Lifting control method, device and equipment of motor home roof lifting mechanism and medium

Abstract

The application relates to the technical field of control of a motor home roof lifting mechanism, and provides a lifting control method, device, equipment and medium for a motor home roof lifting mechanism, wherein when a roof lifting request instruction of the motor home roof lifting mechanism is received, real-time state data of the motor home is acquired, the real-time state data at least including a motion state parameter of the motor home; whether the motor home is in a stationary state is judged based on the motion state parameter, if the motor home is in the stationary state, an allowed roof lifting instruction is generated and sent to a driving device of the motor home roof lifting mechanism, so that the driving device performs a roof lifting operation. The adaptability of the system to complex scenes is enhanced, and the use safety of users is guaranteed.

Description

Technical Field

[0001] This application relates to the field of RV pop-up mechanism control technology, and in particular to a lifting control method, device, equipment and medium for RV pop-up mechanism. Background Technology

[0002] In the RV industry, pop-up roof mechanisms can improve space utilization by changing the roof height, making their control and safety crucial. Traditional RV pop-up roof control methods often only focus on executing the pop-up command, without fully considering the impact of the RV's own condition on the pop-up operation. In actual use, if the pop-up operation is accidentally triggered when the RV is in a state where its safety is uncertain, it may damage the pop-up mechanism or cause safety risks, posing a safety hazard due to misjudgment of the operating scenario. Summary of the Invention

[0003] This application provides a lifting control method, device, equipment, and medium for a RV pop-up roof mechanism, aiming to solve the problem that in the prior art, RV pop-up roof control methods usually make lifting decisions based on only a single-dimensional parameter (such as determining whether the vehicle is stationary through a vehicle speed sensor), lacking a comprehensive assessment of environmental risks (such as strong winds and roof loads).

[0004] Firstly, this application provides a lifting control method for a motorhome pop-up roof mechanism, including:

[0005] Upon receiving a roof-raising request instruction from the RV's roof-raising mechanism, the system acquires real-time status data of the RV, which includes at least the RV's motion status parameters.

[0006] Based on the motion state parameters, it is determined whether the RV is stationary. If the RV is stationary, a command to allow the roof to be raised is generated and sent to the drive device of the RV roof raising mechanism so that the drive device can perform the roof raising operation.

[0007] In some embodiments, the real-time status data further includes environmental status parameters; before generating the permission to raise the roof command and sending it to the drive device of the roof raising mechanism, the method further includes: determining whether the environment of the RV meets the requirements for raising the roof based on the environmental status parameters; if the environment of the RV meets the requirements for raising the roof, generating the permission to raise the roof command and sending it to the drive device of the roof raising mechanism.

[0008] In some embodiments, when the roof-lifting mechanism is in the roof-lifting state, the method further includes: acquiring the motion state parameters and environmental state parameters of the RV in real time; if the RV is in motion or the environment of the RV does not meet the roof-lifting environmental requirements, generating a roof-lowering request command and sending it to the drive device.

[0009] In some embodiments, the environmental state parameters include at least real-time wind speed and roof weight detection signals; determining whether the environment of the RV meets the pop-up roof environment requirements based on the environmental state parameters includes: determining whether the real-time wind speed is less than a preset wind speed threshold; confirming whether the roof weight of the RV exceeds a set threshold based on the roof weight detection signal; if the real-time wind speed is less than the preset wind speed threshold and the roof weight of the RV does not exceed the set threshold, the environment of the RV meets the pop-up roof environment requirements.

[0010] In some embodiments, acquiring the real-time status data of the RV includes: collecting the motion state parameters and environmental state parameters in real time through sensor modules installed on the RV; wherein, the motion state parameters include one or more of the following: vehicle speed signal acquired through a vehicle speed sensor, vehicle body tilt angle signal acquired through a gyroscope, and acceleration signal acquired through an acceleration sensor; the environmental state parameters include real-time wind speed acquired through a wind speed sensor and real-time roof weight detection signal acquired through a weight sensor installed on the roof.

[0011] In some embodiments, generating a command to allow the roof to be raised and sending it to the drive device corresponding to the roof-raising mechanism, so that the drive device can perform the roof-raising operation, includes: sending a roof-raising signal to the drive device; collecting the current value of the roof-raising motor and the position feedback signal of the roof-raising guide rail in real time; if the current value is within a preset safe current range and the position feedback signal shows that the roof-raising mechanism is not stuck, controlling the drive device to perform the roof-raising operation at a segmented speed; during the roof-raising process, monitoring the roof weight detection signal and the vehicle body tilt angle signal in real time; if either the roof weight detection signal or the vehicle body tilt angle signal exceeds a safety threshold, an emergency stop is immediately triggered.

[0012] Secondly, this application provides a lifting control device for the roof-lifting mechanism of a motorhome, comprising:

[0013] The data acquisition unit is used to acquire real-time status data of the RV when it receives a roof raising request or roof lowering request instruction from the RV roof raising mechanism. The real-time status data includes at least the motion status parameters of the RV.

[0014] The status judgment unit is used to determine whether to generate a roof raising command or a roof lowering command based on the real-time status data, and to send the roof raising command or the roof lowering command to the drive unit corresponding to the roof raising mechanism of the RV.

[0015] A drive unit is used to cause the drive device to perform a lifting or lowering operation according to the permitted lifting command or permitted lowering command.

[0016] In some embodiments, the real-time status data further includes environmental status parameters, which include at least real-time wind speed and roof weight detection signals.

[0017] Thirdly, this application also provides a computer device, comprising:

[0018] Memory and processor;

[0019] The memory is used to store computer programs;

[0020] The processor is configured to execute the computer program and, in executing the computer program, implement the steps of the lifting control method for the RV pop-top mechanism as described in the first aspect above.

[0021] Fourthly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the steps of the lifting control method for the RV pop-up mechanism described in the first aspect above.

[0022] This application provides a lifting control method, device, equipment, and medium for a motorhome pop-up mechanism. The method obtains real-time status data of the motorhome, including motion state parameters, and determines whether the motorhome is stationary based on these motion state parameters. This overcomes the shortcomings of traditional methods that rely solely on a single-dimensional parameter for lifting decisions. It ensures that a pop-up command is only generated when the motorhome is stationary, thus avoiding accidental triggering of the pop-up operation in uncertain situations. This reduces the risk of damage to the pop-up mechanism and safety hazards, and improves the control safety and reliability of the motorhome pop-up operation.

[0023] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic flowchart illustrating the steps of a lifting control method for a RV pop-up mechanism according to an embodiment of this application;

[0026] Figure 2 This is a schematic diagram of a motorhome provided in one embodiment of this application;

[0027] Figure 3 This is a schematic diagram of the lifting control device for the roof-lifting mechanism of a motorhome provided in one embodiment of this application;

[0028] Figure 4 This is a schematic block diagram of the structure of a computer device provided in an embodiment of this application.

[0029] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Detailed Implementation

[0030] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0032] It should be understood that, in order to clearly describe the technical solutions of the embodiments of the present invention, the terms "first" and "second" are used in the embodiments of the present invention to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0033] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0034] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0035] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0036] In the RV industry, pop-up roof mechanisms can improve space utilization by changing the roof height, making their control and safety crucial. Traditional RV pop-up roof control methods often only focus on executing the pop-up command, without fully considering the impact of the RV's own condition on the pop-up operation. In actual use, if the pop-up operation is accidentally triggered when the RV is in a state where its safety is uncertain, it may damage the pop-up mechanism or cause safety risks, posing a safety hazard due to misjudgment of the operating scenario.

[0037] Therefore, a method is urgently needed to solve at least one of the above problems.

[0038] Please see Figures 1 to 2 The lifting and lowering control method of the RV's pop-up roof mechanism can be implemented by computer equipment, which can be deployed on a single server or a server cluster. Alternatively, it can be deployed on a handheld terminal, laptop, wearable device, or robot, etc.

[0039] Specifically, such as Figure 1 As shown, the lifting control method for the provided RV pop-up mechanism includes steps S101 to S102, which are detailed below:

[0040] Step S101: Upon receiving a roof-lifting request instruction from the RV roof-lifting mechanism, acquire real-time status data of the RV, wherein the real-time status data includes at least the RV's motion status parameters.

[0041] Specifically, when the control computer equipment of the RV's pop-up mechanism (such as the vehicle ECU, central controller, or integrated control system) receives a pop-up request command triggered by the user or the system (such as an operation command issued through the vehicle control panel, mobile APP, or voice control), the system first enters the data acquisition stage to acquire the RV's motion status parameters and other necessary status data in real time. (Although the current step only explicitly mentions motion status parameters, according to subsequent logic, environmental parameters may need to be expanded in actual implementation, but the core of step S101 is the acquisition of motion status data.)

[0042] The data acquisition hardware configuration utilizes vehicle speed sensors (such as wheel speed encoders and ABS system integrated sensors) to monitor wheel rotation speed in real time, converting it into vehicle speed (unit: km / h or m / s). Accelerometers (such as MEMS accelerometers) are configured to detect vehicle acceleration in the X, Y, and Z axes, used to determine whether the vehicle is in dynamic motion or in a state of slight displacement after coming to a standstill. An integrated GPS module or BeiDou positioning system is used to obtain the vehicle's real-time position and speed (supplementing vehicle speed sensor data and avoiding misjudgments due to single sensor failure). Sensor data is transmitted to the control computer via the vehicle's CAN bus, LIN bus, or Ethernet, with a data refresh rate of no less than 10Hz to ensure real-time performance.

[0043] The motion state parameters are defined as follows: Core parameters include: real-time vehicle speed (v), acceleration amplitude (a), and positioning system velocity vector (combined with latitude and longitude change rate). Auxiliary parameters (optional): parking brake status (determined by brake switch signal) and transmission gear position (P gear signal) are used to enhance the reliability of stationary state determination.

[0044] The data processing logic filters the sensor data (e.g., using Kalman filtering) to eliminate high-frequency noise (such as instantaneous speed fluctuations caused by road bumps). A time window (e.g., 500ms) is established to continuously collect motion state parameters within the window, avoiding interference from instantaneous signals.

[0045] Step S102: Based on the motion state parameters, determine whether the RV is in a stationary state. If the RV is in a stationary state, generate a command to allow the roof to be raised and send it to the drive device of the RV roof raising mechanism so that the drive device can perform the roof raising operation.

[0046] Specifically, the computer device determines whether the RV is stationary based on the motion state parameters obtained in step S101 and preset logic rules. If the RV is determined to be stationary (i.e., all preset stationary conditions are met), a command to allow the roof to be raised is generated and sent to the drive device (such as a motor, hydraulic pump, or cylinder) of the roof raising mechanism through a hardware interface. After receiving the command, the drive device performs the roof raising action (such as unfolding the roof or starting the lifting motor).

[0047] The rules for determining a stationary state include: Vehicle speed threshold determination: Set a stationary vehicle speed threshold (e.g., v ≤ 0.5 km / h to avoid misjudging slight vehicle movement). If the real-time vehicle speed is consistently below the threshold and the acceleration amplitude (a) ≤ 0.1 m / s², the system will determine the stationary state. 2 (Excluding the influence of idling vibration), it is determined to be "initially stationary".

[0048] The auxiliary signal verification combines the parking brake status (parking brake engaged), the transmission P gear signal (for automatic transmission vehicles), or the clutch pedal position (for manual transmission vehicles) to form a multi-verification mechanism, avoiding misjudgment by a single sensor (for example, when the vehicle speed sensor malfunctions, the gear position signal can be used as an auxiliary judgment). The above conditions must be continuously met for at least a 1-second time window to prevent temporary stops (such as brief stops at traffic lights) from triggering the lifting operation.

[0049] If the static state determination passes, the control device generates a digital signal (such as a PWM signal, relay contact signal, or CAN bus command) as a permission to raise the roof, which includes the operation type (raising the roof), priority (higher than other operations), and a safety check code (to prevent signal interference). The command is transmitted to the drive unit controller (such as a motor driver) of the raising mechanism through hardware circuitry or the vehicle network. After receiving the command, the drive unit first performs a self-check (such as power supply voltage and limit switch status). If the self-check passes, the raising action is initiated (such as driving the lead screw motor to move upward, or the hydraulic pump supplying oil to the raising cylinder).

[0050] In some embodiments, the real-time status data further includes environmental status parameters; before generating the permission to raise the roof command and sending it to the drive device of the roof raising mechanism, the method further includes: determining whether the environment of the RV meets the requirements for raising the roof based on the environmental status parameters; if the environment of the RV meets the requirements for raising the roof, generating the permission to raise the roof command and sending it to the drive device of the roof raising mechanism.

[0051] Environmental parameters are used to assess the environmental safety of the roof-raising operation, including at least: real-time wind speed: reflecting the potential load risk of external wind on the roof-raising structure; roof weight detection signal: using sensors to detect whether the roof is carrying risky objects such as snow, debris, or additional equipment, to avoid mechanical overload during roof raising.

[0052] For example, among environmental parameters, real-time wind speed can be collected in real time by installing ultrasonic wind speed sensors or mechanical anemometers on the roof or exterior of the vehicle body; roof weight detection can be achieved by integrating pressure sensors / weighing sensors on the roof support structure (such as lift-up rails or columns) or lifting drive devices (such as electric push rods or hydraulic cylinders), or by laying distributed weight sensing modules in the roof interlayer to monitor the roof load in real time.

[0053] Sensor data is transmitted to the central control unit (ECU) or onboard computer via a CAN bus, RS485, or wireless communication (such as Bluetooth or Wi-Fi). The sampling frequency must meet the real-time control requirements (e.g., ≥10Hz).

[0054] For example, the control unit (such as an MCU or embedded controller) controls the power supply or direction of action of the lifting drive device (such as an electric push rod motor or hydraulic valve group) through hardware relays or digital signals (PWM / PIO); a "double confirmation" mechanism is added before the command is sent: the stability of the state is verified by a timer (such as lifting is allowed only if the stop state lasts for more than 5 seconds) to avoid misjudgment caused by instantaneous signal fluctuations.

[0055] When the roof is prohibited from being raised, in addition to sending an electrical signal, a mechanical locking mechanism (if any) can be activated to maintain the current state; the drive unit has built-in overload protection (such as a current sensor to detect motor stall), and if the wind speed suddenly exceeds the standard or the load changes suddenly during the roof raising process, the action will be interrupted in real time and the roof will be lowered; the reason for the prohibition (such as "wind speed too high" or "roof load too heavy") will be displayed on the vehicle screen or APP to enhance the user's right to know.

[0056] In some embodiments, when the roof-lifting mechanism is in the roof-lifting state, the method further includes: acquiring the motion state parameters and environmental state parameters of the RV in real time; if the RV is in motion or the environment of the RV does not meet the roof-lifting environmental requirements, generating a roof-lowering request command and sending it to the drive device.

[0057] When the RV is in motion (e.g., while driving) or the environment does not meet the conditions for raising the roof (e.g., strong winds, excessive load), and the roof is currently raised, the system automatically triggers the roof-lowering process. Before lowering the roof, it is necessary to determine the "safe roof-lowering conditions" (e.g., vehicle speed is zero, vehicle body is stable) to avoid mechanical damage or safety accidents caused by forcibly lowering the roof under dangerous conditions.

[0058] The trigger condition monitoring uses a vehicle speed sensor to monitor the vehicle speed in real time. If the vehicle speed is greater than 5 km / h (preset motion threshold), it is determined to be in "motion state". If environmental parameters (such as wind speed > 12 m / s or roof weight > 200 kg) exceed the roof lifting safety threshold, it is determined to be "environment does not meet the roof lifting conditions".

[0059] The safety conditions for lowering the roof include: Before lowering the roof, it is necessary to confirm that: the vehicle speed is reduced to 0km / h and lasts for 5 seconds (to prevent misjudgment due to temporary parking), the vehicle body tilt angle is <8° (detected by gyroscope to avoid the roof getting stuck when lowering the roof on a slope), and the motor current is normal (pre-check that the roof lowering drive device is not stuck).

[0060] The roof lowering execution logic generates a roof lowering control command and sends it first to the hardware controller of the drive unit (such as a PLC or MCU) to control the motor to lower the roof. The roof lowering process is executed at a low speed (such as 10mm / s), and the weight of the roof is monitored simultaneously (to prevent foreign objects from getting stuck) and the guide rail position feedback (to ensure uniform descent). If the weight suddenly changes by more than 30kg or the position feedback is abnormal, the mechanical brake is triggered immediately.

[0061] For example, if no lowering command is received, but the RV is detected to be in motion or the RV's environment does not meet the requirements for raising the roof, the drive device can be automatically controlled to lower the roof.

[0062] In some embodiments, the environmental state parameters include at least real-time wind speed and roof weight detection signals; determining whether the environment of the RV meets the pop-up roof environment requirements based on the environmental state parameters includes: determining whether the real-time wind speed is less than a preset wind speed threshold; confirming whether the roof weight of the RV exceeds a set threshold based on the roof weight detection signal; if the real-time wind speed is less than the preset wind speed threshold and the roof weight of the RV does not exceed the set threshold, the environment of the RV meets the pop-up roof environment requirements.

[0063] Environmental conditions for roof lifting include: wind speed safety: real-time wind speed < preset wind speed threshold (such as the wind speed corresponding to level 6-8 wind, approximately 10.8-17.1 m / s, set according to the wind resistance design parameters of the RV roof lifting structure); no risky load on the roof: based on the roof weight detection signal, confirm that the current roof load does not exceed the safety threshold (if only unloaded or lightly loaded roof lifting is allowed, the threshold can be set to 50 kg or adjusted according to the load-bearing capacity of the mechanical structure).

[0064] The stationary state can be determined using a "multi-condition AND" approach: for example, vehicle speed ≤ 0.5 km / h (to eliminate sensor error); brake signal activated (at least one of the foot brake or handbrake is engaged); acceleration sensor detects longitudinal / lateral acceleration ≤ 0.1 m / s². 2 (Confirmed that the vehicle is not moving).

[0065] The environmental condition logic includes: wind speed threshold: the threshold setting needs to be combined with the RV usage scenario (such as plateau, coastal areas can be dynamically adjusted), stored in the control unit EEPROM, and supports user or manufacturer backend configuration; roof weight risk judgment: by comparing the weight sensor signal with the safety threshold, if the detected value > the threshold (such as 50kg), it is determined that there are risk objects such as snow or debris on the roof, triggering a load warning.

[0066] Based on the results of the first two steps, output mutually exclusive control commands: Allow roof lifting: drive the roof lifting mechanism only when "the vehicle is stopped" and "the wind speed is safe and there is no risky load on the roof"; Prohibit roof lifting: if the vehicle is in motion, or the wind speed exceeds the standard or the roof load exceeds the limit, immediately prohibit roof lifting and trigger an alarm (such as a buzzer or dashboard prompt).

[0067] For example, a pre-trained random forest model can be used to take into account parameters such as real-time wind speed, roof weight, and vehicle tilt angle, and output a probability value for the safety of the pop-up roof. When the probability is greater than a preset threshold (e.g., 0.9) and the wind speed is less than a safety threshold (e.g., 12 m / s), the environment is considered safe.

[0068] Model construction and training include: Training data: collecting historical records of roof-raising operations (success / failure cases), extracting multiple samples, and features including: wind speed, weight, tilt angle, vehicle speed, time (to distinguish between day and night environments), and historical fault codes; Model parameters: using 50 decision trees, with the Gini coefficient as the splitting standard, and optimizing hyperparameters (such as maximum depth 15, minimum number of sample splits 10) through grid search; Output logic: the model outputs a probability value between 0 and 1, representing the confidence level of "roof-raising without failure", combined with a traditional threshold (wind speed < 12m / s) to form a double verification (roof-raising is only allowed if the probability is > 0.9 and the wind speed meets the standard).

[0069] The edge computing unit receives sensor data in real time, processes it in a standardized manner, and inputs it into the model. The inference latency is <20ms. If the model output probability is <0.8 and the wind speed is >10m / s, an "environmental risk warning" is triggered, prohibiting the roof from being raised and prompting the user that "the probability of strong winds is 75%, and it is recommended to cancel the operation."

[0070] In some embodiments, the risk object includes at least snow; confirming that the roof weight of the RV does not exceed a set threshold based on the roof weight detection signal includes: comparing the real-time weight value corresponding to the roof weight detection signal with a preset risk weight threshold, wherein the preset risk weight threshold is calculated based on the snow density parameter and the roof area to obtain the theoretical critical weight for snow accumulation; if the real-time weight value is less than the preset risk weight threshold, and the real-time temperature detected by the temperature sensor installed on the roof is greater than 0°C, then it is confirmed that the roof does not bear the risk object.

[0071] To address the risk of snow accumulation, the system uses a combination of vehicle roof weight and temperature sensors to determine the theoretical critical weight for snow accumulation (based on snow density and vehicle roof area). Combined with a temperature greater than 0°C, it eliminates the risk of increased weight due to snow icing, ensuring that there is no snow accumulation on the vehicle roof or that the snow accumulation does not reach a dangerous thickness.

[0072] The preset risk weight threshold calculation includes: Wthresh = ρ × S × h × g (ρ is the snow density, taken as 500 kg / m³). 3 S represents the roof area, such as 5m². 2 h is the critical snow thickness, such as 0.1m; g is the acceleration due to gravity, 9.8m / s². 2 )

[0073] The system uses a dual-condition judgment mechanism: if the real-time weight is less than 250kg and the roof temperature sensor (NTC thermistor, accuracy ±1℃) detects a temperature greater than 0℃ (to avoid misjudgment of weight due to snow and ice accumulation below 0℃); if the temperature is less than 0℃, even if the weight is less than the threshold, it will still be judged that "there may be ice and snow accumulation", prohibiting the roof from being raised and prompting "low temperature warning, it is recommended to manually check the roof".

[0074] In some embodiments, acquiring the real-time status data of the RV includes: collecting the motion state parameters and environmental state parameters in real time through sensor modules installed on the RV; wherein, the motion state parameters include one or more of the following: vehicle speed signal acquired through a vehicle speed sensor, vehicle body tilt angle signal acquired through a gyroscope, and acceleration signal acquired through an acceleration sensor; the environmental state parameters include real-time wind speed acquired through a wind speed sensor and real-time roof weight detection signal acquired through a weight sensor installed on the roof.

[0075] The vehicle-mounted sensor module collects two types of core data in real time: motion parameters, which reflect the vehicle's dynamic stability, including vehicle speed, body tilt angle, and acceleration; and environmental parameters, which reflect external risks, including real-time wind speed and roof load weight.

[0076] Sensor deployment and selection include: Vehicle speed sensor: using wheel speed encoders (accuracy ±0.1km / h) or vehicle CAN bus to read ABS system data; Gyroscope and acceleration sensor: integrating a 9-axis IMU module (such as MPU-9250), installed at the vehicle's center of gravity (below the driver's cab floor), outputting tilt angle (accuracy ±0.5°) and three-axis acceleration (resolution 0.01g) in real time; Wind speed sensor: an ultrasonic anemometer (range 0-60m / s, accuracy ±0.3m / s) installed on the roof, facing the direction of vehicle travel; Weight sensor: embedding strain gauge pressure sensors (range 0-500kg, accuracy ±1%FS) at the bottom of the four support columns of the roof lifting guide rail, calculating the total load through distributed data fusion.

[0077] The data acquisition mechanism combines timed sampling (100ms interval) with event-triggered sampling. For example, when the rate of change of tilt angle is greater than 2° / s, high-frequency sampling (20ms interval) is triggered. Data preprocessing: the acceleration signal is low-pass filtered (cutoff frequency 10Hz) to remove vehicle bump noise; the weight signal is averaged (5 samples in a window) to eliminate instantaneous impact interference.

[0078] In some embodiments, generating a command to allow the roof to be raised and sending it to the drive device corresponding to the roof-raising mechanism, so that the drive device can perform the roof-raising operation, includes: sending a roof-raising signal to the drive device; collecting the current value of the roof-raising motor and the position feedback signal of the roof-raising guide rail in real time; if the current value is within a preset safe current range and the position feedback signal shows that the roof-raising mechanism is not stuck, controlling the drive device to perform the roof-raising operation at a segmented speed; during the roof-raising process, monitoring the roof weight detection signal and the vehicle body tilt angle signal in real time; if either the roof weight detection signal or the vehicle body tilt angle signal exceeds a safety threshold, an emergency stop is immediately triggered.

[0079] Before lifting the jack, a hardware status check (motor current, guide rail position) is performed to confirm that there is no jamming. Then, the jack is lifted in stages at different speeds. During the process, the load and tilt angle are monitored in real time, and an emergency stop is made in case of any abnormality.

[0080] The pre-start safety check involves sending a pre-start signal for lifting the roof (continuous low-power power supply for 1 second) and collecting the initial motor current: the normal no-load current range is 0.8-1.5A (calibrated according to the motor model). If the current is >2A or <0.5A, it is determined to be stuck or a circuit fault, triggering an alarm. The initial position is obtained through the Hall sensor or encoder on the guide rail. The deviation from the recorded position after the last lifting should be <3mm; otherwise, the message "Position abnormal, please manually reset" will be displayed.

[0081] The segmented lifting control includes: low-speed verification section (0-200mm): speed 5mm / s, monitoring weight change rate (<10kg / min) to ensure no foreign objects are suddenly loaded; rated speed section (200-final height-200mm): speed 15mm / s, improving efficiency; buffer deceleration section (final height-200mm to stop): speed 5mm / s, avoiding impact loads; if the weight >300kg or the tilt angle >10°, immediately cut off the motor power and activate the mechanical locking device.

[0082] In some embodiments, generating a prohibition command for raising the roof and sending it to the drive device if the RV is in motion or the environment does not meet the conditions for raising the roof includes: performing hierarchical fuzzification processing on the motion state parameters and environmental parameters using a fuzzy logic algorithm to set a fuzzy subset and establish a preset fuzzy rule base; generating a corresponding prohibition command for raising the roof based on the fuzzy inference results corresponding to the motion state parameters and environmental parameters in the fuzzy rule base obtained in real time, wherein the prohibition command includes a prohibition type and a corresponding prompting strategy.

[0083] By fuzzing continuous sensor parameters into "low / medium / high" levels, the prohibition type (such as "prohibited during movement" or "prohibited in strong wind") is inferred through a preset rule base, and corresponding user prompts are generated.

[0084] The fuzzy subset definition includes: vehicle speed (km / h): {stationary (0), low speed (0-30), medium speed (30-60), high speed (>60)}; wind speed (m / s): {light breeze (0-6), moderate wind (6-12), strong wind (>12)}; vehicle roof weight (kg): {unloaded (0-50), lightly loaded (50-150), heavily loaded (>150)}.

[0085] Example of a fuzzy rule base: If (vehicle speed = stationary) and (wind speed = light breeze) and (weight = unloaded) → allow roof to be raised; If (vehicle speed = medium speed) or (wind speed = strong wind) → prohibit roof raising, prompting "Roof raising is prohibited while driving" or "Operation is prohibited in strong wind environment"; If (weight = heavy load) and (tilt angle = medium) → prohibit roof raising, prompting "Roof load is too high, there is a risk of tipping over".

[0086] Fuzzy reasoning and output employ methods such as Mamdani reasoning, using the centroid method to defuzzify and output specific prohibition commands (e.g., code 0x01 represents "Motion Prohibition", 0x02 represents "Wind Speed ​​Exceeds Standard"); the dashboard simultaneously displays icons indicating the prohibition reason (e.g., a flashing speedometer indicates motion prohibition, a flashing wind speed icon indicates strong wind), and announces via voice "Vehicle speed detected > 30km / h, pop-up function is disabled".

[0087] In some embodiments, visual recognition technology is introduced on the basis of traditional weight sensors to accurately identify risky objects on the vehicle roof (such as snow, tree branches, and overloaded roof racks) through multimodal data fusion (image + weight + temperature). Convolutional neural networks (CNNs) are used to process images from roof-mounted cameras, and combined with weight sensor values ​​and temperature signals to construct a risky object classification model, replacing the single threshold judgment.

[0088] The sensor deployment involves a waterproof wide-angle camera (resolution ≥1080P) mounted on the roof, covering the entire roof area; an infrared temperature sensor (detection accuracy ±0.5℃) is deployed next to the camera to help determine the snow / ice accumulation status.

[0089] The deep learning model construction includes: training data: collecting roof images under different lighting and weather conditions (labeling snow thickness, debris type, and load distribution), combined with corresponding weight sensor data (labeling load level) to form a multi-sample multimodal dataset; the model architecture uses ResNet18 to extract image features, stitches temperature and weight numerical features, and outputs risk categories (no risk / light snow / heavy load / foreign object stuck) and confidence scores through fully connected layers; real-time images are preprocessed by the edge computing module and then input into the model, with inference time <50ms. If "heavy snow" (confidence score >0.8) and weight > safety threshold are detected, it is determined that the environment does not meet the conditions for roof lifting.

[0090] The fusion judgment logic confirms that there are no risky objects on the roof only when the image is identified as "no visible foreign objects" and the weight is less than the threshold, or the temperature is greater than 5℃ and the weight change rate is less than 5kg / min (excluding dynamic snow melting).

[0091] In some embodiments, reinforcement learning (RL) algorithms are used to dynamically adjust safety thresholds (such as wind speed thresholds and weight thresholds) to address the differences in the pop-up structure for different vehicle models and usage scenarios. "Safety events" (such as no damage) and "failure events" (such as structural damage) from historical pop-up operations are used as reward / penalty signals to train the agent to autonomously learn the optimal threshold strategy, thus solving the problem that traditional fixed thresholds cannot adapt to complex environments.

[0092] The state space definition includes: input states: real-time wind speed, roof weight, vehicle tilt angle, vehicle parameters (lifting roof material, wind resistance design level), and historical fault records; action space includes: dynamically adjusting wind speed threshold (base value ±20%) and weight threshold (base value ±30%); reward function such as safe lifting roof +100 points, fault due to unreasonable threshold -500 points, and long-term fault-free period +50 points / day.

[0093] The system adopts a deep Q-network (DQN) architecture, with an experience replay buffer storing historical interaction data (state-action-reward); the vehicle controller updates the model every 24 hours using local data, or obtains global optimization strategies from the cloud via the vehicle network (encrypted transmission required); threshold adjustment constraints: wind speed threshold not lower than level 6 wind (10.8m / s), weight threshold not lower than unloaded + 20kg (with safety margin reserved).

[0094] When the RV is used in coastal areas for a long time (where strong winds are common), the algorithm automatically raises the wind speed threshold from 12m / s to 14m / s (depending on the vehicle's wind resistance). If the roof is damaged due to snow overload during a lift, the algorithm immediately lowers the weight threshold from 50kg to 30kg and triggers a vehicle-wide alarm to remind the user to check the roof.

[0095] In some embodiments, by constructing a digital twin model of the RV's pop-top structure, the mechanical state of the physical entity (such as guide rail stress and motor torque) is mapped in real time. The pop-top speed and driving torque are optimized through model predictive control (MPC) algorithms to proactively avoid the risk of mechanical overload. The digital twin is dynamically updated in conjunction with sensor data (position, current, weight) to achieve closed-loop control of "virtual pre-simulation - real-time correction".

[0096] Digital twin modeling utilizes CAD models to construct a multibody dynamics model of the lifting structure, defining material properties (elastic modulus of aluminum alloy 70GPa) and connecting joints (hinge friction torque 0.5N*m); a motor drive model is established in a simulation environment such as Simulink, and the mapping relationship between input voltage, PWM duty cycle and output torque is established with an error of <5%.

[0097] Real-time data mapping involves collecting guide rail displacement (encoder), motor current (Hall sensor), and roof weight (distributed pressure sensor) every 20ms during the lifting process, and inputting them into a digital twin for mechanical simulation. If the model predicts that the guide rail stress is greater than 80% of the material yield strength (e.g., aluminum alloy 200MPa×0.8=160MPa), a deceleration command is immediately sent to the physical controller.

[0098] The predictive control strategy includes setting optimization objectives: the shortest lifting time and structural stress < safety threshold, with the cost function being time weight (0.6) + stress weight (0.4); rolling optimization cycle: every 500ms, a control sequence (speed, torque) for the next 10 seconds is generated, and only the first cycle instruction is executed to respond to sudden load changes in real time (such as a flock of birds suddenly landing on the roof).

[0099] In some embodiments, to address the privacy protection needs of RV users, federated learning (FL) technology is used to aggregate anonymized risk data from multiple RVs (such as cases where strong winds in a certain area cause roof malfunctions). A global risk assessment model is trained without sharing the original data, thereby improving the ability of individual vehicles to judge rare and extreme scenarios (such as sudden changes in wind speed before a tornado).

[0100] The federated learning architecture includes: a central server: deploying a global risk assessment model (such as an upgraded version of random forest) and periodically distributing model parameters to each vehicle; vehicle terminals: processing sensor data (wind speed, weight, fault records) locally, generating encrypted gradient information (such as feature importance weights), and uploading it to the server via secure multi-party computation (MPC); and data anonymization: performing differential privacy processing (adding Laplace noise) on sensitive information such as vehicle type and geographical location.

[0101] If more than three RVs in a certain area report "wind speed of 15 m / s and roof malfunction" within one hour, the server will trigger an emergency update, temporarily lowering the wind speed threshold of the area by 2 m / s and pushing it to all nearby vehicles; each time the vehicle terminal receives the global model, it will first perform local fine-tuning (transfer learning) to adapt to its own hardware differences (such as the response delay of motors from different brands).

[0102] To address the issue of insufficient data from individual vehicles, for example, vehicles in remote areas can learn from group data to identify patterns of sudden wind speed increases before sandstorms in desert areas and prevent roofs from being raised in advance; and to achieve "one person in danger, the whole network gets an early warning" under privacy protection, thereby improving the safety of the entire user group.

[0103] In some embodiments, the advantages of fuzzy logic in language reasoning and the self-learning capabilities of neural networks are combined to construct an Adaptive Fuzzy Neural Network (ANFIS) to achieve multi-objective optimization of "speed-load-energy consumption" during the roof lifting process. The roof lifting strategy is dynamically adjusted according to the real-time roof weight and vehicle tilt angle to improve energy efficiency while ensuring safety (such as in RVs powered by lithium batteries).

[0104] The ANFIS architecture design includes: Input layer: real-time weight (0-500kg), tilt angle (0-30°), and remaining battery power (0-100%); Fuzzy layer: defining weight fuzzy sets {light, medium, heavy}, angle sets {smooth, tilted, steep}, and power sets {sufficient, moderate, low}; Rule layer: preset basic rules (such as "heavy weight and low power → low-speed lifting"), adjusting membership function parameters through backpropagation of a neural network; Output layer: lifting speed (5-20mm / s) and motor torque compensation coefficient (0.8-1.2).

[0105] Online adaptive training includes: after each roof lift, updating the center and width of the membership function based on the deviation between the actual energy consumption (current × time) and the preset energy consumption threshold; when the vehicle body tilt angle is greater than 10°, automatically activating the "slope compensation mode", increasing the preload of the bottom support legs (hardware support required), and reducing the roof lift speed by 30%.

[0106] Energy consumption optimization strategies include: when the battery level is >80%, prioritize rapid top-up (15mm / s) to improve user experience; when the battery level is <30% and the weight is <30kg, activate energy-saving mode (10mm / s) to extend battery life.

[0107] Please see Figure 3 As shown, Figure 3 This is a schematic diagram of the structure of the RV roof lifting control device 200 provided in this application embodiment. The RV roof lifting control device 200 is used to execute the steps of the RV roof lifting control method shown in the above embodiments. The RV roof lifting control device 200 can be a single server or a server cluster, or it can be a terminal, such as a handheld terminal, laptop computer, wearable device, or robot.

[0108] like Figure 3 As shown, the RV's pop-up mechanism lifting control device 200 includes:

[0109] The data acquisition unit 201 is used to acquire real-time status data of the RV when it receives a roof raising request or roof lowering request instruction from the RV roof raising mechanism. The real-time status data includes at least the motion status parameters of the RV.

[0110] The status judgment unit 202 is used to determine whether to generate a roof raising command or a roof lowering command based on the real-time status data, and to send the roof raising command or the roof lowering command to the drive unit corresponding to the roof raising mechanism of the RV.

[0111] The drive unit 203 is used to cause the drive device to perform a lifting or lowering operation according to the allow lifting command or allow lowering command.

[0112] In some embodiments, the real-time status data further includes environmental status parameters, which include at least real-time wind speed and roof weight detection signals.

[0113] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the RV's roof lifting mechanism lifting control device and each module described above can be referred to the corresponding process in the embodiments of the RV roof lifting control method described above, and will not be repeated here.

[0114] The aforementioned lifting control method for the RV pop-up roof mechanism can be implemented as a computer program, which can, for example... Figure 3 It runs on the device shown.

[0115] Please see Figure 4 , Figure 4 This is a schematic block diagram of the structure of a computer device provided in an embodiment of this application. The computer device includes a processor, a memory, and a network interface connected via a device bus, wherein the memory may include a storage medium and internal memory.

[0116] The storage medium may store operating devices and computer programs. The computer program includes program instructions that, when executed, cause the processor to perform any lifting control method for the RV pop-up mechanism.

[0117] The processor provides computing and control capabilities, supporting the operation of the entire computer device.

[0118] The internal memory provides an environment for the execution of computer programs in non-volatile storage media. When the computer program is executed by the processor, it enables the processor to execute any lifting control method for the RV pop-up mechanism.

[0119] This network interface is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the terminal to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0120] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

[0121] In one embodiment, the processor is configured to run a computer program stored in memory to perform the following steps:

[0122] Upon receiving a roof-raising request instruction from the RV's roof-raising mechanism, the system acquires real-time status data of the RV, which includes at least the RV's motion status parameters.

[0123] Based on the motion state parameters, it is determined whether the RV is stationary. If the RV is stationary, a command to allow the roof to be raised is generated and sent to the drive device of the RV roof raising mechanism so that the drive device can perform the roof raising operation.

[0124] The embodiments of this application also provide a computer-readable storage medium storing a computer program, the computer program including program instructions, and the processor executing the program instructions to implement the steps of the lifting control method for the RV pop-up mechanism provided in the above embodiments of this application.

[0125] The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiments, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the computer device.

[0126] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of lift control for a recreational vehicle lift mechanism, comprising: The method comprises the following steps: Upon receiving a roof lifting request instruction of a motor home roof lifting mechanism, real-time state data of the motor home is acquired, the real-time state data at least including motion state parameters and environmental state parameters of the motor home, the environmental state parameters at least including real-time wind speed and roof weight detection signals; Based on the motion state parameters, it is determined whether the motor home is in a stationary state, and based on the environmental state parameters, it is determined whether the environment of the motor home meets the roof lifting environmental requirements, if the motor home is in a stationary state and the environment of the motor home meets the roof lifting environmental requirements, a roof lifting permission instruction is generated and sent to a driving device of the motor home roof lifting mechanism, so that the driving device performs a roof lifting operation; Wherein, based on the environmental state parameters, it is determined whether the environment of the motor home meets the roof lifting environmental requirements, including: determining whether the real-time wind speed is less than a preset wind speed threshold; according to the roof weight detection signal, it is determined whether the roof weight of the motor home exceeds a set threshold, including: comparing the real-time weight value corresponding to the roof weight detection signal with a preset risk weight threshold, the preset risk weight threshold being a theoretical critical snow weight calculated according to the density parameter of snow and the roof area; if the real-time weight value is less than the preset risk weight threshold, and the real-time temperature detected by the temperature sensor arranged on the roof is greater than 0℃, it is determined that the roof is not carrying a risk object, the risk object at least including snow; if the real-time wind speed is less than the preset wind speed threshold and the roof weight of the motor home does not exceed the set threshold, the environment of the motor home meets the roof lifting environmental requirements.

2. The lift control method of a recreational vehicle lift mechanism according to claim 1, wherein, When the roof lifting mechanism is in a roof lifting state, the method further comprises: Real-time acquisition of motion state parameters and environmental state parameters of the motor home; If the motor home is in a motion state or the environment of the motor home does not meet the roof lifting environmental requirements, a roof lowering request instruction is generated and sent to the driving device.

3. The method of claim 1, wherein the method further comprises: The acquisition of real-time state data of the motor home comprises: Real-time collection of the motion state parameters and environmental state parameters by the sensor module arranged on the motor home; Wherein, the motion state parameters include one or more of the vehicle speed signal obtained by the vehicle speed sensor, the vehicle body inclination angle signal obtained by the gyroscope and the acceleration signal obtained by the acceleration sensor; the environmental state parameters include real-time wind speed collected by the wind speed sensor and roof weight detection signal collected by the weight sensor arranged on the roof.

4. The lift control method for a recreational vehicle lift mechanism according to claim 1, wherein The generation of the roof lifting permission instruction and the sending to the corresponding driving device of the roof lifting mechanism so that the driving device performs a roof lifting operation comprises: Sending a roof lifting signal to the driving device, real-time collection of the current value of the roof lifting motor and the position feedback signal of the roof lifting guide rail; If the current value is in a preset safe current interval and the position feedback signal shows that the roof lifting mechanism is not stuck, the driving device is controlled to perform roof lifting at a segmented speed, and during the roof lifting process, the roof weight detection signal and the vehicle body inclination angle signal are monitored in real time, if any of the roof weight detection signal and the vehicle body inclination angle signal exceeds a safety threshold, an emergency stop is triggered immediately.

5. A lift control device for a recreational vehicle lift mechanism, comprising: The method comprises the following steps: The data acquisition unit is configured to acquire real-time state data of the motor home when receiving a roof-raising request or roof-lowering request instruction of the roof-raising mechanism of the motor home, the real-time state data at least including a motion state parameter and an environment state parameter of the motor home, the environment state parameter at least including a real-time wind speed and a roof weight detection signal; The state judgment unit is configured to judge whether the motor home is in a stationary state based on the motion state parameter and whether an environment of the motor home meets a roof-raising environment requirement based on the environment state parameter, and generate an allow-raising instruction and send the allow-raising instruction to a driving device of the roof-raising mechanism of the motor home to make the driving device perform a roof-raising operation if the motor home is in the stationary state and the environment of the motor home meets the roof-raising environment requirement; The driving unit is configured to make the driving device perform a roof-raising or roof-lowering operation according to the allow-raising instruction or an allow-lowering instruction; The judgment of whether the environment of the motor home meets the roof-raising environment requirement based on the environment state parameter includes judging whether the real-time wind speed is less than a preset wind speed threshold value; and the judgment of whether the roof weight of the motor home exceeds a set threshold value according to the roof weight detection signal includes comparing a real-time weight value corresponding to the roof weight detection signal with a preset risk weight threshold value, the preset risk weight threshold value being a theoretical critical snow weight calculated according to a snow density parameter and a roof area; if the real-time weight value is less than the preset risk weight threshold value and a real-time temperature detected by a temperature sensor arranged on the roof is greater than 0℃, it is confirmed that the roof is not loaded with a risk object, the risk object at least including snow; and if the real-time wind speed is less than the preset wind speed threshold value and the roof weight of the motor home does not exceed the set threshold value, the environment of the motor home meets the roof-raising environment requirement.

6. The RV lift mechanism lift control of claim 5, wherein, The real-time state data further includes an environment state parameter, the environment state parameter at least including a real-time wind speed and a roof weight detection signal.

7. A computer device, comprising: The computer device includes a memory and a processor; The memory is configured to store a computer program; The processor is configured to execute the computer program and implement the method in any one of claims 1 to 4 when executing the computer program.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program makes the processor implement the method in any one of claims 1 to 4 when executed by the processor.

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