Suspension automatic leveling control device and method

Abstract

The invention discloses an automatic leveling control device and method for a suspension, and belongs to the technical field of suspension leveling, and the device comprises a suspension position obtaining module which is used for obtaining the position of the suspension; the vehicle state acquisition module is used for acquiring a vertical running state and an inclined state of the vehicle; and the control module is used for controlling the suspension to ascend or descend according to the position of the suspension until the suspension is leveled, and in the process of controlling the suspension to ascend or descend, the rotating speed of the engine and the current value of the suspension pressure valve are adjusted according to the vertical motion state of the vehicle, and the ascending or descending speed and amplitude of the suspension are controlled. The device can control the lifting speed and amplitude of the suspension and reduce the impact on a vehicle in the leveling process.

Description

Technical Field

[0001] The invention belongs to the technical field of suspension leveling, and in particular relates to a suspension automatic leveling control device and method. Background Art

[0002] The suspension is a commonly used component of all-terrain cranes. Adjusting the suspension position to the lowest position can increase the crane's passability in height-restricted sections; adjusting the suspension position to the highest position can increase the crane's passability over large obstacles on the ground; adjusting the suspension to the middle position for long-distance driving can increase driving safety. Suspension leveling generally uses the automatic leveling function to control the vehicle suspension to the middle position. When the vehicle meets the leveling conditions (i.e., vehicle start, hook force, zero speed, etc.), the leveling action is triggered by a suspension leveling enable button.

[0003] The Chinese patent with publication number CN116176199A discloses a control method for suspension leveling and a suspension leveling control device, wherein the suspension leveling control device communicates with a plurality of displacement sensors, which are respectively arranged on a plurality of suspension cylinders, each of which controls a suspension. The control method comprises: obtaining calibration ranges and set heights of a plurality of suspensions; determining whether the set height is within the calibration range; and leveling each suspension according to the comparison result between the actual height of each suspension and the set height.

[0004] When the suspension is automatically leveled using the above technology, the suspension can easily go past the center position. During the leveling process, the vehicle sways back and forth near the center position of the suspension, causing a great impact on the vehicle. Alternatively, the leveling speed is very slow, which seriously affects the vehicle's efficiency. Summary of the invention

[0005] The object of the present invention is to provide a suspension automatic leveling control device and method, which can control the speed and amplitude of suspension lifting and lowering and can reduce the impact of the leveling process on the vehicle.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: In a first aspect, the present invention provides a suspension automatic leveling control device, comprising: A suspension position acquisition module, used to acquire the position of the suspension; A vehicle state acquisition module, used to acquire the vertical running state and tilt state of the vehicle; The control module is used to control the suspension to rise or fall according to the position of the suspension until the suspension is leveled. In the process of controlling the suspension to rise or fall, the engine speed and the current value of the suspension pressure valve are adjusted according to the vertical movement state and tilt state of the vehicle to control the speed and amplitude of the suspension rise or fall.

[0007] In combination with the first aspect, further, the suspension position acquisition module includes a proximity sensor or a length sensor arranged on the suspension, and the suspension position acquisition module acquires the position of the suspension through the proximity sensor or the length sensor.

[0008] In combination with the first aspect, further, according to the position of the suspension, controlling the suspension to rise or fall includes: When the suspension position is lower than the neutral position, the suspension is controlled to rise; When the suspension position is higher than the neutral position, the suspension is controlled to descend; When the suspension is in the middle position, the suspension is determined to be level, and the suspension is controlled to stop rising or falling.

[0009] In combination with the first aspect, further, the vertical motion state of the vehicle includes the vertical speed and / or vertical acceleration of the vehicle; the tilt state of the vehicle includes the tilt angle of the vehicle relative to the horizontal plane.

[0010] In combination with the first aspect, further, the vehicle state acquisition module includes an inertial sensor arranged on the vehicle, and the vehicle state acquisition module acquires the vertical acceleration of the vehicle through the inertial sensor, and acquires the inclination angle of the vehicle relative to the horizontal plane through the inertial sensor.

[0011] In combination with the first aspect, further, the vehicle state acquisition module includes a level meter provided on the vehicle, and the vehicle state acquisition module acquires the inclination angle of the vehicle relative to the horizontal plane through the level meter; The vehicle state acquisition module also includes a speed sensor disposed on the vehicle, and the vehicle state acquisition module acquires the vertical speed of the vehicle through the speed sensor; And / or the vehicle state acquisition module also includes an acceleration sensor arranged on the vehicle, and the vehicle state acquisition module acquires the vertical acceleration of the vehicle through the acceleration sensor.

[0012] In combination with the first aspect, further, adjusting the engine speed and the current value of the suspension pressure valve according to the vertical motion state and the tilt state of the vehicle includes: When the inclination angle of the vehicle relative to the horizontal plane is greater than or equal to the inclination angle threshold, adjusting the engine speed to below the speed threshold and adjusting the current value of the suspension pressure valve to below the current threshold; When the inclination angle of the vehicle relative to the horizontal plane is less than the inclination angle threshold, the optimal speed of the engine and the optimal current value of the suspension pressure valve are calculated according to the vertical speed and / or vertical acceleration of the vehicle, and the engine speed is adjusted to the optimal speed and the current value of the suspension pressure valve is adjusted to the optimal current value.

[0013] In a second aspect, the present invention provides a suspension automatic leveling control method, comprising: Get the position of the suspension; Obtaining the vertical running state and tilt state of the vehicle; According to the position of the suspension, the suspension is controlled to rise or fall until the suspension is leveled. In the process of controlling the suspension to rise or fall, the engine speed and the current value of the suspension pressure valve are adjusted according to the vertical movement and tilt state of the vehicle to control the speed and amplitude of the suspension rise or fall.

[0014] In combination with the second aspect, further, according to the position of the suspension, controlling the suspension to rise or fall includes: When the suspension position is lower than the neutral position, the suspension is controlled to rise; When the suspension position is higher than the neutral position, the suspension is controlled to descend; When the suspension is in the middle position, the suspension is determined to be level, and the suspension is controlled to stop rising or falling.

[0015] In combination with the second aspect, further, the vertical motion state of the vehicle includes the vertical velocity and / or vertical acceleration of the vehicle; the tilt state of the vehicle includes the tilt angle of the vehicle relative to the horizontal plane; According to the vertical motion state and tilt state of the vehicle, the engine speed and the current value of the suspension pressure valve are adjusted including: When the inclination angle of the vehicle relative to the horizontal plane is greater than or equal to the inclination angle threshold, adjusting the engine speed to below the speed threshold and adjusting the current value of the suspension pressure valve to below the current threshold; When the inclination angle of the vehicle relative to the horizontal plane is less than the inclination angle threshold, the optimal speed of the engine and the optimal current value of the suspension pressure valve are calculated according to the vertical speed and / or vertical acceleration of the vehicle, and the engine speed is adjusted to the optimal speed and the current value of the suspension pressure valve is adjusted to the optimal current value.

[0016] The automatic leveling control device for suspension provided by the present invention, in the process of controlling the suspension to rise or fall, adjusts the engine speed and the current value of the suspension pressure valve according to the vertical movement state of the vehicle, so as to control the speed and amplitude of the suspension to rise or fall; on the one hand, it can reduce the tilt angle of the vehicle during the leveling process, reduce the degree of shaking of the vehicle during the leveling process, and prevent the vehicle from tipping over during the leveling process; on the other hand, it can stop the lifting and lowering action in time when the suspension reaches the middle position, so as to avoid the suspension repeatedly rushing through the middle position during the leveling process, and reduce the impact of the leveling process on the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flow chart of a suspension automatic leveling control method provided by an embodiment of the present invention; Figure 2 Schematic diagram of a proximity sensor provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The technical solution of the present application is further described in detail below in conjunction with specific implementation methods.

[0019] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and should not be construed as limitations on the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

[0020] The embodiment of the present application provides a suspension automatic leveling control device, comprising: A suspension position acquisition module, used to acquire the position of the suspension; A vehicle state acquisition module, used to acquire the vertical running state and tilt state of the vehicle; The control module is used to control the suspension to rise or fall according to the position of the suspension until the suspension is leveled. In the process of controlling the suspension to rise or fall, the engine speed and the current value of the suspension pressure valve are adjusted according to the vertical movement state and tilt state of the vehicle to control the speed and amplitude of the suspension rise or fall.

[0021] The automatic leveling control device for the suspension provided in the present embodiment adjusts the engine speed and the current value of the suspension pressure valve according to the vertical movement state of the vehicle during the process of controlling the suspension to rise or fall, so as to control the speed and amplitude of the suspension to rise or fall. On the one hand, it can reduce the tilt angle of the vehicle during the leveling process, reduce the degree of shaking of the vehicle during the leveling process, and prevent the vehicle from tipping over during the leveling process. On the other hand, it can stop the lifting and lowering action in time when the suspension reaches the middle position, so as to avoid the suspension repeatedly rushing through the middle position during the leveling process, and reduce the impact of the leveling process on the vehicle.

[0022] In this embodiment, according to the position of the suspension, controlling the suspension to rise or fall specifically includes: When the suspension position is lower than the neutral position, the suspension is controlled to rise; When the suspension position is higher than the neutral position, the suspension is controlled to descend; When the suspension is in the middle position, the suspension is determined to be level, and the suspension is controlled to stop rising or falling.

[0023] In this embodiment, the vertical motion state of the vehicle includes the vertical velocity and / or vertical acceleration of the vehicle; the tilt state of the vehicle includes the tilt angle of the vehicle relative to the horizontal plane.

[0024] According to the vertical motion state and tilt state of the vehicle, adjusting the engine speed and the current value of the suspension pressure valve specifically includes: When the inclination angle of the vehicle relative to the horizontal plane is greater than or equal to the inclination angle threshold, adjusting the engine speed to below the speed threshold and adjusting the current value of the suspension pressure valve to below the current threshold; When the inclination angle of the vehicle relative to the horizontal plane is less than the inclination angle threshold, the optimal speed of the engine and the optimal current value of the suspension pressure valve are calculated according to the vertical speed and / or vertical acceleration of the vehicle, and the engine speed is adjusted to the optimal speed and the current value of the suspension pressure valve is adjusted to the optimal current value.

[0025] In a possible embodiment, the suspension position acquisition module includes a proximity sensor disposed on the suspension, and the suspension position acquisition module acquires the position of the suspension through the proximity sensor.

[0026] Specifically, Figure 2 As shown, the suspension position acquisition module includes two proximity sensors vertically arranged at the same distance above and below the suspension center, wherein one proximity sensor is arranged above the suspension center, and the other proximity sensor is arranged below the suspension center, and the distances between the two proximity sensors and the suspension center are the same. When one of the two proximity sensors is detected to have a signal and the other is not, it is determined that the suspension position is in the center; when both proximity sensors are detected to have a signal, it is determined that the suspension position is below the center; when both proximity sensors are detected to have no signal, it is determined that the suspension position is above the center.

[0027] In a possible embodiment, the suspension position acquisition module includes a length sensor disposed on the suspension, and the suspension position acquisition module acquires the position of the suspension through the length sensor.

[0028] Specifically, the length sensor automatically extends as the suspension rises or automatically shortens as the suspension falls. When the suspension is at the lowest position, the length sensor is calibrated to zero, and when the suspension is at the highest position, the length sensor is calibrated to the maximum value, and half of the maximum value is the suspension center. When the length sensor is calibrated to A±X, the suspension is judged to be in the center; when the length sensor is calibrated to a value less than A-X, the suspension is judged to be below the center; when the length sensor is calibrated to a value greater than A+X, the suspension is judged to be above the center. Among them, A represents half of the maximum value of the length sensor calibration when the suspension is at the highest position, that is, the suspension center, and X represents the preset center error.

[0029] In a possible embodiment, the vehicle state acquisition module includes an inertial sensor disposed on the vehicle, and the vehicle state acquisition module acquires the vertical acceleration of the vehicle through the inertial sensor, and acquires the inclination angle of the vehicle relative to the horizontal plane through the inertial sensor.

[0030] In a possible embodiment, the vehicle state acquisition module includes a speed sensor and a level meter provided on the vehicle. The vehicle state acquisition module acquires the vertical speed of the vehicle through the speed sensor, and acquires the inclination angle of the vehicle relative to the horizontal plane through the level meter.

[0031] In a possible embodiment, the vehicle state acquisition module includes an acceleration sensor and a level meter provided on the vehicle. The vehicle state acquisition module acquires the vertical acceleration of the vehicle through the acceleration sensor, and acquires the inclination angle of the vehicle relative to the horizontal plane through the level meter.

[0032] In a possible embodiment, the vehicle state acquisition module includes a speed sensor, an acceleration sensor and a spirit level which are arranged on the vehicle. The vehicle state acquisition module acquires the vertical speed of the vehicle through the speed sensor, acquires the vertical acceleration of the vehicle through the acceleration sensor, and acquires the inclination angle of the vehicle relative to the horizontal plane through the spirit level.

[0033] The present application provides a suspension automatic leveling control method, comprising: Get the position of the suspension; Obtaining the vertical running state and tilt state of the vehicle; According to the position of the suspension, the suspension is controlled to rise or fall until the suspension is leveled. In the process of controlling the suspension to rise or fall, the engine speed and the current value of the suspension pressure valve are adjusted according to the vertical movement and tilt state of the vehicle to control the speed and amplitude of the suspension rise or fall.

[0034] In this embodiment, according to the position of the suspension, controlling the suspension to rise or fall specifically includes: When the suspension position is lower than the neutral position, the suspension is controlled to rise; When the suspension position is higher than the neutral position, the suspension is controlled to descend; When the suspension is in the middle position, the suspension is determined to be level, and the suspension is controlled to stop rising or falling.

[0035] In this embodiment, the vertical motion state of the vehicle includes the vertical velocity and / or vertical acceleration of the vehicle; the tilt state of the vehicle includes the tilt angle of the vehicle relative to the horizontal plane.

[0036] like Figure 1 As shown, according to the vertical motion state and tilt state of the vehicle, adjusting the engine speed and the current value of the suspension pressure valve specifically includes: When the inclination angle of the vehicle relative to the horizontal plane is greater than or equal to the inclination angle threshold, adjusting the engine speed to below the speed threshold and adjusting the current value of the suspension pressure valve to below the current threshold; When the inclination angle of the vehicle relative to the horizontal plane is less than the inclination angle threshold, the optimal speed of the engine and the optimal current value of the suspension pressure valve are calculated according to the vertical speed and / or vertical acceleration of the vehicle, and the engine speed is adjusted to the optimal speed and the current value of the suspension pressure valve is adjusted to the optimal current value.

[0037] The automatic suspension leveling control method provided in the embodiment of the present application has the corresponding beneficial effects of the automatic suspension leveling control device.

[0038] The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A suspension automatic leveling control device, characterized in that: include: A suspension position acquisition module, used to acquire the position of the suspension; A vehicle state acquisition module, used to acquire the vertical running state and tilt state of the vehicle; The control module is used to control the suspension to rise or fall according to the position of the suspension until the suspension is leveled. In the process of controlling the suspension to rise or fall, the engine speed and the current value of the suspension pressure valve are adjusted according to the vertical movement state of the vehicle to control the speed and amplitude of the suspension rise or fall.

2. The automatic leveling control device for suspension according to claim 1, characterized in that: The suspension position acquisition module includes a proximity sensor or a length sensor arranged on the suspension, and the suspension position acquisition module acquires the position of the suspension through the proximity sensor or the length sensor.

3. The automatic suspension leveling control device according to claim 1 or 2, characterized in that: Depending on the position of the suspension, controlling the suspension to rise or fall involves: When the suspension position is lower than the neutral position, the suspension is controlled to rise; When the suspension position is higher than the neutral position, the suspension is controlled to descend; When the suspension is in the middle position, the suspension is determined to be level, and the suspension is controlled to stop rising or falling.

4. The automatic leveling control device for suspension according to claim 1, characterized in that: The vertical motion state of the vehicle includes the vertical velocity and / or vertical acceleration of the vehicle; the tilt state of the vehicle includes the tilt angle of the vehicle relative to the horizontal plane.

5. The automatic leveling control device for suspension according to claim 4, characterized in that: The vehicle state acquisition module includes an inertial sensor arranged on the vehicle. The vehicle state acquisition module acquires the vertical acceleration of the vehicle through the inertial sensor, and acquires the inclination angle of the vehicle relative to the horizontal plane through the inertial sensor.

6. The automatic leveling control device for suspension according to claim 4, characterized in that: The vehicle state acquisition module includes a level meter provided on the vehicle, and the vehicle state acquisition module acquires the inclination angle of the vehicle relative to the horizontal plane through the level meter; The vehicle state acquisition module also includes a speed sensor disposed on the vehicle, and the vehicle state acquisition module acquires the vertical speed of the vehicle through the speed sensor; And / or the vehicle state acquisition module also includes an acceleration sensor arranged on the vehicle, and the vehicle state acquisition module acquires the vertical acceleration of the vehicle through the acceleration sensor.

7. The automatic leveling control device for suspension according to claim 4, characterized in that: According to the vertical motion state and tilt state of the vehicle, the engine speed and the current value of the suspension pressure valve are adjusted including: When the inclination angle of the vehicle relative to the horizontal plane is greater than or equal to the inclination angle threshold, adjusting the engine speed to below the speed threshold and adjusting the current value of the suspension pressure valve to below the current threshold; When the inclination angle of the vehicle relative to the horizontal plane is less than the inclination angle threshold, the optimal speed of the engine and the optimal current value of the suspension pressure valve are calculated according to the vertical speed and / or vertical acceleration of the vehicle, and the engine speed is adjusted to the optimal speed and the current value of the suspension pressure valve is adjusted to the optimal current value.

8. A suspension automatic leveling control method, characterized in that: include: Get the position of the suspension; Obtaining the vertical running state and tilt state of the vehicle; According to the position of the suspension, the suspension is controlled to rise or fall until the suspension is leveled. In the process of controlling the suspension to rise or fall, the engine speed and the current value of the suspension pressure valve are adjusted according to the vertical movement and tilt state of the vehicle to control the speed and amplitude of the suspension rise or fall.

9. The automatic leveling control method for suspension according to claim 8, characterized in that: Depending on the position of the suspension, controlling the suspension to rise or fall involves: When the suspension position is lower than the neutral position, the suspension is controlled to rise; When the suspension position is higher than the neutral position, the suspension is controlled to descend; When the suspension is in the middle position, the suspension is determined to be level, and the suspension is controlled to stop rising or falling.

10. The automatic leveling control method of suspension according to claim 8, characterized in that: The vertical motion state of the vehicle includes the vertical velocity and / or vertical acceleration of the vehicle; the tilt state of the vehicle includes the tilt angle of the vehicle relative to the horizontal plane; According to the vertical motion state and tilt state of the vehicle, the engine speed and the current value of the suspension pressure valve are adjusted including: When the inclination angle of the vehicle relative to the horizontal plane is greater than or equal to the inclination angle threshold, adjusting the engine speed to below the speed threshold and adjusting the current value of the suspension pressure valve to below the current threshold; When the inclination angle of the vehicle relative to the horizontal plane is less than the inclination angle threshold, the optimal speed of the engine and the optimal current value of the suspension pressure valve are calculated according to the vertical speed and / or vertical acceleration of the vehicle, and the engine speed is adjusted to the optimal speed and the current value of the suspension pressure valve is adjusted to the optimal current value.

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