A vehicle control method and apparatus

Abstract

The application discloses a vehicle control method and device. The vehicle includes a load platform and a load sensor, the load sensor includes at least two transmission channels; the vehicle control method includes: when the absolute value of the acceleration of the load platform is less than a preset threshold, the initial electric parameter value transmitted by the transmission channel is taken as the actual electric parameter value corresponding to the transmission channel, the target electric parameter is determined according to the actual electric parameter value; when the absolute value of the acceleration of the load platform is greater than or equal to the preset threshold, the actual electric parameter value is determined according to the initial electric parameter value transmitted by the transmission channel and the acceleration of the load platform, and the target electric parameter value is determined according to the actual electric parameter value; the initial load rate corresponding to each transmission channel is determined according to the target electric parameter value of each transmission channel; the target load rate of the load platform is determined according to all the initial load rates; and the operation of the vehicle is controlled according to the target load rate. The technical scheme of the application improves the accuracy of the load state determination of the load platform of the vehicle.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a vehicle control method and apparatus. Background Technology

[0002] Aerial work vehicles, such as scissor lifts and aerial work platforms, are used to transport the driver and cargo to the elevated work surface during operation. Different tonnage or height specifications of these vehicles have strict load-bearing requirements for the platform; overloading is prohibited for safety reasons.

[0003] To address this, load cells are installed on the load-bearing platform, and the vehicle's controller determines the weight the platform can bear based on the output values ​​of the load cells.

[0004] Existing vehicles determine the weight carried by the load platform based on the voltage or current values ​​output by the load cells. However, the output values ​​of the load cells may have errors, which leads to existing vehicles being unable to accurately determine the load status of the load platform. Consequently, it is impossible to accurately and timely determine whether the load platform is overloaded, and thus it is impossible to accurately control the load platform and the vehicle. Summary of the Invention

[0005] This invention provides a vehicle control method and apparatus to solve the problem that existing vehicles cannot accurately determine the load status of the load platform.

[0006] According to one aspect of the present invention, a vehicle control method is provided, wherein the vehicle includes a load-bearing platform and a load sensor, the load sensor including at least two transmission channels; the vehicle control method includes:

[0007] When the absolute value of the acceleration of the load-bearing platform is less than a preset threshold, for each transmission channel, the initial electrical parameter value transmitted by the transmission channel is taken as the actual electrical parameter value corresponding to the transmission channel, and the target electrical parameter is determined based on the actual electrical parameter value.

[0008] When the absolute value of the acceleration of the load-bearing platform is greater than or equal to the preset threshold, for each transmission channel, the actual electrical parameter value is determined based on the initial electrical parameter value transmitted by the transmission channel and the acceleration of the load-bearing platform, and the target electrical parameter value is determined based on the actual electrical parameter value.

[0009] The initial load rate corresponding to each transmission channel is determined based on the target electrical parameter value of each transmission channel;

[0010] The target load rate of the load-bearing platform is determined based on all the initial load rates described.

[0011] The vehicle operation is controlled according to the target load rate.

[0012] Optionally, determining the initial load rate corresponding to each transmission channel based on the target electrical parameter value of each transmission channel includes:

[0013] For each transmission channel, the initial load rate of the transmission channel is determined according to the target electrical parameter value of the transmission channel and the preset correspondence relationship corresponding to the transmission channel; wherein, the preset correspondence relationship is the correspondence relationship between the target electrical parameter value and the initial load rate;

[0014] Optionally, before determining the initial load rate corresponding to each transmission channel based on the target electrical parameter value of each transmission channel, the vehicle control method further includes:

[0015] For each transmission channel, obtain the first parameter value corresponding to the unloaded state of the load-bearing platform and the second parameter value corresponding to the fully loaded state of the load-bearing platform, and determine the preset correspondence based on the first parameter value and the second parameter value.

[0016] Optionally, determining the initial load rate corresponding to each transmission channel based on the target electrical parameter value of each transmission channel includes:

[0017] For each of the transmission channels, the target electrical parameter value of the transmission channel is multiplied by the product of the unit load rate corresponding to the transmission channel to obtain the initial load rate corresponding to the transmission channel;

[0018] Optionally, before determining the initial load rate corresponding to each transmission channel based on the target electrical parameter value of each transmission channel, the vehicle control method further includes:

[0019] For each transmission channel, obtain the first parameter value corresponding to the unloaded state of the load-bearing platform and the second parameter value corresponding to the fully loaded state of the load-bearing platform, and determine the unit load rate based on the first parameter value and the second parameter value.

[0020] Optionally, determining the target electrical parameter value based on the actual electrical parameter value includes:

[0021] For each of the transmission channels, the target electrical parameter value is determined based on the actual electrical parameter value transmitted by the transmission channel and a preset number of historical electrical parameter values.

[0022] Optionally, determining the target electrical parameter value based on the actual electrical parameter value transmitted through the transmission channel and a preset number of historical electrical parameter values ​​includes:

[0023] When the vehicle controller is powered on, the first electrical parameter value is collected n times consecutively, and the median value of all the first electrical parameter values ​​is used as the second electrical parameter value; where n is the preset number plus one, and n is an integer greater than 2;

[0024] When the controller is running, in the first target load rate determination period, a preset number of second electrical parameter values ​​are used as historical electrical parameter values, and the average of the actual electrical parameter value corresponding to the first target load rate determination period and the preset number of historical electrical parameter values ​​is used as the target electrical parameter value corresponding to the first target load rate determination period.

[0025] In the m-th target load rate determination period, the n-2 historical electrical parameter values ​​corresponding to the m-th target load rate determination period and the actual electrical parameter values ​​corresponding to the (m-1)-th target load rate determination period are used as a preset number of historical electrical parameter values ​​corresponding to the m-th target load rate determination period; wherein, the n-2 historical electrical parameter values ​​corresponding to the m-th target load rate determination period are obtained by removing the earliest historical electrical parameter value corresponding to the acquisition time from the preset number of historical electrical parameter values ​​corresponding to the (m-1)-th target load rate determination period;

[0026] The average of the actual electrical parameter value corresponding to the m-th target load rate determination period and the preset number of historical electrical parameter values ​​is taken as the target electrical parameter value corresponding to the m-th target load rate determination period; where m is an integer greater than 1.

[0027] Optionally, determining the actual electrical parameter value based on the initial electrical parameter value transmitted through the transmission channel and the acceleration of the load-bearing platform includes:

[0028] The ratio of the acceleration of the load-bearing platform to the acceleration due to gravity is increased by one to obtain a compensation coefficient, and the initial electrical parameter value is divided by the compensation coefficient to obtain the actual electrical parameter value.

[0029] Optionally, determining the target load rate of the load-bearing platform based on all the initial load rates includes:

[0030] The average of all the initial load rates is taken as the target load rate of the load-bearing platform.

[0031] Optionally, controlling the vehicle operation based on the target load rate includes:

[0032] When the target load rate exceeds the first load threshold, a first prompt message is issued;

[0033] When the target load rate exceeds the second load threshold, a second prompt message is issued, and the load-bearing platform of the vehicle is controlled to stop rising, and the vehicle is controlled to stop moving.

[0034] Optionally, when the target load rate is greater than the second load threshold, the vehicle control method further includes:

[0035] When the actual height of the load-bearing platform is greater than the preset height, the load-bearing platform is controlled to stop descending.

[0036] Optionally, after issuing the first prompt message, the vehicle control method further includes:

[0037] When the difference between the target load rate and the first load threshold is less than a preset difference, the first prompt message is stopped.

[0038] Optionally, after issuing the second prompt message and controlling the vehicle's load-bearing platform to stop rising and the vehicle to stop moving, the vehicle control method further includes:

[0039] When the difference between the target load rate and the first load threshold is less than the preset difference, the second prompt message is stopped, and the restrictions on the load-bearing platform and the vehicle are lifted.

[0040] Optionally, the vehicle control method further includes:

[0041] For each of the transmission channels, if the initial electrical parameter value exceeds the preset transmission range of the load sensor in k consecutive transmissions, the load sensor is determined to be faulty; where k is an integer greater than 1.

[0042] Optionally, the vehicle control method further includes:

[0043] For any two transmission channels, if the absolute value of the difference between the initial load rates of the two transmission channels is greater than a preset deviation value for j consecutive times, the load sensor is determined to be faulty; where j is an integer greater than 1.

[0044] According to another aspect of the present invention, a vehicle control device is provided, the vehicle including a load-bearing platform and a load sensor, the load sensor including at least two transmission channels; the vehicle control device includes:

[0045] The first target electrical parameter determination module is used to determine the target electrical parameter based on the actual electrical parameter value corresponding to the transmission channel when the absolute value of the acceleration of the load-bearing platform is less than a preset threshold.

[0046] The second target electrical parameter determination module is used to determine the actual electrical parameter value for each transmission channel based on the initial electrical parameter value transmitted by the transmission channel and the acceleration of the load-bearing platform when the absolute value of the acceleration of the load-bearing platform is greater than or equal to the preset threshold, and to determine the target electrical parameter value based on the actual electrical parameter value.

[0047] An initial load rate determination module is used to determine the initial load rate corresponding to each transmission channel based on the target electrical parameter value of each transmission channel.

[0048] A target load rate determination module is used to determine the target load rate of the load-bearing platform based on all the initial load rates.

[0049] The vehicle control module is used to control the operation of the vehicle according to the target load rate.

[0050] In the technical solution of this invention, when the absolute value of the acceleration of the load-bearing platform is less than a preset threshold, the load-bearing platform is in a static or near-static state. In this case, the initial electrical parameter value transmitted by the transmission channel of the load cell can be used as the actual electrical parameter value corresponding to the transmission channel. The target electrical parameter is then determined based on the actual electrical parameter value. When the absolute value of the acceleration of the load-bearing platform is greater than or equal to the preset threshold, the actual electrical parameter value is determined based on the initial electrical parameter value transmitted by the transmission channel and the acceleration of the load-bearing platform. The target electrical parameter value is then determined based on the actual electrical parameter value. Thus, the target electrical parameter value determined based on the actual electrical parameter value is more accurate, avoiding errors in determining the load state of the load-bearing platform caused by its acceleration, and improving the accuracy of determining the load state of the load-bearing platform. Due to design errors of the load cell, there are errors between different transmission channels of the load cell; that is, the initial electrical parameter values ​​transmitted by different transmission channels at the same time may have errors, but the linearity of different transmission channels is the same. Therefore, by determining the initial load rate corresponding to each transmission channel, the load status of the load-bearing platform can be determined more accurately. This avoids the problem of large errors in determining the load status of the load-bearing platform caused by errors in the initial electrical parameter values ​​transmitted from different transmission channels. Furthermore, since the load sensor includes at least two transmission channels, it can combine all initial load rates to determine the target load rate of the load-bearing platform, making the determined target load rate more accurate. This avoids errors in determining the load status of the load-bearing platform caused by errors in a single initial load rate, thus improving the accuracy of determining the load status of the load-bearing platform.

[0051] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a flowchart of a vehicle control method provided in an embodiment of the present invention;

[0054] Figure 2 This is a flowchart of another vehicle control method provided in an embodiment of the present invention;

[0055] Figure 3 This is a flowchart of another vehicle control method provided in an embodiment of the present invention;

[0056] Figure 4 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present invention. Detailed Implementation

[0057] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0058] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0059] This invention provides a vehicle control method. The vehicle may include an aerial work platform, such as a scissor lift or similar vehicle. The vehicle includes a load-bearing platform and a load sensor, with the load sensor having at least two transmission channels. The load-bearing platform can carry goods and personnel. The load sensor, also known as a weighing sensor, is disposed on the surface of the load-bearing platform. It detects the force acting on the load sensor and converts it into electrical parameter values. These electrical parameter values ​​are transmitted from the transmission channels to the vehicle's controller. The controller can convert the electrical parameter values ​​into weight or load rate, thereby detecting the load status of the load-bearing platform. The electrical parameter values ​​may include any one of voltage, current, and capacitance values. The vehicle control method can be executed by a vehicle control device, which is the vehicle's controller, or the vehicle's controller may include the vehicle control device.

[0060] Figure 1 This is a flowchart of a vehicle control method provided in an embodiment of the present invention, see reference. Figure 1 Vehicle control methods include:

[0061] S101. Determine whether the absolute value of the acceleration of the load-bearing platform is less than a preset threshold. If yes, proceed to step S102; otherwise, proceed to step S103.

[0062] The acceleration of the load-bearing platform can be obtained using an acceleration sensor or determined based on the acceleration of the motor driving the load-bearing platform.

[0063] Specifically, after the vehicle's controller receives a lifting or lowering command, it controls the motor driving the load-bearing platform to accelerate. At this point, the absolute value of the load-bearing platform's acceleration is relatively large, exceeding a preset threshold. After the load-bearing platform moves to the set height, its acceleration approaches zero, meaning the absolute value of its acceleration is less than the preset threshold.

[0064] S102. For each transmission channel, the initial electrical parameter value transmitted by the transmission channel is taken as the actual electrical parameter value corresponding to the transmission channel, and the target electrical parameter is determined based on the actual electrical parameter value.

[0065] The load sensor can be installed below the load-bearing platform, and it can convert the force applied to it into initial electrical parameter values. The initial electrical parameter values ​​transmitted through the load sensor's transmission channel can be current, voltage, or capacitance values, etc., and this embodiment does not impose any limitations.

[0066] Specifically, when the absolute value of the acceleration of the load-bearing platform is less than a preset threshold, it indicates that the acceleration of the load-bearing platform is small, and the state of the load-bearing platform is static or nearly static. In this case, the force on the load sensor is the weight of the load-bearing platform and its load. The initial electrical parameter value transmitted by the load sensor's transmission channel can then be used as the actual electrical parameter value corresponding to the transmission channel. The target electrical parameter is determined based on the actual electrical parameter value. For example, the average value of multiple actual electrical parameters can be used as the target electrical parameter. This avoids the problem of large errors in a single acquisition of the actual electrical parameter value, thereby improving the accuracy of the target electrical parameter determination and facilitating the improvement of the accuracy of determining the load state of the load-bearing platform.

[0067] S103. For each transmission channel, determine the actual electrical parameter value based on the initial electrical parameter value transmitted by the transmission channel and the acceleration of the load-bearing platform, and determine the target electrical parameter value based on the actual electrical parameter value.

[0068] Specifically, when the absolute value of the acceleration of the load-bearing platform exceeds a preset threshold, it indicates that the absolute value of the acceleration of the load-bearing platform is large. The load sensor converts the force applied to it into electrical parameter values. When the acceleration of the load-bearing platform is large, the force corresponding to the acceleration cannot be ignored. Therefore, the initial electrical parameter values ​​transmitted through the transmission channel are related to the weight, gravitational acceleration, and acceleration of the load-bearing platform. Thus, the actual electrical parameter values ​​can be determined based on the initial electrical parameter values ​​transmitted through the transmission channel and the acceleration of the load-bearing platform, i.e., the actual electrical parameter values ​​corresponding to the weight of the load-bearing platform can be determined. In this way, the target electrical parameter values ​​determined based on the actual electrical parameter values ​​are more accurate, avoiding errors in determining the load state of the load-bearing platform caused by its acceleration, and improving the accuracy of determining the load state of the load-bearing platform. The load state can include whether the load-bearing platform is overloaded, etc.

[0069] S104. Determine the initial load rate for each transmission channel based on the target electrical parameter values ​​for each transmission channel.

[0070] Specifically, the initial load rate is the load ratio corresponding to the target electrical parameter value; the larger the target electrical parameter value, the larger the load ratio. Due to design errors of the load sensor, there are errors between different transmission channels of the load sensor. That is, the initial electrical parameter values ​​transmitted by different transmission channels at the same time may have errors, but the linearity of different transmission channels is the same or close. Therefore, by determining the initial load rate corresponding to each transmission channel, the load state of the load-bearing platform can be determined based on the initial load rate, i.e., whether the load-bearing platform is overloaded. In this way, compared with the related technology that uses the gravity value corresponding to the output value of all transmission channels as the final gravity value of the load-bearing platform, the problem of large errors in judging the load state of the load-bearing platform caused by errors in the initial electrical parameter values ​​transmitted by different transmission channels can be avoided.

[0071] S105. Determine the target load rate of the load-bearing platform based on all initial load rates.

[0072] Specifically, the average of all initial load rates can be used as the target load rate of the load-bearing platform. When there are many transmission channels, the average of all initial load rates after removing the maximum and minimum values ​​can also be used as the target load rate of the load-bearing platform. This embodiment does not impose any limitations. In this way, the determined target load rate can be more accurate, avoiding errors in the determination of the load-bearing platform's load status caused by errors in a single initial load rate, and improving the accuracy of determining the load-bearing platform's load status.

[0073] S106. Control vehicle operation according to target load rate.

[0074] Specifically, controlling vehicle operation includes controlling the operation of the load-bearing platform within the vehicle and the vehicle itself. For example, when the target load rate is low, the load-bearing platform and the vehicle can be controlled to operate normally. When the target load rate is high, the operation of the load-bearing platform and / or the vehicle can be restricted, thereby preventing overloading of the load-bearing platform and avoiding the risks associated with it, thus better protecting the vehicle and personnel.

[0075] Furthermore, the vehicle control device can periodically execute steps S101 to S106, that is, execute steps S101 to S106 in each target load rate determination cycle, thereby periodically determining the target load rate and periodically controlling the operation of the vehicle according to the target load rate, which facilitates accurate control of the vehicle operation.

[0076] In this embodiment, when the absolute value of the acceleration of the load-bearing platform is less than a preset threshold, the load-bearing platform is in a static or near-static state. In this case, the initial electrical parameter value transmitted by the load cell's transmission channel can be used as the actual electrical parameter value corresponding to the transmission channel. The target electrical parameter is then determined based on the actual electrical parameter value. When the absolute value of the acceleration of the load-bearing platform is greater than or equal to the preset threshold, the actual electrical parameter value is determined based on the initial electrical parameter value transmitted by the transmission channel and the acceleration of the load-bearing platform. The target electrical parameter value is then determined based on the actual electrical parameter value. This method ensures that the target electrical parameter value determined based on the actual electrical parameter value is more accurate, avoiding errors in determining the load-bearing state of the load-bearing platform caused by its acceleration, thus improving the accuracy of determining the load-bearing state. Due to design errors in the load cell, errors exist between different transmission channels of the load cell; that is, the initial electrical parameter values ​​transmitted by different transmission channels at the same time may have errors. However, the linearity of different transmission channels is the same. Therefore, by determining the initial load rate corresponding to each transmission channel, the load status of the load-bearing platform can be determined more accurately. This avoids the problem of large errors in determining the load status of the load-bearing platform caused by errors in the initial electrical parameter values ​​transmitted from different transmission channels. Furthermore, since the load sensor includes at least two transmission channels, it can combine all initial load rates to determine the target load rate of the load-bearing platform, making the determined target load rate more accurate. This avoids errors in determining the load status of the load-bearing platform caused by errors in a single initial load rate, thus improving the accuracy of determining the load status of the load-bearing platform.

[0077] Based on the above technical solution, the method for determining the initial load rate will be explained below, but this is not intended to limit this application.

[0078] In one implementation, optionally, determining the initial load rate corresponding to each transmission channel based on the target electrical parameter value of each transmission channel includes:

[0079] For each transmission channel, the initial load rate of the transmission channel is determined based on the target electrical parameter value of the transmission channel and the preset correspondence between the transmission channel and the transmission channel; wherein, the preset correspondence is the correspondence between the target electrical parameter value and the initial load rate.

[0080] Specifically, the preset correspondence can be stored in the controller's memory in the form of tables, curves, or formulas. After determining the target electrical parameter value, the controller substitutes the target electrical parameter value into the preset correspondence to find the initial load rate corresponding to the target electrical parameter value, thereby determining the initial load rate corresponding to each transmission channel.

[0081] Optionally, before determining the initial load rate corresponding to each transmission channel based on the target electrical parameter value of each transmission channel, the vehicle control method further includes:

[0082] For each transmission channel, obtain the first parameter value corresponding to the unloaded state of the load-bearing platform and the second parameter value corresponding to the fully loaded state of the load-bearing platform, and determine the preset correspondence based on the first parameter value and the second parameter value.

[0083] Here, "unloaded" means the load-bearing platform is not loaded. "Fully loaded" means the load-bearing platform is carrying the weight of its rated load capacity.

[0084] Specifically, when the load-bearing platform is unloaded, after the controller receives the preset delay time corresponding to the predetermined relationship, it acquires the output value of each transmission channel of the load sensor multiple times. For each transmission channel, the average of the multiple output values ​​under no-load conditions is used as the first parameter value. The first parameter value is the electrical parameter value corresponding to an initial load rate of 0%.

[0085] Similarly, when the load-bearing platform is fully loaded, after the controller receives the preset delay time corresponding to the predetermined relationship, it acquires the output value of each transmission channel of the load sensor multiple times. For each transmission channel, the average of the multiple output values ​​under full load is used as the second parameter value. The second parameter value is the electrical parameter value corresponding to an initial load rate of 100%.

[0086] Thus, based on the first parameter value corresponding to an initial load rate of 0% and the second parameter value corresponding to an initial load rate of 100%, the linear relationship between the initial load rate and the electrical parameter value can be determined, which is the correspondence between the initial load rate and the target parameter value, i.e., the preset correspondence.

[0087] Furthermore, by setting a preset delay time, the output value of the load sensor can be obtained after the load platform has stabilized and the load sensor output has stabilized. This can improve the accuracy of the output value acquisition, thereby improving the accuracy of the preset correspondence determination, which in turn facilitates the improvement of the accuracy of the initial load rate determination and the accuracy of the target load rate determination.

[0088] In another implementation, optionally, the initial load rate corresponding to each transmission channel is determined based on the target electrical parameter value of each transmission channel, including:

[0089] For each transmission channel, the initial load rate of the transmission channel is obtained by multiplying the target electrical parameter value of the transmission channel by the unit load rate of the transmission channel.

[0090] Specifically, the unit load rate is the initial load rate corresponding to an electrical parameter value of 1. The unit load rates for different transmission channels can be the same or different. Therefore, multiplying the target electrical parameter value of a transmission channel by the unit load rate corresponding to that transmission channel yields the initial load rate for each transmission channel.

[0091] Optionally, before determining the initial load rate corresponding to each transmission channel based on the target electrical parameter value of each transmission channel, the vehicle control method further includes:

[0092] For each transmission channel, obtain the first parameter value when the load-bearing platform is unloaded and the second parameter value when the load-bearing platform is fully loaded, and determine the unit load rate based on the first parameter value and the second parameter value.

[0093] Specifically, the first parameter value is the electrical parameter value corresponding to an initial load rate of 0%, and the second parameter value is the electrical parameter value corresponding to an initial load rate of 100%. The percentage corresponding to the difference between the second parameter value and the first parameter value, divided by 100, is the unit load rate.

[0094] For example, a load cell may include two transmission channels, namely a first channel and a second channel, where the first parameter value corresponding to the first channel is I. A1 The second parameter value corresponding to the first channel is I. A2 The unit load rate corresponding to the first channel is For example, the target parameter value corresponding to the first channel is I. A The initial load rate R corresponding to the first channel is... A for For example, the first parameter value corresponding to the second channel is I. B1 The second parameter value corresponding to the second channel is I. B2 The unit load rate corresponding to the second channel is For example, the target parameter value corresponding to the second channel is I. B The initial load rate R corresponding to the second channel is... B for

[0095] In this way, the initial load rate corresponding to each transmission channel can be determined, which makes it easier to determine the target load rate of the load-bearing platform based on the initial load rates corresponding to all transmission channels.

[0096] Based on the above technical solutions, the specific methods for determining the target electrical parameter value according to the actual electrical parameter value in steps S102 and S103 will be described below, but this is not intended to limit this application.

[0097] Optionally, the target electrical parameter value is determined based on the actual electrical parameter value, including:

[0098] For each transmission channel, the target electrical parameter value is determined based on the actual electrical parameter value transmitted by the transmission channel and a preset number of historical electrical parameter values. The preset number is an integer greater than 1.

[0099] Specifically, the preset number of historical electrical parameter values ​​are the actual electrical parameter values ​​determined in the preset number of target load rate determination periods prior to the current target load rate determination period. Furthermore, they are the actual electrical parameter values ​​determined in the preset number of target load rate determination periods closest to the current target load rate determination period. For example, if the current target load rate determination period is the i-th period, where i is an integer greater than 15, and the preset number is 15, then the preset number of historical electrical parameter values ​​are the actual electrical parameter values ​​corresponding to the (i-15)-(i-1)-th periods. For instance, the average of the actual electrical parameter values ​​transmitted through the transmission channel and the preset number of historical electrical parameter values ​​can be used as the target electrical parameter value corresponding to the current target load rate determination period. That is, the target electrical parameter value is determined based on the preset number plus one (e.g., 16) electrical parameter values, which helps improve the accuracy of the target electrical parameter value determination.

[0100] For example, if the current target load rate determination period is the first period, then the preset number of historical electrical parameter values ​​can be the electrical parameter values ​​determined during the power-on self-test of the vehicle control device. If the current target load rate determination period is the i-th period, where i is an integer less than the preset number (meaning the number of target load rate determination periods executed is less than the preset number), then the actual electrical parameter values ​​of the executed target load rate determination periods (target load rate determination periods before the current target load rate determination period) and a portion of the electrical parameter values ​​determined during the power-on self-test of the vehicle control device (preset number minus i plus 1) can be used as the preset number of historical electrical parameter values ​​corresponding to the current target load rate determination period.

[0101] In this way, the target electrical parameter value can be determined by combining multiple historical electrical parameter values ​​and the actual electrical parameter value corresponding to the current target load rate. This avoids the problem of errors in the actual electrical parameter value determined in a single instance, thereby reducing errors and improving the accuracy of the target electrical parameter value determination.

[0102] Optionally, the target electrical parameter value is determined based on the actual electrical parameter value transmitted through the transmission channel and a preset number of historical electrical parameter values, including:

[0103] Step a1: When the vehicle controller is powered on, the first electrical parameter value is collected n times consecutively, and the median value of all the first electrical parameter values ​​is used as the second electrical parameter value; where n is the preset number plus one, and n is an integer greater than 2.

[0104] Specifically, when the vehicle controller is powered on, i.e. during the vehicle controller's power-on self-test, or during the vehicle control device's power-on self-test, the vehicle control device continuously acquires the first electrical parameter value output by each transmission channel n times. All first electrical parameter values ​​are sorted by size, and the median value of all first electrical parameter values ​​is used as the second electrical parameter value. For example, if n is 16, the average of the 8th and 9th sorted first electrical parameter values ​​is the median value of all first electrical parameter values. For example, if n is 15, the 8th sorted first electrical parameter value is the median value of all first electrical parameter values. This ensures that the determined second electrical parameter value is neither the smallest nor the largest of the first electrical parameter values, avoiding the problem of the load sensor outputting an excessively small first electrical parameter value immediately after power-on. This allows for the acquisition of a stable first electrical parameter value, improving the accuracy of the determined second electrical parameter value.

[0105] Step a2: During the operation of the controller, in the first target load rate determination period, a preset number of second electrical parameter values ​​are used as historical electrical parameter values, and the average of the actual electrical parameter value corresponding to the first target load rate determination period and the preset number of historical electrical parameter values ​​is used as the target electrical parameter value corresponding to the first target load rate determination period.

[0106] Specifically, during controller operation—that is, during normal operation after the controller completes its power-on self-test, and during normal operation after the vehicle control device completes its power-on self-test—a preset number of second electrical parameter values ​​are used as historical electrical parameter values ​​to determine the preset number of historical electrical parameter values. The average of the actual electrical parameter value corresponding to the first target load rate determination period and the preset number of historical electrical parameter values ​​is used as the target electrical parameter value corresponding to the first target load rate determination period. This avoids the problem of large errors in the target electrical parameter value due to errors in the actual electrical parameter value corresponding to the current target load rate determination period, thus reducing errors and improving the accuracy of target electrical parameter value determination.

[0107] Step a3: In the m-th target load rate determination period, the n-2 historical electrical parameter values ​​corresponding to the m-th target load rate determination period and the actual electrical parameter values ​​corresponding to the (m-1)-th target load rate determination period are used as the preset number of historical electrical parameter values ​​corresponding to the m-th target load rate determination period; wherein, the n-2 historical electrical parameter values ​​corresponding to the m-th target load rate determination period are obtained by removing the earliest historical electrical parameter value corresponding to the acquisition time from the preset number of historical electrical parameter values ​​corresponding to the (m-1)-th target load rate determination period.

[0108] Specifically, the n-2 historical electrical parameter values ​​corresponding to the m-th target load rate determination period and the actual electrical parameter value corresponding to the (m-1)-th target load rate determination period are the preset number of historical electrical parameter values ​​corresponding to the m-th target load rate determination period. The n-2 historical electrical parameter values ​​corresponding to the m-th target load rate determination period are obtained by removing the earliest historical electrical parameter value from the preset number of historical electrical parameter values ​​corresponding to the (m-1)-th target load rate determination period. For example, the preset number of historical electrical parameter values ​​corresponding to the (m-1)-th target load rate determination period can be shifted to obtain n-2 historical electrical parameter values. Thus, the n-2 historical electrical parameter values ​​corresponding to the m-th target load rate determination period and the actual electrical parameter value corresponding to the (m-1)-th target load rate determination period are the n-1 (preset number) historical electrical parameter values ​​closest to the m-th target load rate determination period.

[0109] When m is 2, the preset number of historical electrical parameter values ​​corresponding to the (m-1)th target load rate determination period are the preset number of second electrical parameter values.

[0110] When m is greater than 2 and less than the preset number, the historical electrical parameter values ​​corresponding to the preset number of target load rate determination cycles for the (m-1)th target load rate determination cycle are the actual electrical parameter values ​​corresponding to all target load rate determination cycles before the (m-1)th target load rate determination cycle, plus a portion of the second electrical parameter values ​​(the preset number minus (m-1) plus 1). For example, if the preset number is 15, then the actual electrical parameter values ​​corresponding to all target load rate determination cycles before the (m-1)th target load rate determination cycle, plus 15-(m-1)+1 second electrical parameter values, are used as the preset number of historical electrical parameter values.

[0111] When m is greater than the preset number, the historical electrical parameter values ​​corresponding to the preset number of target load rate determination cycles for the (m-1)th cycle are the actual electrical parameter values ​​corresponding to the (m-1)th cycle minus the preset number up to the (m-2)th cycle. For example, if the preset number is 15, then the actual electrical parameter values ​​corresponding to the (m-1-15)th cycle to the (m-2)th cycle are used as the historical electrical parameter values ​​for the preset number.

[0112] In this way, a preset number of historical electrical parameter values ​​can be determined for the m-th target load rate determination period.

[0113] Step a4: Take the average of the actual electrical parameter value corresponding to the m-th target load rate determination period and the preset number of historical electrical parameter values ​​as the target electrical parameter value corresponding to the m-th target load rate determination period; where m is an integer greater than 1.

[0114] Specifically, the average of the actual electrical parameter value corresponding to the m-th target load rate determination period and the average of a preset number of historical electrical parameter values ​​corresponding to the m-th target load rate determination period is used as the target electrical parameter value corresponding to the m-th target load rate determination period. This allows the target electrical parameter value to be determined by combining multiple historical electrical parameter values ​​and the actual electrical parameter value corresponding to the current target load rate determination period. This avoids the problem of errors in the actual electrical parameter value determined in a single instance, thereby reducing errors and improving the accuracy of the target electrical parameter value determination.

[0115] Based on the above technical solutions, Figure 2 This is a flowchart of another vehicle control method provided in an embodiment of the present invention. Optionally, refer to... Figure 2 Vehicle control methods include:

[0116] S201. Determine whether the absolute value of the acceleration of the load-bearing platform is less than a preset threshold. If yes, proceed to step S202; otherwise, proceed to step S203.

[0117] S202. For each transmission channel, the initial electrical parameter value transmitted by the transmission channel is taken as the actual electrical parameter value corresponding to the transmission channel, and the target electrical parameter is determined based on the actual electrical parameter value.

[0118] S203. For each transmission channel, add one to the ratio of the acceleration of the load-bearing platform to the acceleration due to gravity to obtain a compensation coefficient, and divide the initial electrical parameter value by the compensation coefficient to obtain the actual electrical parameter value. Determine the target electrical parameter value based on the actual electrical parameter value.

[0119] Specifically, the load cell converts the force it experiences into an electrical parameter value output. When the absolute value of the acceleration of the load-bearing platform is greater than or equal to a preset threshold, the force F on the load cell is F = mg + ma, where m is the mass of the load-bearing platform, g is the gravitational acceleration, and a is the acceleration of the load-bearing platform during operation. The acceleration a is a signed number, with positive for acceleration and negative for deceleration. The initial electrical parameter value output by the transmission channel of the load cell is I. ag Initial electrical parameter value I ag The actual electrical parameter value I is positively correlated with the force F. g It is positively correlated with the gravity mg of the load-bearing platform. Therefore, the initial electrical parameter value I... ag and Positive correlation, actual electrical parameter value I g If it is positively correlated with mg, then we can obtain Right now The compensation coefficient is obtained by adding one to the ratio of the acceleration of the load-bearing platform to the acceleration due to gravity. The actual electrical parameter value is obtained by dividing the initial electrical parameter value by the compensation coefficient. In this way, when the load-bearing platform is in a dynamic state, that is, when the absolute value of the acceleration of the load-bearing platform is greater than or equal to a preset threshold, the initial electrical parameter value can be compensated to determine the actual electrical parameter value of the load sensor, which facilitates the accurate determination of the target electrical parameter value.

[0120] S204. Determine the initial load rate for each transmission channel based on the target electrical parameter values ​​for each transmission channel.

[0121] S205. Determine the target load rate of the load-bearing platform based on all initial load rates.

[0122] S206. Control vehicle operation according to target load rate.

[0123] Based on the above technical solutions, optionally, the target load rate of the load-bearing platform can be determined according to all initial load rates, including:

[0124] The average of all initial load rates is used as the target load rate for the heavy-duty platform.

[0125] Specifically, during the current target load rate determination period, the average value of the initial load rates corresponding to the initial electrical parameter values ​​output by all transmission channels is taken as the target load rate of the load-bearing platform. This makes the determined target load rate more accurate, avoids errors in the determination of the load-bearing platform's load status caused by errors in a single initial load rate, and improves the accuracy of determining the load-bearing platform's load status.

[0126] Based on the above technical solutions, Figure 3 This is a flowchart of another vehicle control method provided in an embodiment of the present invention. Optionally, refer to... Figure 3 Vehicle control methods include:

[0127] S301. Determine whether the absolute value of the acceleration of the load-bearing platform is less than a preset threshold. If yes, proceed to step S302; otherwise, proceed to step S303.

[0128] S302. For each transmission channel, the initial electrical parameter value transmitted by the transmission channel is taken as the actual electrical parameter value corresponding to the transmission channel, and the target electrical parameter is determined based on the actual electrical parameter value.

[0129] S303. For each transmission channel, add one to the ratio of the acceleration of the load-bearing platform to the acceleration due to gravity to obtain a compensation coefficient, and divide the initial electrical parameter value by the compensation coefficient to obtain the actual electrical parameter value. Determine the target electrical parameter value based on the actual electrical parameter value.

[0130] S304. Determine the initial load rate for each transmission channel based on the target electrical parameter values ​​for each transmission channel.

[0131] S305. Determine the target load rate of the load-bearing platform based on all initial load rates.

[0132] S306. When the target load rate is greater than the first load threshold, issue the first prompt message.

[0133] Specifically, for example, the first load threshold can be any value between 80% and 90%, it can be 90% or 80%, and this embodiment does not limit it. When the target load rate is greater than the first load threshold, it indicates that the rated load is approaching, and a first warning message is issued to indicate that overload is imminent, so as to avoid overload posing a safety hazard to the workers on the load-bearing platform.

[0134] S307. When the target load rate is greater than the second load threshold, issue a second prompt message and control the vehicle's load platform to stop rising and control the vehicle to stop moving.

[0135] Specifically, the second load threshold is greater than the first load threshold. The second load threshold can be any value between 90% and 100%, such as 95% or 100%, and this embodiment does not limit it. When the target load rate exceeds the second load threshold, a second warning message is issued to indicate overload, and the vehicle's load-bearing platform is controlled to stop rising to avoid safety hazards caused by continued rising after overloading. The vehicle is also controlled to stop moving to avoid safety hazards caused by continued movement after overloading.

[0136] As we can see, lifting the load-bearing platform refers to moving the load-bearing platform away from the vehicle on a horizontal plane. Lowering the load-bearing platform refers to moving the load-bearing platform closer to the vehicle on a horizontal plane.

[0137] Based on the above technical solution, optionally, when the target load rate is greater than the second load threshold, the vehicle control method further includes:

[0138] When the actual height of the load-bearing platform exceeds the preset height, control the load-bearing platform to stop descending.

[0139] Specifically, when the actual height of the load-bearing platform is greater than the preset height, it indicates that the load-bearing platform is too high. At this time, the target load rate of the load-bearing platform is greater than the second load threshold, and the load-bearing platform is in an overloaded state. The fluctuations caused by the descent of the load-bearing platform may be large. Therefore, the load-bearing platform is controlled to stop descending to avoid causing a large safety hazard.

[0140] Optionally, after issuing the first prompt message, the vehicle control method further includes:

[0141] When the difference between the target load rate and the first load threshold is less than a preset difference, the first prompt message will stop being issued.

[0142] Specifically, after issuing the first alert, if the difference between the target load rate and the first load threshold is less than a preset difference, it indicates that the target load rate has decreased and remains below the first load threshold. At this point, issuing the first alert stops, and the normal operation of the vehicle and the load platform resumes. By setting a preset difference, it avoids the target load rate of the load platform from exceeding the first load threshold again after the target load rate has fallen below it and the vehicle and load platform have resumed normal operation. This prevents the target load rate from fluctuating around the first load threshold, thus avoiding frequent activation and issuance of the first alert. Therefore, the first alert can be stopped while ensuring the target load rate remains below the first load threshold, guaranteeing the reliability of vehicle control.

[0143] Optionally, after issuing the second prompt message and controlling the vehicle's load-bearing platform to stop rising and the vehicle to stop moving, the vehicle control method further includes:

[0144] When the difference between the target load rate and the first load threshold is less than the preset difference, the second prompt message will stop being issued and the restrictions on the load-bearing platform and vehicle will be lifted.

[0145] Specifically, after issuing the second prompt message and controlling the vehicle's load platform to stop rising and the vehicle to stop moving, if the difference between the target load rate and the first load threshold is less than a preset difference, it indicates that the target load rate has decreased and remains below the first load threshold. At this point, the second prompt message is stopped, and the restrictions on the load platform and vehicle are lifted, restoring normal vehicle and load platform operation. This ensures that the second prompt message is stopped and the restrictions on the load platform and vehicle are lifted while maintaining the target load rate below the first load threshold, guaranteeing reliable vehicle control. By setting a preset difference, it prevents the target load rate from exceeding the first or second load threshold after the target load rate has fallen below the first load threshold and normal vehicle and load platform operation has resumed. This avoids fluctuations in the target load rate around the first or second load threshold, preventing frequent activation of the first or second prompt message. Therefore, the first prompt message is stopped while maintaining the target load rate below the first load threshold, ensuring reliable vehicle control.

[0146] Based on the above technical solutions, the vehicle control method may optionally include:

[0147] For each transmission channel, a load sensor fault is determined when the initial electrical parameter value exceeds the preset transmission range of the load sensor in k consecutive transmissions; where k is an integer greater than 1.

[0148] Specifically, the initial electrical parameter value exceeds the preset transmission range of the load cell, meaning the initial electrical parameter value is less than the minimum value within the preset transmission range, or the initial electrical parameter value is greater than the maximum value within the preset transmission range. Determining a load cell fault occurs when the initial electrical parameter value exceeds the preset transmission range for k consecutive transmissions ensures accurate fault diagnosis and avoids misdiagnosis.

[0149] For example, a first count value can be set. For each transmission channel, the first count value is incremented by one each time the initial electrical parameter value is determined to exceed the preset transmission range of the load cell, and reset to zero when the initial electrical parameter value is determined to be within the preset transmission range. The load cell is considered faulty when the first count value reaches k.

[0150] Optionally, the vehicle control method further includes:

[0151] For any two transmission channels, a load sensor fault is determined when the absolute value of the difference between the initial load rates of the two transmission channels is greater than a preset deviation value for j consecutive times; where j is an integer greater than 1.

[0152] Specifically, if the absolute value of the difference between the initial load rates of two transmission channels is greater than a preset deviation value for j consecutive times, it indicates a significant difference in the initial load rates of the two transmission channels, meaning a large deviation in the linearity of the two transmission channels. In this case, the load sensor is determined to be faulty. Determining a load sensor fault by having the absolute value of the difference between the initial load rates of two transmission channels be greater than the preset deviation value for j consecutive times ensures the accuracy of fault diagnosis and avoids misjudgment.

[0153] For example, a second count value can be set. For any two transmission channels, the second count value is incremented by one each time the absolute value of the difference between the initial load rates of the two transmission channels is greater than a preset deviation value. The second count value is reset to zero when the absolute value of the difference between the initial load rates of the two transmission channels is less than or equal to the preset deviation value. The load sensor is determined to be faulty when the second count value reaches j.

[0154] Optionally, after a load sensor malfunction is confirmed, a load sensor malfunction warning message can be issued, so that staff can be informed of the load sensor malfunction in a timely manner and carry out timely repairs, thus avoiding the problem of low vehicle control accuracy caused by a large target load rate error.

[0155] This invention also provides a vehicle control device for executing the vehicle control method provided in any embodiment of this invention. The vehicle control device is either a vehicle controller or a vehicle controller includes the vehicle control device. The vehicle includes a load-bearing platform and a load sensor, the load sensor including at least two transmission channels. Figure 4 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present invention, for reference. Figure 4 The vehicle control device includes:

[0156] The first target electrical parameter determination module 110 is used to determine the target electrical parameter based on the initial electrical parameter value transmitted by each transmission channel as the actual electrical parameter value corresponding to the transmission channel when the absolute value of the acceleration of the load-bearing platform is less than a preset threshold.

[0157] The second target electrical parameter determination module 120 is used to determine the actual electrical parameter value for each transmission channel based on the initial electrical parameter value transmitted by the transmission channel and the acceleration of the load-bearing platform when the absolute value of the acceleration of the load-bearing platform is greater than or equal to a preset threshold, and to determine the target electrical parameter value based on the actual electrical parameter value.

[0158] The initial load rate determination module 130 is used to determine the initial load rate of each transmission channel based on the target electrical parameter value of each transmission channel.

[0159] The target load rate determination module 140 is used to determine the target load rate of the load-bearing platform based on all initial load rates.

[0160] The vehicle control module 150 is used to control vehicle operation according to the target load rate.

[0161] The vehicle control device provided in the embodiments of the present invention can execute the vehicle control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0162] This invention also provides a vehicle, which includes a vehicle control device, a load-bearing platform, and a load sensor provided in any embodiment of this invention. The load sensor includes at least two transmission channels. The vehicle can be an industrial vehicle, such as an aerial work platform or a scissor lift. Since the vehicle includes the vehicle control device provided in any embodiment of this invention, it possesses the same beneficial effects as the vehicle control device provided in any embodiment of this invention, and will not be elaborated further here.

[0163] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0164] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle control method, characterized in that, The vehicle includes a load-bearing platform and a load sensor, the load sensor including at least two transmission channels; the method includes: When the absolute value of the acceleration of the load-bearing platform is less than a preset threshold, for each transmission channel, the initial electrical parameter value transmitted by the transmission channel is taken as the actual electrical parameter value corresponding to the transmission channel, and the target electrical parameter value is determined based on the actual electrical parameter value. When the absolute value of the acceleration of the load-bearing platform is greater than or equal to the preset threshold, for each transmission channel, the actual electrical parameter value is determined based on the initial electrical parameter value transmitted by the transmission channel and the acceleration of the load-bearing platform, and the target electrical parameter value is determined based on the actual electrical parameter value. The initial load rate corresponding to each transmission channel is determined based on the target electrical parameter value of each transmission channel; The target load rate of the load-bearing platform is determined based on all the initial load rates described. The vehicle operation is controlled according to the target load rate.

2. The method according to claim 1, characterized in that, The step of determining the initial load rate corresponding to each transmission channel based on the target electrical parameter value of each transmission channel includes: For each transmission channel, the initial load rate of the transmission channel is determined according to the target electrical parameter value of the transmission channel and the preset correspondence relationship corresponding to the transmission channel; wherein, the preset correspondence relationship is the correspondence relationship between the target electrical parameter value and the initial load rate; Before determining the initial load rate corresponding to each transmission channel based on the target electrical parameter value of each transmission channel, the method further includes: For each transmission channel, obtain the first parameter value corresponding to the unloaded state of the load-bearing platform and the second parameter value corresponding to the fully loaded state of the load-bearing platform, and determine the preset correspondence based on the first parameter value and the second parameter value.

3. The method according to claim 1, characterized in that, The step of determining the initial load rate corresponding to each transmission channel based on the target electrical parameter value of each transmission channel includes: For each of the transmission channels, the target electrical parameter value of the transmission channel is multiplied by the product of the unit load rate corresponding to the transmission channel to obtain the initial load rate corresponding to the transmission channel; Before determining the initial load rate corresponding to each transmission channel based on the target electrical parameter value of each transmission channel, the method further includes: For each transmission channel, obtain the first parameter value corresponding to the unloaded state of the load-bearing platform and the second parameter value corresponding to the fully loaded state of the load-bearing platform, and determine the unit load rate based on the first parameter value and the second parameter value.

4. The method according to any one of claims 1-3, characterized in that, Determining the target electrical parameter value based on the actual electrical parameter value includes: For each of the transmission channels, the target electrical parameter value is determined based on the actual electrical parameter value transmitted by the transmission channel and a preset number of historical electrical parameter values.

5. The method according to claim 4, characterized in that, Determining the target electrical parameter value based on the actual electrical parameter value transmitted through the transmission channel and a preset number of historical electrical parameter values ​​includes: When the vehicle controller is powered on, the first electrical parameter value is collected n times consecutively, and the median value of all the first electrical parameter values ​​is used as the second electrical parameter value; where n is the preset number plus one, and n is an integer greater than 2; When the controller is running, in the first target load rate determination period, a preset number of second electrical parameter values ​​are used as historical electrical parameter values, and the average of the actual electrical parameter value corresponding to the first target load rate determination period and the preset number of historical electrical parameter values ​​is used as the target electrical parameter value corresponding to the first target load rate determination period. In the m-th target load rate determination period, the n-2 historical electrical parameter values ​​corresponding to the m-th target load rate determination period and the actual electrical parameter values ​​corresponding to the (m-1)-th target load rate determination period are used as a preset number of historical electrical parameter values ​​corresponding to the m-th target load rate determination period; wherein, the n-2 historical electrical parameter values ​​corresponding to the m-th target load rate determination period are obtained by removing the earliest historical electrical parameter value corresponding to the acquisition time from the preset number of historical electrical parameter values ​​corresponding to the (m-1)-th target load rate determination period; The average of the actual electrical parameter value corresponding to the m-th target load rate determination period and the preset number of historical electrical parameter values ​​is taken as the target electrical parameter value corresponding to the m-th target load rate determination period; where m is an integer greater than 1.

6. The method according to any one of claims 1-3, characterized in that, Determining the actual electrical parameter values ​​based on the initial electrical parameter values ​​transmitted through the transmission channel and the acceleration of the load-bearing platform includes: The ratio of the acceleration of the load-bearing platform to the acceleration due to gravity is increased by one to obtain a compensation coefficient, and the initial electrical parameter value is divided by the compensation coefficient to obtain the actual electrical parameter value.

7. The method according to any one of claims 1-3, characterized in that, Determining the target load rate of the load-bearing platform based on all the initial load rates includes: The average of all the initial load rates is taken as the target load rate of the load-bearing platform.

8. The method according to any one of claims 1-3, characterized in that, The step of controlling the vehicle operation according to the target load rate includes: When the target load rate exceeds the first load threshold, a first prompt message is issued; When the target load rate exceeds the second load threshold, a second prompt message is issued, and the load-bearing platform of the vehicle is controlled to stop rising, and the vehicle is controlled to stop moving.

9. The method according to claim 8, characterized in that, When the target load rate is greater than the second load threshold, the method further includes: When the actual height of the load-bearing platform is greater than the preset height, the load-bearing platform is controlled to stop descending.

10. The method according to claim 8, characterized in that, After issuing the first prompt message, the method further includes: When the difference between the target load rate and the first load threshold is less than a preset difference, the first prompt message is stopped. After issuing the second prompt message and controlling the vehicle's load-bearing platform to stop rising and the vehicle to stop moving, the method further includes: When the difference between the target load rate and the first load threshold is less than the preset difference, the second prompt message is stopped, and the restrictions on the load-bearing platform and the vehicle are lifted.

11. The method according to any one of claims 1-3, characterized in that, The method further includes: For each of the transmission channels, if the initial electrical parameter value exceeds the preset transmission range of the load sensor in k consecutive transmissions, the load sensor is determined to be faulty; where k is an integer greater than 1.

12. The method according to any one of claims 1-3, characterized in that, The method further includes: For any two transmission channels, if the absolute value of the difference between the initial load rates of the two transmission channels is greater than a preset deviation value for j consecutive times, the load sensor is determined to be faulty; where j is an integer greater than 1.

13. A vehicle control device, characterized in that, The vehicle includes a load-bearing platform and a load sensor, the load sensor including at least two transmission channels; the device includes: The first target electrical parameter determination module is used to determine the target electrical parameter based on the actual electrical parameter value corresponding to the transmission channel when the absolute value of the acceleration of the load-bearing platform is less than a preset threshold. The second target electrical parameter determination module is used to determine the actual electrical parameter value for each transmission channel based on the initial electrical parameter value transmitted by the transmission channel and the acceleration of the load-bearing platform when the absolute value of the acceleration of the load-bearing platform is greater than or equal to the preset threshold, and to determine the target electrical parameter value based on the actual electrical parameter value. An initial load rate determination module is used to determine the initial load rate corresponding to each transmission channel based on the target electrical parameter value of each transmission channel. A target load rate determination module is used to determine the target load rate of the load-bearing platform based on all the initial load rates. The vehicle control module is used to control the operation of the vehicle according to the target load rate.

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