Hook arm control method and device, electronic equipment and storage medium

Abstract

The application provides a hook arm control method and device, electronic equipment and storage medium, and relates to the technical field of vehicle engineering technology, and comprises the following steps: determining the angle deviation between the hook arm equipment and the target box according to the distance parameter between the hook arm equipment and the target box; determining the height adjustment strategy for the hook arm equipment according to the angle deviation; and adjusting the height of the hook arm equipment according to the height adjustment strategy, so that the front hook arm of the adjusted hook arm equipment hooks the box hook ring of the target box. In this way, the height of the hook arm equipment is adjusted according to the height adjustment strategy, so that the front hook arm of the adjusted hook arm equipment hooks the box hook ring of the target box. 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] This invention relates to the field of vehicle engineering technology, and in particular to a control method, device, electronic equipment, and storage medium for a hook boom truck. Background Technology

[0002] In the field of vehicle engineering, especially in the design and use of hooklift trucks, hook boom positioning is a crucial aspect. Hooklift trucks are a common type of loading and unloading equipment; their main function is to load or unload goods to designated locations via the extension, retraction, and rotation of the hook boom.

[0003] However, in practice, the positioning of the hook arm usually needs to be done manually, which is not only inefficient, but also makes it difficult to guarantee positioning accuracy. Summary of the Invention

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

[0005] In a first aspect, embodiments of the present invention provide a control method for the hook arm of a hook-lift truck, the method comprising: determining the angular deviation between the hook-lift equipment and the target box based on a distance parameter between the hook-lift equipment and the target box; determining a height adjustment strategy for the hook-lift equipment based on the angular deviation; and adjusting the height of the hook-lift equipment according to the height adjustment strategy, so that the front hook arm of the adjusted hook-lift equipment hooks the box hook ring of the target box.

[0006] In a preferred embodiment of the present invention, determining the angular deviation between the hook arm device and the target box based on the distance parameters between the hook arm device and the target box includes: determining the required angle for the front hook arm of the hook arm device to hook the box hook of the target box based on the distance parameters 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 based on the required angle and the current angle.

[0007] In a preferred embodiment of the present invention, determining the required angle for the front hook arm of the hook arm to hook onto the target box's hook ring based on the distance parameter between the hook arm and the target box includes: determining the required height for the front hook arm of the hook arm to hook onto the target box's hook ring based on the distance parameter between the hook arm and the target box; and determining the required angle based on the required height for the front hook arm of the hook arm to hook onto the target box's hook ring.

[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 the 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, determining a height adjustment strategy for the hook boom device based on the angle deviation includes: if the required angle is less than the current angle, then determining the height adjustment strategy as lowering the hook boom main arm of the hook boom device according to the height adjustment amount; if the required angle is greater than the current angle, then determining the height adjustment strategy as raising the hook boom main arm of the hook boom 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 based on the preset mapping relationship between candidate adjustment amounts and candidate deviations and the angle deviation.

[0011] In a preferred embodiment of the present invention, adjusting the height of the hook arm device according to the height adjustment strategy includes: after the hook arm device is adjusted to a preset position according to the height adjustment strategy, a prohibition command is sent to the hook arm device to prevent the hook arm device from making height adjustments at the preset position.

[0012] Secondly, embodiments of the present invention also provide a control device for the hook arm of a hook-lift truck, comprising: a first determining module, configured to determine the angular deviation between the hook arm and the target box based on a distance parameter between the hook arm and the target box; a second determining module, configured to determine a height adjustment strategy for the hook arm based on the angular deviation; and an adjusting module, configured to adjust the height of the hook arm according to the height adjustment strategy, so that the front hook arm of the adjusted hook arm engages with the box hook of the target box.

[0013] Thirdly, embodiments of the present invention also provide 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 hook arm control method of the hook arm truck described in the first aspect.

[0014] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are invoked and executed by a processor, the computer-executable instructions cause the processor to implement the control method for the hook arm of the hook arm truck described in the first aspect.

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

[0016] This invention provides a control method, device, electronic device, and storage medium for a hook boom truck. Based on the distance parameter between the hook boom and the target container, the angular deviation between the hook boom and the target container is determined. Then, based on the angular deviation, a height adjustment strategy for the hook boom is determined. Finally, the height of the hook boom is adjusted according to the height adjustment strategy so that the front hook arm of the adjusted hook boom engages with the container hook ring of the target container. As can be seen from the above, this application obtains the angle deviation to reflect the positional relationship between the hook arm and the target box. This ensures that the height adjustment strategy for the hook arm is appropriate for its specific situation when determining the height adjustment strategy based on the angle deviation. Furthermore, after adjusting the height of the hook arm according to the strategy, the front hook of the hook arm can effectively connect to the target box's hook ring, reducing the operational difficulty of the hook arm, improving its working efficiency, reducing the complexity of controlling the hook arm, preventing unreasonable contact and collision between the hook arm and the target box, and ensuring that the service life of both the hook arm and the target box is not affected during the connection process.

[0017] Other features and advantages of this disclosure will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the techniques described above.

[0018] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 A flowchart illustrating a control method for the hook arm of a hooklift truck provided in an embodiment of the present invention;

[0021] Figure 2 A flowchart illustrating another control method for the hook arm of a hooklift truck provided in an embodiment of the present invention;

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

[0023] Figure 4A flowchart illustrating another control method for the hook arm of a hooklift truck provided in an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of a control device for a hook arm of a hook arm truck, provided in an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In the field of vehicle engineering, especially in the design and use of hooklift trucks, hook boom positioning is a crucial aspect. Hooklift trucks are a common type of loading and unloading equipment; their main function is to load or unload goods to designated locations via the extension, retraction, and rotation of the hook boom.

[0028] In practice, the positioning of the hook arm usually needs to be done manually, which is not only inefficient, but also makes it difficult to guarantee positioning accuracy.

[0029] Based on this, the present invention provides a control method for the hook arm of a hooklift truck, which can adjust the height of the hook arm according to a height adjustment strategy, so that the front hook arm of the adjusted hook arm can engage with the hook ring of the target box. This reduces the operating difficulty of the hook arm and improves its working efficiency.

[0030] To facilitate understanding of this embodiment, a control method for the hook arm of a hooklift truck disclosed in this embodiment of the invention will be described in detail first.

[0031] Example 1

[0032] This invention provides a control method for the hook arm of a hooklift truck. Figure 1 This is a flowchart illustrating a control method for the hook arm of a hooklift truck, provided as an embodiment of the present invention. Figure 1 As shown, the control method for the hook arm of this hooklift truck may include the following steps:

[0033] Step S101: Determine the angular deviation between the hook arm equipment and the target box based on the distance parameters between the hook arm equipment 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 boom equipment and the target box's body hook. Therefore, when it is necessary to determine the angle deviation between the hook boom equipment and the target box, it is necessary to pre-determine the required angle for the front hook arm of the hook boom equipment to hook the target box's body hook and the current angle corresponding to the front hook arm of the hook boom equipment. Then, based on the required angle and the current angle, the angle deviation between the hook boom equipment and the target box can be determined.

[0035] Specifically, when it is necessary to determine the angular deviation between the hook boom and the target box, the following can be included: based on the distance parameters between the hook boom and the target box, determine the required angle for the front hook arm of the hook boom to hook into the box hook of the target box; obtain the current angle corresponding to the front hook arm of the hook boom; and determine the angular deviation between the hook boom and the target box based on the required angle and the current angle.

[0036] Step S102: Determine the height adjustment strategy for the hook arm equipment based on the angle deviation.

[0037] It should be noted that angular deviation can include deviation type and angular deviation amount. Specifically, deviation type can include the first deviation type where the required angle is less than the current angle, and the second deviation type where the required angle is greater than the current angle.

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

[0039] Step S103: 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 connected to the target box's hook ring.

[0040] It should be noted that since the height adjustment strategy includes a raising and lowering strategy and a height adjustment amount, the preset position of the front hook arm of the hook arm equipment can be determined based on the raising and lowering strategy and the height adjustment amount. This preset position is used to characterize that the front hook arm of the hook arm equipment can accurately hook the target box's hook ring at this position.

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

[0042] In one embodiment of this application, when the ramp sensor is not malfunctioning, it can detect 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 target box body hook ring.

[0043] In another embodiment of this application, when the ramp sensor malfunctions, a position switch can be set. The position switch is used to determine 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 hook the target box's hook ring.

[0044] Furthermore, after the hook boom is adjusted to the preset position according to the height adjustment strategy, a prohibition command is sent to the hook boom to prevent the hook boom from making height adjustments at the preset position.

[0045] This invention provides a control method for the hook arm of a hooklift truck. Based on the distance parameter between the hook arm and the target container, the angular deviation between the hook arm and the target container is determined. Then, based on the angular deviation, a height adjustment strategy for the hook arm is determined. Subsequently, the height of the hook arm is adjusted according to the height adjustment strategy so that the front hook arm of the adjusted hook arm engages with the container hook of the target container. As can be seen from the above, this application obtains the angular deviation to reflect the positional relationship between the hook arm and the target container. This ensures that the height adjustment strategy determined based on the angular deviation is suitable for the hook arm's situation. Furthermore, after adjusting the height of the hook arm according to the height adjustment strategy, the front hook arm of the hook arm can effectively engage with the container hook of the target container, reducing the operational difficulty of the hook arm, improving its working efficiency, reducing the complexity of controlling the hook arm, preventing unreasonable contact and collision between the hook arm and the target container, and ensuring that the service life of the hook arm and the target container is not affected during the engagement process.

[0046] Example 2

[0047] This invention also provides another control method for the hook arm of a hook arm truck; this method is implemented based on the method in the above embodiments; the method focuses on describing the specific implementation of determining the angular deviation between the hook arm equipment and the target box based on the distance parameter between the hook arm equipment and the target box.

[0048] Figure 2 A flowchart of another control method for the hook boom of a hook boom truck provided in an embodiment of the present invention is shown below. Figure 2 As shown, determining the angular deviation between the hook boom and the target container based on the distance parameter between them can include the following steps:

[0049] S201, Based on the distance parameters between the hook arm equipment and the target box, determine the required angle for the front hook arm of the hook arm equipment to hook the box hook of the target box.

[0050] It should be noted that when determining the required angle for the front hook arm of the hook arm to hook onto the target container's hook ring based on the distance parameters between the hook arm and the target container, the following can be included: determining the required height for the front hook arm of the hook arm to hook onto the target container's hook ring based on the distance parameters between the hook arm and the target container; and determining the required angle based on the required height for the front hook arm of the hook arm to hook onto the target container's hook ring.

[0051] In one embodiment of this application, Figure 3 This invention provides a motion diagram of a hook arm mechanism. After determining the required height for the front hook arm of the hook arm device to hook the target box's hook ring, as shown in the diagram... Figure 3 As shown, based on the required height and the positions of various points in the hook arm equipment and the interrelationships of hinges and kinematic pairs, the calculation formula corresponding to the required angle can be derived through function derivation. Then, the required angle can be determined based on the calculation formula of the required angle.

[0052] The calculation formula corresponding to the demand perspective is shown below:

[0053]

[0054] Where θ refers to the required angle; YB refers to the height of the front hook head of the hook boom relative to the hook boom chassis; A refers to the L-arm length of the hook boom; and R refers to a set constant. L refers to the length of the main boom of the hooklift equipment.

[0055] S202, Obtain 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 of the front hook arm of the hook boom device, the following can be included: triggering the ramp sensor corresponding to the hook boom device; and using the current slope detected by the ramp sensor as the current angle of the front hook arm of the hook boom device.

[0057] S203, determine the angular deviation between the hook boom equipment and the target box based on the required angle and the current angle.

[0058] It should be noted that angular deviation can include deviation type and angular deviation amount. Furthermore, deviation type can include a first deviation type where the required angle is less than the current angle, and a second deviation type where the required angle is greater than the current angle.

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

[0060] This invention provides a control method for the hook arm of a hooklift truck. By determining the required angle for the front hook arm of the hooklift truck to hook the target box, and the current angle of the front hook arm, the method determines the angular deviation between the hooklift truck and the target box based on the required angle and the current angle. This provides a data foundation for determining the height adjustment strategy, reduces the operational difficulty of the hooklift truck, improves its working efficiency, and reduces the complexity of controlling the hooklift truck.

[0061] Example 3

[0062] This invention also provides another method for controlling the hook arm of a hooklift truck; this method is implemented based on the method in the above embodiments; the method focuses on describing the specific implementation of determining the height adjustment strategy for the hook arm equipment based on the angle deviation.

[0063] Figure 4 A flowchart illustrating another control method for the hook arm of a hooklift truck provided in an embodiment of the present invention is shown below. Figure 4 As shown, determining the height adjustment strategy for the hook boom equipment based on the angle deviation may include the following steps:

[0064] S401, if the required angle is less than the current angle, the height adjustment strategy is determined to be to lower the main boom of the hook boom equipment according to the height adjustment amount.

[0065] It should be noted that if the required angle is less than the current angle, the main boom needs to send a main boom descent command to the upper structure controller. The upper structure controller then controls the corresponding valve body to open and starts the motor, causing the main boom to descend, thus realizing the operation of lowering the hook boom main boom of the hook boom equipment.

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

[0067] It should be noted that when the required angle is greater than the current angle, the main boom needs to send a main boom raising command to the upper structure controller. The upper structure controller then controls the corresponding valve body to open and starts the motor, causing the main boom to rise and thus realizing the operation of raising the hook boom main boom of the hook boom equipment.

[0068] The height adjustment amount is determined based on the angle deviation.

[0069] Specifically, the process of determining the height adjustment amount includes: determining the height adjustment amount based on the preset mapping relationship between candidate adjustment amounts and candidate deviations and the angle deviation.

[0070] This invention provides a control method for the hook arm of a hook-lift truck. Based on the angle deviation, a height adjustment strategy for the hook arm equipment is determined, providing a basis for subsequent height adjustment of the hook arm equipment and ensuring that the front hook arm of the hook arm of the completed hook arm equipment is connected to the target box's hook ring.

[0071] Example 4

[0072] Corresponding to the above method embodiments, this invention provides a control device for the hook arm of a hooklift truck. Figure 5 This is a schematic diagram of the structure of a control device for the hook arm of a hooklift truck provided in an embodiment of the present invention, as shown below. Figure 5 As shown, the control device for the hook arm of the hooklift truck may include:

[0073] The first determining module 401 is used to determine the angular deviation between the hook arm equipment and the target box based on the distance parameter between the hook arm equipment and the target box.

[0074] The second determining module 402 is used to determine the height adjustment strategy for the hook arm equipment based on 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 can hook the target box body hook ring.

[0076] The hook arm control device provided in this embodiment of the invention determines the angular deviation between the hook arm and the target box based on the distance parameter between them, and determines a height adjustment strategy for the hook arm based on the angular deviation. Then, the hook arm is height-adjusted according to the height adjustment strategy so that the front hook arm of the adjusted hook arm engages with the box hook of the target box. As can be seen from the above, this application obtains the angular deviation to reflect the positional relationship between the hook arm and the target box. This ensures that the height adjustment strategy, determined based on the angular deviation, is suitable for the hook arm's condition. Furthermore, after height adjustment, the front hook arm effectively engages with the box hook, reducing the operational difficulty of the hook arm, improving its working efficiency, reducing the complexity of controlling the hook arm, preventing unreasonable contact and collision between the hook arm and the target box, and ensuring that the service life of both the hook arm and the target box is not affected during the engagement process.

[0077] In some embodiments, the first determining module is further configured to determine the required angle for the front hook arm of the hook arm device to hook the hook ring of the target box according to 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 according to the required angle and the current angle.

[0078] In some embodiments, the second determining module is further configured to determine the required height for the front hook arm of the hook arm device to hook the hook ring of the target box based on the distance parameter between the hook arm device and the target box; and to determine the required angle based on the required height for the front hook arm of the hook arm device to hook the hook ring of the target box.

[0079] In some embodiments, the first determining module is further configured to trigger the 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 further configured to determine, when the required angle is less than the current angle, a height adjustment strategy of lowering the main boom of the hook boom device according to the height adjustment amount; and when the required angle is greater than the current angle, a height adjustment strategy of raising the main boom of the hook boom device according to the height adjustment amount; wherein the height adjustment amount is determined based on the angle deviation.

[0081] In some embodiments, the second determining module is further configured to determine the height adjustment amount based on the preset mapping relationship between candidate adjustment amount and candidate deviation and the angle deviation.

[0082] In some embodiments, the adjustment module is further configured to send a prohibition command to the hook arm device after the hook arm device has been adjusted to a preset position according to the height adjustment strategy, so as to prohibit the hook arm device from making height adjustments at the preset position.

[0083] The device provided in this embodiment of the invention has the same implementation principle and technical effect as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment.

[0084] Example 5

[0085] This invention also provides an electronic device for operating the above-described control method for the hook arm of a hooklift truck; see [link to related documentation]. Figure 6 The diagram shows the structure of an electronic device, which includes a memory 500 and a processor 501. The memory 500 stores one or more computer instructions, which are executed by the processor 501 to implement the above-mentioned control method for the hook arm of the hooklift truck.

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

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

[0088] Processor 501 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 501 or by instructions in software form. 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 gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a readily available storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 500, and processor 501 reads information from memory 500 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0089] This invention also provides a computer-readable storage medium storing computer-executable instructions. When these computer-executable instructions are called and executed by a processor, they cause the processor to implement the above-described control method for the hook arm of the hooklift truck. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0090] The computer program product for controlling the hook arm of a hooklift truck provided in this embodiment of the invention includes a computer-readable storage medium storing non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

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

[0092] In the several embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

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

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

[0095] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0096] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control method for the hook arm of a hooklift truck, characterized in that, The method includes: Based on the distance parameters between the hook arm equipment and the target box, determine the angular deviation between the hook arm equipment and the target box; Based on the angle deviation, determine the height adjustment strategy for the hook arm device; 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 into the target box's hook ring. The step of determining the angular deviation between the hook boom and the target container based on the distance parameter between them includes: Based on the distance parameters between the hook arm device and the target box, determine the required angle for the front hook arm of the hook arm device to hook the box hook of the target box. Obtain the current angle of the front hook arm of the hook arm device; Based on the required angle and the current angle, determine the angular deviation between the hook arm device and the target box; The step of obtaining the current angle corresponding to the front hook arm of the hook arm device includes: Trigger the 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; When the ramp sensor is functioning correctly, it continuously monitors whether the current angle is equal to the required angle. If they are the same, it is determined that the front hook arm of the hook boom equipment has reached the preset position. The position switch is used to determine whether the front hook arm of the hook arm equipment has reached the preset position; If the required angle is less than the current angle, the main boom needs to send a main boom descent command to the upper structure controller. The upper structure controller then controls the corresponding valve to open and starts the motor, causing the main boom to descend. If the required angle is greater than the current angle, the main boom needs to send a main boom raising command to the superstructure controller. The superstructure controller then controls the corresponding valve to open and starts the motor, causing the main boom to rise.

2. The method according to claim 1, characterized in that, The step of determining the required angle for the front hook arm of the hook arm to engage with the hook ring of the target box based on the distance parameter between the hook arm equipment and the target box includes: Based on the distance parameters between the hook arm device and the target box, determine the required height for the front hook arm of the hook arm device to hook the box hook of the target box; The required angle is determined based on the required height when the front hook arm of the hook arm device hooks the target box's hook ring.

3. The method according to claim 1, characterized in that, The step of determining the height adjustment strategy for the hook arm equipment based on the angle deviation includes: If the required angle is less than the current angle, then the height adjustment strategy is determined to be to lower the main boom of the hook boom device according to the height adjustment amount. If the required angle is greater than the current angle, then the height adjustment strategy is determined to be to raise the main boom of the hook boom device according to the height adjustment amount. The height adjustment amount is determined based on the angle deviation.

4. The method according to claim 3, characterized in that, The process of determining the height adjustment amount includes: The height adjustment amount is determined based on the preset mapping relationship between candidate adjustment amounts and candidate deviations, and the angle deviation.

5. 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 adjusts to the preset position according to the height adjustment strategy, a prohibition command is sent to the hook arm device to prevent the hook arm device from making height adjustments at the preset position.

6. A control device for the hook arm of a hooklift truck, characterized in that, The method for controlling the hook arm of a hooklift truck according to any one of claims 1 to 5 includes: The first determining module is used to determine the angular deviation between the hook arm device and the target box based on the distance parameter between the hook arm device and the target box. The second determining module is used to determine a height adjustment strategy for the hook arm device based on 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 adjusted hook arm device is connected to the box hook ring of the target box.

7. An electronic device, characterized in that, The device includes a processor and a memory, the memory storing computer-executable instructions that can be executed by the processor, the processor executing the computer-executable instructions to implement the hook boom control method of any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the control method for the hook arm of the hook arm truck according to any one of claims 1 to 5.

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