Container lifting control method, device and equipment of unmanned vehicle and medium

Abstract

The invention discloses a container lifting control method, device and equipment of an unmanned vehicle and a medium. The cargo box lifting control method comprises the steps that a lifting instruction and position information of a cargo box are obtained; determining the lifting state of the container according to the lifting instruction and the position information; acquiring an actual frame angle of the frame and an actual container angle of the container; determining a corrected cargo tank angle of the cargo tank according to the actual frame angle and the actual cargo tank angle; and controlling the lifting of the container according to the lifting state and the corrected container angle. The corrected cargo tank angle of the cargo tank can be determined according to the actual vehicle frame angle and the actual cargo tank angle, then lifting of the cargo tank is controlled according to the corrected cargo tank angle and the lifting state of the cargo tank, and the control precision of cargo tank lifting control can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicles, and in particular to a method, device, equipment and medium for controlling the lifting of a cargo box of an unmanned vehicle. Background Art

[0002] The existing unmanned vehicle cargo box lifting control method only relies on the acquired cargo box angle to control the lifting, but the acquired cargo box angle may be inaccurate on uneven roads, thereby affecting the cargo box lifting control accuracy. Summary of the invention

[0003] The present invention provides a method, device, equipment and medium for controlling the lifting of a cargo box of an unmanned vehicle, so as to solve the problem of low control accuracy of the existing method for controlling the lifting of the cargo box.

[0004] In a first aspect, an embodiment of the present invention provides a method for controlling the lifting of a cargo box of an unmanned vehicle, wherein the unmanned vehicle includes a frame and a cargo box, and the method for controlling the lifting of the cargo box includes:

[0005] Obtaining lifting instructions and position information of the cargo box;

[0006] Determining the lifting state of the cargo box according to the lifting instruction and the position information;

[0007] Acquiring an actual frame angle of the frame and an actual cargo box angle of the cargo box;

[0008] Determining a correction cargo box angle of the cargo box according to the actual frame angle and the actual cargo box angle;

[0009] The lifting of the cargo box is controlled according to the lifting state and the corrected cargo box angle.

[0010] Optionally, the unmanned vehicle further comprises a first switch and a second switch, the first switch is arranged at a first position of the cargo box, the second switch is arranged at a second position of the cargo box, and the lifting path of the cargo box comprises a path between the first position and the second position;

[0011] Obtaining the location information of the cargo box includes:

[0012] Acquire first on-off information of the first switch and second on-off information of the second switch;

[0013] The location information of the cargo box is determined according to the first on-off information and the second on-off information.

[0014] Optionally, determining the location information of the cargo box according to the first on-off information and the second on-off information includes:

[0015] If the first on-off information indicates that the first switch is closed, and the second on-off information indicates that the second switch is open, then the cargo box is located at the first position;

[0016] If the first on-off information indicates that the first switch is off, and the second on-off information indicates that the second switch is off, then the cargo box is located between the first position and the second position;

[0017] If the first on-off information indicates that the first switch is disconnected, and the second on-off information indicates that the second switch is closed, then the cargo box is located at the second position.

[0018] Optionally, determining the lifting state of the cargo box according to the lifting instruction and the position information includes:

[0019] If the lifting instruction is an ascending instruction and the cargo box is located at the first position or between the first position and the second position, it is determined that the cargo box is in an ascending state;

[0020] If the lifting instruction is a rising instruction and the cargo box is located at the second position, it is determined that the cargo box is in a lifted position state;

[0021] If the lifting instruction is a descending instruction and the cargo box is located at the second position or between the first position and the second position, it is determined that the cargo box is in a descending state;

[0022] If the lifting instruction is a descending instruction and the cargo box is located at the first position, it is determined that the cargo box is in a lowered position state.

[0023] Optionally, determining a correction box angle of the box according to the actual frame angle and the actual box angle includes:

[0024] Acquire a first frame angle and a first cargo box angle when the cargo box is in the first position, and a second frame angle and a second cargo box angle when the cargo box is in the second position;

[0025] Acquire a first preset cargo box angle when the cargo box is in the first position, and a second preset cargo box angle when the cargo box is in the second position;

[0026] Determine the relationship between the actual frame angle and the actual cargo box angle and the correction cargo box angle according to the first frame angle, the first cargo box angle, the second frame angle and the second cargo box angle, the first preset cargo box angle and the second preset cargo box angle;

[0027] The corrected cargo box angle is determined according to the actual frame angle, the actual cargo box angle, and the relationship between the actual frame angle, the actual cargo box angle and the corrected cargo box angle.

[0028] Optionally, determining the relationship between the actual frame angle and the actual cargo box angle and the corrected cargo box angle according to the first frame angle, the first cargo box angle, the second frame angle and the second cargo box angle, the first preset cargo box angle and the second preset cargo box angle includes:

[0029] Determine a first difference between the first frame angle and the first cargo box angle according to the first frame angle and the first cargo box angle;

[0030] Determine a second difference between the second frame angle and the second cargo box angle according to the second frame angle and the second cargo box angle;

[0031] Determine the relationship between the difference between the actual cargo box angle and the actual frame angle and the corrected cargo box angle according to the first difference, the second difference, the first preset cargo box angle, and the second preset cargo box angle;

[0032] Determining the corrected cargo box angle according to the actual frame angle, the actual cargo box angle, and the relationship between the actual frame angle, the actual cargo box angle, and the corrected cargo box angle includes:

[0033] The corrected cargo box angle is determined according to the relationship between the actual frame angle, the actual cargo box angle, the difference between the actual cargo box angle and the actual frame angle, and the corrected cargo box angle.

[0034] Optionally, obtaining an actual frame angle of the frame and an actual cargo box angle of the cargo box includes:

[0035] The actual frame angle is obtained by a first angle sensor arranged on the frame, and the actual cargo box angle is obtained by a second angle sensor arranged on the cargo box.

[0036] In a second aspect, an embodiment of the present invention provides a cargo box lifting control device for an unmanned vehicle, which is used to execute the cargo box lifting control method as described in the first aspect, and the cargo box lifting control device includes:

[0037] A lifting instruction and position information acquisition unit, used to acquire the lifting instruction and position information of the cargo box;

[0038] A cargo box lifting state determining unit, used to determine the lifting state of the cargo box according to the lifting instruction and the position information;

[0039] An angle acquisition unit, used to acquire an actual frame angle of the frame and an actual cargo box angle of the cargo box;

[0040] A correction cargo box angle determination unit, used to determine a correction cargo box angle of the cargo box according to the actual frame angle and the actual cargo box angle;

[0041] A lifting control unit is used to control the lifting of the cargo box according to the lifting state and the correction cargo box angle.

[0042] In a third aspect, an embodiment of the present invention provides a cargo box lifting control device for an unmanned vehicle, the cargo box lifting control device comprising:

[0043] one or more processors;

[0044] a storage device for storing one or more programs,

[0045] When the one or more programs are executed by the one or more processors, the one or more processors implement the cargo box lifting control method as described in the first aspect.

[0046] In a fourth aspect, an embodiment of the present invention provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the cargo box lifting control method as described in the first aspect.

[0047] The technical solution of the embodiment of the present invention is beneficial to improving the control accuracy of the cargo box lifting control by setting a correction cargo box angle that can determine the cargo box according to the actual frame angle and the actual cargo box angle, and then controlling the lifting of the cargo box according to the correction cargo box angle and the lifting state of the cargo box.

[0048] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0050] Figure 1 A flowchart of a method for controlling the lifting of a cargo box of an unmanned vehicle provided by an embodiment of the present invention;

[0051] Figure 2A flow chart of another method for controlling the lifting of a cargo box of an unmanned vehicle provided by an embodiment of the present invention;

[0052] Figure 3 A flowchart of another method for controlling the lifting of a cargo box of an unmanned vehicle provided by an embodiment of the present invention;

[0053] Figure 4 A schematic diagram of the structure of a cargo box lifting control device for an unmanned vehicle provided by an embodiment of the present invention;

[0054] Figure 5 A schematic structural diagram of a cargo box lifting control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0056] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0057] Figure 1 A flowchart of a method for controlling the lifting of a cargo box of an unmanned vehicle provided in an embodiment of the present invention. The method for controlling the lifting of a cargo box of an unmanned vehicle in an embodiment of the present invention is applicable to situations where the lifting of the cargo box of an unmanned vehicle needs to be controlled. The method for controlling the lifting of a cargo box of an unmanned vehicle can be executed by a device for controlling the lifting of a cargo box of an unmanned vehicle. The device can be implemented in software and / or hardware and is specifically configured in a cargo box lifting control device. It should be noted that the unmanned vehicle in an embodiment of the present invention includes a frame and a cargo box. Reference Figure 1 The method for controlling the lifting of a cargo box of an unmanned vehicle in an embodiment of the present invention includes:

[0058] S110, obtaining the lifting instruction and position information of the cargo box.

[0059] Exemplarily, the cargo box lifting device of the unmanned vehicle can be a vehicle controller (VCU) in the unmanned vehicle, and the vehicle controller can obtain the lifting instructions and position information of the cargo box. Specifically, the unmanned vehicle also includes an unmanned driving system that can output cargo box lifting instructions. The vehicle controller is connected to the unmanned driving system in communication, and can obtain the lifting instructions of the cargo box from the unmanned driving system, wherein the lifting instructions include rising instructions and descending instructions. The unmanned vehicle also includes a position sensor that can sense the position information of the cargo box. The vehicle controller is connected to the position sensor in communication, and can obtain the position information of the cargo box. The position information of the cargo box includes that the cargo box is located at the lowest lifting point, the cargo box is located at the highest lifting point, and the cargo box is located between the lowest lifting point and the highest lifting point. It should be noted that the position information of the cargo box can also be obtained by other means, as described below.

[0060] S120: Determine the lifting state of the cargo box according to the lifting instruction and the position information.

[0061] Exemplarily, the lifting state of the cargo box can be determined by combining the acquired cargo box lifting instructions and cargo box position information, wherein the lifting state of the cargo box includes being in an ascending state, a raised position state, a descending state, and a lowered position state.

[0062] S130: Acquire an actual angle of the vehicle frame and an actual angle of the cargo box.

[0063] As a feasible implementation method, obtaining the actual frame angle of the vehicle frame and the actual cargo box angle of the cargo box includes: obtaining the actual frame angle through a first angle sensor set on the vehicle frame, and obtaining the actual cargo box angle through a second angle sensor set on the cargo box.

[0064] Exemplarily, the vehicle controller is respectively connected to the first angle sensor and the second angle sensor in communication, and can obtain the actual frame angle sensed by the first angle sensor and the actual cargo box angle sensed by the second angle sensor, wherein the actual frame angle refers to the angle between the frame and the ground where the unmanned vehicle is parked, and the actual cargo box angle refers to the angle between the cargo box and the ground where the unmanned vehicle is parked. It should be noted that, ideally, when the ground where the unmanned vehicle is parked is a plane, and the cargo box is in full contact with the frame without lifting, the angle between the frame and the ground where the unmanned vehicle is parked should be 0°, and the angle between the cargo box and the ground where the unmanned vehicle is parked should also be 0°.

[0065] S140: Determine a correction cargo box angle of the cargo box according to the actual vehicle frame angle and the actual cargo box angle.

[0066] For example, the vehicle controller can determine the corrected cargo box angle of the cargo box according to the actual frame angle and the actual cargo box angle. Specifically, the corrected cargo box angle can be the difference between the actual cargo box angle and the actual frame angle, that is, the corrected cargo box angle refers to the angle between the frame and the cargo box, and the corrected cargo box angle may not be affected by uneven roads.

[0067] S150, controlling the lifting of the cargo box according to the lifting state and the correction angle of the cargo box.

[0068] For example, the vehicle controller can control the lifting of the cargo box according to the lifting state of the cargo box and the correction of the cargo box angle. When it is necessary to control the lifting of the cargo box, the vehicle controller will first determine whether the vehicle is in a stationary state (i.e., the vehicle speed is zero). After confirming that the vehicle is in a stationary state, the vehicle controller will control the gearbox of the unmanned vehicle to return to neutral and park the vehicle. After determining that the gearbox is in neutral and the vehicle is parked successfully, the vehicle controller will control the gearbox to take off the power. After the power is taken off successfully, the vehicle controller will control the main motor to reach the rated speed of the lifting pump 1500rpm, and the slave motor will rotate accordingly. At the same time, the vehicle controller will also control the air control valve to supply air to the lifting valve to realize the lifting of the cargo box.

[0069] Compared with directly controlling the lifting of the cargo box according to the acquired cargo box angle, the embodiment of the present invention controls the lifting of the cargo box by setting a correction cargo box angle according to the lifting state of the cargo box and not affected by the uneven road surface, which is beneficial to improving the accuracy of controlling the lifting of the cargo box on uneven roads.

[0070] The embodiment of the present invention is conducive to improving the control accuracy of cargo box lifting control by setting a correction cargo box angle that can determine the cargo box according to the actual frame angle and the actual cargo box angle, and then controlling the lifting of the cargo box according to the correction cargo box angle and the lifting state of the cargo box.

[0071] Based on the above embodiment, the unmanned vehicle also includes a first switch and a second switch, the first switch is set at a first position of the cargo box, the second switch is set at a second position of the cargo box, and the lifting path of the cargo box includes a path between the first position and the second position.

[0072] Figure 2 A flowchart of another method for controlling the lifting of a cargo box of an unmanned vehicle provided by an embodiment of the present invention, Figure 2 The embodiment shown in the figure describes in detail how to obtain the location information of the cargo box. Figure 2 The method for controlling the lifting of a cargo box of an unmanned vehicle in an embodiment of the present invention includes:

[0073] S210: Obtain a lifting instruction for the cargo box.

[0074] S220, obtaining first on-off information of the first switch and second on-off information of the second switch, and determining position information of the cargo box according to the first on-off information and the second on-off information.

[0075] Exemplarily, the vehicle controller is electrically connected to the first switch and the second switch, respectively, and can obtain first on-off information of the first switch and second on-off information of the second switch. The on-off of the first switch can reflect whether the cargo box is in the first position. Specifically, when the first switch is closed, it means that the cargo box is in the first position, and when the first switch is disconnected, it means that the cargo box is not in the first position. The on-off of the second switch can reflect whether the cargo box is in the second position. Specifically, when the second switch is closed, it means that the cargo box is in the second position, and when the second switch is disconnected, it means that the cargo box is not in the second position. The cargo box cannot be in the first position and the second position at the same time, and the first switch and the second switch cannot be in the closed state at the same time. If the first switch and the second switch are in the closed state at the same time, it means that at least one of the first switch and the second switch is faulty.

[0076] As a feasible implementation method, the position information of the cargo box is determined according to the first on-off information and the second on-off information, including: if the first on-off information is that the first switch is closed and the second on-off information is that the second switch is disconnected, then the cargo box is located at the first position; if the first on-off information is that the first switch is disconnected and the second on-off information is that the second switch is disconnected, then the cargo box is located between the first position and the second position; if the first on-off information is that the first switch is disconnected and the second on-off information is that the second switch is closed, then the cargo box is located at the second position.

[0077] For example, the first position of the cargo box may be the lowest point of the cargo box, and the second position of the cargo box may be the highest point of the cargo box. When the first switch is closed and the second switch is disconnected, it means that the cargo box is at the lowest point of the cargo box. When the first switch is disconnected and the second switch is also disconnected, it means that the cargo box is between the lowest point of the cargo box and the highest point of the cargo box. When the first switch is disconnected and the second switch is closed, it means that the cargo box is at the lowest point of the cargo box.

[0078] S230: Determine the lifting state of the cargo box according to the lifting instruction and the position information.

[0079] As a feasible implementation mode, the lifting and lowering state of the cargo box is determined according to the lifting and lowering instruction and the position information, including: if the lifting and lowering instruction is an ascending instruction and the cargo box is located at the first position or between the first position and the second position, then the cargo box is determined to be in the ascending state; if the lifting and lowering instruction is an ascending instruction and the cargo box is located at the second position, then the cargo box is determined to be in the raised position state; if the lifting and lowering instruction is a descending instruction and the cargo box is located at the second position or between the first position and the second position, then the cargo box is determined to be in the descending state; if the lifting and lowering instruction is a descending instruction and the cargo box is located at the first position, then the cargo box is determined to be in the lowered position state.

[0080] Exemplarily, the first position of the cargo box may be the lowest point of the cargo box, and the second position of the cargo box may be the highest point of the cargo box. If the lifting instruction is an ascending instruction, and the cargo box is at the lowest point of the lifting or between the lowest point and the highest point of the lifting, then the cargo box is determined to be in an ascending state. If the lifting instruction is an ascending instruction, and the cargo box is at the highest point of the lifting, then the cargo box is determined to be in an ascending position. If the lifting instruction is a descending instruction, and the cargo box is at the highest point of the lifting or between the lowest point and the highest point of the lifting, then the cargo box is determined to be in a descending position. If the lifting instruction is a descending instruction, and the cargo box is at the lowest point of the lifting, then the cargo box is determined to be in a descending position.

[0081] The embodiment of the present invention sets a first switch at a first position and a second switch at a second position, so that the vehicle controller can determine the position information of the cargo box according to the first on-off information of the first switch and the second on-off information of the second switch, and then obtain the accurate lifting state according to the lifting instruction and position information of the cargo box. The accurate lifting state is conducive to improving the accuracy of the lifting control of the cargo box.

[0082] S240: Acquire an actual angle of the vehicle frame and an actual angle of the cargo box.

[0083] S250: Determine a correction cargo box angle of the cargo box according to the actual vehicle frame angle and the actual cargo box angle.

[0084] S260, controlling the lifting of the cargo box according to the lifting state and the correction angle of the cargo box.

[0085] Based on the above embodiments, Figure 3 A flowchart of another method for controlling the lifting of a cargo box of an unmanned vehicle provided in an embodiment of the present invention, referring to Figure 3 , Figure 3 The embodiment shown in the figure describes in detail how to determine the corrected cargo box angle according to the actual frame angle and the actual cargo box angle, refer to Figure 3 The method for controlling the lifting of a cargo box of an unmanned vehicle in an embodiment of the present invention includes:

[0086] S310, obtaining a lifting instruction of the cargo box.

[0087] S320, obtaining first on-off information of the first switch and second on-off information of the second switch, and determining the position information of the cargo box according to the first on-off information and the second on-off information.

[0088] S330, determining the lifting state of the cargo box according to the lifting instruction and the position information.

[0089] S340: Acquire an actual angle of the vehicle frame and an actual angle of the cargo box.

[0090] S350, obtaining a first frame angle and a first cargo box angle when the cargo box is in a first position, and a second frame angle and a second cargo box angle when the cargo box is in a second position.

[0091] Exemplarily, after driving the vehicle onto a flat road and parking it, a cargo box angle self-learning instruction is sent to the vehicle controller. After receiving the cargo box angle self-learning instruction, the vehicle controller can execute the cargo box angle self-learning operation. Specifically, when the vehicle controller determines that the cargo box is in a first position (for example, the lowest point of lifting), the vehicle controller obtains the first frame angle and the first cargo box angle through a first angle sensor provided on the frame and a second angle sensor provided on the cargo box. When the vehicle controller determines that the cargo box is in a second position (for example, the highest point of lifting), the vehicle controller obtains the second frame angle and the second cargo box angle through the first angle sensor provided on the frame and the second angle sensor provided on the cargo box.

[0092] It should be noted that the cargo box being in the first position and the cargo box being in the second position can be achieved by the vehicle controller according to the angle self-learning instruction, and can also be achieved manually by the staff.

[0093] It should also be noted that the vehicle controller can determine whether the cargo box is in the first position based on the first on-off information received from the first switch, and can determine whether the cargo box is in the second position based on the first on-off information received from the second switch.

[0094] S360: Obtain a first preset cargo box angle when the cargo box is in a first position, and a second preset cargo box angle when the cargo box is in a second position.

[0095] It should be noted that the above-mentioned first preset cargo box angle and second preset cargo box angle are known and can be pre-stored in the memory of the unmanned vehicle. The vehicle controller is communicatively connected to the memory and can be directly obtained.

[0096] S370, determining the relationship between the actual frame angle, the actual cargo box angle and the correction cargo box angle according to the first frame angle, the first cargo box angle, the second frame angle and the second cargo box angle, the first preset cargo box angle and the second preset cargo box angle.

[0097] As a feasible implementation method, determining the relationship between the actual frame angle and the actual cargo box angle and the corrected cargo box angle according to the first frame angle, the first cargo box angle, the second frame angle and the second cargo box angle, the first preset cargo box angle and the second preset cargo box angle includes:

[0098] A first difference between the first frame angle and the first cargo box angle is determined according to the first frame angle and the first cargo box angle.

[0099] Exemplarily, C1=A1-B1, wherein A1 represents the first frame angle, B1 represents the first cargo box angle, and C1 represents the first difference.

[0100] A second difference between the second frame angle and the second cargo box angle is determined according to the second frame angle and the second cargo box angle.

[0101] Exemplarily, C2=A2-B2, wherein A2 represents the second frame angle, B2 represents the second cargo box angle, and C2 represents the second difference.

[0102] The relationship between the difference between the actual cargo box angle and the actual frame angle and the correction cargo box angle is determined based on the first difference, the second difference, the first preset cargo box angle and the second preset cargo box angle.

[0103] Exemplarily, the difference between the actual cargo box angle and the actual frame angle and the corrected cargo box angle satisfy a linear relationship, and the relationship is as follows: D=C×k+e, C=AB, where A represents the actual frame angle, B represents the actual cargo box angle, and D represents the corrected cargo box angle. By substituting the first difference C1 and the first preset cargo box angle D1 into the above relationship, D1=C1×k+e can be obtained, and by substituting the second difference C2 and the second preset cargo box angle D2 into the above relationship, D2=C2×k+e can be obtained. By solving the two obtained formulas, the specific values ​​of k and e can be determined.

[0104] S380: Determine a correction cargo box angle according to the actual vehicle frame angle, the actual cargo box angle, and the relationship between the actual vehicle frame angle, the actual cargo box angle, and the correction cargo box angle.

[0105] As a feasible implementation method, the correction cargo box angle is determined according to the actual frame angle, the actual cargo box angle, and the relationship between the actual frame angle, the actual cargo box angle, and the correction cargo box angle, including:

[0106] The correction cargo box angle is determined based on the actual frame angle, the actual cargo box angle, the difference between the actual cargo box angle and the actual frame angle, and the correction cargo box angle.

[0107] For example, the difference between the actual cargo box angle and the actual frame angle is first calculated, and then the difference is substituted into the formula D=C×k+e to obtain the corrected cargo box angle.

[0108] The embodiment of the present invention can eliminate the angle errors generated during the installation and manufacturing processes through steps S350-S360, and can further improve the accuracy of correcting the angle of the cargo box.

[0109] S390, controlling the lifting of the cargo box according to the lifting state and the correction angle of the cargo box.

[0110] Based on the same inventive concept, an embodiment of the present invention further provides a cargo box lifting control device for an unmanned vehicle. Figure 4 A schematic diagram of a structure of a cargo box lifting control device for an unmanned vehicle provided by an embodiment of the present invention, referring to Figure 4 The cargo box lifting control device of the unmanned vehicle in the embodiment of the present invention comprises:

[0111] The lifting instruction and position information acquisition unit 410 is used to acquire the lifting instruction and position information of the cargo box.

[0112] The cargo box lifting state determination unit 420 is used to determine the lifting state of the cargo box according to the lifting instruction and the position information.

[0113] The angle acquisition unit 430 is used to acquire the actual frame angle of the vehicle frame and the actual cargo box angle of the cargo box.

[0114] The correction cargo box angle determination unit 440 is used to determine the correction cargo box angle of the cargo box according to the actual frame angle and the actual cargo box angle.

[0115] The lifting control unit 450 is used to control the lifting of the cargo box according to the lifting state and the correction angle of the cargo box.

[0116] The cargo box lifting control device for an unmanned vehicle provided in an embodiment of the present invention can execute the cargo box lifting control method for an unmanned vehicle provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0117] Figure 5 A schematic diagram of a container lift control device 500 that can be used to implement an embodiment of the present invention is shown, and the container lift control device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The container lift control device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0118] like Figure 5As shown, the cargo box lifting control device 500 includes at least one processor 510, and a memory connected to the at least one processor 510 in communication, such as a read-only memory (ROM) 520, a random access memory (RAM) 530, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 510 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 520 or the computer program loaded from the storage unit 580 to the random access memory (RAM) 530. In the random access memory (RAM) 530, various programs and data required for the operation of the cargo box lifting control device 500 can also be stored. The processor 510, the read-only memory (ROM) 520, and the random access memory (RAM) 530 are connected to each other through a bus 540. An input / output (I / O) interface 550 is also connected to the bus 540.

[0119] Multiple components in the cargo box lifting control device 500 are connected to an input / output (I / O) interface 550, including: an input unit 560, such as a keyboard, a mouse, etc.; an output unit 570, such as various types of displays, speakers, etc.; a storage unit 580, such as a disk, an optical disk, etc.; and a communication unit 590, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 590 allows the cargo box lifting control device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0120] The processor 510 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 510 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 510 executes the various methods and processes described above, such as a method for controlling the lifting of a cargo box of an unmanned vehicle.

[0121] In some embodiments, the cargo box lifting control method of the unmanned vehicle can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 580. In some embodiments, part or all of the computer program can be loaded and / or installed on the cargo box lifting control device 500 via a read-only memory (ROM) 520 and / or a communication unit 590. When the computer program is loaded into a random access memory (RAM) 530 and executed by the processor 510, one or more steps of the cargo box lifting control method of the unmanned vehicle described above can be performed. Alternatively, in other embodiments, the processor 510 can be configured to execute the cargo box lifting control method of the unmanned vehicle in any other appropriate manner (for example, by means of firmware).

[0122] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0123] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0124] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0125] To provide interaction with a user, the systems and techniques described herein may be implemented on a box lift control device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the box lift control device. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0126] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0127] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0128] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0129] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling the lifting of a cargo box of an unmanned vehicle, wherein the unmanned vehicle comprises a frame and a cargo box, characterized in that: The cargo box lifting control method comprises: Obtaining lifting instructions and position information of the cargo box; Determining the lifting state of the cargo box according to the lifting instruction and the position information; Acquiring an actual frame angle of the vehicle frame and an actual cargo box angle of the cargo box; Determining a correction cargo box angle of the cargo box according to the actual frame angle and the actual cargo box angle; The lifting of the cargo box is controlled according to the lifting state and the corrected cargo box angle.

2. The cargo box lifting control method according to claim 1, characterized in that: The unmanned vehicle further includes a first switch and a second switch, the first switch being arranged at a first position of the cargo box, the second switch being arranged at a second position of the cargo box, and the lifting path of the cargo box including a path between the first position and the second position; Obtaining the location information of the cargo box includes: Acquire first on-off information of the first switch and second on-off information of the second switch; The location information of the cargo box is determined according to the first on-off information and the second on-off information.

3. The cargo box lifting control method according to claim 2, characterized in that: Determining the location information of the cargo box according to the first on-off information and the second on-off information includes: If the first on-off information indicates that the first switch is closed, and the second on-off information indicates that the second switch is open, then the cargo box is located at the first position; If the first on-off information indicates that the first switch is off, and the second on-off information indicates that the second switch is off, then the cargo box is located between the first position and the second position; If the first on-off information indicates that the first switch is disconnected, and the second on-off information indicates that the second switch is closed, then the cargo box is located at the second position.

4. The cargo box lifting control method according to claim 3, characterized in that: Determining the lifting state of the cargo box according to the lifting instruction and the position information includes: If the lifting instruction is an ascending instruction and the cargo box is located at the first position or between the first position and the second position, it is determined that the cargo box is in an ascending state; If the lifting instruction is a rising instruction and the cargo box is located at the second position, it is determined that the cargo box is in a lifted position state; If the lifting instruction is a descending instruction and the cargo box is located at the second position or between the first position and the second position, it is determined that the cargo box is in a descending state; If the lifting instruction is a descending instruction and the cargo box is located at the first position, it is determined that the cargo box is in a lowered position state.

5. The cargo box lifting control method according to claim 2, characterized in that: Determining a correction cargo box angle of the cargo box according to the actual vehicle frame angle and the actual cargo box angle includes: Acquire a first frame angle and a first cargo box angle when the cargo box is in the first position, and a second frame angle and a second cargo box angle when the cargo box is in the second position; Acquire a first preset cargo box angle when the cargo box is in the first position, and a second preset cargo box angle when the cargo box is in the second position; Determine the relationship between the actual frame angle and the actual cargo box angle and the correction cargo box angle according to the first frame angle, the first cargo box angle, the second frame angle and the second cargo box angle, the first preset cargo box angle and the second preset cargo box angle; The corrected cargo box angle is determined according to the actual frame angle, the actual cargo box angle, and the relationship between the actual frame angle, the actual cargo box angle and the corrected cargo box angle.

6. The cargo box lifting control method according to claim 5, characterized in that: Determining the relationship between the actual frame angle and the actual cargo box angle and the corrected cargo box angle according to the first frame angle, the first cargo box angle, the second frame angle and the second cargo box angle, the first preset cargo box angle and the second preset cargo box angle includes: Determine a first difference between the first frame angle and the first cargo box angle according to the first frame angle and the first cargo box angle; Determine a second difference between the second frame angle and the second cargo box angle according to the second frame angle and the second cargo box angle; Determine the relationship between the difference between the actual cargo box angle and the actual frame angle and the corrected cargo box angle according to the first difference, the second difference, the first preset cargo box angle, and the second preset cargo box angle; Determining the corrected cargo box angle according to the actual frame angle, the actual cargo box angle, and the relationship between the actual frame angle, the actual cargo box angle, and the corrected cargo box angle includes: The corrected cargo box angle is determined according to the relationship between the actual frame angle, the actual cargo box angle, the difference between the actual cargo box angle and the actual frame angle, and the corrected cargo box angle.

7. The cargo box lifting control method according to claim 1, characterized in that: Acquiring an actual frame angle of the frame and an actual cargo box angle of the cargo box, including: The actual frame angle is obtained by a first angle sensor arranged on the frame, and the actual cargo box angle is obtained by a second angle sensor arranged on the cargo box.

8. A cargo box lifting control device for an unmanned vehicle, used to execute the cargo box lifting control method as claimed in any one of claims 1 to 7, characterized in that: The cargo box lifting control device comprises: A lifting instruction and position information acquisition unit, used to acquire the lifting instruction and position information of the cargo box; A cargo box lifting state determining unit, used to determine the lifting state of the cargo box according to the lifting instruction and the position information; An angle acquisition unit, used to acquire an actual frame angle of the frame and an actual cargo box angle of the cargo box; A correction cargo box angle determination unit, used to determine a correction cargo box angle of the cargo box according to the actual frame angle and the actual cargo box angle; A lifting control unit is used to control the lifting of the cargo box according to the lifting state and the correction cargo box angle.

9. A cargo box lifting control device for an unmanned vehicle, characterized in that: The cargo box lifting control device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the cargo box lifting control method as described in any one of claims 1-7.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the cargo box lifting control method as described in any one of claims 1-7 is implemented.

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