A method, device, equipment and medium for controlling the lifting of the cargo box of an unmanned vehicle.
By acquiring the lifting and lowering commands and position information of the cargo box, and combining them with the actual angles of the vehicle frame and the cargo box, the cargo box angle can be determined and corrected. This solves the problem of inaccurate cargo box angle on uneven roads and improves the precision of cargo box lifting control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- LINGONG GROUP (JINAN) HEAVY MACHINERY CO LTD
- Filing Date
- 2025-02-12
- Publication Date
- 2026-05-26
Smart Images
Figure CN119611192B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of unmanned vehicle technology, and in particular to a method, device, equipment and medium for controlling the lifting of the cargo box of an unmanned vehicle. Background Technology
[0002] Existing methods for controlling the lifting of the cargo box in autonomous vehicles rely solely on the acquired cargo box angle. However, on uneven roads, the acquired cargo box angle may be inaccurate, thus affecting the accuracy of cargo box lifting control. Summary of the Invention
[0003] This invention provides a method, device, equipment, and medium for controlling the lifting of the cargo box of an unmanned vehicle, in order to solve the problem of low control accuracy in existing cargo box lifting control methods.
[0004] In a first aspect, embodiments of the present invention provide a method for controlling the lifting of a cargo box in an unmanned vehicle, the unmanned vehicle comprising a frame and a cargo box, the method comprising:
[0005] Obtain the lifting and lowering commands and position information of the cargo box;
[0006] The lifting status of the cargo box is determined based on the lifting command and the position information;
[0007] Obtain the actual frame angle of the vehicle frame and the actual cargo box angle of the cargo box;
[0008] The corrected cargo box angle is determined based on the actual vehicle frame angle and the actual cargo box angle.
[0009] The lifting and lowering of the cargo box is controlled according to the lifting and lowering state and the corrected cargo box angle.
[0010] Optionally, the driverless vehicle further includes a first switch and a second switch, the first switch being disposed at a first position of the cargo box, the second switch being disposed at a second position of the cargo box, and the lifting path of the cargo box including the path between the first position and the second position;
[0011] Obtaining the location information of the cargo box includes:
[0012] Obtain the first on / off information of the first switch and the second on / off information of the second switch;
[0013] The location information of the cargo box is determined based on the first on / off information and the second on / off information.
[0014] Optionally, determining the location information of the cargo box based on the first on / off information and the second on / off information includes:
[0015] 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 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 is that the first switch is open and the second on / off information is that the second switch is closed, then the cargo box is located in the second position.
[0018] Optionally, determining the lifting state of the cargo box based on the lifting command and the position information includes:
[0019] If the lifting command is an upward command, and the cargo box is located at the first position or between the first position and the second position, then it is determined that the cargo box is in an upward state;
[0020] If the lifting command is an upward command and the cargo box is in the second position, then it is determined that the cargo box is in the raised position state;
[0021] If the lifting command is a lowering command, and the cargo box is located in the second position or between the first position and the second position, then it is determined that the cargo box is in a lowering state;
[0022] If the lifting command is a lowering command and the cargo box is located in the first position, then it is determined that the cargo box is in the lowered position.
[0023] Optionally, determining the corrected cargo box angle based on the actual vehicle frame angle and the actual cargo box angle includes:
[0024] Obtain the first frame angle and the first cargo box angle when the cargo box is in the first position, and the second frame angle and the second cargo box angle when the cargo box is in the second position;
[0025] Obtain 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] The relationship between the actual vehicle frame angle, the actual cargo box angle, and the corrected cargo box angle is determined based on the first vehicle frame angle, the first cargo box angle, the second vehicle frame angle, 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 based on 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 corrected cargo box angle.
[0028] Optionally, determining the relationship between the actual vehicle frame angle, the actual cargo box angle, and the corrected cargo box angle based on the first vehicle frame angle, the first cargo box angle, the second vehicle frame angle, the second cargo box angle, the first preset cargo box angle, and the second preset cargo box angle includes:
[0029] A first difference between the first vehicle frame angle and the first cargo box angle is determined based on the first vehicle frame angle and the first cargo box angle.
[0030] A second difference between the second vehicle frame angle and the second cargo box angle is determined based on the second vehicle frame angle and the second cargo box angle.
[0031] The relationship between the difference between the actual cargo box angle and the actual vehicle frame angle and the corrected 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.
[0032] The corrected cargo box angle is determined based on the actual chassis angle, the actual cargo box angle, and the relationship between the actual chassis angle, the actual cargo box angle, and the corrected cargo box angle, including:
[0033] The corrected cargo box angle is determined based on the relationship between the actual chassis angle, the actual cargo box angle, the difference between the actual cargo box angle and the actual chassis angle, and the corrected cargo box angle.
[0034] Optionally, obtaining the actual frame angle of the vehicle frame and the actual cargo box angle of the cargo box includes:
[0035] The actual vehicle frame angle is obtained by a first angle sensor mounted on the vehicle frame, and the actual cargo box angle is obtained by a second angle sensor mounted on the cargo box.
[0036] In a second aspect, embodiments of the present invention provide a cargo box lifting control device for an unmanned vehicle, used to execute the cargo box lifting control method as described in the first aspect, the cargo box lifting control device comprising:
[0037] The lifting command and position information acquisition unit is used to acquire the lifting command and position information of the cargo box;
[0038] A cargo box lifting status determination unit is used to determine the lifting status of the cargo box based on the lifting command and the position information;
[0039] An angle acquisition unit is used to acquire the actual frame angle of the vehicle frame and the actual cargo box angle of the cargo box;
[0040] The cargo box angle correction unit is used to determine the corrected cargo box angle based on the actual vehicle frame angle and the actual cargo box angle.
[0041] The lifting control unit is used to control the lifting of the cargo box according to the lifting state and the corrected cargo box angle.
[0042] Thirdly, embodiments of the present invention provide a cargo box lifting control device for an unmanned vehicle, the cargo box lifting control device comprising:
[0043] One or more processors;
[0044] 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] Fourthly, embodiments of the present invention provide a storage medium storing a computer program thereon, which, when executed by a processor, implements the cargo box lifting control method as described in the first aspect.
[0047] The technical solution of this invention improves the control accuracy of cargo box lifting by setting a corrected cargo box angle that can be determined based on the actual vehicle frame angle and the actual cargo box angle, and then controlling the lifting of the cargo box based on the corrected cargo box angle and the lifting state of the cargo box.
[0048] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description
[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0050] Figure 1 A flowchart of a cargo box lifting control method for an unmanned vehicle provided in an embodiment of the present invention;
[0051] Figure 2A flowchart of another cargo box lifting control method for an unmanned vehicle provided in an embodiment of the present invention;
[0052] Figure 3 A flowchart of another cargo box lifting control method for an unmanned vehicle provided in an embodiment of the present invention;
[0053] Figure 4 This is a schematic diagram of the structure of a cargo box lifting control device for an unmanned vehicle provided in an embodiment of the present invention;
[0054] Figure 5 This is a schematic diagram of a cargo box lifting control device provided in an embodiment of the present invention. Detailed Implementation
[0055] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0057] Figure 1 This is a flowchart illustrating a cargo box lifting control method for an unmanned vehicle according to an embodiment of the present invention. This method is applicable to situations requiring control of the lifting of the cargo box of an unmanned vehicle. The method can be executed by a cargo box lifting control device, which can be implemented in software and / or hardware and specifically configured within the cargo box lifting control equipment. It should be noted that the unmanned vehicle in this embodiment includes a frame and a cargo box. (Reference) Figure 1 The cargo box lifting control method of the unmanned vehicle in this embodiment of the invention includes:
[0058] S110, Obtain the lifting and lowering commands and position information of the cargo box.
[0059] For example, the cargo box lifting device of an autonomous vehicle can be the vehicle controller (VCU) within the vehicle, which can acquire lifting commands and position information for the cargo box. Specifically, the autonomous vehicle also includes an autonomous driving system capable of outputting cargo box lifting commands. The VCU is communicatively connected to the autonomous driving system and can acquire the lifting commands from the system, including both upward and downward commands. The autonomous vehicle also includes a position sensor capable of sensing cargo box position information. The VCU is communicatively connected to the position sensor and can acquire the cargo box position information, including whether the cargo box is at its lowest lifting point, its highest lifting point, or between these points. It should be noted that the cargo box position information can also be acquired through other methods, as described below.
[0060] S120. Determine the lifting status of the cargo box based on the lifting command and position information.
[0061] For example, by combining the obtained cargo box lifting command and cargo box position information, the lifting state of the cargo box can be determined. The lifting state of the cargo box includes being in the rising state, the raised position, the lowering state, and the lowered position.
[0062] S130: Obtain the actual frame angle of the vehicle frame and the actual cargo box 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 installed on the vehicle frame and obtaining the actual cargo box angle through a second angle sensor installed on the cargo box.
[0064] For example, the vehicle controller is communicatively connected to both a first angle sensor and a second angle sensor, and can obtain the actual vehicle frame angle sensed by the first angle sensor and the actual cargo box angle sensed by the second angle sensor. The actual vehicle frame angle refers to the angle between the vehicle frame and the ground where the autonomous vehicle is parked, and the actual cargo box angle refers to the angle between the cargo box and the ground where the autonomous vehicle is parked. It should be noted that, ideally, when the ground where the autonomous vehicle is parked is a plane, and the cargo box is in complete contact with the vehicle frame without any lifting or lowering, the angle between the vehicle frame and the ground where the autonomous vehicle is parked should be 0°, and the angle between the cargo box and the ground where the autonomous vehicle is parked should also be 0°.
[0065] S140. Determine the corrected cargo box angle based on the actual chassis angle and the actual cargo box angle.
[0066] For example, the vehicle controller can determine the corrected cargo box angle based on the acquired actual chassis angle and actual cargo box angle. Specifically, the corrected cargo box angle can be the difference between the actual cargo box angle and the actual chassis angle; that is, the corrected cargo box angle refers to the angle between the chassis and the cargo box. The corrected cargo box angle is unaffected by uneven road surfaces.
[0067] S150: Control the lifting and lowering of the cargo box according to the lifting status and the correction of the cargo box angle.
[0068] For example, the vehicle controller can control the lifting and lowering of the cargo box based on its lifting status and the correction of its angle. When it is necessary to control the cargo box to rise, the vehicle controller will first determine whether the vehicle is stationary (i.e., the vehicle speed is zero). After confirming that the vehicle is stationary, the vehicle controller will control the transmission of the autonomous vehicle to return to neutral and put it in parking mode. After confirming that the transmission is in neutral and parking is successful, the vehicle controller will control the transmission to perform power take-off operation. After successful power take-off, the vehicle controller will control the main motor to reach the rated speed of the lifting pump, 1500 rpm, and the slave motor will follow suit. At the same time, the vehicle controller will also control the pneumatic valve to supply air to the lifting valve to achieve the lifting of the cargo box.
[0069] Compared to directly controlling the lifting and lowering of the cargo box based on the obtained cargo box angle, the embodiments of the present invention control the lifting and lowering of the cargo box by setting a correction cargo box angle based on the lifting and lowering state of the cargo box and unaffected by uneven road surfaces, which is beneficial to improving the accuracy of controlling the lifting and lowering of the cargo box on uneven road surfaces.
[0070] This invention improves the control accuracy of cargo box lifting by setting a corrected cargo box angle that can be determined based on the actual vehicle frame angle and the actual cargo box angle, and then controlling the lifting of the cargo box based on the corrected cargo box angle and the lifting state of the cargo box.
[0071] Based on the above embodiments, the autonomous vehicle also includes a first switch and a second switch. The first switch is located at a first position in the cargo box, and the second switch is located at a second position in the cargo box. The lifting path of the cargo box includes the path between the first position and the second position.
[0072] Figure 2 This is a flowchart of another cargo box lifting control method for an unmanned vehicle provided in an embodiment of the present invention. Figure 2 The illustrated embodiment provides a detailed explanation of how to obtain the location information of the cargo container. (Refer to...) Figure 2 The cargo box lifting control method of the unmanned vehicle in this embodiment of the invention includes:
[0073] S210, Obtain the lifting command for the cargo box.
[0074] S220. Obtain the first on / off information of the first switch and the second on / off information of the second switch, and determine the position information of the cargo box based on the first on / off information and the second on / off information.
[0075] For example, the vehicle controller is electrically connected to a first switch and a second switch, respectively, and can acquire the first on / off information of the first switch and the second on / off information of the second switch. The on / off state of the first switch indicates whether the cargo box is in the first position; specifically, when the first switch is closed, it indicates that the cargo box is in the first position, and when the first switch is open, it indicates that the cargo box is not in the first position. The on / off state of the second switch indicates whether the cargo box is in the second position; specifically, when the second switch is closed, it indicates that the cargo box is in the second position, and when the second switch is open, it indicates that the cargo box is not in the second position. The cargo box cannot be in both the first and second positions simultaneously, and the first and second switches cannot be simultaneously closed. If the first and second switches are simultaneously closed, it indicates that at least one of the first and second switches is faulty.
[0076] As a feasible implementation method, determining the position information of the cargo box based on the first on / off information and the second on / off information includes: 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 open, then the cargo box is located at the first position; if the first on / off information is that the first switch is open and the second on / off information is that the second switch is open, 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 open 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 can be the lowest lifting point, and the second position can be the highest lifting point. When the first switch is closed and the second switch is open, it indicates that the cargo box is at the lowest lifting point. When both the first and second switches are open, it indicates that the cargo box is between the lowest and highest lifting points. When both switches are closed, it indicates that the cargo box is at the lowest lifting point.
[0078] S230. Determine the lifting status of the cargo box based on the lifting command and position information.
[0079] As a feasible implementation method, determining the lifting state of the cargo box based on the lifting command and position information includes: if the lifting command is an upward command and the cargo box is located at a first position or between the first and second positions, then the cargo box is determined to be in a lifting state; if the lifting command is an upward command and the cargo box is located at a second position, then the cargo box is determined to be in a raised position; if the lifting command is a downward command and the cargo box is located at a second position or between the first and second positions, then the cargo box is determined to be in a downward state; if the lifting command is a downward command and the cargo box is located at a first position, then the cargo box is determined to be in a lowered position.
[0080] For example, the first position of the cargo box can be its lowest lifting point, and the second position can be its highest lifting point. If the lifting command is an upward command, and the cargo box is located at the lowest lifting point or between the lowest and highest lifting points, then the cargo box is determined to be in an upward state. If the lifting command is an upward command, and the cargo box is located at the highest lifting point, then the cargo box is determined to be in the raised position. If the lifting command is a downward command, and the cargo box is located at the highest lifting point or between the lowest and highest lifting points, then the cargo box is determined to be in a downward state. If the lifting command is a downward command, and the cargo box is located at the lowest lifting point, then the cargo box is determined to be in the lowered position.
[0081] By setting a first switch at a first position and a second switch at a second position, the vehicle controller can determine the position information of the cargo box based on the first on / off information of the first switch and the second on / off information of the second switch. Then, based on the lifting command and position information of the cargo box, it can obtain an accurate lifting state. An accurate lifting state is beneficial to improving the precision of cargo box lifting control.
[0082] S240: Obtain the actual frame angle of the vehicle frame and the actual cargo box angle of the cargo box.
[0083] S250. Determine the corrected cargo box angle based on the actual chassis angle and the actual cargo box angle.
[0084] S260: Control the lifting and lowering of the cargo box according to the lifting status and the correction of the cargo box angle.
[0085] Based on the above embodiments, Figure 3 A flowchart of another cargo box lifting control method for an unmanned vehicle provided in an embodiment of the present invention is shown below. Figure 3 , Figure 3 The illustrated embodiment provides a detailed explanation of how to determine the corrected cargo box angle based on the actual chassis angle and the actual cargo box angle. (Refer to...) Figure 3 The cargo box lifting control method of the unmanned vehicle in this embodiment of the invention includes:
[0086] S310, Obtain the lifting command for the cargo box.
[0087] S320. Obtain the first on / off information of the first switch and the second on / off information of the second switch, and determine the position information of the cargo box based on the first on / off information and the second on / off information.
[0088] S330: Determine the lifting status of the cargo box based on the lifting command and position information.
[0089] S340: Obtain the actual frame angle of the vehicle frame and the actual cargo box angle of the cargo box.
[0090] S350: Obtain the first frame angle and the first cargo box angle when the cargo box is in the first position, and the second frame angle and the second cargo box angle when the cargo box is in the second position.
[0091] For example, after driving the vehicle onto a flat road and parking it, a cargo box angle self-learning command is sent to the vehicle controller. After receiving the cargo box angle self-learning command, the vehicle controller can perform the cargo box angle self-learning operation. Specifically, when the vehicle controller determines that the cargo box is in a first position (e.g., the lowest lifting point), it will obtain the first frame angle and the first cargo box angle through the first angle sensor set on the frame and the second angle sensor set on the cargo box. When the vehicle controller determines that the cargo box is in a second position (e.g., the highest lifting point), it will obtain the second frame angle and the second cargo box angle through the first angle sensor set on the frame and the second angle sensor set 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 based on angle self-learning instructions, or it can 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 the first position, and a second preset cargo box angle when the cargo box is in the second position.
[0095] It should be noted that the first and second preset cargo box angles mentioned above are known and can be pre-stored in the memory of the autonomous vehicle. The vehicle controller communicates with the memory and can directly obtain the information.
[0096] S370. Determine the relationship between the actual vehicle frame angle, the actual cargo box angle, and the corrected cargo box angle based on the first vehicle frame angle, the first cargo box angle, the second vehicle frame angle, the second cargo box angle, the first preset cargo box angle, and the second preset cargo box angle.
[0097] As a feasible implementation method, the relationship between the actual vehicle frame angle, the actual cargo box angle, and the corrected cargo box angle is determined based on the first vehicle frame angle, the first cargo box angle, the second vehicle frame angle, the second cargo box angle, the first preset cargo box angle, and the second preset cargo box angle, including:
[0098] The first difference between the first frame angle and the first cargo box angle is determined based on the first frame angle and the first cargo box angle.
[0099] For example, C1 = A1 - B1, where A1 represents the first frame angle, B1 represents the first cargo box angle, and C1 represents the first difference.
[0100] The second difference between the second frame angle and the second cargo box angle is determined based on the second frame angle and the second cargo box angle.
[0101] For example, C2 = A2 - B2, where 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 chassis angle and the corrected 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] For example, the difference between the actual cargo box angle and the actual chassis angle is linearly related to the corrected cargo box angle, as follows: D = C × k + e, C = AB, where A represents the actual chassis 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 formula, we obtain D1 = C1 × k + e. Similarly, by substituting the second difference C2 and the second preset cargo box angle D2 into the above formula, we obtain D2 = C2 × k + e. Solving these two formulas determines the specific values of k and e.
[0104] S380. Determine the corrected cargo box angle based on 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.
[0105] As a feasible implementation method, the corrected cargo box angle is determined based on the actual chassis angle, the actual cargo box angle, and the relationship between the actual chassis angle, the actual cargo box angle, and the corrected cargo box angle, including:
[0106] The corrected cargo box angle is determined based on the relationship between the actual chassis angle, the actual cargo box angle, the difference between the actual cargo box angle and the actual chassis angle, and the corrected cargo box angle.
[0107] For example, first calculate the difference between the actual cargo box angle and the actual chassis angle, and then substitute the difference into the formula D=C×k+e to obtain the corrected cargo box angle.
[0108] The embodiments of the present invention can eliminate angular errors generated during installation and manufacturing through steps S350-S360, which can further improve the accuracy of correcting the cargo box angle.
[0109] S390: Control the lifting and lowering of the cargo box according to the lifting status and the correction of the cargo box angle.
[0110] Based on the same inventive concept, this invention also provides a cargo box lifting control device for unmanned vehicles. Figure 4 This is a schematic diagram of the structure of a cargo box lifting control device for an unmanned vehicle provided in an embodiment of the present invention, with reference to... Figure 4 The cargo box lifting control device of the unmanned vehicle in this embodiment of the invention includes:
[0111] The lifting command and position information acquisition unit 410 is used to acquire the lifting command and position information of the cargo box.
[0112] The cargo box lifting status determination unit 420 is used to determine the lifting status of the cargo box based on the lifting command and position information.
[0113] 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 cargo box angle determination unit 440 is used to determine the corrected cargo box angle based on the actual vehicle 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 status and the correction of the cargo box angle.
[0116] The cargo box lifting control device for unmanned vehicles provided in this embodiment of the invention can execute the cargo box lifting control method for unmanned vehicles provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.
[0117] Figure 5 A schematic diagram of a cargo box lifting control device 500, which can be used to implement embodiments of the present invention, is shown. The cargo box lifting 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 cargo box lifting control device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, 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 illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.
[0118] like Figure 5As shown, the cargo box lifting control device 500 includes at least one processor 510 and a memory, such as a read-only memory (ROM) 520 and a random access memory (RAM) 530, communicatively connected to the at least one processor 510. The memory stores computer programs executable by the at least one processor. The processor 510 can perform various appropriate actions and processes based on the computer program stored in the ROM 520 or loaded from storage unit 580 into the RAM 530. The RAM 530 can also store various programs and data required for the operation of the cargo box lifting control device 500. The processor 510, ROM 520, and RAM 530 are interconnected via 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, mouse, etc.; an output unit 570, such as various types of displays, speakers, etc.; a storage unit 580, such as a disk, optical disk, etc.; and a communication unit 590, such as a network card, modem, wireless transceiver, etc. The communication unit 590 allows the cargo box lifting control device 500 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.
[0120] Processor 510 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 510 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 510 performs the various methods and processes described above, such as the cargo box lifting control method of an autonomous vehicle.
[0121] In some embodiments, the cargo box lifting control method for an autonomous vehicle can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as 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 read-only memory (ROM) 520 and / or communication unit 590. When the computer program is loaded into random access memory (RAM) 530 and executed by processor 510, one or more steps of the cargo box lifting control method for an autonomous vehicle described above can be performed. Alternatively, in other embodiments, processor 510 can be configured to perform the cargo box lifting control method for an autonomous vehicle by any other suitable means (e.g., by means of firmware).
[0122] Various embodiments 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-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.
[0123] Computer programs used to implement 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, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.
[0124] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.
[0125] To provide user interaction, the systems and techniques described herein can be implemented on a cargo box lifting control device, which includes: 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 provides input to the cargo box lifting control device. Other types of devices can also be used to provide user interaction; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).
[0126] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.
[0127] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.
[0128] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.
[0129] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.
Claims
1. A cargo box lift control method of an unmanned vehicle including a vehicle frame and a cargo box, characterized by, The cargo box lifting control method includes: Obtain the lifting and lowering commands and position information of the cargo box; The lifting status of the cargo box is determined based on the lifting command and the position information; Obtain the actual frame angle of the vehicle frame and the actual cargo box angle of the cargo box; The corrected cargo box angle is determined based on the actual chassis angle, the actual cargo box angle, and the relationship between the difference between the actual cargo box angle and the actual chassis angle and the corrected cargo box angle. The relationship between the difference between the actual cargo box angle and the actual chassis angle and the corrected cargo box angle is determined in the following manner: A first difference between the first vehicle frame angle and the first cargo box angle is determined based on the first vehicle frame angle and the first cargo box angle when the cargo box is in the first position. A second difference between the second vehicle frame angle and the second cargo box angle is determined based on the second vehicle frame angle and the second cargo box angle when the cargo box is in the second position. Based on the first difference, the second difference, the first preset cargo box angle when the cargo box is in the first position, and the second preset cargo box angle when the cargo box is in the second position, the relationship between the difference between the actual cargo box angle and the actual chassis angle and the corrected cargo box angle is determined: D=C×k+e, C=AB, A represents the actual chassis angle, B represents the actual cargo box angle, D represents the corrected cargo box angle, and k and e are constants; The lifting and lowering of the cargo box is controlled according to the lifting and lowering state and the corrected cargo box angle.
2. The cargo box lift control method of claim 1, wherein, The driverless vehicle also includes a first switch and a second switch. The first switch is located at the first position of the cargo box, and the second switch is located at the second position of the cargo box. The lifting path of the cargo box includes the path between the first position and the second position. Obtaining the location information of the cargo box includes: Obtain the first on / off information of the first switch and the second on / off information of the second switch; The location information of the cargo box is determined based on the first on / off information and the second on / off information.
3. The cargo box lift control method of claim 2, wherein, Determining the location information of the cargo box based on the first on / off information and the second on / off information includes: 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 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 is that the first switch is open and the second on / off information is that the second switch is closed, then the cargo box is located in the second position.
4. The cargo box lift control method of claim 3, wherein, Determining the lifting state of the cargo box based on the lifting command and the position information includes: If the lifting command is an upward command, and the cargo box is located at the first position or between the first position and the second position, then it is determined that the cargo box is in an upward state; If the lifting command is an upward command and the cargo box is in the second position, then it is determined that the cargo box is in the raised position state; If the lifting command is a lowering command, and the cargo box is located in the second position or between the first position and the second position, then it is determined that the cargo box is in a lowering state; If the lifting command is a lowering command and the cargo box is located in the first position, then it is determined that the cargo box is in the lowered position.
5. The cargo box lifting control method according to claim 1, characterized in that, Obtaining the actual frame angle of the vehicle frame and the actual cargo box angle of the cargo box includes: The actual vehicle frame angle is obtained by a first angle sensor mounted on the vehicle frame, and the actual cargo box angle is obtained by a second angle sensor mounted on the cargo box.
6. A cargo box lifting control device for an unmanned vehicle, used to execute the cargo box lifting control method as described in any one of claims 1-5, characterized in that, The cargo box lifting control device includes: The lifting command and position information acquisition unit is used to acquire the lifting command and position information of the cargo box; A cargo box lifting status determination unit is used to determine the lifting status of the cargo box based on the lifting command and the position information; An angle acquisition unit is used to acquire the actual frame angle of the vehicle frame and the actual cargo box angle of the cargo box; The cargo box angle correction unit is used to determine the corrected cargo box angle based on the actual vehicle frame angle, the actual cargo box angle, and the relationship between the difference between the actual cargo box angle and the actual vehicle frame angle and the corrected cargo box angle. The relationship between the difference between the actual cargo box angle and the actual vehicle frame angle and the corrected cargo box angle is determined in the following manner: A first difference between the first vehicle frame angle and the first cargo box angle is determined based on the first vehicle frame angle and the first cargo box angle when the cargo box is in the first position. A second difference between the second vehicle frame angle and the second cargo box angle is determined based on the second vehicle frame angle and the second cargo box angle when the cargo box is in the second position. Based on the first difference, the second difference, the first preset cargo box angle when the cargo box is in the first position, and the second preset cargo box angle when the cargo box is in the second position, the relationship between the difference between the actual cargo box angle and the actual chassis angle and the corrected cargo box angle is determined: D=C×k+e, C=AB, A represents the actual chassis angle, B represents the actual cargo box angle, D represents the corrected cargo box angle, and k and e are constants; The lifting control unit is used to control the lifting of the cargo box according to the lifting state and the corrected cargo box angle.
7. A cargo box lifting control device for an unmanned vehicle, characterized in that, The cargo box lifting control device includes: One or more processors; 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 1-5.
8. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the cargo box lifting control method as described in any one of claims 1-5.