Vehicle and control method thereof
By designing lifting mechanisms and special cage boxes in unmanned logistics vehicles, the problem of inversion when loading and unloading cage boxes is solved, the cargo is laid flat and the vehicle stability during transportation is achieved, and logistics efficiency is improved.
Patent Information
- Application Number
- CN202510056198.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-14
- Publication Date
- 2025-04-18
Smart Images
Figure CN119840503A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of automobiles, and in particular to a vehicle and a control method thereof. Background Art
[0002] With the booming development of e-commerce and online shopping, the logistics industry has been rapidly improved and has become an important support for the development of the modern economy. Loading and unloading, as one of the most important links in the logistics process, has become the most time-consuming part of the entire logistics chain due to its high frequency and labor intensity. In order to further improve logistics efficiency, major express companies and logistics centers have invested resources to develop efficient logistics vehicles to optimize operating processes and reduce labor costs.
[0003] At present, there are many unmanned logistics vehicles on the market, which are mainly divided into two categories: one is without standard cages, and the goods are randomly stacked in the car, which is not convenient for transportation and retrieval between multiple logistics outlets; the other is with standard cages, which are unmanned logistics vehicles equipped with loading mechanisms for loading and unloading with standard cages, and improve the efficiency of cargo handling and the classification of logistics outlets through automated operations. However, this type of logistics vehicle with standard cages needs to invert the cages when loading and unloading, resulting in the goods in the cages being placed upside down, which is not friendly to some goods that require flat placement. Summary of the invention
[0004] The purpose of the present application is to provide a vehicle and a control method thereof, which does not require the cage to be placed upside down when loading and unloading goods, so as to meet the requirement of placing some goods flat; when goods need to be transported, the cage can be prevented from affecting the driving of the vehicle.
[0005] The first aspect of the present application discloses a vehicle, comprising: a car body, a drive axle and a lifting mechanism, wherein the lifting mechanism is connected between the car body and the drive axle to raise or lower the height of the car body relative to the drive axle; the car body comprises a side frame portion and a bottom frame portion, the side frame portion is arranged on the bottom frame portion along the height direction of the vehicle, the side frame portion is connected to the bottom frame portion, and a storage space is provided between the side frame portion and the bottom frame portion, wherein the side frame portion comprises a first side frame and a second side frame, the first side frame and the second side frame are arranged opposite to each other along the wheelbase direction of the vehicle, and the first side frame is provided with a loading and unloading port connecting the inside and outside of the storage space; the bottom frame portion is provided with a guiding notch that passes through the bottom frame portion along the height direction of the vehicle, and the guiding notch extends from one side of the second side frame toward the first side frame to connect with the loading and unloading port.
[0006] In an exemplary embodiment of the present application, the bottom frame portion includes a frame portion and a support portion, the frame portion is connected to the side frame portion, the support portion is connected to the frame portion, and is spaced apart from the frame portion along the wheelbase direction of the vehicle; the guide notch includes a first sub-guide opening and a second sub-guide opening, the first sub-guide opening is located between one side of the support portion and the frame portion along the wheelbase direction of the vehicle; the second sub-guide opening is located between the other side of the support portion and the frame portion along the wheelbase direction of the vehicle.
[0007] In an exemplary embodiment of the present application, the support portion includes a plurality of guide portions, the plurality of guide portions are arranged at intervals along the wheelbase direction of the vehicle, and are all connected to the frame portion; the guide notch also includes a third sub-guide opening corresponding to the number of the guide portions, and the third sub-guide openings are located one-to-one between two adjacent guide portions.
[0008] In an exemplary embodiment of the present application, the guide gap includes a guide section and a loading and unloading section arranged along the wheelbase direction of the vehicle, and the guide section is closer to the second side frame than the loading and unloading section; wherein, along the wheelbase direction of the vehicle: the width of the loading and unloading section is greater than the width of the guide section.
[0009] In an exemplary embodiment of the present application, the drive axle includes a front drive axle and a rear drive axle, the lifting mechanism includes a front lifting mechanism and a rear lifting mechanism, the front lifting mechanism is connected between the vehicle body and the front drive axle; the rear lifting mechanism is connected between the vehicle body and the rear drive axle.
[0010] In an exemplary embodiment of the present application, the bottom frame portion is located between the front drive axle and the rear drive axle.
[0011] In an exemplary embodiment of the present application, the vehicle further includes a door panel portion, which is connected to the first side frame and is used to close or open the loading and unloading port.
[0012] In an exemplary embodiment of the present application, the vehicle further includes a cage box, the cage box including a cargo compartment portion and a roller portion, the roller portion being connected to the cargo compartment portion, the cargo compartment portion being located within the cargo storage space, and the roller portion being located within the guide gap; wherein, during the process of the cargo compartment portion moving from within the cargo storage space to outside the cargo storage space, the roller portion moves within the guide gap.
[0013] The second aspect of the present application discloses a vehicle control method, which includes: in response to loading and unloading instructions, obtaining height information between a vehicle body and the ground on which the vehicle is located; determining a total lifting value of a lifting mechanism based on the height information; and controlling the lifting mechanism to lift and lower the vehicle body based on the total lifting value of the lifting mechanism.
[0014] In an exemplary embodiment of the present application, the method further includes: during the lifting and lowering process of the vehicle body, obtaining the current lifting value of the lifting mechanism; determining the lifting speed of the lifting mechanism based on the relationship between the current lifting value of the lifting mechanism and the total lifting value of the lifting mechanism; and controlling the lifting mechanism to lift and lower the vehicle body based on the lifting speed of the lifting mechanism.
[0015] In an exemplary embodiment of the present application, the method further includes: acquiring load change information of the vehicle body during the lifting and lowering process of the vehicle body; and correcting the lifting and lowering speed of the lifting mechanism based on the load change information.
[0016] In an exemplary embodiment of the present application, the method of controlling the lifting mechanism to lift the vehicle body based on the total lifting value of the lifting mechanism includes: obtaining the positioning information of the vehicle; if the positioning information of the vehicle meets the preset position, controlling the lifting mechanism to lift the vehicle body based on the total lifting value of the lifting mechanism.
[0017] The beneficial effects of this application scheme are:
[0018] In an embodiment of the present application, when the cage box for loading goods is located in the cargo storage space, since the lifting mechanism can raise or lower the height of the car body relative to the drive axle, and the first side frame is provided with a loading and unloading port connecting the inside and outside of the cargo storage space, the bottom frame portion is provided with a guide notch that passes through the bottom frame portion along the height direction of the vehicle, and the guide notch extends from one side of the second side frame toward the first side frame to be connected with the loading and unloading port. Therefore, if the vehicle needs to load and unload goods, the height of the car body relative to the drive axle is lowered by the lifting mechanism, so that the cage box can fit the ground and move between the inside and outside of the cargo storage space through the loading and unloading port along the guide notch, without placing the cage box upside down to meet the flat placement requirements of some goods; if the vehicle needs to transport goods, the height of the car body relative to the drive axle is raised by the lifting mechanism, so that the cage box can be set at a distance from the ground to prevent the cage box from affecting the driving of the vehicle.
[0019] In summary, when the vehicle needs to load and unload goods, there is no need to place the cage upside down to meet the flat placement requirements of some goods; when goods need to be transported, the cage can be prevented from affecting the driving of the vehicle.
[0020] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 A schematic diagram of the three-dimensional structure of the vehicle body frame in an embodiment of the present application is shown.
[0022] Figure 2 A schematic diagram of the three-dimensional structure of a vehicle when the door panel is opened in an embodiment of the present application is shown.
[0023] Figure 3 A schematic diagram of the three-dimensional structure of the vehicle when the door panel is closed in an embodiment of the present application is shown.
[0024] Figure 4 A schematic diagram of the three-dimensional structure of the vehicle when the cage box is pulled out of the cargo storage space in an embodiment of the present application is shown.
[0025] Figure 5 A flow chart of S10 - S30 of the vehicle control method in the embodiment of the present application is shown.
[0026] Figure 6 A flow chart of S31 - S37 of the vehicle control method in the embodiment of the present application is shown.
[0027] Figure 7 A flow chart of S41 - S45 of the vehicle control method in the embodiment of the present application is shown.
[0028] Figure 8 A flow chart of S51 - S53 of the vehicle control method in the embodiment of the present application is shown.
[0029] Fig. 9 A flow chart of S61 - S63 of the vehicle control method in the embodiment of the present application is shown.
[0030] Fig.10 A schematic diagram of the PID algorithm in an embodiment of the present application is shown.
[0031] Fig.11 A schematic diagram showing the change in height of the carriage body in an embodiment of the present application is shown.
[0032] Among them, 1. Carriage body; 101. Loading and unloading port; 102. Guide notch; 102a. First sub-guide port; 102b. Second sub-guide port; 102c. Third sub-guide port; 103. Storage space; 11. Side frame; 111. First side frame; 112. Second side frame; 12. Bottom frame; 121. Frame; 122. Support; 122a. Guide; 13. Top frame; 2. Drive axle; 21. Front drive Bridge; 22, rear drive axle; 3, lifting mechanism; 31, front lifting mechanism; 32, rear lifting mechanism; 4, cage box; 401, accommodating groove; 41, cargo compartment; 42, roller part; 421, first roller; 422, second roller; 5, door panel part; 51, first door panel; 52, second door panel; 53, locking mechanism; 6, height sensor; 7, air suspension controller; 8, positioning system; a, guide section; b, loading and unloading section. DETAILED DESCRIPTION
[0033] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.
[0034] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.
[0035] The present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be understood as limiting the present application.
[0036] like Figures 1 to 4 As shown, this embodiment provides a vehicle, including: a vehicle body 1, a drive axle 2 and a lifting mechanism 3, wherein the lifting mechanism 3 is connected between the vehicle body 1 and the drive axle 2 to raise or lower the height of the vehicle body 1 relative to the drive axle 2.
[0037] It should be understood that since the drive axle 2 is connected between the two wheels along the wheelbase direction of the vehicle and the wheels always keep in contact with the ground, the lifting mechanism 3 adjusts the height of the car body 1 relative to the drive axle 2, which is to adjust the height of the car body 1 relative to the ground.
[0038] Combination Figure 1 As shown, the vehicle body 1 includes a side frame portion 11 and a bottom frame portion 12 . The side frame portion 11 is arranged on the bottom frame portion 12 along the height direction of the vehicle. The side frame portion 11 is connected to the bottom frame portion 12 . A cargo storage space 103 is provided between the side frame portion 11 and the bottom frame portion 12 .
[0039] In this embodiment, the vehicle body 1 further includes a top frame portion 13, the top frame portion 13 and the bottom frame portion 12 are arranged opposite to each other along the height direction of the vehicle, and the side frame portion 11 is connected between the top frame portion 13 and the bottom frame portion 12 along the height direction of the vehicle to form a cargo storage space 103. The vehicle body 1 is configured as a load-bearing body by means of the side frame portion 11, the bottom frame portion 12 and the top frame portion 13 to ensure the strength of the entire vehicle.
[0040] Furthermore, combined with Figure 1 and Figure 2 As shown, the side frame portion 11 includes a first side frame 111 and a second side frame 112. The first side frame 111 and the second side frame 112 are arranged opposite to each other along the wheelbase direction of the vehicle. The first side frame 111 is provided with a loading and unloading port 101 connecting the inside and outside of the cargo storage space 103; the bottom frame portion 12 is provided with a guide notch 102 penetrating the bottom frame portion 12 along the height direction of the vehicle, and the guide notch 102 extends from one side of the second side frame 112 toward the first side frame 111 until it is connected with the loading and unloading port 101.
[0041] In this embodiment, when the cage box 4 for loading cargo is located in the cargo storage space 103, since the lifting mechanism 3 can raise or lower the height of the vehicle body 1 relative to the driving axle 2, and the first side frame 111 is provided with a loading and unloading port 101 connecting the inside and outside of the cargo storage space 103, the bottom frame portion 12 is provided with a guide notch 102 that passes through the bottom frame portion 12 along the height direction of the vehicle, and the guide notch 102 extends from one side of the second side frame 112 toward the first side frame 111 to communicate with the loading and unloading port 101, therefore, if the vehicle needs To load and unload goods, the height of the car body 1 relative to the drive axle 2 is lowered by the lifting mechanism 3, so that the cage box 4 can be close to the ground and pass through the loading and unloading port 101 along the guide notch 102 to move between the inside and outside of the cargo storage space 103. There is no need to place the cage box 4 upside down to meet the requirement of placing some goods flat. If the vehicle needs to transport goods, the height of the car body 1 relative to the drive axle 2 is raised by the lifting mechanism 3, so that the cage box 4 can be set at a distance from the ground to prevent the cage box 4 from affecting the driving of the vehicle.
[0042] In summary, when the vehicle needs to load and unload goods, there is no need to place the cage box 4 upside down to meet the requirement of placing some goods flat; when the goods need to be transported, the cage box 4 can be prevented from affecting the driving of the vehicle.
[0043] Combination Figures 1 to 3 As shown, the vehicle also includes a cage box 4, which includes a cargo compartment portion 41 and a roller portion 42, the roller portion 42 is connected to the cargo compartment portion 41, the cargo compartment portion 41 is located in the cargo storage space 103, and the roller portion 42 is located in the guide gap 102; wherein, during the movement of the cargo compartment portion 41 between the cargo storage space 103 and the outside of the cargo storage space 103, the roller portion 42 moves in the guide gap 102.
[0044] In this embodiment, the guide notch 102 has a certain guiding effect on the roller portion 42, thereby guiding the cargo compartment portion 41 to move to a corresponding position inside or outside the cargo storage space 103, so as to ensure that the cargo compartment portion 41 can accurately enter the cargo storage space 103 or exit the cargo storage space 103.
[0045] In addition, combined Figure 4 As shown, a receiving groove 401 for placing goods is provided on the side of the cargo compartment 41 away from the roller portion 42, and the opening of the receiving groove 401 faces upward of the vehicle, so that the logistics personnel can directly place the goods into the cargo compartment 41 through the opening of the receiving groove 401 when the cage box 4 has not completely left the cargo storage space 103, and there is no need to wait until the cargo compartment 41 completely leaves the cargo storage space 103 before loading, which is beneficial to reduce the manual operation of the logistics personnel and facilitate the transportation of goods.
[0046] Combination Figure 2 As shown, the bottom frame portion 12 includes a frame portion 121 and a support portion 122 . The frame portion 121 is connected to the side frame portion 11 . The support portion 122 is connected to the frame portion 121 and is spaced apart from the frame portion 121 along the wheelbase direction of the vehicle.
[0047] In this embodiment, the frame portion 121 is a “U-shaped structure”, and the opening of the “U-shaped structure” faces the first side frame 111 , so as to prevent the frame portion 121 from affecting the movement of the roller portion 42 .
[0048] Furthermore, the guide notch 102 includes a first sub-guide opening 102a and a second sub-guide opening 102b, wherein the first sub-guide opening 102a is located between one side of the support portion 122 and the frame portion 121 along the wheelbase direction of the vehicle; and the second sub-guide opening 102b is located between the other side of the support portion 122 and the frame portion 121 along the wheelbase direction of the vehicle.
[0049] In this embodiment, combined with Figure 1 , Figure 3 and Figure 4As shown, the roller portion 42 includes a first roller 421 and a second roller 422 spaced apart from each other, the first roller 421 and the second roller 422 are arranged opposite to each other along the wheelbase direction of the vehicle, and the first roller 421 and the second roller 422 are both connected to the cargo compartment portion 41. When the cage box 4 moves between the cargo storage space 103 and the outside of the cargo storage space 103, the first roller 421 moves in the first sub-guide opening 102a, the second roller 422 moves in the second sub-guide opening 102b, and the support portion 122 is located between the first roller 421 and the second roller 422.
[0050] It should be understood that the first roller 421 and the second roller 422 are the same in size, shape and number, and are symmetrically arranged on one side of the cargo compartment 41 ; the number of the first roller 421 and the second roller 422 can be selected according to the actual needs of the cage box 4 .
[0051] In this embodiment, the first roller 421 moves in the first sub-guide opening 102a and the second roller 422 moves in the second sub-guide opening 102b. By moving the first roller 421 and the second roller 422 along the support portion 122 at the same time, the movement of the roller portion 42 in the guide opening 102 can be smoother, thereby ensuring the stability of the cage box 4 during loading and unloading.
[0052] In addition, the support portion 122 is arranged between the first roller 421 and the second roller 422, so that when the cage box 4 moves between the inside and outside of the cargo storage space 103, the force on the support portion 122 is more uniform, and the support portion 122 can better support the cargo compartment 41 to ensure the stability of the cage box 4 during loading and unloading.
[0053] In other embodiments, when the cage box 4 moves between the cargo storage space 103 and outside the cargo storage space 103, the first roller 421 moves in the second sub-guide opening 102b, the second roller 422 moves in the first sub-guide opening 102a, and the support portion 122 is located between the first roller 421 and the second roller 422.
[0054] Furthermore, combined with Figure 1 and Figure 2 As shown, the support portion 122 includes a plurality of guide portions 122a, which are spaced apart from each other along the wheelbase direction of the vehicle and are all connected to the frame portion 121; the guide opening 102 also includes a third sub-guide opening 102c corresponding to the number of the guide portions 122a, and the third sub-guide opening 102c is located one-to-one between two adjacent guide portions 122a.
[0055] It should be understood that the number of the third sub-guide openings 102c corresponding to the number of the guide portions 122a means that there is a certain relationship between the number of the third sub-guide openings 102c and the number of the guide portions 122a, and does not mean that the number of the third sub-guide openings 102c is the same as the number of the guide portions 122a. Since the third sub-guide openings 102c are located between two adjacent guide portions 122a in a one-to-one correspondence, the number of the third sub-guide openings 102c should be equal to the number of the guide portions 122a minus one.
[0056] For example, if the support portion 122 includes two guide portions 122a, the number of the third sub-guide opening 102c is one; if the support portion 122 includes three guide portions 122a, the number of the third sub-guide opening 102c is two, and so on.
[0057] In this embodiment, the vehicle includes cage boxes 4 having the same number as the guide parts 122a. The arrangement of multiple cage boxes 4 can classify and transport goods, which is beneficial to improving the efficiency of logistics transportation; multiple cage boxes 4 are arranged one-to-one with multiple guide parts 122a along the height direction of the vehicle, and the guide parts 122a are located between the first roller 421 and the second roller 422. The guide parts 122a can both guide the movement direction of the cage boxes 4 and support the cage boxes 4.
[0058] In addition, a third sub-guide opening 102c is provided between two adjacent guide portions 122a. When there are multiple cage boxes 4 in the cargo storage space 103, the third sub-guide opening 102c enables the first rollers 421 and the second rollers 422 of all cage boxes 4 to be located in the guide opening 102 to guide the movement of the cage boxes 4.
[0059] It should be understood that when there is only one cage box 4 in the cargo storage space 103, the first roller 421 of the cage box 4 can be placed in the first sub-guide opening 102a, and the second roller 422 of the same cage box 4 can be placed in the second sub-guide opening 102b. However, when there are multiple cage boxes 4 in the cargo storage space 103, only the first roller 421 of the first cage box 4 along the wheelbase direction of the vehicle can be placed in the first sub-guide opening 102a, and the second roller 422 of the last cage box 4 along the wheelbase direction of the vehicle can be placed in the second sub-guide opening 102b, while the second roller 422 of the first cage box 4, the first roller 421 and the second roller 422 of the cage box 4 between the first cage box 4 and the last cage box 4, and the first roller 421 of the last cage box 4 need to be placed in the additional guide opening 102 (i.e., the third sub-guide opening 102c) to ensure that the first roller 421 and the second roller 422 of the cage box 4 are both located in the guide opening 102.
[0060] In this embodiment, when the cage box 4 moves between the inside and outside of the cargo storage space 103, the roller portion 42 will also move in the third sub-guide opening 102c, that is, the second roller 422 of one of the two adjacent cage boxes 4 and the first roller 421 of the other cage box 4 will both move in the same third sub-guide opening 102c, so that the cage box 4 can be arranged one-to-one with the guide portion 122a, which can ensure that the cage box 4 can move according to the shape of the third sub-guide opening 102c, and can also ensure that the guide portion 122a can support the cargo compartment portion 41 of the cage box 4.
[0061] It should be understood that there is a certain gap between two adjacent cage boxes 4, and there is a certain distance between the second roller 422 of one of the two adjacent cage boxes 4 and the first roller 421 of the other cage box 4, so as to ensure that the movements between the two adjacent cage boxes 4 will not affect each other.
[0062] For example, when the support portion 122 includes two guide portions 122a and the vehicle includes two cage boxes 4, the two cage boxes 4 are arranged in one-to-one correspondence with the two guide portions 122a, that is, one guide portion 122a is located between the first roller 421 and the second roller 422 of one cage box 4, and the other guide portion 122a is located between the first roller 421 and the second roller 422 of the other cage box 4. When the two cage boxes 4 move between the inside and outside of the cargo storage space 103, the first roller 421 of one cage box 4 moves in the first sub-guide opening 102a, and the second roller 422 moves in the third sub-guide opening 102c; the first roller 421 of the other cage box 4 moves in the third sub-guide opening 102c, and the second roller 422 moves in the second sub-guide opening 102b.
[0063] It should be understood that when the cage box 4 moves between the inside and outside of the cargo storage space 103, one of the first roller 421 and the second roller 422 of the cage box 4 contacts the corresponding guide portion 122a; or, both the first roller 421 and the second roller 422 of the cage box 4 contact the corresponding guide portion 122a, so as to ensure that the cage box 4 can accurately move into the cargo storage space 103 or outside of the cargo storage space 103. In addition, the friction coefficient of the guide portion 122a is low, so as to ensure that when the first roller 421 and the second roller 422 contact the guide portion 122a, the cage box 4 can smoothly move between the inside and outside of the cargo storage space 103.
[0064] Combination Figure 1 and Figure 2As shown, the first sub-guide opening 102a, the second sub-guide opening 102b and the third sub-guide opening 102c of the guide opening 102 all include a guide section a and a loading and unloading section b arranged along the wheelbase direction of the vehicle, and the guide section a is closer to the second side frame 112 than the loading and unloading section b; wherein, along the wheelbase direction of the vehicle: the width of the loading and unloading section b is greater than the width of the guide section a.
[0065] In this embodiment, when the cage box 4 moves from inside the cargo storage space 103 to outside the cargo storage space 103, the width of the loading and unloading section b is greater than the width of the guide section a, so that the roller portion 42 of the cage box 4 can adjust the position of the cage box 4 along the wheelbase direction of the vehicle in the loading and unloading section b, so as to adjust the movement direction of the cage box 4; when the cage box 4 moves from outside the cargo storage space 103 to inside the cargo storage space 103, the width of the loading and unloading section b is larger, so that the roller portion 42 of the cage box 4 can more easily enter the loading and unloading section b, ensuring that the cage box 4 can accurately enter the cargo storage space 103.
[0066] Furthermore, along the direction from the second side frame 112 toward the first side frame 111, the width of the guide section a remains unchanged, so that the cage box 4 can move straightly in the cargo storage space 103 to avoid affecting other cage boxes 4; and the width of the loading and unloading section b gradually increases, when the cage box 4 moves between the cargo storage space 103 and the outside of the cargo storage space 103, the position of the cage box 4 along the wheelbase direction of the vehicle can be adjusted at the loading and unloading port 101 to facilitate the loading and unloading of the cage box 4.
[0067] It should be understood that since the width of the loading and unloading section b along the direction from the second side frame 112 toward the first side frame 111 is greater than the width of the guide section a, and the width of the loading and unloading section b gradually increases in the direction away from the guide section a, it can be ensured that the roller portion 42 of the cage box 4 can switch freely between the loading and unloading section b and the guide section a.
[0068] Combination Figure 2 and Figure 3 As shown, the drive axle 2 includes a front drive axle 21 and a rear drive axle 22 , and the lifting mechanism 3 includes a front lifting mechanism 31 and a rear lifting mechanism 32 . The front lifting mechanism 31 is connected between the vehicle body 1 and the front drive axle 21 ; the rear lifting mechanism 32 is connected between the vehicle body 1 and the rear drive axle 22 .
[0069] In this embodiment, a front lifting mechanism 31 is provided between the vehicle body 1 and the front drive axle 21, and a rear lifting mechanism 32 is provided between the vehicle body 1 and the rear drive axle 22, so that the height adjustment of the vehicle body 1 relative to the drive axle 2 is more stable. In addition, when the vehicle is located on a slope, the front lifting mechanism 31 and the rear lifting mechanism 32 can adjust the height of the vehicle body 1 relative to the drive axle 2 according to the specific situation to ensure that the vehicle body 1 is in a balanced state to avoid affecting the placement of the goods in the cage box 4.
[0070] For example, when the vehicle is on a slope and the front of the vehicle is higher than the rear of the vehicle, the lifting height of the front lifting mechanism 31 needs to be smaller than the lifting height of the rear lifting mechanism 32, so that the vehicle body 1 remains in a balanced state and the cargo in the cage box 4 is prevented from being affected by gravity and moving to the rear of the vehicle; when the vehicle is on a slope and the rear of the vehicle is higher than the front of the vehicle, the lifting height of the front lifting mechanism 31 needs to be greater than the lifting height of the rear lifting mechanism 32, so that the vehicle body 1 remains in a balanced state and the cargo in the cage box 4 is prevented from being affected by gravity and moving to the front of the vehicle.
[0071] In this embodiment, the front lifting mechanism 31 and the rear lifting mechanism 32 are both air suspension systems, and the lifting and lowering of the vehicle body 1 is achieved by controlling the air spring of the air suspension system. When the vehicle needs to load and unload the cage box 4, the air compressor will discharge gas, release the pressure in the airbag of the air spring, and shrink the airbag, thereby lowering the height of the vehicle body 1, and the roller part 42 of the cage box 4 is in contact with the ground, and can move along the ground between the inside and outside of the cargo storage space 103, so as to facilitate the loading and unloading of the cage box 4; when the vehicle needs to transport the cage box 4, the air compressor will deliver compressed air to the airbag of the air spring, so that the airbag expands, thereby raising the height of the vehicle body 1, and the roller part 42 of the cage box 4 is spaced from the ground to prevent the roller part 42 from affecting the driving of the vehicle, so as to facilitate the driving of the vehicle.
[0072] In addition, the suspension air system also includes a height sensor 6, a pressure sensor and an air suspension controller 7. The height sensor 6 is connected to the second side frame 112. The height sensor 6 is used to monitor the height of the vehicle body 1 in real time. The pressure sensor is used to monitor the pressure state of the air spring airbag in real time. The height sensor 6 and the pressure sensor will feed back this information to the air suspension controller 7. If the height of the vehicle body 1 deviates from the target height value, the air suspension controller 7 will adjust the air pressure of the air spring airbag to ensure that the vehicle body 1 returns to a suitable height.
[0073] In this embodiment, combined with Figures 1 to 3 As shown, the bottom frame 12 is located between the front drive axle 21 and the rear drive axle 22, so that when the front lifting mechanism 31 and the rear lifting mechanism 32 are raising and lowering the height of the vehicle body 1, the lifting and lowering of the bottom frame 12 is not restricted by the front drive axle 21 and the rear drive axle 22, so as to facilitate the loading and unloading of the cage box 4.
[0074] Specifically, when the vehicle needs to load and unload the cage box 4, the bottom frame portion 12 can be lowered between the front drive axle 21 and the rear drive axle 22, so that the roller portion 42 of the cage box 4 in the cargo space 103 can contact the ground, or the roller portion 42 of the cage box 4 can be installed in the cargo space 103 along the ground; when the vehicle needs to transport the cage box 4, the bottom frame portion 12 can raise the height of the vehicle body 1 between the front drive axle 21 and the rear drive axle 22 to prevent the cage box 4 from affecting the driving of the vehicle.
[0075] Combination Figure 2 and Figure 3 As shown, the vehicle further includes a door panel portion 5 , which is connected to the first side frame 111 for closing or opening the loading and unloading port 101 .
[0076] In this embodiment, the door panel 5 includes a first door panel 51 and a second door panel 52, both of which are slidably connected to the first side frame 111, and the sliding direction of the first door panel 51 is opposite to that of the second door panel 52, so that the first door panel 51 and the second door panel 52 can simultaneously close or open the loading and unloading port 101, reducing the time of opening or closing the loading and unloading port 101, which is conducive to improving the efficiency of loading and unloading goods. When the vehicle needs to load and unload the cage box 4, the first door panel 51 and the second door panel 52 slide along the wheelbase direction of the vehicle to the outside of the loading and unloading port 101, so that the cage box 4 can move between the inside and outside of the cargo storage space 103 through the loading and unloading port 101 to realize the loading and unloading of the cage box 4; when the vehicle needs to transport the cage box 4, the first door panel 51 and the second door panel 52 slide along the wheelbase direction of the vehicle to the cover loading and unloading port 101, so that the cage box 4 will not shake or move during the transportation of the vehicle, so as to ensure the stability of the transportation of the cage box 4.
[0077] Furthermore, the first door panel 51 and the second door panel 52 can also be set to be foldable. When the first door panel 51 and the second door panel 52 slide to the outside of the loading and unloading port 101, the first door panel 51 and the second door panel 52 overlap along the wheelbase direction of the vehicle, which can reduce the space occupied by the first door panel 51 and the second door panel 52 along the wheelbase direction of the vehicle, which is beneficial to increase the size of the cargo storage space 103, thereby improving the efficiency of the cage box 4 in transporting goods.
[0078] In addition, the door panel portion 5 also includes a locking mechanism 53. When the first door panel 51 and the second door panel 52 cover the loading and unloading port 101, the locking mechanism 53 is connected between the first door panel 51 and the second door panel 52, so that the locking mechanism 53 can lock the first door panel 51 and the second door panel 52, ensuring that the first door panel 51 and the second door panel 52 are in a fixed closed state during the transportation of the vehicle, thereby ensuring that the goods will not shake during the transportation, and the goods can be placed and transported more compactly in the cargo storage space 103, which is conducive to improving the utilization rate of the cargo storage space 103.
[0079] Figure 5 A schematic flow chart of S10-S30 of a vehicle control method provided in an embodiment of the present application is shown, combined with Figure 5 As shown, this embodiment also proposes a vehicle control method, which includes steps S10 to S30, which are described in detail as follows:
[0080] Step S10: In response to the loading and unloading instruction, the height information of the vehicle body 1 and the ground on which the vehicle is located is obtained.
[0081] In this embodiment, when a loading or unloading instruction is received, the height difference between the vehicle body 1 and the ground on which the vehicle is located is measured by a height sensor 6 arranged on the vehicle body 1 to obtain real-time height information.
[0082] For example, the loading and unloading instructions may be issued by logistics personnel, or may be generated by the system based on the requirements of loading and unloading.
[0083] Step S20: determining the total lifting value of the lifting mechanism 3 based on the height information.
[0084] In this embodiment, the total lifting value required for the lifting mechanism 3 is calculated based on the acquired height information, and the total lifting value of the lifting mechanism 3 is sufficient to make the roller part 42 of the cage box 4 in the car body 1 contact with the ground.
[0085] It should be understood that when the cage box 4 is located in the cargo storage space 103 and the roller portion 42 is protruding relative to the bottom frame portion 12 of the vehicle body 1 , the total lifting value of the lifting mechanism 3 should be smaller than the height value between the bottom frame portion 12 and the ground.
[0086] Step S30 : controlling the lifting mechanism 3 to lift the vehicle body 1 based on the total lifting value of the lifting mechanism 3 .
[0087] In this embodiment, the lifting mechanism 3 is controlled to rise or fall according to the total lifting value of the lifting mechanism 3 to achieve the lifting and lowering of the vehicle body 1 relative to the ground on which the vehicle is located, so as to ensure that the vehicle body 1 is in the best position for loading and unloading operations.
[0088] For example, the lifting mechanism 3 may be a hydraulic lifting system or an electric lifting system in addition to the air suspension system of the vehicle.
[0089] In this embodiment, upon receiving a loading and unloading instruction, the system automatically calls the height sensor 6 to measure the height information between the vehicle body 1 and the ground, and calculates the total lifting value of the lifting mechanism 3, and then controls the lifting mechanism 3 to automatically lift and lower, and finally adjusts the vehicle body 1 to a suitable height for loading and unloading goods. Not only does it not need to invert the goods, but it also saves manpower for loading and unloading goods.
[0090] Combination Figure 6 As shown, the vehicle control method further includes steps S31 to S37, which are described in detail as follows:
[0091] Step S31: Acquire the vehicle's positioning information.
[0092] In this embodiment, a positioning system 8 is provided at the front of the vehicle, and the positioning system 8 is used to detect the positioning information of the vehicle.
[0093] Step S32: if the positioning information of the vehicle satisfies the preset position, the lifting mechanism 3 is controlled to lift the vehicle body 1 based on the total lifting value of the lifting mechanism 3 .
[0094] For example, the positioning information of the vehicle satisfies the preset position, which means that the lifting mechanism 3 can normally lift the vehicle body 1 , that is, there is no obstacle between the vehicle body 1 and the ground that affects the lifting of the lifting mechanism 3 .
[0095] It should be understood that if the vehicle is located on a slope or flat ground, and the positioning information of the vehicle meets the preset position, the front lifting mechanism 31 and the rear lifting mechanism 32 can lift the vehicle body 1 according to the lifting value. If the vehicle is located on a slope or flat ground, and the positioning information of the vehicle does not meet the preset position, the lifting mechanism 3 will not lift the vehicle body 1. At this time, the vehicle will continue to travel until the positioning information of the vehicle meets the preset position, or park and issue a warning message.
[0096] Step S33: During the lifting and lowering process of the vehicle body 1, the lifting and lowering value of the current lifting mechanism 3 is obtained.
[0097] It should be understood that during the lifting process of the vehicle body 1 , the height information between the vehicle body 1 and the ground on which the vehicle is located will change, and the lifting value of the current lifting mechanism 3 will also change accordingly, but the total lifting value of the lifting mechanism 3 remains unchanged.
[0098] Step S34 : determining the lifting speed of the lifting mechanism 3 based on the magnitude relationship between the current lifting value of the lifting mechanism 3 and the total lifting value of the lifting mechanism 3 .
[0099] For example, when the current lifting value is less than 90% of the total lifting value, the lifting operation can be performed according to the set first preset lifting speed; if the current lifting value is greater than 90% of the total lifting value, the system will automatically reduce the lifting speed to the second preset lifting speed to prevent the lifting mechanism 3 from being unstable due to excessive speed. The first preset lifting speed is greater than the second preset lifting speed.
[0100] In this embodiment, the lifting mechanism 3 is the air suspension system of the vehicle, and the air suspension system includes air springs and shock absorbers, which are jointly responsible for supporting and buffering vibrations of the vehicle. When the lifting mechanism 3 needs to raise or lower the height of the vehicle body 1, the air suspension controller 7 will monitor the pressure in the air spring airbag and the data of the height sensor 6 in real time, and adjust the inflation speed and exhaust speed of the air compressor according to the pressure in the air spring airbag and the data of the height sensor 6, to ensure that the vehicle body 1 is smooth and accurate during the lifting process.
[0101] Step S35: The lifting mechanism 3 is controlled to lift the vehicle body 1 based on the lifting speed of the lifting mechanism 3 .
[0102] In this embodiment, based on the calculation result of the above relationship, the lifting speed of the lifting mechanism 3 is dynamically controlled to achieve accurate lifting of the carriage body 1. By adjusting the power output of the lifting mechanism 3, it is ensured that the carriage body 1 is lifted and lowered in a safe and efficient state.
[0103] For example, combining Fig.11 As shown, when the vehicle needs to load or unload goods, the system monitors the current lifting value of the lifting mechanism 3 in real time. If the current lifting value is 30 cm and the total lifting value is 55 cm, the system will set a higher lifting speed to quickly reach the target height. As the lifting process progresses, if the current lifting value approaches 55 cm, the system automatically reduces the lifting speed to ensure that the vehicle body 1 reaches the target height smoothly.
[0104] Step S36: during the lifting and lowering process of the vehicle body 1 , the load change information of the vehicle body 1 is obtained.
[0105] For example, during the lifting and lowering of the vehicle body 1 , sensors (such as pressure sensors, load sensors, etc.) detect load change information of the vehicle body 1 , and send the load change information to the air suspension controller 7 for adjusting the lifting and lowering of the vehicle body 1 .
[0106] Step S37: Correct the lifting speed of the lifting mechanism 3 based on the load change information.
[0107] In this embodiment, the lifting speed of the lifting mechanism 3 is intelligently adjusted according to the acquired load change information. If the load increases or decreases, the system will identify the need for speed adjustment.
[0108] It should be understood that the lifting mechanism 3 includes a front lifting mechanism 31 and a rear lifting mechanism 32. When the vehicle is lifting the vehicle body 1, the lifting values of the front lifting mechanism 31 and the rear lifting mechanism 32 can be adjusted according to the load change information to avoid the cargo in the vehicle body 1 from tipping over, so as to ensure that the vehicle body 1 remains balanced.
[0109] For example, when the vehicle is on a slope and the front of the vehicle is higher than the rear of the vehicle, the total lifting value of the front lifting mechanism 31 can be less than the total lifting value of the rear lifting mechanism 32 to ensure that the vehicle body 1 remains balanced and avoids the vehicle from tipping over due to changes in the weight distribution of the cargo; at the same time, the lifting speed of the front lifting mechanism 31 can be less than the lifting speed of the rear lifting mechanism 32, so that the front and rear of the vehicle can reach the target height value at the same time, so that the vehicle body 1 can be lifted and lowered smoothly. When the vehicle is on a slope and the rear of the vehicle is higher than the front of the vehicle, the lifting value of the front lifting mechanism 31 can be greater than the lifting value of the rear lifting mechanism 32, so that the vehicle body 1 remains balanced and avoids the vehicle from tipping over due to changes in the weight distribution of the cargo; at the same time, the lifting speed of the front lifting mechanism 31 can be greater than the lifting speed of the rear lifting mechanism 32, so that the front and rear of the vehicle can reach the target height value at the same time, so that the vehicle body 1 can be lifted and lowered smoothly.
[0110] It should be understood that when the vehicle is driving, the lifting mechanism 3 will be combined with the unmanned driving control system, and through the road perception of the millimeter-wave radar, signal instructions will be sent in a timely manner to control the raising and lowering of the lifting mechanism 3 to match the complex road conditions, while ensuring the vehicle's passability and taking into account the stability of the vehicle.
[0111] In this embodiment, when the vehicle body 1 reaches a suitable height, the air suspension system will lock the height and make necessary fine adjustments according to road conditions to ensure that the entire vehicle remains stable during loading and unloading; after loading and unloading are completed, the air suspension controller 7 will issue a locking command again, and the air suspension system will achieve final locking, and the height of the vehicle body 1 will no longer change.
[0112] In an exemplary embodiment of the present application, the vehicle control method further includes: when the vehicle body 1 completes the lifting of the total lifting value through the lifting mechanism 3, the door panel 5 is controlled to open, and the step method of controlling the door panel 5 to open includes steps S41 to S45, which are described in detail as follows:
[0113] Step S41: In response to the door opening instruction, the state of the door panel 5 is determined.
[0114] In this embodiment, when the height of the vehicle body 1 reaches the target height value, the lifting mechanism 3 will send a door opening command to the vehicle control unit. Before executing the door opening command, the vehicle control unit will first confirm the current state of the door panel 5, that is, whether the door panel 5 is locked, whether there are obstacles blocking the door panel 5 from opening, etc. The vehicle control unit can detect the state of the door panel 5 through the door body sensor to ensure that the sliding track of the door panel 5 is unobstructed, and avoid blockage or failure of the door panel 5 during the door opening process.
[0115] Step S42 : the locking mechanism 53 is released based on the state of the door panel 5 .
[0116] In this embodiment, when the door body sensor detects that the sliding track of the door panel part 5 is unobstructed, the door body sensor will send a door opening signal to the vehicle control unit; then, the vehicle control unit receives the door opening signal from the door body sensor and releases the locking mechanism 53 used to lock the door panel part 5.
[0117] Step S43 : After the locking mechanism 53 is released, the door panel 5 slides in the sliding track to open the loading and unloading port 101 .
[0118] In this embodiment, the door panel portion 5 includes a first door panel 51 and a second door panel 52, both of which are located in the sliding track, and the first door panel 51 and the second door panel 52 slide to two opposite sides of the first side frame 111 along the wheelbase direction of the vehicle to open the loading and unloading port 101, thereby facilitating loading and unloading of the cage box 4. In addition, when the first door panel 51 and the second door panel 52 slide to two opposite sides of the first side frame 111, both of the first door panel 51 and the second door panel 52 can be folded along the wheelbase direction of the vehicle to reduce the occupation of the cargo storage space 103.
[0119] It should be understood that after the lifting mechanism 3 is lowered, the cage box 4 in the cargo space 103 has been in contact with the ground, which will not affect the sliding of the first door panel 51 and the second door panel 52, and ensure that the sliding of the first door panel 51 and the second door panel 52 is not affected by the height difference.
[0120] Step S44: After the door panel 5 is opened, the state of the door panel 5 is determined.
[0121] In this embodiment, after the door panel 5 is opened, the vehicle control unit will check whether the door panel 5 is in a fully opened state, that is, there is no obstacle or jam in the opening of the door panel 5. At the same time, the door body sensor will confirm whether the door panel 5 is safely locked in the open position to prevent the door panel 5 from sliding due to external force during loading and unloading, thereby affecting the loading and unloading of the cage box 4.
[0122] Step S45: If the door panel 5 has been fully opened, a reminder for loading and unloading goods is issued.
[0123] It should be understood that when the door panel 5 has been fully opened and locked, the loading and unloading opening 101 has been fully opened, and the vehicle control unit issues a prompt that the cargo can be loaded and unloaded, indicating that the cargo can be loaded and unloaded.
[0124] In an exemplary embodiment of the present application, the vehicle control method further includes, when the door panel 5 is fully opened, controlling the loading and unloading of the cage box 4, and the method for controlling the loading and unloading of the cage box 4 includes steps S51 to S53, which are described in detail as follows:
[0125] Step S51: If a prompt for loading and unloading cargo is received, the cage box 4 is controlled to move outside the cargo storage space 103 .
[0126] It should be understood that the vehicle lowers the height of the car body 1 through the lifting mechanism 3 so that the roller portion 42 of the cage box 4 can contact the ground. The roller portion 42 is in the guide gap 102 and can move along the support portion 122 from the cargo space 103 to the outside of the cargo space 103 to load and unload cargo.
[0127] Step S52: After the cargo loading and unloading of the cage box 4 is completed, the cage box 4 is controlled to move into the cargo storage space 103 .
[0128] In this embodiment, the cage box 4 located outside the cargo storage space 103 can move on the ground into the cargo storage space 103, and at the same time, the roller portion 42 of the cage box 4 moves along the support portion 122 in the guide notch 102 into the cargo storage space 103 to ensure that the cage box 4 can accurately enter the cargo storage space 103 to avoid the cage box 4 from being offset or stuck.
[0129] Step S53: Check the status of the cage box 4.
[0130] For example, after the cage 4 enters the cargo storage space 103 of the vehicle, the position sensor of the cage 4 will check the state of the cage 4 to ensure that the cage 4 is completely in the cargo storage space 103 to ensure the stability of the cage 4. If the cage 4 does not completely enter the cargo storage space 103, the vehicle control unit will issue a prompt to remind the operator to check to ensure the safety of the cage 4 during transportation.
[0131] In an exemplary embodiment of the present application, the vehicle control method further includes, after the cargo loading and unloading is completed, controlling the door panel 5 to close, and the step method of controlling the door panel 5 to close includes steps S61 to S63, which are described in detail as follows:
[0132] Step S61: In response to the door closing instruction, the door panel 5 is controlled to close based on the door closing instruction.
[0133] For example, after the cargo is loaded or unloaded, the operator issues a door closing command through the vehicle control panel or the vehicle control unit issues a door closing command to notify the door panel 5 to start closing.
[0134] In this embodiment, the door panel 5 slowly slides along the sliding track and gradually and automatically expands to the original position to completely close the loading and unloading opening 101. After the door panel 5 is closed, the door panel 5 can completely close the loading and unloading opening 101 without leaving any gaps, so as to ensure the safety of cargo transportation and the sealing of the vehicle body.
[0135] It should be understood that when the door panel 5 slides in the sliding track, it should be ensured that the door panel 5 does not get stuck during the sliding process. The lifting mechanism 3 should ensure that the vehicle is in a stable state to avoid the vehicle body 1 shaking during the closing process of the door panel 5, which affects the closing operation of the door panel 5.
[0136] Step S62 : After the door panel 5 is closed, the locking mechanism 53 is controlled to lock the door panel 5 .
[0137] In this embodiment, when the door panel 5 is completely closed, the locking mechanism 53 is activated, and the locking mechanism 53 firmly locks the first door panel 51 and the second door panel 52 .
[0138] It should be understood that the locking mechanism 53 is usually an electronically controlled locking system, which cooperates with a corresponding sensing device to confirm that the door panel 5 has been closed and locked successfully. If the locking mechanism 53 is locked incorrectly, the vehicle control unit will issue a prompt to remind the operator to recheck.
[0139] Step S63 : After the locking mechanism 53 locks the door panel 5 , the state of the door panel 5 is confirmed.
[0140] It should be understood that after the locking mechanism 53 locks the door panel 5, the door sensor will feedback the state of the door panel 5 to ensure that the first door panel 51 and the second door panel 52 are completely closed and locked. If the door panel 5 is not completely locked, the vehicle control unit will sound an alarm to remind the operator to recheck.
[0141] Combination Fig.10 As shown, the control method of the above vehicle, based on the adaptive PID adjustment of fuzzy control, can be applied to the lifting mechanism 3, as follows:
[0142] Step b1: Initialize PID parameters and create a PID control model. Initially, the lifting mechanism 3 sets a target height value and the hardness of the air suspension. The PID parameters are initially set according to the preset vehicle model characteristics and are used to control the inflation and deflation of the air spring airbag. The classic PID control model is as follows:
[0143]
[0144] K p Represents the Proportional control coefficient, K i Represents the Integral control coefficient, K d represents the Derivative control coefficient, u(t) is the output of the control model, and e(t) is the error between the set value and the actual value.
[0145] Step b2: Collect real-time data. The vehicle control unit obtains the height of the vehicle body 1, road condition changes and load information in real time, and feeds these data back to the air suspension controller 7. The target height value is compared with the height read by the actual height sensor 6 to calculate the error.
[0146] Step b3: Error analysis. The error is the difference between the current height of the vehicle body 1 and the target height value. According to the size and rate of change of the error, the deviation degree of the air suspension system is analyzed. If the height of the vehicle body 1 is lower than the target height value, it needs to be inflated; if the height of the vehicle body 1 is higher than the target height value, it needs to be exhausted.
[0147] Step b4: Adaptively adjust PID parameters based on fuzzy control. If it is detected that the height of the vehicle body 1 needs to change rapidly, the system increases the P gain so that the height of the vehicle body 1 can be adjusted more rapidly, thereby approaching the target height value more quickly. If the error persists, the I gain will increase to eliminate the residual error and keep the height of the vehicle body 1 at the target height value. When the vehicle passes over a rough road, the D gain can help reduce the vibration of the air suspension system and avoid frequent and excessive adjustments to the air suspension system to ensure the smooth operation of the lifting mechanism 3.
[0148] Step b5: Feedback and adjustment. The adjusted PID parameters control the action of the air pump or valve, and adjust the pressure of the airbag of the air spring in real time, so that the height of the car body 1 gradually reaches the target height value. The height sensor 6 continuously feeds back new height information data of the car body 1 and performs the next round of error calculation.
[0149] Step b6: Optimization and convergence. Fig.11 As shown, with the adjustment of the lifting mechanism 3, the height of the carriage body 1 gradually approaches the target height value, and the error gradually decreases. The adaptive PID algorithm dynamically adjusts the parameters according to the error change to ensure that the lifting mechanism 3 reaches a steady state as soon as possible.
[0150] In this application, unless otherwise clearly specified and limited, the terms "assembly", "connection" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0151] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. "Multiple" means two or more, unless otherwise clearly and specifically defined. And the description of the terms "some embodiments", "exemplarily", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application.
[0152] The schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without contradicting each other.
[0153] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application. Therefore, any changes or modifications made according to the claims and description of the present application should fall within the scope of the patent of this application.
Claims
1. A vehicle, characterized in that: include: A carriage body, a drive axle and a lifting mechanism, wherein the lifting mechanism is connected between the carriage body and the drive axle to raise or lower the height of the carriage body relative to the drive axle; the carriage body comprises a side frame portion and a bottom frame portion, wherein the side frame portion is arranged on the bottom frame portion along the height direction of the vehicle, the side frame portion is connected to the bottom frame portion, and a cargo storage space is arranged between the side frame portion and the bottom frame portion, wherein: The side frame portion includes a first side frame and a second side frame, the first side frame and the second side frame are arranged opposite to each other along the wheelbase direction of the vehicle, and the first side frame is provided with a loading and unloading port communicating with the inside and outside of the cargo storage space; The bottom frame portion is provided with a guide notch penetrating the bottom frame portion along a height direction of the vehicle, and the guide notch extends from one side of the second side frame toward the first side frame to communicate with the loading and unloading port.
2. The vehicle according to claim 1, characterized in that The bottom frame portion includes a frame portion and a support portion, the frame portion is connected to the side frame portion, the support portion is connected to the frame portion and is spaced apart from the frame portion along the wheelbase direction of the vehicle; The guide notch includes a first sub-guide opening and a second sub-guide opening, wherein the first sub-guide opening is located between one side of the support portion and the frame portion along the wheelbase direction of the vehicle; and the second sub-guide opening is located between the other side of the support portion and the frame portion along the wheelbase direction of the vehicle.
3. The vehicle according to claim 2, characterized in that The support portion includes a plurality of guide portions, the plurality of guide portions are arranged at intervals from each other along the wheelbase direction of the vehicle, and are all connected to the frame portion; The guide notch further includes third sub-guide openings corresponding to the number of the guide portions, and the third sub-guide openings are located between two adjacent guide portions in a one-to-one correspondence.
4. The vehicle according to claim 1, characterized in that The guide notch comprises a guide section and a loading and unloading section arranged along the wheelbase direction of the vehicle, wherein the guide section is closer to the second side frame than the loading and unloading section; wherein, Along the wheelbase direction of the vehicle: the width of the loading and unloading section is greater than the width of the guiding section.
5. The vehicle according to claim 1, characterized in that The drive axle includes a front drive axle and a rear drive axle, and the lifting mechanism includes a front lifting mechanism and a rear lifting mechanism. The front lifting mechanism is connected between the vehicle body and the front drive axle; the rear lifting mechanism is connected between the vehicle body and the rear drive axle.
6. The vehicle according to claim 5, characterized in that The bottom frame portion is located between the front drive axle and the rear drive axle.
7. The vehicle according to claim 1, characterized in that The vehicle further includes a door panel portion connected to the first side frame for closing or opening the loading and unloading port.
8. The vehicle according to any one of claims 1 to 7, characterized in that: The vehicle further comprises a cage box, the cage box comprises a cargo compartment and a roller part, the roller part is connected to the cargo compartment, the cargo compartment is located in the cargo storage space, and the roller part is located in the guide notch; wherein, When the cargo compartment moves from inside the cargo storage space to outside the cargo storage space, the roller part moves in the guide notch.
9. A vehicle control method, characterized in that: The method comprises: In response to a loading and unloading instruction, obtaining height information of the vehicle body and the ground on which the vehicle is located; Determine a total lifting value of the lifting mechanism based on the height information; The lifting mechanism is controlled to lift the vehicle body based on the total lifting value of the lifting mechanism.
10. The control method according to claim 9, characterized in that: The method further comprises: During the lifting and lowering process of the carriage body, obtaining the current lifting and lowering value of the lifting and lowering mechanism; Determining a lifting speed of the lifting mechanism based on a magnitude relationship between a current lifting value of the lifting mechanism and a total lifting value of the lifting mechanism; The lifting mechanism is controlled to lift the vehicle body based on the lifting speed of the lifting mechanism.
11. The control method according to claim 10, characterized in that: The method further comprises: During the lifting and lowering process of the carriage body, obtaining load change information of the carriage body; The lifting speed of the lifting mechanism is corrected based on the load change information.
12. The control method according to claim 9, characterized in that: The method of controlling the lifting mechanism to lift the carriage body based on the total lifting value of the lifting mechanism comprises: Obtaining positioning information of the vehicle; If the positioning information of the vehicle meets the preset position, the lifting mechanism is controlled to lift the vehicle body based on the total lifting value of the lifting mechanism.