A self-adaptive seat adjusting and vehicle body stability synchronous control system for a forklift truck

Abstract

The present application relates to the technical field of vehicle control, in particular to a self-adaptive seat adjustment and vehicle body stability synchronous control system for a forklift, which comprises a load posture sensing module for obtaining the trend of gravity center change, a vehicle body inclination identification module for judging the vehicle body inclination, a seat self-adaptive adjustment module for adjusting the seat posture accordingly, a chassis balance correction module for analyzing the force difference and determining the correction signal, and a synchronous coordination output module for comparing and adjusting the action timing of the seat and the chassis to generate the seat and vehicle body synchronous control instruction. The present application dynamically adjusts the seat posture and the chassis stability by real-time monitoring of the load change and the vehicle body inclination, keeps the action accurate and synchronous, optimizes the operation comfort and the field of view, adjusts in time based on the collaborative analysis, eliminates the adjustment lag or mismatch defects, effectively solves the stability problem when the load changes, significantly improves the control sensitivity in complex environment, and ensures efficient and stable operation under variable working conditions.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to an adaptive seat adjustment and vehicle stability synchronous control system for forklifts. Background Technology

[0002] The field of vehicle control technology encompasses the coordinated control of various vehicles' driving, steering, braking, suspension, and handling systems. The core of this technology lies in the comprehensive control and matching of the vehicle's powertrain, transmission, steering, and body structure to ensure operational safety and handling stability under different working conditions. Vehicle control technology also includes the control and adjustment of driver comfort and work safety. For example, for special vehicles such as forklifts, the coordinated design of the driving position, visibility height, and vehicle posture enhances handling sensitivity and operational precision, enabling the vehicle to maintain balance and smooth operation when loads, road surfaces, and operating conditions change. This technology achieves comprehensive management and optimization of vehicle performance through coordinated control of the dynamic responses between various vehicle systems.

[0003] The adaptive seat adjustment and vehicle stability synchronization control system for forklifts refers to a structural system that can automatically adjust the driver's seat posture according to the forklift's operating status and synchronize the seat adjustment action with the vehicle stability control. It addresses the coordinated control problem between the driver's seat posture and vehicle stability during load changes and driving, encompassing technologies such as driver's seat posture sensing, angle and height adjustment mechanism actuation, and vehicle posture monitoring signal linkage. Some forklifts feature adjustable seat height to provide the driver with a better viewing angle during stacking operations or in confined spaces. By setting seat posture angle and height detection devices, vehicle tilt sensing units, and actuators, the system maintains a real-time correspondence between seat adjustment commands and vehicle posture change data, thus forming an adaptive synchronous control process.

[0004] Existing vehicle control systems primarily focus on coordinating the power, steering, and suspension systems, but fail to effectively integrate real-time feedback between seat adjustment and vehicle posture changes. When adjusting seat height, dynamic changes in vehicle tilt are not considered, resulting in a lack of close collaboration between the seat and the vehicle. This is especially problematic in complex working environments where loads change frequently, as seat adjustment and vehicle stability adjustment fail to synchronize, affecting the driver's operational precision and comfort. Furthermore, the time delay between vehicle tilt and seat height adjustment makes it difficult to provide the necessary real-time feedback, leading to incoordination during operation and consequently impacting operational safety and efficiency. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and propose an adaptive seat adjustment and vehicle stability synchronous control system for forklifts.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an adaptive seat adjustment and vehicle stability synchronous control system for forklifts, the system comprising:

[0007] The load attitude perception module obtains the fork center of gravity direction and the vehicle body longitudinal axis vector, identifies the angle change between the two vectors during lifting and recording the offset trajectory, reads the fork height value to compare the offset trend at different heights, determines the direction and magnitude of the center of gravity transfer, and generates fork load attitude change information.

[0008] The vehicle body tilt recognition module calls the direction of the change of the center of gravity vector and the corresponding height range in the fork load posture change information, reads the real-time data of the forklift's lateral and longitudinal tilt angles and merges and compares them, identifies the vehicle body tilt direction and continuous features, and generates the vehicle body posture tilt result.

[0009] The seat adaptive adjustment module calls the vehicle body tilt direction in the vehicle body posture tilt result, reads the seat pitch state and the driver's line of sight reference direction, and when the direction is consistent with the offset trend, controls the electric push rod to perform pitch and lift adjustment, generating a seat synchronous adjustment action sequence;

[0010] The chassis balance correction module calls the adjustment sequence of the seat in the synchronous adjustment action sequence of the seat, reads the displacement change and force difference of the chassis hydraulic support, analyzes the support and force trend, determines the lateral tilt direction of the vehicle body, determines the lateral correction direction and sequence of the hydraulic cylinder, and generates a chassis balance correction signal group.

[0011] As a further aspect of the present invention, the fork load posture change information includes center of gravity direction change parameters, included angle change parameters, and height range correlation parameters; the vehicle body posture tendency result includes tendency direction parameters, posture stability parameters, and tendency persistence parameters; the seat synchronous adjustment action sequence includes pitch adjustment parameters, height adjustment parameters, and linkage coordination parameters; and the chassis balance correction signal group includes hydraulic cylinder action parameters, support adjustment parameters, and force correction parameters.

[0012] As a further embodiment of the present invention, the load attitude perception module includes a center of gravity direction detection submodule, an angle change calculation submodule, and an attitude information generation submodule;

[0013] The center of gravity direction detection submodule obtains the center of gravity direction vector of the fork-bearing component and the direction vector of the longitudinal reference axis of the vehicle body, detects the direction correspondence between the two in the initial stage of fork lifting, calculates the initial angle between the center of gravity direction vector and the longitudinal reference axis of the vehicle body, records the direction vector change range corresponding to the start and end points of fork lifting, and determines the displacement relationship of the center of gravity direction based on the difference of vector components at each time, and generates the center of gravity angle reference.

[0014] The angle change calculation submodule, based on the center of gravity angle reference, calls the real-time height data of the fork lifting height detection component, calculates the angle difference between the center of gravity direction vector and the longitudinal reference axis of the vehicle body at different heights, compares the increase or decrease of the angle change in a continuous height range, determines the main direction and magnitude ratio of the angle change, establishes a corresponding sequence of height and angle change, and generates the angle change range.

[0015] The attitude information generation submodule reads the height sequence of the entire fork lifting process based on the angle change range, compares the distribution characteristics of the angle change in each height range, calculates the offset path of the center of gravity direction vector in the lifting process, organizes the correspondence between the angle change and the fork height range, and generates fork load attitude change information.

[0016] As a further aspect of the present invention, the vehicle body tilt recognition module includes a time series calibration submodule, a tilt path comparison submodule, and an attitude tilt generation submodule;

[0017] The time series calibration submodule obtains the direction of change of the center of gravity direction vector and the corresponding fork height range in the fork load attitude change information, sets the time series marker of the fork lifting record, and makes a one-to-one correspondence between the direction of change of the center of gravity direction at each moment and the fork lifting record. Based on the continuous change of the time series, it calculates the magnitude of the center of gravity direction offset in each time period and forms a time series data table that matches the fork height range, generating a center of gravity time series association set.

[0018] The tilt path comparison submodule, based on the center of gravity time sequence association set, reads the real-time readings of the lateral tilt meter and longitudinal tilt meter on the forklift, merges the tilt data according to the same time sequence and fork height range, compares the change trajectory of the lateral tilt angle and longitudinal tilt angle when the fork load changes, calculates the change range of the tilt angle difference in the two directions with time, and determines the offset direction by referring to the reference angle range when the vehicle body is stationary, and generates the tilt offset path;

[0019] The attitude tendency generation submodule identifies the main direction of vehicle body tendency based on the tilt angle offset path, extracts the tendency maintenance time and change direction features, calculates the time distribution ratio of different directional tendencies, records the attitude feature information of each direction downwards, integrates the time series and tilt angle offset data, and generates the vehicle body attitude tendency result.

[0020] As a further embodiment of the present invention, the seat adaptive adjustment module includes a tendency alignment submodule, a motion matching submodule, and a synchronization control submodule;

[0021] The orientation alignment submodule calls the vehicle orientation direction information in the vehicle posture orientation result, obtains the current state of the seat pitch detection component and the lifting positioner, as well as the driver's line of sight reference direction determined by the seat position reference and the front viewpoint calibration component, identifies the fork direction signal and compares it with the driver's line of sight reference direction, determines the correspondence between the seat posture direction and the fork direction, and generates the direction correspondence.

[0022] The motion matching submodule, based on the aforementioned direction correspondence, calls the offset amplitude data of the vehicle body tilt direction information and the fork direction signal, sets the offset consistency threshold as the offset consistency benchmark, compares the difference in offset trend between the seat posture direction and the fork direction, determines whether the two offset directions are consistent and records the offset amplitude difference, establishes the sequence and duration combination of pitch and rise actions, and generates a linkage control sequence.

[0023] The synchronous control submodule reads the time interval of the seat pitch and rise actions according to the linkage control sequence, compares the difference between the start and end times of the actions, combines the vehicle body tilt direction information and the time distribution of the fork offset signal, adjusts the order and duration of the electric push rod response, integrates the time matching table corresponding to each action, and generates a seat synchronous adjustment action sequence.

[0024] As a further embodiment of the present invention, the chassis balance correction module includes a support data acquisition submodule, a tilt trend determination submodule, and a hydraulic correction control submodule;

[0025] The data acquisition submodule supports the adjustment sequence of the seat in the synchronous adjustment action sequence of the seat, reads the displacement change of the hydraulic support components on both sides of the forklift chassis, collects the force difference between the front axle and the rear axle connection, calculates the displacement increment and force difference of the hydraulic supports on both sides in the same time period, establishes a correspondence table between displacement change and force change, and generates a set of support force correspondence.

[0026] The tilt trend determination submodule, based on the support force correspondence set, compares the change direction of displacement increment and force difference between the support side and the force side, calculates the rate of change of the difference on both sides and determines the tilt direction of the vehicle body in the lateral direction, determines the interval of tilt amplitude, establishes the mapping relationship between vehicle body tilt trend and support difference, and generates vehicle body tilt trend.

[0027] The hydraulic correction control submodule determines the lateral direction of the hydraulic cylinder that needs correction based on the vehicle body tilt trend, reads the action state of the corresponding hydraulic support component, calculates the response delay time and adjustment displacement difference between the force-bearing side and the support side, calibrates the lateral action direction and adjustment amplitude category of the hydraulic cylinder, forms the action sequence of each hydraulic cylinder, and generates a chassis balance correction signal group.

[0028] As a further aspect of the present invention, the system further includes:

[0029] The synchronous coordination output module calls the action lateral direction and support sequence of the hydraulic cylinder in the chassis balance correction signal group and the adjustment sequence and action duration of the seat in the seat synchronous adjustment action sequence. It compares the action time relationship between the two, identifies the difference between the start and end, adjusts the push rod and hydraulic support response sequence according to the sequential offset between the seat action and the vehicle body support action, organizes the timing and outputs the control trigger sequence, and generates the seat and vehicle body synchronous control command.

[0030] The seat and vehicle body synchronization control commands include start time parameters, end time parameters, and execution delay parameters.

[0031] As a further embodiment of the present invention, the synchronization coordination output module includes an action time comparison submodule, a response order adjustment submodule, and a synchronization instruction generation submodule;

[0032] The action time comparison submodule calls the action lateral and support sequence of the hydraulic cylinder in the chassis balance correction signal group, reads the adjustment sequence and action duration of the seat in the seat synchronous adjustment action sequence, calculates the time difference between the start of the seat action and the start of the hydraulic support action, records the start and end times of each action, establishes a time correspondence table for the two types of actions, and generates an action time difference set.

[0033] The response sequence adjustment submodule, based on the action time difference set, identifies the start and end time differences between seat actions and vehicle body support actions, determines the sequential offset relationship between the two types of actions on the time axis, calculates the duration ratio within the offset interval, adjusts the response sequence of electric push rod and hydraulic support and sets the execution delay parameter, establishes a timing mapping table for action response, and generates a timing offset relationship.

[0034] The synchronization command generation submodule organizes the start time, end time, and offset correspondence of the seat action and the vehicle body support action according to the time sequence offset relationship, summarizes the corrected time correspondence table, integrates the control signal sequence of the electric push rod and the hydraulic support, calibrates the synchronization node of the trigger timing, and generates the seat and vehicle body synchronization control command.

[0035] As a further aspect of the present invention, the process of calculating the time difference between the start of the seat action and the start of the hydraulic support action specifically involves continuously sampling the start and end times of each seat action in the seat synchronous adjustment action sequence, reading the start and end times of the hydraulic cylinder action in the chassis balance correction signal group, calculating the start time difference between the seat action and the hydraulic support action based on the time synchronization comparison algorithm, and dynamically adjusting the output delay parameter of the seat action trigger signal according to the time difference result, so that the seat action and the hydraulic support action form a synchronous response during the start-up phase.

[0036] The process of adjusting the response sequence of the electric push rod and the hydraulic support and setting the execution delay parameters specifically involves determining the execution priority of the electric push rod response signal and the hydraulic support control signal based on the time offset direction of the action time difference concentration. When there is a time offset between the seat action start time and the hydraulic support action start time, the response delay parameters of the electric push rod and the hydraulic support are automatically corrected according to the action duration ratio, so that the two types of actions maintain time continuity and consistency of end time during execution.

[0037] The process of establishing the correspondence between the start time, end time, and offset of the seat movement and the vehicle body support movement specifically involves comparing the duration of the seat pitching movement with the duration of the hydraulic support displacement movement according to the corrected time correspondence table, establishing a synchronous control dataset that includes the start time, end time, and offset amplitude, and outputting synchronous control commands for the seat and the vehicle body based on the synchronous control dataset.

[0038] As a further aspect of the present invention, after obtaining the chassis balance correction signal group, a hydraulic support action sequence is established based on the hydraulic cylinder action parameters, support adjustment parameters, and force correction parameters. By comparing the lateral action of the hydraulic cylinder with the trend of force distribution change, the response sequence and duration of the hydraulic support components are determined, and the hydraulic support signal is delayed by combining the action start time in the seat synchronous adjustment action sequence.

[0039] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0040] In this invention, by monitoring changes in fork load and vehicle tilt in real time, the seat posture and vehicle stability are dynamically adjusted to maintain precise synchronization between the seat and vehicle posture, ensuring comfort and optimized visibility during operation. Based on the coordinated analysis of load center of gravity and vehicle tilt angle, the seat direction and height can be adjusted in a timely manner to avoid comfort and operational stability issues caused by load changes or vehicle tilt, reducing safety hazards caused by vehicle imbalance. It provides precise dynamic adjustment in complex working environments, significantly improving the forklift's handling sensitivity and stability. Through real-time coordinated adjustment of the seat and vehicle posture, the defects of seat adjustment lag or mismatch are eliminated, maintaining efficient and stable operation even under varying working conditions. Attached Figure Description

[0041] Figure 1 This is a system flowchart of the present invention;

[0042] Figure 2 This is a flowchart illustrating the acquisition process of the load attitude sensing module of the present invention.

[0043] Figure 3 This is a flowchart illustrating the acquisition process of the vehicle body tilt recognition module of the present invention.

[0044] Figure 4 This is a flowchart illustrating the acquisition process of the seat adaptive adjustment module of the present invention.

[0045] Figure 5 This is a flowchart illustrating the acquisition process of the chassis balance correction module of the present invention.

[0046] Figure 6 This is a flowchart illustrating the acquisition process of the synchronous coordination output module of the present invention. Detailed Implementation

[0047] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0048] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0049] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning.

[0050] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0051] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0052] Please see Figure 1 This invention provides a technical solution: an adaptive seat adjustment and vehicle stability synchronous control system for forklifts, the system comprising:

[0053] The load attitude perception module acquires the direction vector of the center of gravity of the fork-bearing component and the direction vector of the longitudinal reference axis of the vehicle body, identifies the trend of the angle change between the center of gravity and the vehicle body direction vector during the lifting and lowering of the fork, records the offset trajectory, reads the real-time height value of the fork lifting and lowering height detection component, compares the direction vector offset trend of the fork at different heights, determines the transfer direction and change range of the center of gravity direction vector of the cargo load during the lifting and lowering process, sorts out the correspondence between the angle change trend of the center of gravity direction vector and the fork height range, and generates fork load attitude change information.

[0054] The vehicle body tilt recognition module calls the change direction of the center of gravity direction vector and the corresponding fork height range in the fork load posture change information, sets time series markers and corresponds them with the fork lifting records, reads the real-time readings of the lateral tilt meter and longitudinal tilt meter on the forklift, merges them according to the same time series and fork height range, compares the change paths of the lateral tilt angle and longitudinal tilt angle when the fork load changes, compares them with the reference angle range when the vehicle body is stationary, identifies the main direction of the vehicle body tilt, analyzes the tilt maintenance time and change direction characteristics, records the corresponding vehicle body posture characteristics, and generates the vehicle body posture tilt result;

[0055] The seat adaptive adjustment module calls the vehicle body tilt direction information in the vehicle body posture tilt result, obtains the current state of the seat pitch detection component and the lifting positioner, as well as the driver's line of sight reference direction determined by the seat position reference and the forward viewpoint calibration component, identifies the fork direction signal and compares it with the driver's line of sight reference direction, determines the matching relationship between the seat posture direction and the fork direction, and when the fork direction is consistent with the vehicle body tilt direction and the offset trend is the same, the pitch and lifting adjustment is performed through the electric push rod, the action sequence and duration are allocated according to the offset amplitude, the linkage process of the seat pitch and lifting directions is recorded, and a seat synchronous adjustment action sequence is generated.

[0056] The chassis balance correction module calls the seat adjustment sequence in the seat synchronous adjustment action sequence, reads the displacement detection changes of the hydraulic support components on both sides of the forklift chassis and the force difference of the front axle and rear axle connection, analyzes the corresponding trend of displacement change and force change between the support side and the force side, judges the tilt trend of the vehicle body in the lateral direction, determines the lateral direction of the hydraulic cylinder that needs to be corrected and the corresponding support sequence, calibrates the lateral direction of the hydraulic cylinder action and the adjustment range category, and generates a chassis balance correction signal group.

[0057] The synchronous coordination output module calls the lateral movement and support sequence of the hydraulic cylinder in the chassis balance correction signal group and the adjustment sequence and duration of the seat in the seat synchronous adjustment action sequence. It compares the time relationship between the seat action and the vehicle body support action, and identifies the difference in start and end time between the seat action and the vehicle body support action. Based on the sequential offset relationship between the seat action and the vehicle body support action, it adjusts the response sequence and execution delay of the electric push rod and the hydraulic support. It organizes the identified start time, end time and offset correspondence to obtain the corrected time correspondence table and synchronously outputs the control trigger sequence to generate the seat and vehicle body synchronous control command.

[0058] The fork load attitude change information includes parameters for center of gravity direction change, angle change, and height range correlation parameters. The vehicle body attitude tendency results include tendency direction parameters, attitude stability parameters, and tendency duration parameters. The seat synchronous adjustment action sequence includes pitch adjustment parameters, height adjustment parameters, and linkage coordination parameters. The chassis balance correction signal group includes hydraulic cylinder action parameters, support adjustment parameters, and force correction parameters. The seat and vehicle body synchronous control commands include start time parameters, end time parameters, and execution delay parameters.

[0059] Please see Figure 2 The load attitude perception module includes a center of gravity direction detection submodule, an angle change calculation submodule, and an attitude information generation submodule.

[0060] The center of gravity direction detection submodule obtains the center of gravity direction vector of the fork-bearing component and the direction vector of the longitudinal reference axis of the vehicle body, detects the direction correspondence between the two in the initial stage of fork lifting, calculates the initial angle between the center of gravity direction vector and the longitudinal reference axis of the vehicle body, records the direction vector change range corresponding to the start and end points of fork lifting, and determines the displacement relationship of the center of gravity direction based on the difference of vector components at each time, and generates the center of gravity angle reference.

[0061] The system retrieves real-time data from the attitude sensor (IMU) mounted on the fork-bearing component. This data is a fusion of triaxial acceleration and triaxial angular velocity values ​​processed by Kalman filtering. It also retrieves the direction vector of the longitudinal reference axis of the vehicle body, stored in the vehicle body controller. In the current vehicle coordinate system, this Defined as a unit vector pointing in the direction of the vehicle's movement, for example... ,in The axis represents the longitudinal direction of the vehicle body. The axis represents the horizontal direction. The axis represents the vertical lifting direction. In the initial stage of fork lifting, this stage is defined as the time reported by the laser rangefinder (i.e., the lifting height detection component) mounted on the mast. satisfy And the speed of rise and fall The time window in which Based on the rigidity of the gantry, for example Rice, at this stage, is collected. The attitude sensor data is collected and the mean is calculated to obtain the initial center of gravity direction vector. This vector represents the direction of gravity in the forklift coordinate system. Assuming the initial cargo is balanced, the reading is:

[0062] Perform initial angle calculation; this calculation calls... and Through vector dot product operation:

[0063] ;

[0064] Substitute data Degree, this The angle is recorded as the initial included angle, and the target height for this mission is obtained from the lifting control unit. (For example (meters) as the endpoint of the ascent and descent, when First arrival Record the direction vector of the centroid at the endpoint at that time. Assuming that due to the gantry tilting forward, at this time , and The included angle Degree, system in from Rise to Throughout the entire process of rice production, with Data is collected continuously at intervals of seconds. The sequence determines the displacement relationship along the center of gravity; this process involves analyzing each sequence individually. vector Quantity and Quantity Through calculation relatively (Right now The difference ,as well as relatively (Right now The difference To quantize the vector endpoints at The trajectory of movement on a plane, for example, when from Increase to ,and from Reduce to This indicates that the centroid direction vector is moving towards If the axis is offset in the positive direction (e.g., the left side of the vehicle body), the system will... Rice and Rice Defined The range is defined as the interval between changes in the direction vector, and... and The time series data is packaged to generate a reference for the centroid angle.

[0065] The angle change calculation submodule, based on the center of gravity angle reference, calls the real-time height data of the fork lifting height detection component, calculates the angle difference between the center of gravity direction vector and the longitudinal reference axis of the vehicle body at different heights, compares the increase or decrease of the angle change in a continuous height range, determines the main direction and magnitude ratio of the angle change, establishes the corresponding sequence of height and angle change, and generates the angle change range.

[0066] Receive the reference for the angle of the center of gravity, which includes the initial angle. Degree, initial vector Angle between the endpoints Degree and longitudinal reference axis vector of the vehicle body It continuously calls upon the real-time height value fed back by the fork lifting height detection component (such as a laser rangefinder sensor mounted on the mast). At the same time, obtain from the previous module For time-series data, the system sets a height sampling interval. Rice, will arrive The rise and fall of the meter is divided into 10 discrete height intervals [0-0.4], [0.4-0.8], ..., [3.6-4.0]. When passing through the midpoint of each interval ( The system extracts the data at that moment. And immediately perform the included angle calculation, which... and The instantaneous angle;

[0067] For example, in Rice time, ,calculate degrees, then calculate the difference in included angles. ,but Degree, when Reach the midpoint of the next interval In meters, assuming the calculation yields... Spend, The degree is used to perform a "comparison" action, which calculates the difference between two consecutive intervals. and rate of change of the included angle Substitute data Degrees / meters, perform the "judgment" to determine the main direction and magnitude ratio of the angle change. The "main direction" is determined by checking... symbols, If it is positively increasing, then it is judged as "positive increase". Calculating the "amplitude ratio" is to find... Maximum absolute value in a sequence

[0068] (For example in) Rice (degrees), calculate the change in the current interval. (For example (degree) as a percentage of the total change proportion ,but ,Will[ , , , , As a data tuple, according to Store the data in ascending order into a corresponding sequence, for example, a sequence containing:

[0069] ( ),( ),…,( ), generating the range of angle variation.

[0070] The attitude information generation submodule reads the height sequence of the entire fork lifting process based on the angle change range, compares the distribution characteristics of the angle change in each height range, calculates the offset path of the center of gravity direction vector in the lifting process, sorts out the correspondence between the angle change and the fork height range, and generates fork load attitude change information.

[0071] According to the range of angle variation (i.e. [ , , , , (a data sequence), from which to extract... The column [0.2, 0.6, 1.0, ..., 4.0] serves as the altitude sequence for the entire process. The operation "comparison" of the distribution characteristics of the angle changes within each altitude interval is performed, establishing a benchmark for the rate of change. and an amplitude ratio benchmark , The setting is based on the average structural deformation rate of the fork mast, for example... degrees / meter Set to the reciprocal of the total number of intervals, for example In the system traversal sequence and Value, when Time (e.g.) (degrees / meter), the marked interval [0.8-1.2] is the "rapid change zone", when When, it is marked as a "slow change zone", when Time (e.g.) This interval is marked as the "major contribution area." Subsequently, the offset path of the centroid direction vector during the ascent and descent is calculated using instantaneous angles in the sequence. Reconstruction exist Projection on the horizontal-vertical plane ;

[0072] because yes axis, yes and The included angle of the axis;

[0073] calculate and (exist Axial components Under the extremely small condition, approximately exist The projection onto the plane is considered a unit vector, for example, in When calculating the path points:

[0074] ,exist When calculating the path points. All Tap Connect them sequentially to form a vector describing the direction of the centroid. Components (horizontal) and Two-dimensional offset path with component (vertical) variation The "organize" action is performed, which combines the distribution characteristics (such as "rapid change area" and "major contribution area") obtained in the "comparison" step with the offset path coordinates obtained in the "calculation" step, according to height intervals. Merge the data to form structured data, for example: [H=0.8-1.2 meters]: Features = rapid changes, major contribution areas; degrees / meter; Offset path segment = This generates information on the load posture changes of the forks.

[0075] Please see Figure 3 The vehicle body tilt recognition module includes a time series calibration submodule, a tilt path comparison submodule, and a posture tilt generation submodule;

[0076] The time series calibration submodule obtains the direction of change of the center of gravity direction vector and the corresponding fork height range in the fork load attitude change information, sets the time series marker of the fork lifting and lowering records, and maps the direction of change of the center of gravity direction at each moment to the fork lifting and lowering records one by one. Based on the continuous change of the time series, it calculates the magnitude of the center of gravity direction offset in each time period and forms a time series data table that matches the fork height range, generating a center of gravity time series association set.

[0077] Retrieve fork load attitude change information. This information is a set of structured data, including (height range [Hstart,Hend], offset path point). rate of change For example, extracting the height range [0.8-1.2 meters] corresponds to... and The system reads the operation log of the forklift lifting control unit from the forklift's CAN bus, which records the start timestamp of the lifting action. (For example, system clock) ) and end timestamp (For example ), the system with Seconds are used to set time series markers at fixed intervals. ;

[0078] Right now Perform a one-to-one matching, which is a traversal... Read from the rise and fall logs Real-time altitude at any moment Then Compare with the height range [Hstart,Hend] in the "Fork Load Attitude Change Information", for example, when Rice, and When the meter is used, the system determines (Right now ) is the starting time of the interval [0.8-1.2 meters]. Rice, and When the meter is used, the system determines (Right now ) is the end time of this interval; therefore, the height interval [0.8-1.2 meters] is associated with [ Time interval, the direction of the center of gravity corresponding to this interval. This timestamp is also assigned, and then the "calculation" of the center of gravity offset within each time period is performed. This calculation is retrieved from [ ](Right now to During the specified time period, the data collected and stored by the "load attitude sensing module" indivual( arrive Continuous centroid direction vector The system obtains the starting vector for that time period. (For example ) and end vector (For example ),calculate Component changes ,calculate Component changes The offset during this time period Calculated as Euclidean distance on a plane:

[0079] (Height range [0.8-1.2 meters], Time range [...]) ], offset magnitude As a data unit, it is stored in a time series data table to generate a centroid time series association set.

[0080] The tilt path comparison submodule, based on the center of gravity time-series association set, reads the real-time readings of the lateral and longitudinal tilt gauges on the forklift, merges the tilt data according to the same time series and fork height range, compares the change trajectory of the lateral and longitudinal tilt angles when the fork load changes, calculates the change range of the tilt angle difference in the two directions over time, and determines the offset direction by referring to the reference angle range when the vehicle is stationary, and generates the tilt offset path.

[0081] Retrieve the centroid time-series correlation set, which contains (height range [0.8-1.2 meters], time range [...]. ]=[ Data such as […] is used to send commands to the lateral tilt sensor (Roll sensor) and longitudinal tilt sensor (Pitch sensor) installed in the vehicle chassis (e.g., under the driver's seat) to obtain […]. Within the time interval, Sampling rate ( Real-time tilt readings reported (seconds) and In that Within a time interval of seconds, a total of [number] samples were collected. Group The system performs a "merge" operation on the data, which involves calculating the values ​​of each data point separately. The arithmetic mean of a set of data;

[0082] ;

[0083] ;

[0084] Assume the calculation result is Spend, The values ​​are then compared with the corresponding height range [0.8-1.2 meters], and the lateral and longitudinal tilt angles are compared. This "trajectory" is... and The system retrieves the mean value corresponding to the previous height interval [0.4-0.8 meters], which is a sequence of values ​​changing with the height interval (i.e., the time interval). Spend, The "comparison" action calculates the change in the current interval relative to the previous interval.

[0085] Spend;

[0086] as well as The function calculates the change in the difference in tilt angles between two directions over time; this calculation directly compares the two changes. and The absolute value, Spend, Degrees, relative to the reference angle range when the vehicle is stationary. ,Should During the forklift's factory calibration, under unloaded and stationary conditions on a standard level ground, inclinometer readings were collected for one minute, and the results were recorded. (Three standard deviations) range, set as The "comparison" operation checks the average dip angle value of the current interval. Degree and Degree, perform the "determine offset direction" judgment: because Degree located at interval Since it includes the boundary, the vertical direction is determined to be "no offset". Degree greater than The upper realm Therefore, the lateral movement is determined to be "positive offset" (e.g., the vehicle body tilts to the left). The system then compares this determination (lateral: positive offset, longitudinal: no offset) with the corresponding trajectory point. and time interval [ Combine the elements to generate the tilt offset path.

[0087] The attitude tendency generation submodule identifies the main direction of vehicle body tendency based on the tilt angle offset path, extracts the tendency maintenance time and change direction features, calculates the time distribution ratio of different directional tendencies, records the attitude feature information of each direction downwards, integrates the time series and tilt angle offset data, and generates the vehicle body attitude tendency result.

[0088] Retrieve the tilt offset path, which is a path composed of One (hypothesis) A sequence consisting of 10 data units (corresponding to 10 height intervals of 0.4 meters), each unit... Includes (time range) Altitude range Mean tilt angle Offset state ),For example hour,

[0089] (Horizontal: Positive offset, Vertical: No offset), performs the "identification" of the main direction of vehicle tilt; this action is a traversal. indivual Unit, for "lateral positive offset" ), "lateral negative offset" "Longitudinal positive offset" "Longitudinal negative offset" Count the occurrences of the four states, and assume the statistical result is: , , , (Another interval is "no offset"), by comparison ,Sure (Horizontal positive offset) is the main direction. The "extraction" process focuses on the duration and direction of change characteristics of the tendency, targeting the main direction. "Duration of duration" It is all of Duration of each interval (For example, interval 3) Summation is performed in seconds. ;

[0090] Assuming total The "change direction feature" retrieves the lateral tilt angle changes calculated in the previous module for these six intervals. (For example (degree) and corresponding time (For example (seconds), calculate its average rate of change Assuming The degree / second characteristic was recorded as "positive increase". Subsequently, the time distribution ratio of different directional tendencies was calculated, and the total rise and fall time was retrieved. Seconds, calculate the principal direction Time ratio Calculate secondary directions Duration (Assuming) (seconds), its proportion The system "records" the downward posture characteristics of each direction; this action is... Direction Record: (mean tilt angle) =(1 / 6) (Assuming) (degrees), maximum tilt angle (Assuming) (degrees), average rate of change (degrees / second), is Direction Record: (mean tilt angle) (Assuming) (degrees), maximum tilt angle (Assuming) (degree), execute the "integration" action, and focus on the main direction ( Duration () s), time ratio ( ) and pose feature information ( ) and complete tilt offset path data (all (Units) are combined into a structured data packet to generate the vehicle body attitude tendency result.

[0091] Please see Figure 4 The seat adaptive adjustment module includes a tendency alignment submodule, a motion matching submodule, and a synchronization control submodule;

[0092] The tilt alignment submodule calls the vehicle tilt direction information in the vehicle posture tilt result, obtains the current state of the seat pitch detection component and the lifting positioner, as well as the driver's line of sight reference direction determined by the seat position reference and the forward viewpoint calibration component, identifies the fork direction signal and compares it with the driver's line of sight reference direction, determines the correspondence between the seat posture direction and the fork direction, and generates the direction correspondence.

[0093] The vehicle attitude tilt results are retrieved, and the vehicle's tilt information in the longitudinal (pitch) direction is extracted from them. Maximum tilt angle corresponding to the state The system sends a request via the CAN bus to a "seat pitch detection component" (e.g., a rotary encoder mounted on the seat shaft) to obtain the current seat pitch angle. The current height is obtained from the "lift positioner" (e.g., a grating ruler mounted on the seat's vertical guide rail) by -1.0 degree (-1.0 degree represents seat recline). Meters, retrieve the "seat position reference" stored in the controller. Meters and "forward viewpoint calibration parameters" stored in the controller. Coordinates determine the driver's line of sight reference direction when in a reference position. ,Should In the vehicle coordinate system, it is calibrated as the longitudinal front. Corresponding pitch angle Degree, identify the "fork direction signal" in "fork load attitude change information", this signal is the end point of fork lifting ( The direction vector of the center of gravity when (meters) , and The included angle Degree, this The degree is identified as pitch offset in the fork direction. Perform the "comparison";

[0094] Will Degree and line of sight reference direction of By comparing the pitch angles, the offset of the forks relative to the reference line of sight is calculated. The process involves "judging" the current tilt direction of the seat. Degree and fork pitch direction Degree, taking these two values ​​together with the longitudinal inclination of the vehicle body The degrees are packaged into a dataset to generate a directional correspondence.

[0095] The motion matching submodule, based on the direction correspondence, calls the offset amplitude data of the vehicle body tilt direction information and the fork direction signal, sets the offset consistency threshold as the offset consistency benchmark, compares the difference in offset trend between the seat posture direction and the fork direction, determines whether the offset directions are consistent and records the offset amplitude difference, establishes the sequence and duration combination of pitch and rise actions, and generates a linkage control sequence.

[0096] Retrieve the "Direction Correspondence" dataset, which contains Spend, Degree, and Degree, call (Vehicle body tilt amplitude) and These two data points (fork offset amplitude) are used to set the "offset consistency benchmark". This reference is used to determine whether the fork offset is consistent with the direction of the vehicle body tilt. Set as Degree, the judgment logic is to check and Are the signs the same? Is it equal to ,calculate and If the two are equal, it is determined that the "direction is consistent". This "consistency" determination is a prerequisite for triggering subsequent seat adjustments. A "comparison" is then performed to calculate the "seat posture direction". "degree" and "fork direction" The degree of difference in the offset trend (degree);

[0097] The difference Degree, execute "judgment", comparison and Since the two signs are opposite, it is determined that the "offset direction is inconsistent", and the difference in offset magnitude is "recorded". Degree, this The angle is the target pitch angle that the seat needs to compensate for. The "establish" action combination is executed, and the target of the pitch action is... Degrees, and simultaneously calculate pitch. At this angle, the driver's head (assuming a distance from the seat pivot point) The vertical displacement that will be generated (in meters):

[0098] Rice, this The meter is set as the compensation target for the "lifting" motion, based on the calibrated speed (pitch) of the electric actuator. degrees / second, rise and fall (m / s), calculate the pitch duration Seconds, duration of rise and fall The system combines (pitch: target +6.13 degrees, duration 3.065 seconds) and (elevation: target +0.0045 meters, duration 2.25 seconds) to generate a linkage control sequence.

[0099] The synchronous control submodule reads the time interval of the seat pitch and rise actions according to the linkage control sequence, compares the difference between the start and end times of the actions, combines the vehicle body tilt direction information and the time distribution of the fork offset signal, adjusts the order and duration of the electric push rod response, integrates the time matching table corresponding to each action, and generates a seat synchronous adjustment action sequence.

[0100] Retrieve the linkage control sequence, which includes:

[0101] ;

[0102] ;

[0103] The time interval between the two actions of "reading";

[0104] They are respectively and Perform a "compare" operation to calculate the difference in startup time. Seconds, calculate the difference at the end time. Seconds, this The seconds indicate that the pitch motion lasts longer than the rise motion, combined with "vehicle tilt direction information" ( Status) and "Fork Offset Signal" The time distribution of )

[0105] The time distribution shows status and Offset throughout the entire lifting process ( The seat adjustment action is continuous within a few seconds, therefore, the seat adjustment action should be performed during the lifting task ( Immediately after the (seconds) end, it is executed as a continuous, smooth combination motion, performing the "adjustment" action. To synchronize the start and stop of the pitch and sag movements, the shorter (seconds) time is used. Adjusted to be with same;

[0106] Right now The response time of the lifting electric actuator is calculated in seconds and then recalculated.

[0107] meters per second, this adjustment will reduce the duration of the lifting motion from seconds extended to Seconds, execute "Integration", setting the start time of the adjustment command to be [time]. Seconds (after the ascent / descent ends) (seconds), end time In seconds, generate a time matching table containing two instructions: [Instruction 1: {Pitch ID: Pitch_Rod, Start: 10.01s, End: 13.075s, Target: +6.13 degrees, Speed: 2.0 degrees / second}; Instruction 2: {Lift ID: Lift_Rod, Start: 10.01s, End: 13.075s, Target: +0.0045 meters, Speed: 0.00147 meters / second}], and generate a seat synchronization adjustment action sequence.

[0108] Please see Figure 5 The chassis balance correction module includes a support data acquisition submodule, a tilt trend determination submodule, and a hydraulic correction control submodule.

[0109] The data acquisition submodule supports calling the seat adjustment sequence in the seat synchronous adjustment action sequence, reading the displacement detection changes of the hydraulic support components on both sides of the forklift chassis, collecting the force difference between the front axle and the rear axle connection, calculating the displacement increment and force difference of the hydraulic supports on both sides in the same time period, establishing a correspondence table between displacement change and force change, and generating a support force correspondence set.

[0110] The system invokes the seat synchronization adjustment sequence to extract the start times of seat pitch (Pitch_Rod) and lift (Lift_Rod). Seconds and end time Seconds, that Second( The time interval is defined as "the same period". Immediately here Data collection was performed during the period, in order to Second( The sampling interval of the sample continuously "reads" the hydraulic support installed on the left side of the forklift chassis. ) and right-side hydraulic support ( Real-time displacement value of the LVDT displacement sensor on the device and Meanwhile, the "collection" is installed at the "front axle-frame" connection point ( ) and the "rear axle-frame" connection ( Real-time force value of the pressure sensor (strain gauge) and and installed and The force on the pressure sensor and ;

[0111] exist time, End, execute the "calculation" operation, calculate the "displacement increment", and retrieve the data from memory. initial displacement (Assuming) )and (Assuming) ), and retrieve End displacement (Assuming) )and (Assuming) ), perform subtraction;

[0112] Left displacement increment ;

[0113] Right displacement increment ;

[0114] Calculate the "force difference", this calculation is a traversal Collected during the period One (i.e.) ) Sampling point data, calculate respectively , , and The arithmetic mean, (Assuming) ), (Assuming) ), (Assuming) );

[0115] (Assuming) Then perform the subtraction operation to calculate the difference in lateral force. Calculate the longitudinal force difference Executing the "Create" correspondence table will... The values ​​calculated from the interval are combined into a single data unit: This unit is then stored in a first-in-first-out (FIFO) queue to generate a set of supporting forces.

[0116] The tilt trend determination submodule, based on the support force correspondence set, compares the change direction of displacement increment and force difference between the support side and the force side, calculates the rate of change of the difference on both sides and determines the tilt direction of the vehicle body in the lateral direction, determines the range of tilt amplitude, establishes the mapping relationship between the vehicle body tilt trend and the support difference, and generates the vehicle body tilt trend.

[0117] Based on the set of corresponding support forces;

[0118] The action of comparing the direction of change between the displacement increment and the force difference is used to check... This value is positive, indicating Greater than Therefore, the left side is determined to be ( The right side is the "force-bearing side". (This refers to the "support side"), while simultaneously checking the displacement increment of the "force-bearing side". (Positive sign) and displacement increment on the "support side" (The sign is negative), the two have opposite signs, and the calculation is performed to determine the rate of change of the difference between the two sides. This "difference" refers to the difference in lateral displacement. retrieval period( to )of indivual and Sampling points, calculation The time series, and retrieve the starting value of the series:

[0119] ;

[0120] End value:

[0121] ;

[0122] Calculate the rate of change:

[0123] Perform the "determination" of tilt direction and set a rate reference. ,Should Based on the lateral vibration noise during vehicle body calibration, it is set as ,because ,and Positive (meaning) relatively (Increase), therefore it is determined that the vehicle body is "to the right" in the lateral direction ( shorten, (Extend) Tilt, execute "OK" to select the tilt range, this range Use directly Absolute value of lateral displacement difference at the end Three preset amplitude ranges: [low] ]: ,[middle ]: ,[high ]: These intervals are based on the minimum response displacement corrected by hydraulic pressure ( ) and maximum safe travel ( ) set by, due to ,satisfy Therefore, the interval where the tilt amplitude is located is determined to be "middle". The "establish" mapping relationship is then executed, and the judgment result ( ) and amplitude ( )and In and By establishing a correlation, the vehicle tilt trend can be generated.

[0124] The hydraulic correction control submodule determines the lateral direction of the hydraulic cylinder that needs correction based on the vehicle body tilt trend, reads the action status of the corresponding hydraulic support component, calculates the response delay time and adjustment displacement difference between the force side and the support side, calibrates the action lateral direction and adjustment amplitude category of the hydraulic cylinder, forms the action sequence of each hydraulic cylinder, and generates a chassis balance correction signal group.

[0125] After obtaining the chassis balance correction signal group, a hydraulic support action sequence is established based on the hydraulic cylinder action parameters, support adjustment parameters, and force correction parameters. By comparing the lateral action of the hydraulic cylinder and the trend of force distribution change, the response sequence and duration of the hydraulic support components are determined. The hydraulic support signal is then delayed by combining the action start time in the seat synchronization adjustment action sequence.

[0126] Based on the vehicle's tilting trend, that is (Tilting to the right) and (Medium amplitude), execute "OK" to correct the lateral hydraulic cylinder movement. It means the left side Excessive elongation or right side If the length is shortened too much, the corrective action is... shorten or Elongation, based on the "support force correspondence set" (Left side) is the "force-bearing side" ( ), Since the "support side" is the primary focus, the correction strategy prioritizes adjusting the "support side." Therefore, the hydraulic cylinder lateral direction that needs correction is determined to be... (On the right), the corrected action is "extension," and it is "read" via the CAN bus. (Right side) Check the operating status of the hydraulic support component and its solenoid valve. Is it in Status, assuming a return value (Idle) indicates that new instructions can be received to perform the "calculation" response delay time and adjust the displacement difference;

[0127] Retrieve the amplitude value from "Vehicle tilt trend" (Right now ),this This refers to "adjusting the displacement difference". The goal of the revision is to Down to ,Right now Need to be elongated (from Adjust to "Response latency" It is based on the hydraulic system calibration values, that is, from sending the command to... The fixed delay for starting movement is set to Seconds, executing the "calibration" hydraulic cylinder's lateral movement and adjustment range category, lateral movement Labeled as (Right side), Action type Labeled as (Elongation), Amplitude Category Labeled as (Medium), this category Corresponding to This "forms" the action sequence of each hydraulic cylinder, which is a list containing two instructions:

[0128] [ ,Se ={ID: ,Type:Hold,Target:0.0,Delay:0.15s}], generates a chassis balance correction signal group.

[0129] Please see Figure 6 The synchronous coordination output module includes an action time comparison submodule, a response order adjustment submodule, and a synchronous instruction generation submodule;

[0130] The action time comparison submodule calls the lateral movement and support sequence of the hydraulic cylinder in the chassis balance correction signal group, reads the adjustment sequence and action duration of the seat in the seat synchronous adjustment action sequence, calculates the time difference between the start of the seat action and the start of the hydraulic support action, records the start and end times of each action, establishes a time correspondence table for the two types of actions, and generates an action time difference set.

[0131] The process of calculating the time difference between the start of seat action and the start of hydraulic support action is as follows: continuously sampling the start and end times of each seat action in the seat synchronous adjustment action sequence, reading the start and end times of the hydraulic cylinder action in the chassis balance correction signal group, calculating the start time difference between seat action and hydraulic support action based on the time synchronization comparison algorithm, and dynamically adjusting the output delay parameter of the seat action trigger signal according to the time difference result, so that the seat action and hydraulic support action form a synchronous response in the start phase;

[0132] Calling the hydraulic cylinder action lateral movement in the chassis balance correction signal group (Right side) and the support sequence, as well as the seat adjustment sequence and action duration in the "seat synchronous adjustment action sequence" generated by the "seat adaptive adjustment module". Seconds, perform "continuous sampling" operation, setting the sampling frequency to [value]. (i.e., time resolution) (seconds), extract the theoretical start time stamp of the seat pitch motion from the "seat synchronous adjustment motion sequence". Seconds and theoretical end timestamp Seconds, simultaneously read the hydraulic cylinder from the "chassis balance correction signal group". Physical response delay constant The communication response delay constant of the second and the electric seat lever Seconds, the process calculates the time difference between the initiation of the seat movement and the initiation of the hydraulic support movement. This process uses time alignment calculations, assuming the system master clock trigger signal is in... If the seconds are issued simultaneously, the estimated physical start time of the seat action is:

[0133] The estimated physical start time of the hydraulic support action is:

[0134] Calculate the physical startup time difference between the two in seconds:

[0135] The positive value indicates that, in the uncompensated state, hydraulic action will lag behind seat action. Seconds, execute the "dynamic adjustment" of the seat action trigger signal output delay parameter, and set the additional software delay of the seat trigger signal. To satisfy ,Right now Solving for Seconds, while maintaining an additional software delay for the hydraulic trigger signal. In seconds, the system will update the adjusted physical start time of the seat to... The corresponding physical end time of the seat is postponed to the next second. Seconds, recording the corrected physical start time of each action (seat: s, hydraulic: s) and end time (seat: s), sort these time parameters by action ID ( , , The data is categorized and stored in the database to generate action time difference sets.

[0136] The response sequence adjustment submodule, based on the action time difference set, identifies the start and end time differences between seat actions and vehicle body support actions, determines the sequential offset relationship between the two types of actions on the time axis, calculates the duration ratio within the offset interval, adjusts the response sequence of electric push rods and hydraulic supports and sets execution delay parameters, establishes a timing mapping table for action responses, and generates timing offset relationships.

[0137] The process of adjusting the response sequence of the electric actuator and the hydraulic support and setting the execution delay parameters is as follows: based on the time offset direction of the concentrated action time difference, the execution priority of the electric actuator response signal and the hydraulic support control signal is determined. When there is a time offset between the seat action start time and the hydraulic support action start time, the response delay parameters of the electric actuator and the hydraulic support are automatically corrected according to the action duration ratio, so that the two types of actions maintain time continuity and consistency of end time during execution.

[0138] Based on the action time difference set (including the corrected physical start time) s and seat duration s), perform "identification" to check the difference between the start and end times, and compare to find that the physical end time of the seat movement is Seconds, while the hydraulic support action is performed at the default maximum flow rate (assuming...) mm / s, adjustment amount mm), its duration is only seconds, the physical end time will be The two methods differ significantly in their end times, measured in seconds.

[0139] Seconds later, the "judgment" of the sequential offset relationship is executed. It is determined that if the hydraulic action ends too early, the subsequent seat adjustment process will lack synchronous chassis compensation. Therefore, the hydraulic action needs to be "lengthened" to match the seat action. (Alternative branch: If) If the seat movement is too fast, the reference should be set to [value]. And in turn, lengthen the duration of the seat movement. (Simultaneously reduce seat adjustment speed), then perform "calculation" of the duration ratio within the offset range, based on the seat movement duration. Calculate the target duration of the hydraulic action based on seconds. Seconds, calculate the required hydraulic flow rate adjustment coefficient. (i.e., target speed) )= mm / s, and reverse-calculate the opening control current of the hydraulic proportional valve. ;

[0140] Assuming a linear relationship between flow rate and current. Calculate the corresponding With a constant control current value of mm / s, continue executing the "adjust" response sequence and setting the execution delay parameter to determine the sending time of the "electric actuator response signal":

[0141] Seconds (This needs to be corrected to account for communication delays) s, therefore the actual transmission time is set to s to ensure (S physical start), determine the sending time of the "hydraulic support control signal" as Seconds (sent directly, using) (S Physical delay natural alignment), establish a timing mapping table for action response, the table contains: [Event 1: Time] s, Action: Send hydraulic command, Parameter: Speed mm / s, target mm];[Event 2: Moment ... s, Action: Send seat command, Parameter: Pitch Degree, rise and fall [meters], ensuring that both types of actions are physically initiated at [time]. s, physics ends at s, generates the time offset relationship.

[0142] The synchronization command generation submodule organizes the start time, end time, and offset correspondence of seat movement and vehicle support movement according to the timing offset relationship, summarizes the corrected time correspondence table, integrates the control signal sequence of electric push rod and hydraulic support, calibrates the synchronization node of trigger timing, and generates synchronized control commands for seat and vehicle.

[0143] The process of organizing the start time, end time and offset correspondence between seat movement and vehicle body support movement is as follows: based on the corrected time correspondence table, the duration of seat pitch movement and the duration of hydraulic support displacement movement are compared in time sequence to establish a synchronous control dataset including start time, end time and offset amplitude, and output the synchronous control command between seat and vehicle body based on the synchronous control dataset.

[0144] Based on the time offset relationship, perform the "adjust" action to extract the start time of the seat pitch action. Seconds, End Time Seconds, and the start time of the hydraulic support action. Seconds, End Time Seconds, confirm that the two are completely aligned on the timeline, perform "time series comparison", check the consistency of parameters in "offset correspondence", and confirm the target offset of the seat ( Spend, (meters) and the target displacement of the hydraulic support ( mm) in the same time window Inner linear expansion, calculate synchronization error check value If the pre-simulation calculations show that the motion deviation at any moment exceeds If the timer is less than a second, an alarm will be triggered (alarm handling logic: the system immediately stops the synchronization command, puts both the seat and the hydraulic cylinder into the "Hold" state, and reports a "synchronization failure" fault code to the operation interface). (The current calculated deviation is...) (After verification), the "integration" control signal sequence is executed to construct a multi-channel synchronization control data packet, with the synchronization trigger identifier defined in the packet header. The data segment contains two subframes, the first of which is the hydraulic control frame. (0ms relative to the baseline trigger time) (s), the second subframe is the seat control frame. ( Delay correspondence (software delay of s), execute the synchronization node of the "calibration" trigger timing, and set the system clock's... Set as the baseline trigger time s (reserved) (ms instruction transmission buffer), and broadcast the reference time to the underlying driver to generate seat and vehicle body synchronization control commands.

[0145] A method for synchronously controlling adaptive seat adjustment and vehicle stability in a forklift, comprising the following steps:

[0146] S1: Obtain the fork center of gravity direction and the vehicle body longitudinal axis vector, identify the angle change between the two vectors during lifting and recording the offset trajectory, read the fork height value to compare the offset trend at different heights, determine the direction and magnitude of the center of gravity transfer, and generate fork load posture change information.

[0147] S2: Call the direction of change of the center of gravity vector and the corresponding height range in the fork load posture change information, read the real-time data of the forklift's lateral and longitudinal tilt angles and merge and compare them, identify the vehicle body tilt direction and continuous characteristics, and generate the vehicle body posture tilt result.

[0148] S3: Call the vehicle body tilt direction in the vehicle body attitude tilt result, read the seat pitch state and the driver's line of sight reference direction, and when the direction is consistent with the offset trend, control the electric push rod to perform pitch adjustment and generate a seat synchronous adjustment action sequence;

[0149] S4: Call the seat adjustment sequence in the seat synchronous adjustment action sequence, read the displacement change and force difference of the chassis hydraulic support, analyze the support and force trend, determine the lateral tilt direction of the vehicle body, determine the hydraulic cylinder correction direction and sequence, and generate chassis balance correction signal group.

[0150] S5: After obtaining the chassis balance correction signal group, a hydraulic support action sequence is established based on the hydraulic cylinder action parameters, support adjustment parameters and force correction parameters. By comparing the lateral action of the hydraulic cylinder and the trend of force distribution change, the response sequence and duration of the hydraulic support components are determined, and the hydraulic support signal is delayed by combining the action start time in the seat synchronous adjustment action sequence.

[0151] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A synchronous control system for adaptive seat adjustment and vehicle stability of a forklift, characterized in that, The system includes: The load attitude perception module obtains the fork center of gravity direction and the vehicle body longitudinal axis vector, identifies the angle change between the two vectors during lifting and recording the offset trajectory, reads the fork height value to compare the offset trend at different heights, determines the direction and magnitude of the center of gravity transfer, and generates fork load attitude change information. The vehicle body tilt recognition module calls the direction of the change of the center of gravity vector and the corresponding height range in the fork load posture change information, reads the real-time data of the forklift's lateral and longitudinal tilt angles and merges and compares them, identifies the vehicle body tilt direction and continuous features, and generates the vehicle body posture tilt result. The seat adaptive adjustment module calls the vehicle body tilt direction in the vehicle body posture tilt result, reads the seat pitch state and the driver's line of sight reference direction, and when the direction is consistent with the offset trend, controls the electric push rod to perform pitch and lift adjustment, generating a seat synchronous adjustment action sequence; The chassis balance correction module calls the adjustment sequence of the seat in the synchronous adjustment action sequence of the seat, reads the displacement change and force difference of the chassis hydraulic support, analyzes the support and force trend, determines the lateral tilt direction of the vehicle body, determines the lateral correction direction and sequence of the hydraulic cylinder, and generates a chassis balance correction signal group.

2. The adaptive seat adjustment and vehicle stability synchronous control system for forklifts according to claim 1, characterized in that: The fork load attitude change information includes center of gravity direction change parameters, included angle change parameters, and height range correlation parameters. The vehicle body attitude tendency result includes tendency direction parameters, attitude stability parameters, and tendency persistence parameters. The seat synchronous adjustment action sequence includes pitch adjustment parameters, height adjustment parameters, and linkage coordination parameters. The chassis balance correction signal group includes hydraulic cylinder action parameters, support adjustment parameters, and force correction parameters.

3. The adaptive seat adjustment and vehicle stability synchronous control system for forklifts according to claim 1, characterized in that: The load attitude perception module includes a center of gravity direction detection submodule, an angle change calculation submodule, and an attitude information generation submodule. The center of gravity direction detection submodule obtains the center of gravity direction vector of the fork-bearing component and the direction vector of the longitudinal reference axis of the vehicle body, detects the direction correspondence between the two in the initial stage of fork lifting, calculates the initial angle between the center of gravity direction vector and the longitudinal reference axis of the vehicle body, records the direction vector change range corresponding to the start and end points of fork lifting, and determines the displacement relationship of the center of gravity direction based on the difference of vector components at each time, and generates the center of gravity angle reference. The angle change calculation submodule, based on the center of gravity angle reference, calls the real-time height data of the fork lifting height detection component, calculates the angle difference between the center of gravity direction vector and the longitudinal reference axis of the vehicle body at different heights, compares the increase or decrease of the angle change in a continuous height range, determines the main direction and magnitude ratio of the angle change, establishes a corresponding sequence of height and angle change, and generates the angle change range. The attitude information generation submodule reads the height sequence of the entire fork lifting process based on the angle change range, compares the distribution characteristics of the angle change in each height range, calculates the offset path of the center of gravity direction vector in the lifting process, organizes the correspondence between the angle change and the fork height range, and generates fork load attitude change information.

4. The adaptive seat adjustment and vehicle stability synchronous control system for forklifts according to claim 1, characterized in that: The vehicle body tilt recognition module includes a time series calibration submodule, a tilt path comparison submodule, and an attitude tilt generation submodule; The time series calibration submodule obtains the direction of change of the center of gravity direction vector and the corresponding fork height range in the fork load attitude change information, sets the time series marker of the fork lifting record, and makes a one-to-one correspondence between the direction of change of the center of gravity direction at each moment and the fork lifting record. Based on the continuous change of the time series, it calculates the magnitude of the center of gravity direction offset in each time period and forms a time series data table that matches the fork height range, generating a center of gravity time series association set. The tilt path comparison submodule, based on the center of gravity time sequence association set, reads the real-time readings of the lateral tilt meter and longitudinal tilt meter on the forklift, merges the tilt data according to the same time sequence and fork height range, compares the change trajectory of the lateral tilt angle and longitudinal tilt angle when the fork load changes, calculates the change range of the tilt angle difference in the two directions with time, and determines the offset direction by referring to the reference angle range when the vehicle body is stationary, and generates the tilt offset path; The attitude tendency generation submodule identifies the main direction of vehicle body tendency based on the tilt angle offset path, extracts the tendency maintenance time and change direction features, calculates the time distribution ratio of different directional tendencies, records the attitude feature information of each direction downwards, integrates the time series and tilt angle offset data, and generates the vehicle body attitude tendency result.

5. The adaptive seat adjustment and vehicle stability synchronous control system for forklifts according to claim 1, characterized in that: The seat adaptive adjustment module includes a tendency alignment submodule, a motion matching submodule, and a synchronization control submodule; The orientation alignment submodule calls the vehicle orientation direction information in the vehicle posture orientation result, obtains the current state of the seat pitch detection component and the lifting positioner, as well as the driver's line of sight reference direction determined by the seat position reference and the front viewpoint calibration component, identifies the fork direction signal and compares it with the driver's line of sight reference direction, determines the correspondence between the seat posture direction and the fork direction, and generates the direction correspondence. The motion matching submodule, based on the aforementioned direction correspondence, calls the offset amplitude data of the vehicle body tilt direction information and the fork direction signal, sets the offset consistency threshold as the offset consistency benchmark, compares the difference in offset trend between the seat posture direction and the fork direction, determines whether the two offset directions are consistent and records the offset amplitude difference, establishes the sequence and duration combination of pitch and rise actions, and generates a linkage control sequence. The synchronous control submodule reads the time interval of the seat pitch and rise actions according to the linkage control sequence, compares the difference between the start and end times of the actions, combines the vehicle body tilt direction information and the time distribution of the fork offset signal, adjusts the order and duration of the electric push rod response, integrates the time matching table corresponding to each action, and generates a seat synchronous adjustment action sequence.

6. The adaptive seat adjustment and vehicle stability synchronous control system for forklifts according to claim 1, characterized in that: The chassis balance correction module includes a support data acquisition submodule, a tilt trend determination submodule, and a hydraulic correction control submodule. The data acquisition submodule supports the adjustment sequence of the seat in the synchronous adjustment action sequence of the seat, reads the displacement change of the hydraulic support components on both sides of the forklift chassis, collects the force difference between the front axle and the rear axle connection, calculates the displacement increment and force difference of the hydraulic supports on both sides in the same time period, establishes a correspondence table between displacement change and force change, and generates a set of support force correspondence. The tilt trend determination submodule, based on the support force correspondence set, compares the change direction of displacement increment and force difference between the support side and the force side, calculates the rate of change of the difference on both sides and determines the tilt direction of the vehicle body in the lateral direction, determines the interval of tilt amplitude, establishes the mapping relationship between vehicle body tilt trend and support difference, and generates vehicle body tilt trend. The hydraulic correction control submodule determines the lateral direction of the hydraulic cylinder that needs correction based on the vehicle body tilt trend, reads the action state of the corresponding hydraulic support component, calculates the response delay time and adjustment displacement difference between the force-bearing side and the support side, calibrates the lateral action direction and adjustment amplitude category of the hydraulic cylinder, forms the action sequence of each hydraulic cylinder, and generates a chassis balance correction signal group.

7. The adaptive seat adjustment and vehicle stability synchronous control system for forklifts according to claim 1, characterized in that: The system also includes: The synchronous coordination output module calls the action lateral direction and support sequence of the hydraulic cylinder in the chassis balance correction signal group and the adjustment sequence and action duration of the seat in the seat synchronous adjustment action sequence. It compares the action time relationship between the two, identifies the difference between the start and end, adjusts the push rod and hydraulic support response sequence according to the sequential offset between the seat action and the vehicle body support action, organizes the timing and outputs the control trigger sequence, and generates the seat and vehicle body synchronous control command. The seat and vehicle body synchronization control commands include start time parameters, end time parameters, and execution delay parameters.

8. The adaptive seat adjustment and vehicle stability synchronous control system for forklifts according to claim 7, characterized in that: The synchronization and coordination output module includes an action time comparison submodule, a response order adjustment submodule, and a synchronization instruction generation submodule. The action time comparison submodule calls the action lateral and support sequence of the hydraulic cylinder in the chassis balance correction signal group, reads the adjustment sequence and action duration of the seat in the seat synchronous adjustment action sequence, calculates the time difference between the start of the seat action and the start of the hydraulic support action, records the start and end times of each action, establishes a time correspondence table for the two types of actions, and generates an action time difference set. The response sequence adjustment submodule, based on the action time difference set, identifies the start and end time differences between seat actions and vehicle body support actions, determines the sequential offset relationship between the two types of actions on the time axis, calculates the duration ratio within the offset interval, adjusts the response sequence of electric push rod and hydraulic support and sets the execution delay parameter, establishes a timing mapping table for action response, and generates a timing offset relationship. The synchronization command generation submodule organizes the start time, end time, and offset correspondence of the seat action and the vehicle body support action according to the time sequence offset relationship, summarizes the corrected time correspondence table, integrates the control signal sequence of the electric push rod and the hydraulic support, calibrates the synchronization node of the trigger timing, and generates the seat and vehicle body synchronization control command.

9. The adaptive seat adjustment and vehicle stability synchronous control system for forklifts according to claim 8, characterized in that: The process of calculating the time difference between the seat action start and the hydraulic support action start is as follows: continuously sampling the start and end times of each seat action in the seat synchronous adjustment action sequence, reading the start and end times of the hydraulic cylinder action in the chassis balance correction signal group, calculating the start time difference between the seat action and the hydraulic support action according to the time synchronization comparison algorithm, and dynamically adjusting the output delay parameter of the seat action trigger signal according to the time difference result, so that the seat action and the hydraulic support action form a synchronous response in the start phase. The process of adjusting the response sequence of the electric push rod and the hydraulic support and setting the execution delay parameters specifically involves determining the execution priority of the electric push rod response signal and the hydraulic support control signal based on the time offset direction of the action time difference concentration. When there is a time offset between the seat action start time and the hydraulic support action start time, the response delay parameters of the electric push rod and the hydraulic support are automatically corrected according to the action duration ratio, so that the two types of actions maintain time continuity and consistency of end time during execution. The process of establishing the correspondence between the start time, end time, and offset of the seat movement and the vehicle body support movement specifically involves comparing the duration of the seat pitching movement with the duration of the hydraulic support displacement movement according to the corrected time correspondence table, establishing a synchronous control dataset that includes the start time, end time, and offset amplitude, and outputting synchronous control commands for the seat and the vehicle body based on the synchronous control dataset.

10. The adaptive seat adjustment and vehicle stability synchronous control system for forklifts according to claim 8, characterized in that: After obtaining the chassis balance correction signal group, a hydraulic support action sequence is established based on the hydraulic cylinder action parameters, support adjustment parameters, and force correction parameters. By comparing the lateral movement of the hydraulic cylinder and the trend of force distribution changes, the response sequence and duration of the hydraulic support components are determined. The hydraulic support signal is then delayed by combining the action start time in the seat synchronization adjustment action sequence.

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