Lifting system, vehicle and control method thereof

Abstract

The invention provides a lifting system, a vehicle and a control method of the vehicle. The lifting system comprises a lifting platform; the lifting mechanism is connected with the lifting platform and used for driving the lifting platform to lift; the position sensor is arranged on the lifting platform and used for detecting position information between the lifting platform and the calibration object; the controller is electrically connected with the lifting mechanism and the position sensor, and the controller is used for controlling the lifting mechanism to drive the lifting platform to ascend and descend according to the position information, so that the lifting platform is kept at the high position. The height alignment between the lifting platform and the calibration object is realized, the labor cost of manually adjusting the lifting platform is reduced, and the lifting system is convenient to use.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a lifting system, a vehicle and a control method thereof. Background Art

[0002] In the related art, the alignment between the loading plane of the vehicle and the unloading platform is usually achieved by manually controlling the air valve to achieve the lifting and lowering of the suspension, so that the loading plane of the vehicle and the unloading platform are aligned; or by manually operating the mechanical legs used to adjust the height of the loading plane, so that the loading plane of the vehicle and the unloading platform are aligned. Automatic alignment between the loading platform and the unloading platform of the vehicle cannot be achieved. Summary of the invention

[0003] The present application provides a lifting system, a vehicle and a control method thereof that can realize automatic alignment of a loading platform and an unloading platform of a vehicle.

[0004] In a first aspect, the present application provides a lifting system and a lifting platform;

[0005] A lifting mechanism, connected to the lifting platform, and used to drive the lifting platform to move up and down;

[0006] A position sensor, which is disposed on the lifting platform and is used to detect position information between the lifting platform and a calibration object;

[0007] A controller is electrically connected to the lifting mechanism and the position sensor, and is used to control the lifting mechanism to drive the lifting platform to move up and down according to the position information, so that the lifting platform is kept in a high position.

[0008] The position information between the lifting platform and the calibration object is obtained through the position sensor. The controller can control the lifting mechanism to drive the lifting platform to lift according to the position information, so that the lifting platform remains in the aligned position, thereby achieving the height alignment between the lifting platform and the calibration object, reducing the labor cost of manually adjusting the lifting platform, and facilitating the use of the lifting system. The calibration object is a loading and unloading platform, specifically the upper surface of the loading and unloading platform; the calibration object can also be the setting surface of the lifting system. The lifting platform can be a loading platform for goods. Through the above settings, automatic height alignment between the lifting platform and the loading and unloading platform is achieved, which is convenient for loading and unloading of goods.

[0009] Optionally, the position sensor includes a first distance sensor, which is arranged on the lifting platform, and the measuring direction of the first distance sensor is toward a first calibration object located on the side of the lifting platform, and is used to detect first distance information between the lifting platform and the first calibration object;

[0010] The controller is electrically connected to the first distance sensor, and is used to control the lifting mechanism to drive the lifting platform to rise and fall from an initial position, and control the lifting mechanism to stop according to the first distance information, so that the lifting platform stops at a high position.

[0011] Optionally, the measuring direction is set along the horizontal direction.

[0012] Optionally, the measuring direction is inclined relative to a horizontal direction and is directed toward an edge of the lifting platform close to a first calibration object.

[0013] Optionally, the first distance sensor includes a photoelectric sensor.

[0014] Optionally, the position sensor further includes a second distance sensor, which is disposed on the lifting platform and faces downward, and is used to detect second distance information between the lifting platform and a second calibration object located below the lifting platform;

[0015] The controller is electrically connected to the second distance sensor, and is used for controlling the lifting mechanism to drive the lifting platform to rise and fall when the second distance information changes after the lifting platform stops at the height position, until the second distance information is restored to the distance information between the lifting platform and the second calibration object when the lifting platform is at the height position, so that the lifting platform is restored to the height position.

[0016] Optionally, the second distance sensor includes a photoelectric sensor.

[0017] Optionally, also include:

[0018] A weight sensor, disposed on the lifting platform and electrically connected to the controller, for detecting weight information carried by the lifting platform;

[0019] a pressure sensor, disposed on the lifting mechanism and electrically connected to the controller, for detecting pressure information applied by the lifting mechanism to the lifting platform to keep the lifting platform at a current position;

[0020] A memory, electrically connected to the controller, storing information corresponding to different weights carried by the lifting platform, the lifting mechanism being used to keep the lifting platform at a relatively high position, the corresponding relationship between the pressure information applied to the lifting platform and the weight information carried by the lifting platform;

[0021] The controller is also used to control the lifting mechanism to drive the lifting platform to rise and fall after the lifting platform stops at the height position, corresponding to the weight information currently carried by the lifting platform, when the pressure information actually measured by the pressure sensor does not match the data stored in the memory, until the pressure information actually measured by the pressure sensor matches the data stored in the memory, so that the lifting platform returns to the height position.

[0022] In a second aspect, the present application provides a vehicle, comprising the lifting system as described in the first aspect.

[0023] The vehicle includes a suspension, which serves as a lifting mechanism. The lifting platform can be a loading platform for loading goods. The lifting platform is arranged on the suspension and is lifted and lowered by the suspension. Through the above arrangement, after the vehicle is docked at one side of the loading and unloading platform, the loading platform can be automatically aligned with the loading and unloading platform, which is convenient for loading and unloading goods.

[0024] In a third aspect, a control method for a vehicle, wherein the vehicle includes a lifting platform, and the control method includes:

[0025] Controlling the lifting and lowering of the lifting platform;

[0026] Acquiring position information between the lifting platform and the calibration object;

[0027] The lifting platform is controlled to stop according to the position information so that the lifting platform is kept at a high position.

[0028] During the lifting process of the lifting platform, the position information between the lifting platform and the calibration object is obtained through the position sensor. After obtaining the position information between the lifting platform and the calibration object, the controller can control the lifting mechanism to drive the lifting platform to lift according to the position information, so that the lifting platform is kept in the height alignment position, thereby achieving the height alignment between the lifting platform and the calibration object, reducing the labor cost of manually adjusting the lifting platform, and facilitating the use of the lifting platform.

[0029] Optionally, the acquiring the position information between the lifting platform and the calibration object includes: acquiring first distance information between the lifting platform and a first calibration object located on the side of the lifting platform;

[0030] The controlling the lifting platform to stop according to the position information so that the lifting platform remains in the height position includes: when the change amount of the first distance information exceeds a set threshold, controlling the lifting platform to stop so that the lifting platform stops in the height position.

[0031] Optionally, controlling the lifting of the lifting platform includes:

[0032] Controlling the lifting platform to move to a first position;

[0033] Controlling the lifting platform to move to a second position;

[0034] The acquiring the position information between the lifting platform and the calibration object includes: acquiring the position information of the lifting platform during the process of moving from the first position to the second position.

[0035] Optionally, the acquiring the position information between the lifting platform and the calibration object includes:

[0036] Acquire image information of a first calibration object located on the side of the lifting platform;

[0037] The step of controlling the lifting platform to stop according to the position information so that the lifting platform remains at a high position comprises:

[0038] When the calibration surface of the first calibration object in the image information reaches the calibration position, the lifting platform is controlled to stop so that the lifting platform is kept at the height position.

[0039] Optionally, after the lifting platform is maintained at the height position, the method further comprises:

[0040] When the lifting platform is at the height-matching position, second distance information between the lifting platform and a second calibration object located below the lifting platform is obtained as the height-matching distance;

[0041] When the second distance information changes, the lifting platform is controlled to rise and fall until the second distance information is restored to the height distance, so that the lifting platform is restored to the height position.

[0042] Optionally, after the lifting platform is maintained at the height position, the method further comprises:

[0043] Obtaining weight information carried by the lifting platform and pressure information applied to the lifting platform for maintaining the lifting platform at a current position;

[0044] Corresponding to the weight information currently carried by the lifting platform, when the actually measured pressure information does not match the pressure setting value, the lifting platform is controlled to rise and fall until the actually measured pressure information matches the pressure setting value, so that the lifting platform can be restored to the elevated position; wherein, the pressure setting value corresponds to the weight information currently carried by the lifting platform, and is used to maintain the lifting platform at the elevated position. The required pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] 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.

[0046] Figures 1 to 3 Shown is a schematic diagram of a lifting platform located at different positions in an embodiment of a lifting system of the present application.

[0047] Figure 4 and Figure 5 Shown is a schematic diagram of a lifting platform located at different positions in another embodiment of the lifting system of the present application.

[0048] Figure 6 Shown is a flow chart of an embodiment of a vehicle control method of the present application.

[0049] Figure 7 Shown is a flow chart of another embodiment of the vehicle control method of the present application.

[0050] Figure 8 Shown is a flow chart of another embodiment of the vehicle control method of the present application.

[0051] Fig. 9 Shown is a flow chart of another embodiment of the vehicle control method of the present application.

[0052] Fig.10 Shown is a flow chart of another embodiment of the vehicle control method of the present application.

[0053] Fig.11 Shown is a flow chart of another embodiment of the vehicle control method of the present application.

[0054] Description of reference numerals:

[0055] Lifting platform 110; first distance sensor 120; second distance sensor 130; lifting mechanism 140 vehicle 200;

[0056] A first calibration object 310 ; a second calibration object 320 . DETAILED DESCRIPTION

[0057] Here, the technical solutions in the embodiments (or "implementations") of the present application will be described clearly and completely in conjunction with the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0058] If there are terms involving directional indications or positional relationships in the embodiments of the present application (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings); if the specific posture changes, the directional indication or positional relationship will also change accordingly. In addition, the terms "first", "second", etc. involved in the embodiments of the present application are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance.

[0059] See also Figure 1-3 As shown, this embodiment provides a lifting system, including a lifting platform 110, a lifting mechanism 140, a position sensor and a controller. The lifting mechanism 140 is connected to the lifting platform 110, and is used to drive the lifting platform 110 to move up and down. The position sensor is arranged on the lifting platform 110, and is used to detect the position information between the lifting platform 110 and the calibration object. The controller is electrically connected to the lifting mechanism 140 and the position sensor, and the controller is used to control the lifting mechanism 140 to drive the lifting platform 110 to move up and down according to the position information, so that the lifting platform 110 is kept in the height position.

[0060] In some embodiments, the lifting system can be applied to a vehicle 200, or other scenes with height requirements. When the lifting system is used for a vehicle 200 such as a truck, the lifting mechanism 140 can refer to the suspension of the vehicle 200, and the lifting platform 110 can refer to the loading platform of the vehicle 200, that is, the bottom plate of the cargo box. The calibration object can be a loading and unloading platform, or the upper surface of the loading and unloading platform. The height position can be understood as the position where the upper surface of the lifting platform 110 and the upper surface of the loading and unloading platform are at the same height. In other embodiments, the calibration object can also be the ground. For a loading and unloading platform with an elevation, the distance between the lifting platform 110 and the ground is obtained by a position sensor. When the lifting platform 110 is in the height position, when the distance changes, the controller controls the lifting mechanism 140 to drive the lifting platform 110 to rise and fall, so that the lifting platform 110 returns to the height position.

[0061] Through the above settings, the position information between the lifting platform 110 and the calibration object is obtained through the position sensor, and the controller controls the lifting mechanism 140 to drive the lifting platform 110 to rise and fall according to the position information, so that the lifting platform 110 is kept at the height position, reducing the labor cost of manually adjusting the lifting platform 110, and facilitating the use of the lifting platform 110. Through the above settings, the automatic height alignment between the lifting platform 110 and the loading and unloading platform is achieved, which is convenient for loading and unloading of goods.

[0062] In some optional embodiments, the position sensor includes a first distance sensor 120. The first distance sensor 120 is disposed on the lifting platform 110. The measuring direction of the first distance sensor 120 is toward the first calibration object 310 located on the side of the lifting platform 110. The first distance sensor 120 is used to detect the first distance information between the lifting platform 110 and the first calibration object 310. In this embodiment, the first calibration object 310 is a loading and unloading platform. The controller is electrically connected to the first distance sensor 120, and is used to control the lifting platform 110 to start lifting from the initial position, and control the lifting mechanism 140 to stop according to the first distance information, so that the lifting platform 110 stops at the height position. Through the above arrangement, the first distance sensor 120 accurately obtains the first distance information between the lifting platform 110 and the first calibration object 310 located on the side of the lifting platform 110 during the lifting process of the lifting platform 110, which is conducive to the height alignment of the lifting platform 110. Optionally, the first distance sensor 120 can be a photoelectric sensor, which can be arranged on the side or bottom of the lifting platform 110.

[0063] The controller controls the lifting mechanism 140 to drive the lifting platform 110 to move up and down from the initial position, which may mean that when the initial position is lower than the upper surface of the loading and unloading platform, the controller controls the lifting mechanism 140 to drive the lifting platform 110 to move from bottom to top. When the initial position is higher than the upper surface of the loading and unloading platform, the controller controls the lifting mechanism 140 to drive the lifting platform 110 to move from top to bottom.

[0064] The controller controls the lifting mechanism 140 to stop according to the first distance information, which may mean that when the first distance sensor 120 changes from the measuring state to the disconnected state, or changes from the disconnected state to the measuring state, the controller controls the lifting mechanism 140 to stop in response to the trigger condition. The measuring state may mean that within the detection range of the first distance sensor 120, specific first distance information can be detected. The disconnected state may mean that within the detection range of the first distance sensor 120, specific first distance information cannot be detected.

[0065] Optionally, a threshold value may be set for the change in the first distance information within the detection range of the first distance sensor 120, and when the change in the first distance information exceeds the threshold value, this is used as a trigger condition. It is understandable that when the first calibration object 310 extends in the vertical direction toward the side wall on the side of the lifting platform 110, the first distance information detected by the first distance sensor 120 in the measuring state remains unchanged. When the first calibration object 310 does not extend in the vertical direction toward the side wall on the side of the lifting platform 110, the first distance information measured by the first distance sensor 120 in the measuring state is allowed to change within the set threshold value range.

[0066] In some optional embodiments, the first distance sensor 120 is disposed on the side of the lifting platform 110 close to the first calibration object 310, and the measuring direction of the first distance sensor 120 is horizontally oriented toward the first calibration object 310 and is flush with the upper surface of the lifting platform 110. For example, the height position is a position where the upper surface of the lifting platform 110 and the upper surface of the loading and unloading platform are at the same height, so when the trigger condition is triggered, the lifting platform 110 is in the height position.

[0067] In actual application, the lifting platform 110 moves upward from the initial position. During the rising process, when the lifting platform 110 has not reached the high position, the first distance sensor 120 can measure the specific distance information between the lifting platform 110 and the first calibration object 310, and the first distance sensor 120 is currently in the measuring state. When the first distance sensor 120 is disconnected, that is, no specific distance information can be detected, it can be understood that the upper surface of the lifting platform 110 is flush with the upper surface of the first calibration object 310, and the lifting platform 110 reaches the high position. At this time, the controller controls the lifting mechanism 140 to stop, so that the lifting platform 110 stops at the high position.

[0068] On the contrary, the lifting platform 110 moves downward from the initial position. During the descent process, when the lifting platform 110 does not reach the high position, the first distance sensor 120 is disconnected, that is, the specific distance information between the lifting platform 110 and the first calibration object 310 cannot be detected. When the first distance sensor 120 measures the specific distance information between the lifting platform 110 and the first calibration object 310, it can be understood that the upper surface of the lifting platform 110 is flush with the upper surface of the first calibration object 310, and the lifting platform 110 reaches the high position. At this time, the controller controls the lifting mechanism 140 to stop, so that the lifting platform 110 stops at the high position.

[0069] exist Figures 1 to 3 In the example shown, the first distance sensor 120 is disposed at the bottom of the lifting platform 110, and the measuring direction of the first distance sensor 120 (as shown by the horizontal arrow in the figure) is horizontally oriented toward the first calibration object 310, and has a certain assembly distance from the upper surface of the lifting platform 110. Take the case where the upper surface of the lifting platform 110 and the upper surface of the loading and unloading platform are at the same height as an example. In this case, when the trigger condition is triggered, there is a height difference of the assembly distance between the actual position of the lifting platform 110 and the height position. Therefore, the assembly distance can be used as a callback value. When the controller controls the lifting mechanism 140 to drive the lifting platform 110 to rise and fall, after the lifting mechanism 140 is stopped in response to the trigger condition, the lifting mechanism 140 is controlled to drive the lifting platform 110 to move in the reverse direction according to the callback value to offset the above-mentioned assembly distance, so that the lifting platform 110 is in the height position.

[0070] exist Figures 1 to 3 In the example shown, the initial position of the lifting platform 110 is lower than the upper surface of the first calibration object 310, and the first distance sensor 120 is arranged at the bottom of the lifting platform 110. The measuring direction of the first distance sensor 120 is horizontally toward the first calibration object 310 and has the above-mentioned assembly distance between it and the upper surface of the lifting platform 110.

[0071] First, the lifting platform 110 is moved toward the direction close to the first calibration object 310 until the first calibration object 310 reaches the detection range of the first distance sensor 120. Then, the lifting platform 110 is lowered to Figure 1 The position shown is the lowest position of the lifting platform 110 within the moving range. At this time, the upper surface of the lifting platform 110 is lower than the upper surface of the first calibration object 310. Then the lifting mechanism 140 is controlled to drive the lifting platform 110 to start rising. During the rising process, when the lifting platform 110 has not reached the high position, the first distance sensor 120 is in a measuring state and can measure the specific distance information between the lifting platform 110 and the first calibration object 310. When the upper surface of the lifting platform 110 is flush with the upper surface of the first calibration object 310, that is, when the lifting platform 110 reaches the high position, as shown in FIG. Figure 2 As shown, the first distance sensor 120 can still measure specific distance information. When the lifting platform 110 continues to rise until the first distance sensor 120 is disconnected, that is, no specific distance information can be detected, the lifting platform 110 rises by the assembly distance compared to the high position, such as Figure 3 The controller then controls the lifting mechanism 140 to drive the lifting platform 110 to descend and call back the call back value to offset the assembly distance, so that the lifting platform 110 reaches the high position again, as shown. Figure 2 shown.

[0072] See also Figure 4 and Figure 5 As shown, in some optional embodiments, the measuring direction of the first distance sensor 120 may also be inclined relative to the horizontal direction and toward the edge of the lifting platform 110 close to the first calibration object 310. It can be understood that when the first distance sensor 120 is arranged above the lifting platform 110, the measuring direction is inclined downward; when the first distance sensor 120 is arranged below the lifting platform 110, the measuring direction is inclined upward.

[0073] It can be understood that the inclination angle of the measuring direction of the first distance sensor 120 relative to the horizontal direction is configured such that when the distance between the first calibration object 310 and the first distance sensor 120 is the maximum distance of the detection range of the first distance sensor 120 and the trigger condition is triggered, the position of the lifting platform 110 is the height position where the upper surface of the lifting platform 110 is flush with the upper surface of the first calibration object 310, such as Figure 5 As shown, there is no need to perform callback processing on the lifting platform 110, and the operation is simpler and faster in actual application.

[0074] In some optional embodiments, the first distance sensor 120 includes a photoelectric sensor. When the lifting platform 110 is lower than the height position, for example, when the loading platform of the vehicle 200 is lower than the loading and unloading platform, the first distance sensor 120 can detect the side wall of the loading and unloading platform facing the vehicle 200. A set threshold is set for the first distance information detected by the first distance sensor 120. When the side wall of the loading and unloading platform extends in the vertical direction toward the side of the vehicle 200, the first distance information detected by the first distance sensor 120 remains unchanged. When the loading and unloading platform extends obliquely toward the side wall of the vehicle 200, the first distance information detected by the first distance sensor 120 has a change amount within the set threshold range. When the lifting platform 110 moves upward to the height-aligned position, for example, when the loading platform of the vehicle 200 and the loading and unloading platform are aligned, the first distance sensor 120 is disconnected, that is, the first distance sensor 120 changes from being able to detect the distance between the lifting platform 110 and the first calibration object 310 to being unable to detect the distance between the lifting platform 110 and the first calibration object 310, or the first distance information detected by the first distance sensor 120 exceeds the set threshold. At this time, the controller determines that the lifting platform 110 and the first calibration object 310 are aligned, and the lifting platform 110 is in the height-aligned position. At this time, the controller controls the lifting platform 110 to stop lifting so that the lifting platform 110 stops at the height-aligned position. Through the above-mentioned setting, the information obtained by the first distance sensor 120 is easy to process, which is conducive to the controller to quickly respond to the first distance information, and is conducive to achieving the height alignment between the lifting platform 110 and the first calibration object 310.

[0075] In other embodiments, the first distance sensor 120 may also include a radio positioning sensor such as a radar. When the first distance sensor 120 is a radar sensor, its detection method is basically consistent with the detection principle of the above-mentioned photoelectric sensor.

[0076] In some other embodiments, the first distance sensor 120 may also include a visual sensor for acquiring image information between the lifting platform 110 and the first calibration object 310. When the calibration surface of the first calibration object 310 in the image information reaches the calibration position, the controller controls the lifting mechanism 140 to stop so that the lifting platform 110 remains in the high position. Optionally, the calibration surface may be the upper end surface of the first calibration object 310 in the image information, and the calibration position may be the middle position in the image information. When the upper end surface of the first calibration object 310 in the image information deviates from the middle position, that is, it is understood that the calibration surface of the first calibration object 310 in the image information deviates from the calibration position, the lifting platform 110 is driven to rise and fall by controlling the lifting mechanism 140, so that the upper end surface of the first calibration object 310 in the image information returns to the middle position, and the lifting mechanism 140 is controlled to stop so that the lifting platform 110 returns to the high position.

[0077] See also Figure 1-5 As shown, in some optional embodiments, the position sensor may further include a second distance sensor 130. The second distance sensor 130 is disposed on the lifting platform 110 and faces downward, and the second distance sensor 130 is used to detect the second distance information between the lifting platform 110 and the second calibration object 320 located below the lifting platform 110. The second distance sensor 130 is disposed on the lifting platform 110. The controller is electrically connected to the second distance sensor 130, and is used to control the lifting and lowering of the lifting platform 110 when the second distance information changes when the lifting platform 110 is located at the high position after stopping, until the second distance information is restored to the distance information corresponding to when the lifting platform 110 is located at the high position, so that the lifting platform 110 is restored to the high position. Optionally, the second calibration object 320 may be the ground. For a loading and unloading platform with an elevation, the distance between the lifting platform 110 and the ground is obtained through a position sensor. When the lifting platform 110 is in the elevated position and the distance changes, that is, the lifting platform 110 deviates from the elevated position, the controller controls the lifting mechanism 140 to drive the lifting platform 110 to lift and lower again, so that the lifting platform 110 returns to the elevated position.

[0078] In some embodiments, the lifting platform 110 is lifted and lowered by air pressure or hydraulic transmission. When the weight of the items carried on the lifting platform 110 changes, the height of the lifting platform 110 will change. Through the above settings, during the process of loading and unloading goods, the lifting system can automatically keep the lifting platform 110 at the height position, reducing the labor cost of manually adjusting the lifting platform 110 and facilitating the use of the lifting system.

[0079] In a specific implementation, the vehicle 200 drives to one side of the first calibration object 310, wherein the first calibration object 310 is a loading and unloading platform. The lifting platform 110 has a loading and unloading position for loading and unloading goods, and the loading and unloading position can be located at the rear of the vehicle 200, and the vehicle 200 drives to the side of the first calibration object 310 by reversing; the loading and unloading position can also be located on one side of the vehicle 200, and the vehicle 200 can align the lifting platform 110 during the forward driving process. After the vehicle 200 stops, the lifting platform 110 descends to the lowest position of the lifting platform 110 in the moving range, and starts to move upward, and at the same time, the first distance information between the lifting platform 110 and the first calibration object 310 is obtained through the first distance sensor 120, and the controller controls the lifting mechanism 140 to stop according to the first distance information, so that the lifting platform 110 is in a high position.

[0080] When the lifting platform 110 is in the height position, the height distance between the lifting platform 110 and the ground is obtained by the second distance sensor 130 and stored in the controller. During the unloading process, when the weight of the items carried on the lifting platform 110 changes, causing the height of the lifting platform 110 to change and deviate from the height position, the controller controls the lifting mechanism 140 to drive the lifting platform 110 to rise and fall until the second distance information is restored to the height distance, so that the lifting platform 110 is restored to the height position.

[0081] In some optional embodiments, the lifting system may further include a weight sensor, a pressure sensor and a memory. The lifting mechanism 140 can lift the lifting platform 110 by means of air pressure or hydraulic transmission. The lifting mechanism 140 is connected to the lifting platform 110 and electrically connected to the controller, and is used to drive the lifting platform 110 to lift. The weight sensor is arranged on the lifting platform 110 and electrically connected to the controller, and is used to detect the weight information carried by the lifting platform 110. The pressure sensor is arranged on the lifting mechanism 140 and electrically connected to the controller, and is used to detect the pressure information applied to the lifting platform 110 by the lifting mechanism 140 to keep the lifting platform 110 in the current position, and specifically detects the gas pressure or liquid pressure used for transmission in the lifting mechanism 140. The memory is electrically connected to the controller, and stores the corresponding relationship between the pressure information applied to the lifting platform 110 by the lifting mechanism 140 to keep the lifting platform 110 in the highest position corresponding to the different weights carried by the lifting platform 110 and the weight information carried by the lifting platform 110.

[0082] The controller is also used to control the lifting mechanism 140 to drive the lifting platform 110 to rise and fall after the lifting platform 110 stops at the height position, corresponding to the weight information currently carried by the lifting platform 110, when the pressure information actually measured by the pressure sensor does not match the data stored in the memory, until the pressure information actually measured by the pressure sensor matches the data stored in the memory, so that the lifting platform 110 returns to the height position. Optionally, corresponding to the lifting platform 110 carrying different weights, the lifting mechanism 140 is used to keep the lifting platform 110 at the height position, and the corresponding relationship between the pressure information applied to the lifting platform 110 and the weight information carried by the lifting platform 110 can be obtained by experimental measurement in advance.

[0083] In this way, when the weight of the objects carried on the lifting platform 110 changes, causing the height of the lifting platform 110 to change and deviate from the elevated position, the weight information currently carried by the lifting platform 110 is obtained through the weight sensor, and the controller can control the lifting mechanism 140 to drive the lifting platform 110 to rise and fall according to the required pressure information corresponding to the current weight carried by the lifting platform 110 in the memory, and the lifting mechanism 140 is used to keep the lifting platform 110 in the elevated position until the pressure information actually measured by the pressure sensor matches the data stored in the memory, so that the lifting platform 110 returns to the elevated position.

[0084] In a specific implementation, the memory stores the corresponding relationship between the pressure required and the corresponding weight corresponding to the different weights carried by the lifting platform 110, and the lifting mechanism 140 is used to keep the lifting platform 110 in the high position. For example, when the corresponding lifting platform 110 is at a height of 80 cm, when the lifting platform 110 carries 500 kg of goods, the gas pressure for transmission in the lifting mechanism 140 is 150 kPa, and when the lifting platform 110 carries 400 kg of goods, the gas pressure for transmission in the lifting mechanism 140 is 140 kPa. When the first distance sensor 120 is disconnected, the controller obtains the weight information carried by the lifting platform 110 and the pressure information applied to the lifting platform 110 to keep the lifting platform 110 in the current position, and calculates the height of the high position of the lifting platform 110 at this time. When the weight of the items carried on the lifting platform 110 changes, the height of the lifting platform 110 itself will change. At this time, the controller obtains the weight information currently carried by the lifting platform 110 through the weight sensor, and adjusts the pressure applied to the lifting platform 110 by the lifting mechanism 140 to keep the lifting platform 110 at the high position according to the corresponding relationship between the pressures carried by the lifting platform 110 and the height of the lifting mechanism 140 in the high position in the memory to restore the lifting platform 110 to the high position.

[0085] The present application also provides a vehicle 200, including the lifting system of the above embodiments and implementations. It can be understood that the vehicle 200 can be a truck, the lifting mechanism 140 can refer to the suspension of the vehicle 200, and the lifting platform 110 can refer to the loading platform of the cargo box of the vehicle 200, that is, the cargo box bottom plate.

[0086] Through the above arrangement, after the vehicle 200 is docked at one side of the loading and unloading platform, the loading platform and the loading and unloading platform can be automatically aligned to facilitate the loading and unloading of goods.

[0087] like Figure 6 As shown, the present application also provides a control method for a vehicle 200, and the vehicle 200 may be the vehicle 200 of the above embodiment, including a lifting platform 110. When the vehicle 200 is a truck, the lifting mechanism 140 may refer to the suspension of the vehicle 200, and the lifting platform 110 may refer to the loading platform of the cargo box of the vehicle 200. The control method includes:

[0088] S10, controlling the lifting platform 110 to rise and fall;

[0089] S20, obtaining position information between the lifting platform 110 and the calibration object;

[0090] S30, controlling the lifting platform 110 to stop according to the position information, so that the lifting platform 110 is kept at the height position.

[0091] During the lifting and lowering process of the lifting platform 110, the position information between the lifting platform 110 and the calibration object is obtained through the position sensor. After obtaining the position information between the lifting platform 110 and the calibration object, the controller can control the lifting and lowering of the lifting platform 110 according to the position information, so that the lifting platform 110 is kept at the height alignment position, thereby achieving the height alignment between the lifting platform 110 and the calibration object, reducing the labor cost of manually adjusting the lifting platform 110, and facilitating the use of the lifting platform 110.

[0092] See also Figure 7 As shown, in an optional embodiment, S20, obtaining position information between the lifting platform 110 and the calibration object includes:

[0093] S21, obtaining first distance information between the lifting platform 110 and a first calibration object 310 located on the side of the lifting platform 110;

[0094] S30, controlling the lifting platform 110 to stop according to the position information so that the lifting platform 110 remains at the height position, including:

[0095] S31, when the change amount of the first distance information exceeds the set threshold, the lifting platform 110 is controlled to stop, so that the lifting platform 110 stops at the height position.

[0096] When the lifting platform 110 is lower than the height position, for example, when the loading platform of the vehicle 200 is lower than the loading and unloading platform, the first distance sensor 120 can detect the side wall of the loading and unloading platform facing the vehicle 200. A set threshold is set for the first distance information detected by the first distance sensor 120. When the side wall of the loading and unloading platform extends in the vertical direction toward the vehicle 200, the first distance information detected by the first distance sensor 120 remains unchanged. When the loading and unloading platform extends obliquely toward the side wall of the vehicle 200, the first distance information detected by the first distance sensor 120 has a change amount within the set threshold range. When the lifting platform 110 moves upward to the height-aligned position, for example, when the loading platform of the vehicle 200 and the loading and unloading platform are aligned, the first distance sensor 120 changes from being able to detect the distance between the lifting platform 110 and the first calibration object 310 to being unable to detect the distance between the lifting platform 110 and the first calibration object 310, and the first distance information detected by the first distance sensor 120 exceeds the set threshold. At this time, the controller determines that the lifting platform 110 and the first calibration object 310 are aligned, and the lifting platform 110 is in the height-aligned position. At this time, the controller controls the lifting platform 110 to stop lifting so that the lifting platform 110 stops at the height-aligned position. Through the above-mentioned setting, the information obtained by the first distance sensor 120 is easy to process, which is conducive to the controller to quickly respond to the first distance information, and is conducive to achieving the height alignment between the lifting platform 110 and the first calibration object 310.

[0097] See also Figure 8 As shown, in an optional embodiment, S10, controlling the lifting platform 110 to lift includes:

[0098] S11, controlling the lifting platform 110 to move to a first position;

[0099] S12, controlling the lifting platform 110 to move to the second position;

[0100] S20, obtaining position information between the lifting platform 110 and the calibration object, including:

[0101] S22, obtaining position information of the lifting platform 110 during the process of moving from the first position to the second position.

[0102] In some embodiments, the first position may be one of the lowest position or the highest position in the moving range of the lifting platform 110, and the second position may be the other of the lowest position or the highest position in the moving range of the lifting platform 110. In the above manner, the lifting platform 110 can be aligned with the first calibration object 310 within its lifting range, that is, during the process of moving from the first position to the second position.

[0103] In other embodiments, the first position may also be any position, and the lifting platform 110 may move from any position to the lowest position or the highest position in the moving range of the lifting platform 110, and simultaneously obtain the position information between the lifting platform 110 and the first calibration object 310. If the change in the first distance information does not exceed the set threshold during the movement, the lifting platform 110 is controlled to move in another direction.

[0104] In some other embodiments, when the first distance sensor 120 is a photoelectric sensor and the detection distance of the first distance sensor 120 in the measurement direction is limited, if the first distance sensor 120 can obtain the distance information between the first calibration object 310 and the lifting platform 110, the lifting platform 110 is lower than the first calibration object 310, and at this time, the lifting platform 110 is controlled to move upward. On the contrary, if the first distance sensor 120 cannot obtain the distance information between the first calibration object 310, the lifting platform 110 is higher than the first calibration object 310, and at this time, the lifting platform 110 is controlled to move downward.

[0105] See also Fig. 9 As shown, in some other embodiments, S20, obtaining the position information between the lifting platform 110 and the calibration object includes:

[0106] S23, acquiring image information of the first calibration object 310 located on the side of the lifting platform 110;

[0107] S30, controlling the lifting platform 110 to stop according to the position information so that the lifting platform 110 remains at the height position, including:

[0108] S32, when the upper end surface of the first calibration object 310 reaches the first calibration position, the lifting platform 110 is controlled to stop.

[0109] The image information of the first calibration object 310, i.e., the upper end surface of the loading and unloading platform, is obtained by visual recognition. By setting the first calibration position, when the image information of the first calibration object 310 deviates from the first calibration position, the lifting platform 110 is controlled to rise and fall so that the image information of the first calibration object 310 coincides with the first calibration position, and the lifting platform 110 is at the high position. At this time, the controller controls the lifting platform 110 to stop rising and falling so that the lifting platform 110 stops at the high position.

[0110] See also Fig.10 As shown, in an optional embodiment, after the lifting platform 110 is maintained at the height position, the method further includes:

[0111] S41, when the lifting platform 110 is at the height position, obtaining second distance information between the lifting platform 110 and a second calibration object 320 located below the lifting platform 110 as the height distance;

[0112] When the second distance information changes, S42, the lifting platform 110 is controlled to rise and fall until the actually measured distance information between the lifting platform 110 and the second calibration object 320 located below the lifting platform 110 is restored to the second distance information, so that the lifting platform 110 is restored to the height position.

[0113] Specifically, the second calibration object 320 is the road surface on which the vehicle 200 is traveling. The second distance information is the distance between the lifting platform 110 and the road surface. In some embodiments, the lifting platform 110 is lifted and lowered by air pressure or hydraulic transmission. When the weight of the items carried on the lifting platform 110 changes, the height of the lifting platform 110 itself will change. Through the above settings, during the process of loading and unloading goods, the lifting system can automatically keep the lifting platform 110 in a high position, reduce the labor cost of manually adjusting the lifting platform 110, and facilitate the use of the lifting system.

[0114] In a specific implementation, the vehicle 200 drives to one side of the first calibration object 310, wherein the first calibration object 310 is a loading and unloading platform. The lifting platform 110 has a loading and unloading position for loading and unloading goods, and the loading and unloading position can be located at the rear of the vehicle 200, and the vehicle 200 drives to the side of the first calibration object 310 by reversing; or it can be located on one side of the vehicle 200, and the vehicle 200 can align with the lifting platform 110 during the forward driving process. After the vehicle 200 stops, the lifting platform 110 moves to the first position, that is, it descends to the lowest position of the lifting platform 110 in the moving range, and moves to the second position, that is, it moves upward, and the position information between the lifting platform 110 and the first calibration object 310 is obtained at the same time. When the lifting platform 110 moves upward to the height alignment position, for example, when the loading platform of the vehicle 200 and the loading and unloading platform are aligned, the first distance sensor 120 is disconnected, that is, the first distance sensor 120 changes from being able to detect the distance between the lifting platform 110 and the first calibration object 310 to being unable to detect the distance between the lifting platform 110 and the first calibration object 310, and the first distance information detected by the first distance sensor 120 exceeds the set threshold. At this time, the controller determines that the lifting platform 110 and the first calibration object 310 are aligned. When the first distance sensor 120 is disconnected, the controller obtains the second distance information between the lifting platform 110 and the second calibration object 320 located below the lifting platform 110 when the lifting platform 110 is in the height alignment position, and memorizes the second distance information as a memorized height value. When the weight of the items carried on the lifting platform 110 changes, the height of the lifting platform 110 itself changes, and the second distance information changes. At this time, the controller controls the lifting platform 110 to rise and fall until the actually measured distance information between the lifting platform 110 and the second calibration object 320 located below the lifting platform 110 is restored to the second distance information, so that the lifting platform 110 returns to the height position.

[0115] See also Fig.11 As shown, in an optional embodiment, after the lifting platform 110 is maintained at the height position, the method further includes:

[0116] S51, obtaining weight information carried by the lifting platform 110 and pressure information applied to the lifting platform 110 for maintaining the lifting platform 110 at a current position;

[0117] S52, corresponding to the weight information currently carried by the lifting platform 110, when the actually measured pressure information does not match the pressure setting value, the lifting platform 110 is controlled to rise and fall until the actually measured pressure information matches the pressure setting value, so that the lifting platform 110 is restored to the high position;

[0118] The pressure setting value corresponds to the weight information currently carried by the lifting platform 110 and is used to maintain the lifting platform 110 at the high position.

[0119] Specifically, a corresponding relationship table of pressure setting values ​​required for the lifting platform 110 when the lifting mechanism 140 is used to keep the lifting platform 110 at a high position and the lifting platform 110 carries different weights may be stored.

[0120] When the weight of the items carried on the lifting platform 110 changes, the height of the lifting platform 110 itself will change. The controller obtains the weight information currently carried by the lifting platform 110 through the weight sensor, and adjusts the pressure applied to the lifting platform 110 by the lifting mechanism 140 to keep the lifting platform 110 in the high position according to the corresponding relationship between the pressures required for the lifting mechanism 140 to keep the lifting platform 110 in the high position according to the different weights carried by the lifting platform 110 in the memory, so that the lifting platform 110 returns to the high position.

[0121] In a specific implementation, the memory stores the corresponding relationship between the pressure required and the corresponding weight corresponding to the different weights carried by the lifting platform 110, and the lifting mechanism 140 is used to keep the lifting platform 110 at the height position. For example, when the corresponding lifting platform 110 is at a height of 80 cm, when the lifting platform 110 carries 500 kg of goods, the gas pressure for transmission in the lifting mechanism 140 is 150 kPa. Similarly, when the corresponding lifting platform 110 is at a height of 80 cm, when the lifting platform 110 carries 400 kg of goods, the gas pressure for transmission in the lifting mechanism 140 is 140 kPa. When the first distance sensor 120 is disconnected, the controller obtains the weight information carried by the lifting platform 110 and the pressure information applied to the lifting platform 110 to keep the lifting platform 110 at the current position, and calculates the height of the height position of the lifting platform 110 at this time. When the weight of the items carried on the lifting platform 110 changes, the height of the lifting platform 110 itself will change. At this time, the controller obtains the weight information currently carried by the lifting platform 110 through the weight sensor, and adjusts the pressure applied to the lifting platform 110 by the lifting mechanism 140 to keep the lifting platform 110 at the high position according to the corresponding relationship between the pressures carried by the lifting platform 110 and the height of the lifting mechanism 140 in the high position in the memory to restore the lifting platform 110 to the high position.

[0122] It should be noted that the technical solutions or technical features described in the above embodiments can be combined or supplemented with each other without causing conflicts. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the drawings; all modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application should be included in the scope of protection of this application.

Claims

1. A lifting system, characterized in that: include: Lifting platform; A lifting mechanism, connected to the lifting platform, and used to drive the lifting platform to move up and down; A position sensor, which is disposed on the lifting platform and is used to detect position information between the lifting platform and a calibration object; A controller is electrically connected to the lifting mechanism and the position sensor, and is used to control the lifting mechanism to drive the lifting platform to move up and down according to the position information, so that the lifting platform is kept in a high position.

2. The lifting system according to claim 1, characterized in that: The position sensor comprises a first distance sensor, which is arranged on the lifting platform, wherein the measuring direction of the first distance sensor is toward a first calibration object located on the side of the lifting platform, and is used to detect first distance information between the lifting platform and the first calibration object; The controller is electrically connected to the first distance sensor, and is used to control the lifting mechanism to drive the lifting platform to rise and fall from an initial position, and control the lifting mechanism to stop according to the first distance information, so that the lifting platform stops at a high position.

3. The lifting system according to claim 2, characterized in that: The measuring direction is arranged along the horizontal direction; or The measuring direction is inclined relative to the horizontal direction and is directed toward an edge of the lifting platform close to the first calibration object.

4. The lifting system according to claim 2, characterized in that: The first distance sensor includes a photoelectric sensor.

5. The lifting system according to claim 2, characterized in that: The position sensor further includes a second distance sensor, which is disposed on the lifting platform and faces downward, and is used to detect second distance information between the lifting platform and a second calibration object located below the lifting platform; The controller is electrically connected to the second distance sensor, and is used for controlling the lifting mechanism to drive the lifting platform to rise and fall when the second distance information changes after the lifting platform stops at the height position, until the second distance information is restored to the distance information between the lifting platform and the second calibration object when the lifting platform is at the height position, so that the lifting platform is restored to the height position.

6. The lifting system according to claim 5, characterized in that: The second distance sensor includes a photoelectric sensor.

7. The lifting system according to claim 2, characterized in that: Also includes: A weight sensor, disposed on the lifting platform and electrically connected to the controller, for detecting weight information carried by the lifting platform; a pressure sensor, disposed on the lifting mechanism and electrically connected to the controller, for detecting pressure information applied by the lifting mechanism to the lifting platform to keep the lifting platform at a current position; A memory, electrically connected to the controller, storing information corresponding to different weights carried by the lifting platform, the lifting mechanism being used to keep the lifting platform at a relatively high position, the corresponding relationship between the pressure information applied to the lifting platform and the weight information carried by the lifting platform; The controller is also used to control the lifting mechanism to drive the lifting platform to rise and fall after the lifting platform stops at the height position, corresponding to the weight information currently carried by the lifting platform, when the pressure information actually measured by the pressure sensor does not match the data stored in the memory, until the pressure information actually measured by the pressure sensor matches the data stored in the memory, so that the lifting platform returns to the height position.

8. A vehicle, characterized in that: Comprising a lifting system as described in any one of claims 1-7.

9. A method for controlling a vehicle, wherein the vehicle comprises a lifting platform, characterized in that: The control method comprises: Controlling the lifting and lowering of the lifting platform; Acquiring position information between the lifting platform and the calibration object; The lifting platform is controlled to stop according to the position information so that the lifting platform is kept in a high position.

10. The control method according to claim 9, characterized in that: The obtaining of the position information between the lifting platform and the calibration object comprises: obtaining first distance information between the lifting platform and a first calibration object located on the side of the lifting platform; The controlling the lifting platform to stop according to the position information so that the lifting platform remains in the height position includes: when the change amount of the first distance information exceeds a set threshold, controlling the lifting platform to stop so that the lifting platform stops in the height position.

11. The control method according to claim 10, characterized in that: The controlling the lifting of the lifting platform comprises: Controlling the lifting platform to move to a first position; Controlling the lifting platform to move to a second position; The acquiring the position information between the lifting platform and the calibration object includes: acquiring the position information of the lifting platform during the process of moving from the first position to the second position.

12. The control method according to claim 9, characterized in that: The obtaining of the position information between the lifting platform and the calibration object includes: Acquire image information of a first calibration object located on the side of the lifting platform; The step of controlling the lifting platform to stop according to the position information so that the lifting platform remains at a high position comprises: When the calibration surface of the first calibration object in the image information reaches the calibration position, the lifting platform is controlled to stop so that the lifting platform is kept at the height position.

13. The control method according to claim 9, characterized in that: After the lifting platform is kept in the height position, the method further comprises: When the lifting platform is at the height-matching position, second distance information between the lifting platform and a second calibration object located below the lifting platform is obtained as the height-matching distance; When the second distance information changes, the lifting platform is controlled to rise and fall until the second distance information is restored to the height distance, so that the lifting platform is restored to the height position.

14. The control method according to claim 9, characterized in that: After the lifting platform is kept in the height position, the method further comprises: Obtaining weight information carried by the lifting platform and pressure information applied to the lifting platform for maintaining the lifting platform at a current position; Corresponding to the weight information currently carried by the lifting platform, when the actually measured pressure information does not match the pressure setting value, the lifting platform is controlled to rise and fall until the actually measured pressure information matches the pressure setting value, so that the lifting platform can be restored to the elevated position; wherein, the pressure setting value corresponds to the weight information currently carried by the lifting platform, and is used to maintain the lifting platform at the elevated position. The required pressure.

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