Method and device for detecting lifting angle of vehicle container
By calculating the displacement speed and time of the cargo box's moving components, the lifting angle of the cargo box is estimated, solving the problem of high failure rate of inclinometers in mining unmanned vehicles, and achieving accurate detection and efficiency improvement.
Patent Information
- Application Number
- CN202410841192.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-26
- Publication Date
- 2026-01-02
AI Technical Summary
In mining scenarios, the cargo box tilt meter of unmanned mining vehicles has a high failure rate, which causes the autonomous driving system to recognize abnormal cargo box positions and affects operational efficiency.
By acquiring motion control commands from the vehicle's cargo box, the displacement speed and time of the cargo box's moving components are calculated, and the lifting angle of the cargo box is estimated, thus avoiding the need for an additional tilt meter.
It enables accurate detection of cargo box lifting angle without the need for additional sensors, improving detection accuracy and operational efficiency.
Smart Images
Figure CN121246823A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the fields of vehicles and autonomous driving technology, and more specifically, to a method and device for detecting the lifting angle of a vehicle cargo box. Background Technology
[0002] Unmanned mining vehicles play an important role in the field of autonomous driving in mining scenarios, and cargo box lifting is an indispensable part of the entire process of mining operations, including mining, transportation, and dumping. During the dumping process, autonomous driving needs to identify the position of the cargo box, i.e., the angle of the cargo box, just like manual driving.
[0003] In related technologies, a common approach is to install an inclinometer on the cargo box to identify its tilt angle. However, due to the harsh operating environment in mines, the failure rate of cargo box inclinometers is relatively high. When the inclinometer fails, it can cause abnormalities in the automatic driving system's recognition of the cargo box's position. For example, when the cargo box inclinometer malfunctions, the feedback angle may not change or may not be the actual value, ultimately leading to abnormalities in the automatic driving system's soil removal process and affecting efficiency.
[0004] There is currently no effective solution to the above problems. Summary of the Invention
[0005] This application provides a method and apparatus for detecting the lifting angle of a vehicle cargo box, so as to at least solve the technical problem that identification anomalies often occur when using an inclinometer to detect the position of the cargo box in related technologies.
[0006] According to one aspect of the embodiments of this application, a method for detecting the lifting angle of a vehicle cargo box is provided, comprising: acquiring a motion control command for the vehicle cargo box, the motion control command being used to control the lifting or lowering of the vehicle cargo box; acquiring, according to the motion control command, the displacement velocity of a cargo box motion component corresponding to the current motion mode and the motion time of the cargo box motion component corresponding to the displacement velocity; acquiring the displacement change of the cargo box motion component according to the displacement velocity of the cargo box motion component corresponding to the current motion mode and the motion time of the cargo box motion component corresponding to the displacement velocity; and acquiring the lifting angle of the vehicle cargo box according to the displacement change.
[0007] Optionally, obtaining the displacement speed of the cargo box motion component corresponding to the current motion mode includes: obtaining the rotational speed of the power unit corresponding to the current motion mode when the cargo box is lifted, wherein the power unit is used to drive the cargo box motion component to move in order to lift or lower the vehicle cargo box; and determining the displacement speed of the corresponding cargo box motion component based on the rotational speed of the power unit.
[0008] Optionally, determining the displacement speed of the corresponding cargo box moving component based on the rotational speed of the power unit includes: when the rotational speed of the power unit is a first rotational speed, obtaining the total lifting time of the cargo box corresponding to the first rotational speed, wherein the total lifting time of the cargo box is the time for the cargo box moving component to move from the lower dead point to the upper dead point; determining the displacement speed of the cargo box moving component based on the total lifting time of the cargo box and a first displacement length, wherein the first displacement length is the total displacement length of the cargo box moving component to the upper dead point.
[0009] Optionally, obtaining the displacement speed of the cargo box motion component corresponding to the current motion mode includes: when the cargo box is descending, obtaining the total descent time of the cargo box, wherein the total descent time of the cargo box is the time it takes for the cargo box motion component to move from the upper stop point to the lower stop point; and determining the displacement speed of the cargo box motion component based on the total descent time of the cargo box and a first displacement length, wherein the first displacement length is the total displacement length of the cargo box motion component moving to the upper stop point.
[0010] Optionally, the method further includes: obtaining the target displacement length from the cargo box moving component to the cargo box tilting axis; obtaining the lifting angle of the vehicle cargo box based on the displacement change includes: calculating the lifting angle of the vehicle cargo box based on the displacement change and the target displacement length.
[0011] Optionally, calculating the lifting angle of the vehicle cargo box based on the displacement change and the target displacement length includes: calculating the lifting angle of the vehicle cargo box using the following formula: Where L represents the displacement change, L con This indicates the length from the cargo box moving component to the cargo box tilting axis.
[0012] Optionally, obtaining the displacement change of the cargo box moving component based on the displacement speed of the cargo box moving component corresponding to the current motion mode and the motion time of the cargo box moving component corresponding to the displacement speed includes: obtaining the current displacement speed, historical displacement speed, first motion time of the cargo box moving component corresponding to the current displacement speed, and second motion time of the cargo box moving component corresponding to the historical displacement speed in the current motion mode; calculating the cumulative displacement change of the cargo box moving component from the first position to the current position based on the current displacement speed, historical displacement speed, first motion time of the cargo box moving component corresponding to the current displacement speed, and second motion time of the cargo box moving component corresponding to the historical displacement speed, wherein the first position is the position corresponding to the upper dead point or lower dead point of the cargo box moving component, and the first position is related to the current motion mode.
[0013] According to another aspect of the embodiments of this application, a vehicle cargo box lifting angle detection device is also provided, comprising: a motion control command acquisition unit, configured to acquire motion control commands for the vehicle cargo box, the motion control commands being used to control the lifting or lowering of the vehicle cargo box; an acquisition unit, configured to acquire, based on the motion control commands, the displacement velocity of the cargo box motion component corresponding to the current motion mode and the motion time of the cargo box motion component corresponding to the displacement velocity; a displacement change acquisition unit, configured to acquire the displacement change of the cargo box motion component based on the displacement velocity of the cargo box motion component corresponding to the current motion mode and the motion time of the cargo box motion component corresponding to the displacement velocity; and a lifting angle acquisition unit, configured to acquire the lifting angle of the vehicle cargo box based on the displacement change.
[0014] According to another aspect of the embodiments of this application, an electronic device is also provided, comprising: a processor; a memory for storing computer-executable instructions; the processor being configured to execute the computer-executable instructions to implement the method for detecting the lifting angle of a vehicle cargo box as described in any of the above methods.
[0015] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, characterized in that the storage medium stores a computer program for performing the vehicle cargo box lifting angle detection method described in any of the above methods.
[0016] This application obtains motion control commands for the vehicle cargo box, which are used to control the lifting or lowering of the cargo box. Based on the motion control commands, it obtains the displacement velocity of the cargo box motion component corresponding to the current motion mode and the corresponding motion time of the cargo box motion component at that displacement velocity. Based on the displacement velocity of the cargo box motion component corresponding to the current motion mode and the corresponding motion time of the cargo box motion component at that displacement velocity, it obtains the displacement change of the cargo box motion component. Then, based on the obtained displacement change, it obtains the lifting angle of the vehicle cargo box. Thus, it can accurately detect the lifting angle of the vehicle cargo box without installing other sensors (such as inclinometers) on the vehicle. This not only solves the technical problem of frequent identification anomalies when using inclinometer solutions to detect the cargo box position in related technologies, but also further improves the detection accuracy of the cargo box lifting angle, thereby achieving the technical effect of improving vehicle operation efficiency. Attached Figure Description
[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:
[0018] Figure 1This is a flowchart of a method for detecting the lifting angle of a vehicle cargo box according to an embodiment of this application;
[0019] Figure 2 This is a schematic diagram of an optional vehicle cargo box lifting control system according to an embodiment of this application;
[0020] Figure 3 This is a schematic diagram of an optional method for detecting the lifting angle of a vehicle cargo box according to an embodiment of this application;
[0021] Figure 4 This is a schematic diagram of a vehicle cargo box lifting angle detection device according to an embodiment of this application. Detailed Implementation
[0022] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.
[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application 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 this application 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.
[0024] Example 1
[0025] According to an embodiment of this application, an embodiment of a control method for a work vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.
[0026] Figure 1 This is a flowchart of a method for detecting the lifting angle of a vehicle cargo box according to an embodiment of this application, as shown below. Figure 1 As shown, the method includes the following steps:
[0027] Step S102: Obtain motion control commands for the vehicle cargo box, the motion control commands being used to control the lifting or lowering of the vehicle cargo box.
[0028] Step S104: According to the motion control command, obtain the displacement speed of the cargo box motion component corresponding to the current motion mode and the motion time of the cargo box motion component corresponding to the displacement speed.
[0029] Step S106: Based on the displacement velocity of the cargo box motion component corresponding to the current motion mode and the motion time of the cargo box motion component corresponding to the displacement velocity, obtain the displacement change of the cargo box motion component.
[0030] Step S108: Obtain the lifting angle of the vehicle cargo box based on the displacement change.
[0031] In this embodiment, the vehicle can be either an autonomous vehicle or a manned vehicle. The vehicle is equipped with a cargo box movement component, which controls the lifting and lowering of the cargo box. This cargo box movement component can be any type of lifting component, such as a hydraulically controlled lifting component, for example, a hydraulic cylinder. Preferably, the cargo box movement component has displacement changes during the lifting or lowering of the cargo box. It should be noted that the displacement change refers to at least one end of the cargo box movement component having a displacement change to achieve the lifting or lowering of the cargo box. Optionally, the other end of the cargo box movement component is fixed during the lifting or lowering of the cargo box. Preferably, the cargo box movement component is a hydraulic cylinder, and the lifting or lowering of the cargo box can be achieved by the extension and retraction of the hydraulic cylinder.
[0032] In the above embodiments, the above method can be executed by a vehicle, for example, by the vehicle's vehicle controller.
[0033] Optionally, in step S102, the motion control command can be any command to execute a work task. The vehicle controls the lifting or lowering of its cargo box according to this command. For example, the work task can be an unloading task (the cargo box needs to be lifted) or a repositioning task (the cargo box needs to be lowered and repositioned). Optionally, the same work task can involve both lifting and lowering of the cargo box simultaneously.
[0034] Optionally, in step S104, the current motion mode can be a cargo box lifting (raising) mode or a cargo box lowering mode. The displacement speed can be the rising speed of the cargo box moving component in the corresponding cargo box lifting mode; or it can be the lowering speed of the cargo box moving component in the corresponding cargo box lowering mode.
[0035] Optionally, the displacement velocity of the cargo box moving component in the current motion mode can be obtained by: when the cargo box is lifted, obtaining the rotational speed of the power unit corresponding to the current motion mode, wherein the power unit is used to drive the cargo box moving component to achieve the lifting or lowering of the vehicle cargo box; and determining the displacement velocity of the corresponding cargo box moving component based on the rotational speed of the power unit. In this embodiment, the cargo box moving component is driven by the power unit during the lifting of the cargo box. Optionally, the cargo box moving component can also be driven by the power unit during the lowering of the cargo box, or it can be achieved solely by its own gravity without applying power from the power unit. In this embodiment, optionally, the rotational speed of the power unit and the displacement velocity (or rate) of the cargo box moving component are positively correlated.
[0036] Optionally, the cargo box moving assembly has a top dead center and a bottom dead center. When at least one end of the cargo box moving assembly moves to the top dead center, the cargo box moving assembly cannot move further upward; when at least one end of the cargo box moving assembly moves to the bottom dead center, the cargo box moving assembly cannot move further downward. When the cargo box moving assembly moves to the top dead center, the cargo box is raised to its maximum value; when the cargo box moving assembly moves to the bottom dead center, the cargo box is returned to its lowest position (lowered to its lowest point).
[0037] Optionally, the displacement speed of the corresponding cargo box moving component can be determined based on the rotational speed of the power unit by the following method: when the rotational speed of the power unit is a first rotational speed, the total lifting time of the cargo box corresponding to the first rotational speed is obtained, where the total lifting time of the cargo box is the time it takes for the cargo box moving component to move from the lower dead point to the upper dead point; the displacement speed of the cargo box moving component is determined based on the total lifting time of the cargo box and the first displacement length, wherein the first displacement length is the total displacement length of the cargo box moving component to the upper dead point.
[0038] In the above embodiments, for each rotational speed of the power unit, the total lifting time of the cargo box corresponding to each rotational speed can be obtained in advance, and a first displacement length can be obtained. Based on the first displacement length and the total lifting time of the cargo box corresponding to each rotational speed, the displacement velocity of the cargo box moving component at each rotational speed can be calculated, and the correspondence between the rotational speed and the displacement velocity of the cargo box moving component can be stored; or, the displacement velocity of the cargo box moving component at each rotational speed can be fitted to obtain a relationship function between the rotational speed and the displacement velocity, and the relationship function can be stored. In this way, when the current rotational speed is determined to be the first rotational speed, the displacement velocity of the cargo box moving component corresponding to the current rotational speed can be obtained from the stored correspondence or by using the relationship function.
[0039] Optionally, the displacement velocity of the cargo box motion component corresponding to the current motion mode can be obtained in the following way: when the cargo box is descending, the total descent time of the cargo box is obtained, which is the time it takes for the cargo box motion component to move from the upper stop point to the lower stop point; based on the total descent time of the cargo box and a first displacement length, the displacement velocity of the cargo box motion component is determined, wherein the first displacement length is the total displacement length of the cargo box motion component moving to the upper stop point. In this embodiment, the descent of the cargo box can be achieved solely by its own gravity, or it can be achieved by a combination of its own weight and additional power.
[0040] Optionally, the method may further include: obtaining the target displacement length from the cargo box moving component to the cargo box tilting axis; obtaining the lifting angle of the vehicle cargo box based on the displacement change includes: calculating the lifting angle of the vehicle cargo box based on the displacement change and the target displacement length. In this embodiment, the lifting angle can be obtained through a deep learning model algorithm. A target deep learning model algorithm can be obtained by acquiring a large number of sample values of displacement change and target displacement length, and the true value of the lifting angle, and then inputting the displacement change and the target displacement length into the model to output the lifting angle of the vehicle cargo box.
[0041] Optionally, the lifting angle of the vehicle cargo box can be calculated based on the displacement change and the target displacement length in the following way: The lifting angle of the vehicle cargo box can be calculated using the following formula: Where L represents the displacement change, L con This indicates the length from the cargo box moving component to the cargo box tilting axis. L con For details, please refer to [link / reference]. Figure 2 As shown.
[0042] Optionally, the displacement change of the cargo box moving component can be obtained based on the displacement speed of the cargo box moving component corresponding to the current motion mode and the motion time of the cargo box moving component at the displacement speed. This can be achieved by: obtaining the current displacement speed, historical displacement speed, first motion time of the cargo box moving component at the current displacement speed, and second motion time of the cargo box moving component at the historical displacement speed in the current motion mode; and calculating the cumulative displacement change of the cargo box moving component from the first position to the current position based on the current displacement speed, historical displacement speed, first motion time of the cargo box moving component at the current displacement speed, and second motion time of the cargo box moving component at the historical displacement speed. The first position is the position corresponding to the top dead center or bottom dead center of the cargo box moving component, and the first position is related to the current motion mode.
[0043] In this embodiment, during the descent of the cargo box, the displacement change of the cargo box moving component is accumulated and calculated from the start of the descent, and the angle of the cargo box is determined based on this. Similarly, during the ascent of the cargo box, the displacement change of the cargo box moving component is accumulated and calculated from the start of the ascent, and the angle of the cargo box is determined based on this. In this embodiment, the controlled speed change of the cargo box moving component during the movement of the cargo box is fully considered. The displacement change can be accumulated by combining the current displacement speed, historical displacement speed, the first movement time of the cargo box moving component at the current displacement speed, and the second movement time of the cargo box moving component at the historical displacement speed, thereby obtaining the accurate displacement change of the cargo box moving component. Specifically, L = v1*t1 + v2*t2 + ... + vn*tn, where v1 represents the current displacement speed, t1 represents the first movement time of the cargo box moving component at the current displacement speed, v2 to vn represent historical displacement speeds, and t2 to tn represent the second movement time of the cargo box moving component at the historical displacement speeds.
[0044] The above embodiments acquire motion control commands for the vehicle cargo box, which are used to control the lifting or lowering of the vehicle cargo box. Based on the motion control commands, the displacement velocity of the cargo box motion component corresponding to the current motion mode and the movement time of the cargo box motion component at that displacement velocity are acquired. Based on the displacement velocity of the cargo box motion component corresponding to the current motion mode and the movement time of the cargo box motion component at that displacement velocity, the displacement change of the cargo box motion component is acquired. Then, based on the acquired displacement change, the lifting angle of the vehicle cargo box is acquired. Thus, accurate detection of the lifting angle of the vehicle cargo box can be achieved without installing other sensors (such as inclinometers) on the vehicle. This not only solves the technical problem of frequent identification anomalies when using inclinometers to detect the cargo box position in related technologies, but also further improves the detection accuracy of the cargo box lifting angle, thereby achieving the technical effect of improving vehicle operation efficiency.
[0045] Example 2
[0046] This embodiment also provides an implementation scheme for detecting the cargo box lifting angle of an unmanned vehicle, such as... Figure 2 , 3 As shown, the system corresponding to this method includes ADCU, VCU, and cargo box lifting system. Among them:
[0047] ADCU: Intelligent Driving Domain Controller, which sends lifting-related commands to VCU and receives feedback from VCU on cargo box status and cargo box angle;
[0048] VCU: Vehicle Control Unit. Based on the lifting command issued by ADCU, it drives the lifting solenoid valve / lowering solenoid valve to work, thereby controlling the lifting and lowering of the cargo box. Based on the accelerator pedal command issued by ADCU, it controls the power unit of the lifting oil pump to accelerate (generally the engine in fuel vehicles and the electric motor in new energy vehicles).
[0049] Cargo box lifting system: includes cargo box, lifting cylinder, lifting pump, lower limit switch, upper limit switch, and necessary pipelines and valves.
[0050] This system estimates the lifting speed based on the power unit's rotational speed, determines the extension and retraction of the lifting cylinder based on the lifting drive state, and corrects the lifting cylinder length using upper and lower stop switches. Then, it calculates and converts the cylinder length into a lifting angle. Specifically, this method includes:
[0051] Step 1: Collect the cargo box lifting time t at different speeds of the power unit. up =f(v spd ); Time t for collecting cargo container descent down ;
[0052] Step 2: Calculate the lifting speed v = L based on the time. hyd / t up and descent velocity v = -L hyd / t down L hyd This indicates the length of the lifting cylinder when the cylinder is raised to the top position.
[0053] Step 3: During the lifting process, based on the power unit speed and lifting / lowering action, the change in the lifting cylinder L = vt is calculated in real time. When the cylinder is lifted to the top position, L = L is corrected. hyd When it descends to the bottom, correct L = 0;
[0054] Step 4: Calculate the cargo box tilt angle Where L con This represents the length from the lifting cylinder to the cargo box tilting shaft, and L represents the cumulative displacement length of the lifting cylinder from its top dead center or bottom dead center to its current state. As shown in the figure, L and L' are illustrated. con 'a' represents the angle between the cargo box and the vehicle chassis, not shown in the diagram.
[0055] The cargo box lifting angle detection method provided in the above embodiments eliminates the reliance on a cargo box tilt meter, identifies the cargo box position by estimating the angle, improves reliability and the smoothness of the entire autonomous driving process, and reduces the cost of unmanned vehicles.
[0056] Example 3
[0057] According to an embodiment of this application, an embodiment of a vehicle cargo box lifting angle detection device is also provided, which can perform the vehicle cargo box lifting angle detection method provided in Embodiment 1 above.
[0058] Figure 4 This is a schematic diagram of a vehicle cargo box lifting angle detection device according to an embodiment of this application, as shown below. Figure 4 As shown, the device includes:
[0059] The motion control command acquisition unit 42 is used to acquire motion control commands for the vehicle cargo box, which are used to control the lifting or lowering of the vehicle cargo box.
[0060] The acquisition unit 44 is used to acquire, according to the motion control command, the displacement speed of the cargo box motion component corresponding to the current motion mode and the motion time of the cargo box motion component corresponding to the displacement speed.
[0061] The displacement change acquisition unit 46 is used to acquire the displacement change of the cargo box motion component based on the displacement speed of the cargo box motion component corresponding to the current motion mode and the motion time of the cargo box motion component corresponding to the displacement speed.
[0062] The lifting angle acquisition unit 48 is used to acquire the lifting angle of the vehicle cargo box based on the displacement change.
[0063] Optionally, the acquisition unit 44 is further configured to: acquire the rotational speed of the power unit corresponding to the current motion mode when the cargo box is lifted, wherein the power unit is used to drive the cargo box motion component to move in order to lift or lower the vehicle cargo box; and determine the displacement speed of the corresponding cargo box motion component based on the rotational speed of the power unit.
[0064] Optionally, the acquisition unit 44 is further configured to: when the rotational speed of the power unit is a first rotational speed, acquire the total lifting time of the cargo box corresponding to the first rotational speed, wherein the total lifting time of the cargo box is the time for the cargo box moving component to move from the lower dead point to the upper dead point; determine the displacement speed of the cargo box moving component based on the total lifting time of the cargo box and the first displacement length, wherein the first displacement length is the total displacement length of the cargo box moving component to the upper dead point.
[0065] Optionally, the acquisition unit 44 is further configured to: acquire the total descent time of the cargo box when the cargo box is descending, the total descent time of the cargo box being the time it takes for the cargo box moving component to move from the upper stop point to the lower stop point; and determine the displacement speed of the cargo box moving component based on the total descent time of the cargo box and the first displacement length, wherein the first displacement length is the total displacement length of the cargo box moving component to the upper stop point.
[0066] Optionally, the device is further configured to: obtain the target displacement length from the cargo box moving component to the cargo box tilting axis; the lifting angle acquisition unit 48 is further configured to: calculate the lifting angle of the vehicle cargo box based on the displacement change and the target displacement length.
[0067] Optionally, the lifting angle acquisition unit 48 is further configured to: calculate the lifting angle of the vehicle cargo box using the following formula: Where L represents the displacement change, L con This indicates the length from the cargo box moving component to the cargo box tilting axis.
[0068] Optionally, the displacement change acquisition unit 46 is further configured to: acquire the current displacement speed, historical displacement speed, first movement time of the cargo box movement component corresponding to the current displacement speed, and second movement time of the cargo box movement component corresponding to the historical displacement speed in the current motion mode; calculate the cumulative displacement change of the cargo box movement component from the first position to the current position based on the current displacement speed, historical displacement speed, first movement time of the cargo box movement component corresponding to the current displacement speed, and second movement time of the cargo box movement component corresponding to the historical displacement speed, wherein the first position is the position corresponding to the upper dead point or the lower dead point of the cargo box movement component, and the first position is related to the current motion mode.
[0069] The vehicle cargo box lifting angle detection device of this embodiment acquires motion control commands for the vehicle cargo box, which are used to control the lifting or lowering of the vehicle cargo box. Based on the motion control commands, it acquires the displacement velocity of the cargo box moving component corresponding to the current motion mode and the movement time of the cargo box moving component at the corresponding displacement velocity. Based on the displacement velocity of the cargo box moving component corresponding to the current motion mode and the movement time of the cargo box moving component at the corresponding displacement velocity, it acquires the displacement change of the cargo box moving component. Then, based on the acquired displacement change, it acquires the lifting angle of the vehicle cargo box. Thus, it can accurately detect the lifting angle of the vehicle cargo box without installing other sensors (such as inclinometers) on the vehicle. This not only solves the technical problem of frequent identification anomalies when using inclinometer solutions to detect the cargo box position in related technologies, but also further improves the detection accuracy of the cargo box lifting angle, thereby achieving the technical effect of improving vehicle operation efficiency.
[0070] Example 4
[0071] Embodiments of this application also provide an electronic device, including: a processor; a memory for storing computer-executable instructions; the processor being configured to execute the computer-executable instructions to implement the method for detecting the lifting angle of a vehicle cargo box as described in any of the above methods.
[0072] Example 5
[0073] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of this application.
[0074] Example 6
[0075] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of this application.
[0076] Example 7
[0077] Embodiments of this application also provide a computer program that, when executed by a processor, implements the methods described in the various embodiments of this application.
[0078] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0079] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.
[0080] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.
[0081] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0082] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.
[0083] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.
[0084] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.
Claims
1. A method for detecting the lifting angle of a vehicle cargo box, characterized in that, include: Obtain motion control commands for the vehicle cargo box, the motion control commands being used to control the lifting or lowering of the vehicle cargo box; According to the motion control command, the displacement speed of the cargo box motion component corresponding to the current motion mode and the motion time of the cargo box motion component corresponding to the displacement speed are obtained. Based on the displacement velocity of the cargo box motion component corresponding to the current motion mode and the motion time of the cargo box motion component at the displacement velocity, the displacement change of the cargo box motion component is obtained. The lifting angle of the vehicle cargo box is obtained based on the displacement change.
2. The method according to claim 1, characterized in that, The process of obtaining the displacement velocity of the cargo box motion component corresponding to the current motion mode includes: When the cargo box is raised, the rotational speed of the power unit corresponding to the current motion mode is obtained. The power unit is used to drive the cargo box motion component to achieve the raising or lowering of the vehicle cargo box. The displacement speed of the corresponding cargo box moving component is determined based on the rotational speed of the power unit.
3. The method according to claim 2, characterized in that, The step of determining the displacement speed of the corresponding cargo box moving component based on the rotational speed of the power unit includes: When the power unit rotates at a first speed, the total lifting time of the cargo box corresponding to the first speed is obtained. The total lifting time of the cargo box is the time it takes for the cargo box motion component to move from the lower dead point to the upper dead point. The displacement speed of the cargo box moving component is determined based on the total lifting time of the cargo box and the first displacement length, wherein the first displacement length is the total displacement length of the cargo box moving component as it moves to the upper stop point.
4. The method according to claim 1, characterized in that, The process of obtaining the displacement velocity of the cargo box motion component corresponding to the current motion mode includes: When the cargo box is descending, the total descent time of the cargo box is obtained, which is the time it takes for the cargo box motion component to move from the upper dead point to the lower dead point; The displacement speed of the cargo box moving component is determined based on the total descent time of the cargo box and the first displacement length, wherein the first displacement length is the total displacement length of the cargo box moving component as it moves to the upper stop point.
5. The method according to claim 1, characterized in that, The method further includes: Obtain the target displacement length of the cargo box motion component to the cargo box tilting axis; The step of obtaining the lifting angle of the vehicle cargo box based on the displacement change includes: The lifting angle of the vehicle cargo box is calculated based on the displacement change and the target displacement length.
6. The method according to claim 5, characterized in that, The calculation of the lifting angle of the vehicle cargo box based on the displacement change and the target displacement length includes: The lifting angle of the vehicle's cargo box is calculated using the following formula: Where L represents the displacement change, L con This indicates the length from the cargo box moving component to the cargo box tilting axis.
7. The method according to any one of claims 1-6, characterized in that, The step of obtaining the displacement change of the cargo box motion component based on the displacement velocity of the cargo box motion component corresponding to the current motion mode and the motion time of the cargo box motion component at the displacement velocity includes: Obtain the current displacement speed, historical displacement speed, first movement time of the cargo box motion component at the current displacement speed, and second movement time of the cargo box motion component at the historical displacement speed in the current motion mode; Based on the current displacement speed, historical displacement speed, first movement time of the cargo box motion component at the current displacement speed, and second movement time of the cargo box motion component at the historical displacement speed, the cumulative displacement change of the cargo box motion component from the first position to the current position is calculated. The first position is the position corresponding to the upper or lower dead point of the cargo box motion component, and the first position is related to the current motion mode.
8. A device for detecting the lifting angle of a vehicle cargo box, characterized in that, include: A motion control command acquisition unit is used to acquire motion control commands for the vehicle cargo box, the motion control commands being used to control the lifting or lowering of the vehicle cargo box; The acquisition unit is used to acquire, according to the motion control command, the displacement speed of the cargo box motion component corresponding to the current motion mode and the motion time of the cargo box motion component corresponding to the displacement speed; The displacement change acquisition unit is used to acquire the displacement change of the cargo box motion component based on the displacement velocity of the cargo box motion component corresponding to the current motion mode and the motion time of the cargo box motion component corresponding to the displacement velocity. The lifting angle acquisition unit is used to acquire the lifting angle of the vehicle cargo box based on the displacement change.
9. An electronic device, characterized in that, include: processor; Memory used to store executable instructions for a computer; The processor is configured to execute the computer-executable instructions to implement the method for detecting the lifting angle of the vehicle cargo box as described in any one of claims 1-7.
10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program for executing the vehicle cargo box lifting angle detection method according to any one of claims 1 to 7.