Coupler arm coupler arm control method and device, electronic equipment and storage medium

Abstract

The invention provides a control method and device for a coupler arm of a coupler arm, electronic equipment and a storage medium, and relates to the technical field of vehicle engineering technology.The control method comprises the steps that according to distance parameters between coupler arm equipment and a target box body, the angle deviation between the coupler arm equipment and the target box body is determined; determining a height adjustment strategy for the hook arm equipment according to the angle deviation; the height of the hook arm equipment is adjusted according to the height adjusting strategy, so that a front hook arm of the adjusted hook arm equipment is connected with a box body hook ring of the target box body in a hooked mode. In the mode, the height of the hook arm equipment is adjusted according to the height adjusting strategy, so that the front hook arm of the adjusted hook arm equipment is hooked with the box body hook ring of the target box body. And the operation difficulty of the hook arm equipment is reduced, and the working efficiency of the hook arm equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle engineering, and in particular to a control method, device, electronic equipment and storage medium for a hook arm of a hook arm vehicle. Background Art

[0002] In the field of vehicle engineering, especially in the design and use of hook-arm trucks, the positioning of the hook arm is an important link. The hook-arm truck is a common loading and unloading equipment, and its main function is to load or unload the cargo to the designated location through the extension and rotation of the hook arm.

[0003] However, in actual operation, the positioning of the hook arm usually needs to be completed through manual operation, which is not only inefficient but also difficult to ensure positioning accuracy. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a control method and device for a hook arm of a hook arm vehicle with improved positioning accuracy.

[0005] In the first aspect, an embodiment of the present invention provides a method for controlling a hook arm of a hook arm vehicle, the method comprising: determining an angle deviation between the hook arm device and a target box based on a distance parameter between the hook arm device and a target box; determining a height adjustment strategy for the hook arm device based on the angle deviation; and adjusting the height of the hook arm device based on the height adjustment strategy so that the front hook arm of the adjusted hook arm device is hooked with a box hook ring of the target box.

[0006] In a preferred embodiment of the present invention, the angular deviation between the hook arm device and the target box is determined according to the distance parameter between the hook arm device and the target box, including: determining the required angle required for the front hook arm of the hook arm device to hook the box hook ring of the target box according to the distance parameter between the hook arm device and the target box; obtaining the current angle corresponding to the front hook arm of the hook arm device; and determining the angular deviation between the hook arm device and the target box according to the required angle and the current angle.

[0007] In a preferred embodiment of the present invention, the required angle required for the front hook arm of the hook arm device to hook the box hook ring of the target box is determined according to the distance parameter between the hook arm device and the target box, including: determining the required height required for the front hook arm of the hook arm device to hook the box hook ring of the target box according to the distance parameter between the hook arm device and the target box; determining the required angle according to the required height required for the front hook arm of the hook arm device to hook the box hook ring of the target box.

[0008] In a preferred embodiment of the present invention, obtaining the current angle corresponding to the front hook arm of the hook arm device includes: triggering a ramp sensor corresponding to the hook arm device; and using the current slope detected by the ramp sensor as the current angle corresponding to the front hook arm of the hook arm device.

[0009] In a preferred embodiment of the present invention, a height adjustment strategy for the hook arm device is determined based on the angle deviation, including: when the required angle is smaller than the current angle, the height adjustment strategy is determined to be lowering the hook arm main arm of the hook arm device according to the height adjustment amount; when the required angle is larger than the current angle, the height adjustment strategy is determined to be raising the hook arm main arm of the hook arm device according to the height adjustment amount; wherein the height adjustment amount is determined based on the angle deviation.

[0010] In a preferred embodiment of the present invention, the process of determining the height adjustment amount includes: determining the height adjustment amount according to a preset mapping relationship between candidate adjustment amounts and candidate deviations and an angle deviation.

[0011] In a preferred embodiment of the present invention, the height of the hook arm device is adjusted according to the height adjustment strategy, including: after the hook arm device is adjusted to a preset position according to the height adjustment strategy, a prohibition instruction is sent to the hook arm device to prohibit the hook arm device from performing height adjustment at the preset position.

[0012] In the second aspect, an embodiment of the present invention also provides a control device for the hook arm of a hook arm vehicle, comprising: a first determination module, used to determine the angle deviation between the hook arm device and the target box according to the distance parameter between the hook arm device and the target box; a second determination module, used to determine the height adjustment strategy for the hook arm device according to the angle deviation; an adjustment module, used to adjust the height of the hook arm device according to the height adjustment strategy, so that the front hook arm of the adjusted hook arm device is hooked with the box hook ring of the target box.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the control method of the hook arm of the hook arm vehicle of the first aspect mentioned above.

[0014] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the control method of the hook arm of the hook arm vehicle of the first aspect mentioned above.

[0015] The embodiments of the present invention bring the following beneficial effects:

[0016] An embodiment of the present invention provides a control method, device, electronic device and storage medium for the hook arm of a hook arm vehicle. According to the distance parameter between the hook arm device and the target box, the angle deviation between the hook arm device and the target box is determined, and according to the angle deviation, the height adjustment strategy for the hook arm device is determined; then, the height of the hook arm device is adjusted according to the height adjustment strategy, so that the front hook arm of the adjusted hook arm device is hooked with the box hook ring of the target box. According to the above content, the present application obtains the angle deviation to realize the positional relationship between the hook arm device and the target box according to the angle deviation, thereby ensuring that in the process of determining the height adjustment strategy for the hook arm device according to the angle deviation, the height adjustment strategy can be guaranteed to meet the emergency situation of the hook arm device, and after the height of the hook arm device is adjusted according to the height adjustment strategy, the front hook arm of the hook arm device can be effectively hooked with the box hook ring of the target box, thereby reducing the operating difficulty of the hook arm device, improving the working efficiency of the hook arm device, reducing the cumbersomeness of operation when controlling the hook arm device, preventing unreasonable contact and collision between the hook arm device and the target box, and ensuring that the service life of the hook arm device and the target box will not be affected during the hooking process.

[0017] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by implementing the above-mentioned technology of the present disclosure.

[0018] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A flow chart of a method for controlling a hook arm of a hook arm vehicle provided by an embodiment of the present invention;

[0021] Figure 2 A flow chart of another method for controlling a hook arm of a hook arm vehicle provided by an embodiment of the present invention;

[0022] Figure 3 A motion relationship diagram of a hook arm mechanism provided by an embodiment of the present invention;

[0023] Figure 4A flow chart of another method for controlling a hook arm of a hook arm vehicle provided by an embodiment of the present invention;

[0024] Figure 5 A schematic structural diagram of a control device for a hook arm of a hook arm vehicle provided by an embodiment of the present invention;

[0025] Figure 6 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are 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 are within the scope of protection of the present invention.

[0027] In the field of vehicle engineering, especially in the design and use of hook-arm trucks, the positioning of the hook arm is an important link. The hook-arm truck is a common loading and unloading equipment, and its main function is to load or unload the cargo to the designated location through the extension and rotation of the hook arm.

[0028] In actual operation, the positioning of the hook arm usually needs to be completed through manual operation, which is not only inefficient but also difficult to ensure positioning accuracy.

[0029] Based on this, a method for controlling the hook arm of a hook arm vehicle provided in an embodiment of the present invention can adjust the height of the hook arm device according to the height adjustment strategy, so that the front hook arm of the adjusted hook arm device is hooked to the box hook ring of the target box, thereby reducing the operating difficulty of the hook arm device and improving the working efficiency of the hook arm device.

[0030] To facilitate understanding of this embodiment, a control method for a hook arm of a hook arm vehicle disclosed in an embodiment of the present invention is first introduced in detail.

[0031] Example 1

[0032] An embodiment of the present invention provides a method for controlling a hook arm of a hook arm vehicle. Figure 1 The flowchart of a method for controlling a hook arm of a hook arm vehicle provided by an embodiment of the present invention. Figure 1 As shown, the control method of the hook arm of the hook arm vehicle may include the following steps:

[0033] Step S101, determining an angle deviation between the hook arm device and the target box according to a distance parameter between the hook arm device and the target box.

[0034] It should be noted that the angle deviation is used to characterize the angle deviation between the front hook arm of the hook arm device and the box hook ring of the target box. Therefore, when it is necessary to determine the angle deviation between the hook arm device and the target box, it is necessary to predetermine the required angle required when the front hook arm of the hook arm device is hooked to the box hook ring of the target box and the current angle corresponding to the front hook arm of the hook arm device, and then, determine the angle deviation between the hook arm device and the target box based on the required angle and the current angle.

[0035] Specifically, when it is necessary to determine the angle deviation between the hook arm device and the target box, the following contents may be included: according to the distance parameter between the hook arm device and the target box, determine the required angle required for the front hook arm of the hook arm device to hook the box hook ring of the target box; obtain the current angle corresponding to the front hook arm of the hook arm device; according to the required angle and the current angle, determine the angle deviation between the hook arm device and the target box.

[0036] Step S102: determining a height adjustment strategy for the hook arm device according to the angle deviation.

[0037] It should be noted that the angle deviation may include a deviation type and an angle deviation amount. Specifically, the deviation type may include a first deviation type in which the required angle is smaller than the current angle, and a second deviation type in which the required angle is larger than the current angle.

[0038] Therefore, after determining the deviation type and angle deviation amount in the angle deviation, the raising and lowering strategy for the hook arm main arm of the hook arm equipment is determined according to the deviation type, and the height adjustment amount is determined according to the angle deviation amount; then, the raising and lowering strategy and the height adjustment amount are used as the height adjustment strategy for the hook arm equipment.

[0039] Step S103, adjusting the height of the hook arm device according to the height adjustment strategy, so that the front hook arm of the adjusted hook arm device is hooked with the box hook ring of the target box.

[0040] It should be noted that since the height adjustment strategy carries the raising and lowering strategy and the height adjustment amount, the preset position of the front hook arm of the hook arm device can be determined according to the raising and lowering strategy and the height adjustment amount. The preset position is used to characterize the position at which the front hook arm of the hook arm device can accurately hook the box hook ring of the target box.

[0041] Therefore, when the height of the hook arm device is adjusted according to the height adjustment strategy, the front hook arm of the hook arm device is adjusted to the preset position corresponding to the height adjustment strategy, so that the adjusted front hook arm of the hook arm device is hooked with the box hook ring of the target box.

[0042] In one embodiment of the present application, when the ramp sensor is not faulty, it can be detected in real time whether the current angle is equal to the required angle; if the two are the same, it is determined that the front hook arm of the hook arm device has reached the preset position, and at this time the adjusted front hook arm of the hook arm device can hook the box hook ring of the target box.

[0043] In another embodiment of the present application, when the ramp sensor fails, an in-position switch can be set. Through the in-position switch, it is determined whether the front hook arm of the hook arm device has reached the preset position. If so, it is determined that the front hook arm of the hook arm device after adjustment can be hooked to the box hook ring of the target box.

[0044] Furthermore, after the hook arm device is adjusted to the preset position according to the height adjustment strategy, a prohibition instruction is sent to the hook arm device to prohibit the hook arm device from performing height adjustment at the preset position.

[0045] The embodiment of the present invention provides a control method for the hook arm of a hook arm vehicle, and determines the angle deviation between the hook arm device and the target box according to the distance parameter between the hook arm device and the target box, and determines the height adjustment strategy for the hook arm device according to the angle deviation; and then, the hook arm device is height-adjusted according to the height adjustment strategy, so that the front hook arm of the adjusted hook arm device is hooked with the box hook ring of the target box. According to the above content, it can be known that the present application obtains the angle deviation to realize the positional relationship between the hook arm device and the target box according to the angle deviation, and then, it is ensured that in the process of determining the height adjustment strategy for the hook arm device according to the angle deviation, the height adjustment strategy can be ensured to meet the emergency situation of the hook arm device, and after the height adjustment of the hook arm device according to the height adjustment strategy, the front hook arm of the hook arm device can be effectively hooked with the box hook ring of the target box, which reduces the difficulty of operating the hook arm device, improves the work efficiency of the hook arm device, reduces the cumbersomeness of operation when controlling the hook arm device, prevents unreasonable contact and collision between the hook arm device and the target box, and ensures that the service life of the hook arm device and the target box will not be affected in the process of hooking.

[0046] Example 2

[0047] An embodiment of the present invention also provides another method for controlling the hook arm of a hook arm vehicle; this method is implemented on the basis of the method in the above embodiment; this method focuses on describing a specific implementation method for determining the angle deviation between the hook arm device and the target box body based on the distance parameter between the hook arm device and the target box body.

[0048] Figure 2 A flowchart of another method for controlling a hook arm of a hook arm vehicle provided by an embodiment of the present invention is shown in FIG. Figure 2 As shown, the method of determining the angle deviation between the hook arm device and the target box according to the distance parameter between the hook arm device and the target box may include the following steps:

[0049] S201, determining a required angle required for a front hook arm of the hook arm device to hook a box hook ring of the target box according to a distance parameter between the hook arm device and the target box.

[0050] It should be noted that when determining the required angle required for the front hook arm of the hook arm device to hook the box hook ring of the target box based on the distance parameter between the hook arm device and the target box, the following contents may be included: determining the required height required for the front hook arm of the hook arm device to hook the box hook ring of the target box based on the distance parameter between the hook arm device and the target box; determining the required angle based on the required height required for the front hook arm of the hook arm device to hook the box hook ring of the target box.

[0051] In one embodiment of the present application, Figure 3 A motion relationship diagram of a hook arm mechanism provided in an embodiment of the present invention, after determining the required height required for the front hook arm of the hook arm device to hook the box hook ring of the target box, such as Figure 3 As shown, according to the required height, the position of each point in the hook arm equipment, and the relationship between the hinge and the kinematic pair, the calculation formula corresponding to the required angle can be obtained through function deduction, and then, the required angle can be determined according to the calculation formula of the required angle.

[0052] The calculation formula corresponding to the demand angle is as follows:

[0053]

[0054] Among them, θ refers to the required angle; YB refers to the height of the front hook head of the hook arm device relative to the chassis of the hook arm device; A refers to the length of the L arm of the hook arm device; R refers to the set constant, L refers to the main arm length of the hook arm equipment.

[0055] S202, obtaining the current angle corresponding to the front hook arm of the hook arm device.

[0056] It should be noted that when it is necessary to obtain the current angle corresponding to the front hook arm of the hook arm device, it may specifically include the following contents: triggering the ramp sensor corresponding to the hook arm device; using the current slope detected by the ramp sensor as the current angle corresponding to the front hook arm of the hook arm device.

[0057] S203, determining the angle deviation between the hook arm device and the target box according to the required angle and the current angle.

[0058] It should be noted that the angle deviation may include a deviation type and an angle deviation amount, and the deviation type may include a first deviation type in which a required angle is smaller than a current angle, and a second deviation type in which a required angle is larger than the current angle.

[0059] Therefore, in the process of determining the angular deviation between the hook arm device and the target box, it is necessary to determine the deviation type based on the size relationship between the required angle and the current angle; and determine the angle deviation amount based on the angular difference between the required angle and the current angle.

[0060] An embodiment of the present invention provides a control method for the hook arm of a hook arm vehicle, which determines the required angle required for the front hook arm of the hook arm device to hook the box hook ring of the target box, and the current angle corresponding to the front hook arm of the hook arm device, thereby determining the angle deviation between the hook arm device and the target box according to the required angle and the current angle, thereby providing a data basis for the subsequent determination of the height adjustment strategy, ensuring that the operation difficulty of the hook arm device is reduced, the work efficiency of the hook arm device is improved, and the cumbersomeness of the operation when controlling the hook arm device is reduced.

[0061] Example 3

[0062] The embodiment of the present invention also provides another method for controlling the hook arm of a hook arm vehicle; the method is implemented on the basis of the method in the above embodiment; the method focuses on describing the specific implementation method of determining the height adjustment strategy for the hook arm equipment according to the angle deviation.

[0063] Figure 4 A flowchart of another method for controlling a hook arm of a hook arm vehicle provided by an embodiment of the present invention is shown in FIG. Figure 4 As shown, the height adjustment strategy for the hook arm device is determined according to the angle deviation, which may include the following steps:

[0064] S401, when the required angle is less than the current angle, the height adjustment strategy is determined to lower the hook arm main arm of the hook arm device according to the height adjustment amount.

[0065] It should be noted that when the required angle is smaller than the current angle, the main arm needs to move to issue a main arm lowering command to the upper controller. The upper controller controls the corresponding valve body to open and start the motor to lower the main arm, thereby realizing the operation of lowering the hook arm main arm of the hook arm equipment.

[0066] S402, when the required angle is greater than the current angle, the height adjustment strategy is determined to be to raise the hook arm main arm of the hook arm device according to the height adjustment amount.

[0067] It should be noted that when the required angle is greater than the current angle, the main arm needs to move to issue a main arm raising command to the upper controller. The upper controller controls the corresponding valve body to open and start the motor to raise the main arm, thereby realizing the operation of raising the hook arm main arm of the hook arm equipment.

[0068] The height adjustment amount is determined according to the angle deviation.

[0069] Specifically, the process of determining the height adjustment amount includes: determining the height adjustment amount according to a preset mapping relationship between the candidate adjustment amount and the candidate deviation and the angle deviation.

[0070] An embodiment of the present invention provides a control method for the hook arm of a hook arm vehicle, which determines the height adjustment strategy for the hook arm equipment according to the angle deviation, provides an adjustment basis for the subsequent height adjustment of the hook arm equipment, and ensures that the front hook arm of the adjusted hook arm equipment is hooked to the box hook ring of the target box.

[0071] Example 4

[0072] Corresponding to the above method embodiment, the embodiment of the present invention provides a control device for a hook arm of a hook arm vehicle, Figure 5 A schematic diagram of a control device for a hook arm of a hook arm vehicle provided by an embodiment of the present invention is shown in FIG. Figure 5 As shown, the control device of the hook arm of the hook arm vehicle may include:

[0073] The first determination module 401 is used to determine the angle deviation between the hook arm device and the target box according to the distance parameter between the hook arm device and the target box.

[0074] The second determination module 402 is used to determine a height adjustment strategy for the hook arm device according to the angle deviation.

[0075] The adjustment module 403 is used to adjust the height of the hook arm device according to the height adjustment strategy, so that the front hook arm of the adjusted hook arm device is hooked with the box hook ring of the target box.

[0076] The control device of the hook arm of the hook arm vehicle provided by the embodiment of the present invention determines the angle deviation between the hook arm device and the target box according to the distance parameter between the hook arm device and the target box, and determines the height adjustment strategy for the hook arm device according to the angle deviation; then, the height of the hook arm device is adjusted according to the height adjustment strategy, so that the front hook arm of the adjusted hook arm device is hooked with the box hook ring of the target box. According to the above content, it can be known that the present application obtains the angle deviation to realize the positional relationship between the hook arm device and the target box according to the angle deviation, and then, it is ensured that in the process of determining the height adjustment strategy for the hook arm device according to the angle deviation, the height adjustment strategy can be ensured to meet the emergency situation of the hook arm device, and after the height adjustment of the hook arm device according to the height adjustment strategy, the front hook arm of the hook arm device can be effectively hooked with the box hook ring of the target box, which reduces the difficulty of operating the hook arm device, improves the working efficiency of the hook arm device, reduces the cumbersomeness of operation when controlling the hook arm device, prevents unreasonable contact and collision between the hook arm device and the target box, and ensures that the service life of the hook arm device and the target box will not be affected in the process of hooking.

[0077] In some embodiments, the first determination module is also used to determine the required angle required for the front hook arm of the hook arm device to hook the box hook ring of the target box based on the distance parameter between the hook arm device and the target box; obtain the current angle corresponding to the front hook arm of the hook arm device; and determine the angle deviation between the hook arm device and the target box based on the required angle and the current angle.

[0078] In some embodiments, the second determination module is also used to determine the required height required when the front hook arm of the hook arm device is hooked to the box hook ring of the target box based on the distance parameter between the hook arm device and the target box; and determine the required angle based on the required height required when the front hook arm of the hook arm device is hooked to the box hook ring of the target box.

[0079] In some embodiments, the first determination module is also used to trigger a ramp sensor corresponding to the hook arm device; and use the current slope detected by the ramp sensor as the current angle corresponding to the front hook arm of the hook arm device.

[0080] In some embodiments, the adjustment module is also used to determine the height adjustment strategy as lowering the hook arm main arm of the hook arm device according to the height adjustment amount when the required angle is smaller than the current angle; and to determine the height adjustment strategy as raising the hook arm main arm of the hook arm device according to the height adjustment amount when the required angle is greater than the current angle; wherein the height adjustment amount is determined according to the angle deviation.

[0081] In some embodiments, the second determination module is further used to determine the height adjustment amount according to a preset mapping relationship between the candidate adjustment amount and the candidate deviation and the angle deviation.

[0082] In some embodiments, the adjustment module is further used to send a prohibition instruction to the hook arm device after the hook arm device is adjusted to a preset position according to the height adjustment strategy, so as to prohibit the hook arm device from performing height adjustment at the preset position.

[0083] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0084] Example 5

[0085] The embodiment of the present invention also provides an electronic device for running the above-mentioned control method for the hook arm of the hook arm vehicle; see Figure 6 A structural schematic diagram of an electronic device is shown, which includes a memory 500 and a processor 501, wherein the memory 500 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 501 to implement the above-mentioned control method of the hook arm of the hook arm vehicle.

[0086] Further, Figure 6 The electronic device shown further includes a bus 502 and a communication interface 503 , and the processor 501 , the communication interface 503 and the memory 500 are connected via the bus 502 .

[0087] The memory 500 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 503 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 502 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0088] The processor 501 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 501. The above processor 501 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 500, and the processor 501 reads the information in the memory 500 and completes the steps of the method of the above embodiment in combination with its hardware.

[0089] An embodiment of the present invention also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the above-mentioned method for controlling the hook arm of the hook arm vehicle. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0090] The computer program product for the method of controlling the hook arm of a hook arm vehicle provided in an embodiment of the present invention includes a computer-readable storage medium storing a non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the method described in the previous method embodiment. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0091] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0092] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0093] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0094] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0095] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0096] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for controlling a hook arm of a hook arm vehicle, characterized in that: The method comprises: Determine the angle deviation between the hook arm device and the target box according to the distance parameter between the hook arm device and the target box; Determining a height adjustment strategy for the hook arm device according to the angle deviation; The height of the hook arm device is adjusted according to the height adjustment strategy, so that the front hook arm of the adjusted hook arm device is hooked with the box hook ring of the target box.

2. The method according to claim 1, characterized in that The step of determining the angle deviation between the hook arm device and the target box according to the distance parameter between the hook arm device and the target box includes: Determine the required angle required when the front hook arm of the hook arm device is hooked to the box hook ring of the target box according to the distance parameter between the hook arm device and the target box; Obtaining a current angle corresponding to the front hook arm of the hook arm device; According to the required angle and the current angle, an angle deviation between the hook arm device and the target box is determined.

3. The method according to claim 2, characterized in that The step of determining the required angle required for the front hook arm of the hook arm device to hook the box hook ring of the target box according to the distance parameter between the hook arm device and the target box includes: Determine the required height required when the front hook arm of the hook arm device is hooked to the box hook ring of the target box according to the distance parameter between the hook arm device and the target box; The required angle is determined according to the required height required when the front hook arm of the hook arm device is hooked with the box hook ring of the target box.

4. The method according to claim 2, characterized in that: The obtaining of the current angle corresponding to the front hook arm of the hook arm device includes: triggering a ramp sensor corresponding to the hook arm device; The current slope detected by the ramp sensor is used as the current angle corresponding to the front hook arm of the hook arm device.

5. The method according to claim 2, characterized in that: Determining a height adjustment strategy for the hook arm device according to the angle deviation includes: In the case where the required angle is less than the current angle, determining that the height adjustment strategy is to lower the hook arm main arm of the hook arm device according to the height adjustment amount; In the case where the required angle is greater than the current angle, determining that the height adjustment strategy is to raise the hook arm main arm of the hook arm device according to the height adjustment amount; Wherein, the height adjustment amount is determined according to the angle deviation.

6. The method according to claim 5, characterized in that The process of determining the height adjustment amount includes: The height adjustment amount is determined according to a preset mapping relationship between the candidate adjustment amount and the candidate deviation and the angle deviation.

7. The method according to claim 1, characterized in that The step of adjusting the height of the hook arm device according to the height adjustment strategy includes: After the hook arm device is adjusted to the preset position according to the height adjustment strategy, a prohibition instruction is sent to the hook arm device to prohibit the hook arm device from performing height adjustment at the preset position.

8. A control device for a hook arm of a hook arm vehicle, characterized in that: include: A first determination module, used to determine an angle deviation between the hook arm device and the target box according to a distance parameter between the hook arm device and the target box; A second determination module is used to determine a height adjustment strategy for the hook arm device according to the angle deviation; An adjustment module is used to adjust the height of the hook arm device according to the height adjustment strategy, so that the front hook arm of the hook arm device after adjustment is hooked with the box hook ring of the target box.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the method for controlling the hook arm of a hook arm vehicle according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions prompt the processor to implement the method for controlling the hook arm of a hook arm vehicle according to any one of claims 1 to 7.

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