifier of the vehicle according to the vehicle state information;

[0087] Step S203, determining the current state of the vehicle according to the vehicle state information and the target state identifier;

[0088] Step S204, according to the above current state, control the lifting valve group system of the above vehicle to control the above cargo box to lift, drop or float.

[0089] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0090] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0091] Step S201, obtaining vehicle status information of the vehicle, the vehicle status information at least including: a lifting enable signal of the cargo box, a drop bucket enable signal of the cargo box, and a lifting angle of the cargo box;

[0092] Step S202, determining a target state identifier of the vehicle according to the vehicle state information;

[0093] Step S203, determining the current state of the vehicle according to the vehicle state information and the target state identifier;

[0094] Step S204, according to the above current state, control the lifting valve group system of the above vehicle to control the above cargo box to lift, drop or float.

[0095] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0096] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0097] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0098] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0099] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0100] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0101] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0102] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules 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 technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0103] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0104] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0105] 1) The control method of the dump truck cargo box of the present application obtains information such as the cargo box lifting enable signal, the cargo box bucket drop enable signal and the cargo box lifting angle according to the vehicle state; determines the vehicle's target state identifier according to the vehicle state information; determines the vehicle's current state according to the vehicle state information and the target state identifier; and controls the vehicle's lifting valve group system to control the lifting, bucket drop or floating of the cargo box according to the current state. By determining the vehicle's target state identifier and the vehicle's current state according to the vehicle state information, judging based on the above two, and finally obtaining the vehicle's current state, the lifting valve group system can be controlled according to the vehicle's current state in an unmanned driving state to control the lifting, bucket drop or floating of the cargo box, thereby achieving more precise lifting and bucket drop control of the dump truck cargo box.

[0106] 2) The control device of the dump truck cargo box of the present application includes an acquisition module, a first determination module, a second determination module and a control module, wherein the acquisition module is used to acquire information such as the vehicle state's cargo box lifting enable signal, the cargo box's bucket drop enable signal and the cargo box lifting angle; the first determination module is used to determine the vehicle's target state identifier based on the vehicle state information; the second determination module is used to determine the vehicle's current state based on the vehicle state information and the target state identifier; the control module is used to control the vehicle's lifting valve group system to control cargo box lifting, bucket drop or floating based on the current state. By determining the vehicle's target state identifier and the vehicle's current state based on the vehicle state information, and making judgments based on the above two, the vehicle's current state is finally obtained. In an unmanned driving state, the lifting valve group system can be controlled based on the vehicle's current state to control cargo box lifting, bucket drop or floating, thereby achieving more precise lifting and bucket drop control of the dump truck cargo box.

[0107] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling a dump truck cargo box, characterized in that: The control method comprises: Acquire vehicle status information of the vehicle, the vehicle status information at least including: a lifting enable signal of the cargo box, a drop bucket enable signal of the cargo box, and a lifting angle of the cargo box; Determining a target state identifier of the vehicle according to the vehicle state information; Determining a current state of the vehicle according to the vehicle state information and the target state identifier; According to the current state, the lifting valve group system of the vehicle controls the cargo box to lift, drop or float.

2. The control method according to claim 1, characterized in that: Determining the target state identifier of the vehicle according to the vehicle state information includes: determining a first target state identifier of the cargo box at least according to the lift enable signal and the lift angle, wherein the lift angle includes a target lift angle and a current lift angle; A second target state identifier of the cargo box is determined based on at least the bucket drop enable signal and the lifting angle.

3. The control method according to claim 2, characterized in that: The step of determining the first target state identifier of the cargo box at least according to the lifting enable signal and the lifting angle includes: In the case where the lifting enable signal is obtained but the top-in-position signal of the vehicle state information is not obtained, determining whether the absolute value of the difference between the target lifting angle and the current lifting angle satisfies a first preset range, and in the case where the first judgment result indicates yes, determining the first target state identifier as a first sub-target state identifier; When the lifting enable signal and the top-in-position signal are obtained, it is determined whether the absolute value of the difference between the target lifting angle and the current lifting angle meets a second preset range. When the second judgment result indicates yes, the first target state identifier is determined to be the second sub-target state identifier.

4. The control method according to claim 2, characterized in that: The determining of the second target state identifier of the cargo box at least according to the bucket drop enable signal and the lifting angle includes: In the case where the bucket drop enable signal is obtained but the vehicle status information indicating that the vehicle has reached the end of its position is not obtained, determining whether the absolute value of the difference between the target lifting angle and the current lifting angle satisfies a third preset range, and in the case where the third judgment result indicates yes, determining that the second target state identifier is a third sub-target state identifier; When the bucket drop enable signal and the bottom-in-place signal are obtained, determine whether the absolute value of the difference between the target lifting angle and the current lifting angle meets a fourth preset range. When the fourth judgment result indicates yes, determine that the second target state identifier is the fourth sub-target state identifier.

5. The control method according to claim 3, characterized in that: Determining the current state of the vehicle according to the vehicle state information and the target state identifier includes: Determining a target difference according to the target lifting angle and the current lifting angle; When the lifting enable signal is obtained, it is determined whether the target difference satisfies a fifth preset range, and when the fifth determination result indicates yes, it is determined that the current state of the vehicle is in the lifting state.

6. The control method according to claim 4, characterized in that: Determining the current state of the vehicle according to the vehicle state information and the target state identifier includes: Determining a target difference according to the target lifting angle and the current lifting angle; When the lifting enable signal is obtained, it is determined whether the target difference satisfies a sixth preset range, and when the sixth determination result indicates yes, it is determined that the current state of the vehicle is in a bucket drop state.

7. The control method according to claim 3, characterized in that: Determining the current state of the vehicle according to the vehicle state information and the target state identifier includes: Determining a target difference according to the target lifting angle and the current lifting angle; In a case where the lifting enable signal is not obtained, it is determined whether the target difference satisfies a seventh preset range, and when the seventh determination result indicates yes, it is determined that the current state of the vehicle is in a floating state.

8. A control device for a dump truck cargo box, characterized in that: A method for controlling a dump truck cargo box according to any one of claims 1 to 7, comprising: An acquisition module, used to acquire vehicle status information of the vehicle, wherein the vehicle status information at least includes: a lifting enable signal of the cargo box, a drop bucket enable signal of the cargo box, and a lifting angle of the cargo box; A first determination module, configured to determine a target state identifier of the vehicle according to the vehicle state information; A second determination module, configured to determine a current state of the vehicle according to the vehicle state information and the target state identifier; The control module is used to control the lifting valve group system of the vehicle to control the lifting, dropping or floating of the cargo box according to the current state.

9. A computer program product comprising computer instructions, characterized in that When the computer instructions are executed by the processor, the control method of the dump truck cargo box according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method for controlling the dump truck cargo box according to any one of claims 1 to 7.

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