An adaptive control method for a smart telescopic mechanism of a deployment device

Abstract

The application discloses a kind of self-adaptive control methods for the intelligent telescopic mechanism of unfolding device, and is suitable for vehicle-mounted sunshade and other unfolding devices.The method obtains the unfolding position, support leg stroke, speed, current, stress and limit state of telescopic mechanism, and inputs the perception state machine controller;The controller switches between storage standby, allows to extend judgment, extends search, contact confirmation, support in place, retraction storage and fault locking state according to the current operation stage.When the support condition is met, the support leg is controlled to extend and identify the ground contact event, record the contact position, generate the target support position combined with the unfolding position and the bearing state;When reaching the target position and the stress is stable, stop and maintain support.Abnormal stop motor and lock abnormal direction.The method can improve the support adaptability and operation safety of vehicle-mounted unfolding device under different ground and unfolding states.

Description

Technical Field

[0001] This invention belongs to the field of auxiliary equipment and automatic control technology, specifically relating to an adaptive control method for an intelligent telescopic mechanism of a deployable device. Background Technology

[0002] Outdoor vehicles such as RVs, campervans, catering trucks, and mobile service vehicles are typically equipped with onboard deployment devices, such as side awnings, tilting work platforms, extension platforms, or temporary support canopies. When in use, these devices require the supported components to be deployed outwards from the side of the vehicle and supported by support rods, support legs, or electrically telescopic support mechanisms to improve stability after deployment.

[0003] In existing vehicle-mounted deployment equipment, some support mechanisms still require manual lowering, adjustment, and locking, involving numerous steps and requiring users to determine the support position based on ground height and deployment status. Even equipment using electric telescopic support mechanisms typically relies on fixed travel distances, limit signals, or simple switch commands to control extension and retraction, resulting in relatively simplistic control logic.

[0004] Due to the complex operating environment of outdoor vehicles, the ground where vehicles are parked may have differences in elevation, slope, or soft support surfaces, which will also change the deployment position, overhang length, and load-bearing state of the supported components. If the electric telescopic support mechanism only operates according to a preset fixed stroke, problems such as inadequate support, excessive support, and unstable support force may easily occur, affecting the safety and reliability of the vehicle-mounted deployment equipment.

[0005] Meanwhile, existing control methods often lack the ability to determine the correlation between the deployed position of the supported component and the timing of the support mechanism's extension. If the support mechanism extends prematurely before the supported component has reached the appropriate release position, it may cause operational conflicts with the vehicle storage area, the supported component, or other structures. Conversely, if the support mechanism extends too late, the supported component may lack timely support during deployment.

[0006] Furthermore, while existing electric telescopic support mechanisms can be equipped with components such as Hall effect counters, encoders, current sampling, limit detection, or force detection, these signals are mostly used for single stroke detection, overcurrent protection, or positioning determination. A unified state control mechanism that integrates telescopic state parameters with the state parameters of the vehicle-mounted deployment equipment has not yet been established. Therefore, the system struggles to accurately identify the support contact moment, generate a target support position based on the actual contact location, and reliably execute the interlock control of "first retracting the support mechanism, then retracting the supported component" during the retraction phase.

[0007] Therefore, an adaptive control method is needed that can combine telescopic state parameters and vehicle-mounted deployment equipment state parameters, so that the electric telescopic support mechanism can determine the timing of extension based on the deployment position of the supported component, generate the target support position based on the actual support contact position, and perform clear state switching and safety control in support in place, retraction and storage, and abnormal fault scenarios. Summary of the Invention

[0008] To address the aforementioned problems in the prior art, this invention provides an intelligent telescopic mechanism adaptive control method for a vehicle-mounted deployment device. The vehicle-mounted deployment device includes a supported component for vehicle deployment or retraction, and an electrically operated telescopic support mechanism for supporting the supported component, comprising: Obtain the telescopic state parameters of the electric telescopic support mechanism and the equipment state parameters of the vehicle-mounted deployment device; The extension state parameters and the equipment state parameters are input into the sensing state machine controller. The sensing state machine controller switches between the retracted standby state, the allowed extension judgment state, the extension search state, the contact confirmation state, the support in place state, the retracted storage state, and the fault lock state according to the current operation stage in the equipment state parameters and the unfolded position state of the supported component. When the device is in the allowed extension judgment state and it is determined that the supported component has met the allowed support conditions, an extension control command is output to cause the electric telescopic support mechanism to enter the extension search state. In the extended search state, support contact events are identified based on the extension state parameters. After a support contact event is identified, the system switches to the contact confirmation state and records the corresponding extension position as the contact reference position. In the contact confirmation state, the electric telescopic support mechanism is controlled to move toward the target support position.

[0009] Specifically, the control process for the electric telescopic support mechanism to move to the target support position includes: When it is determined that the target support position has been reached or the support stability condition has been met, the electric telescopic support mechanism is stopped and switched to the support in place state; When a storage instruction is received or the current operation phase enters the storage phase, switch to the retractable storage state and control the electric telescopic support mechanism to retract to the storage position and then stop. When an abnormal operation event is detected, the electric telescopic support mechanism is stopped, the direction of the abnormality is recorded, and the system is switched to the fault lockout state.

[0010] Specifically, the acquisition of the telescopic state parameters includes: calculating the telescopic stroke of the movable support rod relative to the fixed sleeve based on the number of pulses output by the Hall counting unit or encoder, and calculating the telescopic speed based on the change in the telescopic stroke per unit time; determining the change in drive load based on the drive current collected by the current sampling unit; determining the support stress state based on the pressure or strain signal collected by the force detection component; and determining the retracted state or extended limit state based on the on / off state of the limit detection component.

[0011] Specifically, the equipment status parameters include at least one of unfolded position status, load-bearing status, and current operation stage; wherein, the unfolded position status is determined based on the stroke count of the unfolding drive mechanism, displacement detection signal, limit detection signal, or unfolding action duration; the load-bearing status is determined based on the support force status, drive load change, unfolded position status of the supported component, or preset load level; and the current operation stage is determined based on unfolding command, storage command, support in place status, storage in place status, or fault lock status.

[0012] Specifically, after the sensing state machine controller performs threshold comparison and duration confirmation on the extension state parameters and the device state parameters, it generates a determination result for state switching; the determination result includes at least one of the following: allow extension determination result, support contact determination result, support stability determination result, retract into position determination result, and abnormal operation determination result.

[0013] Specifically, the permissible support conditions include: the deployed position of the supported component reaches a preset permissible support position, the electric telescopic support mechanism is in a retracted position or its telescopic stroke is not greater than the initial extension threshold, and the deployed position of the supported component is within a preset support release range; the preset support release range is pre-calibrated based on the deployment trajectory of the supported component, the extension stroke range of the electric telescopic support mechanism, and the boundary position of the vehicle's storage area; when the permissible support conditions are not met, the sensing state machine controller prohibits the output of extension control commands.

[0014] Specifically, the identification of the support contact event includes: when the support force state reaches a preset contact threshold and the duration exceeds a preset confirmation time, it is determined that the electric telescopic support mechanism has formed contact with the support surface; if the support contact event is not identified within a preset search stroke or a preset search time, the extension is stopped and an abnormal operation judgment result is generated.

[0015] Specifically, the target support position is generated based on the contact reference position and the compensation stroke, and the compensation stroke is determined by the sensing state machine controller based on the equipment state parameters; wherein, the sensing state machine controller determines the corresponding overhang length level based on the unfolded position state of the supported component, and selects the compensation stroke from the preset compensation parameter table based on the overhang length level.

[0016] Furthermore, the target support position satisfies the following conditions: the target support position is equal to the sum of the contact reference position and the compensation stroke, and does not exceed the preset maximum allowable support position; when the target support position exceeds the preset maximum allowable support position, the preset maximum allowable support position is taken as the target support position.

[0017] Furthermore, the support stability conditions include: the deviation between the current position of the electric telescopic support mechanism and the target support position is less than a preset position error, and the support force state enters the target support range, or the change in driving load is lower than a preset fluctuation threshold; when the support stability conditions continue to meet the preset stability time, it is determined that the electric telescopic support mechanism is in place.

[0018] Furthermore, in the retracted state, the sensing state machine controller first sets the retraction permission flag of the supported component to the prohibited state and controls the electric telescopic support mechanism to retract; when it is determined that the electric telescopic support mechanism has been retracted according to the telescopic stroke, the retracted state, or the change in the drive load, the retraction permission flag is set to the permitted state, so that the supported component performs the retraction action.

[0019] Furthermore, the abnormal operating events include overload, stall, jamming, overtravel, support stress exceeding the safety threshold, drive load change exceeding the safety threshold, or no effective change in the telescopic stroke within a preset time; after entering the fault lockout state, the sensing state machine controller prohibits the electric telescopic support mechanism from continuing to perform actions.

[0020] The beneficial effects of this invention are as follows: By inputting the extension and retraction status parameters of the electric telescopic support mechanism and the equipment status parameters of the vehicle-mounted deployment device into the sensing state machine controller, the extension, contact confirmation, support in place, retraction and storage, and fault lock of the support mechanism can be switched according to a clear state, avoiding the problem of chaotic action logic caused by traditional fixed stroke control or single switch control.

[0021] The system determines whether the support conditions are met based on the unfolded position of the supported component. By limiting the timing of the support mechanism's extension through a preset support release range, it can prevent the support mechanism from extending prematurely before the supported component leaves the storage area, thereby reducing the risk of conflict between the support mechanism and the vehicle body, storage area, or supported component.

[0022] In the extended search state, support contact events are identified based on the support stress state, and the contact reference position is recorded. This allows the target support position to be generated based on the actual contact position, rather than simply relying on a fixed extension stroke. Therefore, even on uneven outdoor ground or when the vehicle's parking height varies, a support position more suited to the site conditions can still be obtained. This enables the support mechanism to provide corresponding support compensation at different deployment positions, reducing insufficient or excessive support and improving the support stability of the vehicle-mounted deployment equipment after deployment. Attached Figure Description

[0023] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0024] Figure 1 This is a flowchart illustrating an adaptive control method for an intelligent telescopic mechanism of a vehicle-mounted deployment device according to the present invention. Figure 2 This is a schematic diagram of the oblique structure of the intelligent telescopic mechanism according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the intelligent telescopic mechanism in its stowed state according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the intelligent telescopic mechanism in the deployed, unsupported state according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the intelligent telescopic mechanism in place and its sensing and control status according to an embodiment of the present invention. Detailed Implementation

[0025] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this disclosure more comprehensive and complete, and to fully convey the concept of example embodiments to those skilled in the art. Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring aspects of this disclosure. The blocks shown in the drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices. The flowcharts shown in the drawings are merely illustrative and do not necessarily include all contents and operations / steps, nor do they necessarily have to be performed in the order described. For example, some operations / steps can be broken down, while others can be combined or partially combined. Therefore, the actual execution order may change depending on the actual situation.

[0026] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following detailed description of the specific implementation methods, structures, features and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0027] Please see Figure 1-5 An adaptive control method for an intelligent telescopic mechanism of a vehicle-mounted deployable device, the vehicle-mounted deployable device including a supported component for vehicle deployment or storage, and an electrically operated telescopic support mechanism for supporting the supported component, comprising: Obtain the telescopic state parameters of the electric telescopic support mechanism and the equipment state parameters of the vehicle-mounted deployment device; The extension state parameters and the equipment state parameters are input into the sensing state machine controller. The sensing state machine controller switches between the retracted standby state, the allowed extension judgment state, the extension search state, the contact confirmation state, the support in place state, the retracted storage state, and the fault lock state according to the current operation stage in the equipment state parameters and the unfolded position state of the supported component. When the device is in the allowed extension judgment state and it is determined that the supported component has met the allowed support conditions, an extension control command is output to cause the electric telescopic support mechanism to enter the extension search state. In the extended search state, support contact events are identified based on the extension state parameters. After a support contact event is identified, the system switches to the contact confirmation state and records the corresponding extension position as the contact reference position. In the contact confirmation state, the electric telescopic support mechanism is controlled to move toward the target support position.

[0028] Specifically, the control process for the electric telescopic support mechanism to move to the target support position includes: When it is determined that the target support position has been reached or the support stability condition has been met, the electric telescopic support mechanism is stopped and switched to the support in place state; When a storage instruction is received or the current operation phase enters the storage phase, switch to the retractable storage state and control the electric telescopic support mechanism to retract to the storage position and then stop. When an abnormal operation event is detected, the electric telescopic support mechanism is stopped, the direction of the abnormality is recorded, and the system is switched to the fault lockout state.

[0029] Specifically, the acquisition of the telescopic state parameters includes: calculating the telescopic stroke of the movable support rod relative to the fixed sleeve based on the number of pulses output by the Hall counting unit or encoder, and calculating the telescopic speed based on the change in the telescopic stroke per unit time; determining the change in drive load based on the drive current collected by the current sampling unit; determining the support stress state based on the pressure or strain signal collected by the force detection component; and determining the retracted state or extended limit state based on the on / off state of the limit detection component.

[0030] Specifically, the equipment status parameters include at least one of unfolded position status, load-bearing status, and current operation stage; wherein, the unfolded position status is determined based on the stroke count of the unfolding drive mechanism, displacement detection signal, limit detection signal, or unfolding action duration; the load-bearing status is determined based on the support force status, drive load change, unfolded position status of the supported component, or preset load level; and the current operation stage is determined based on unfolding command, storage command, support in place status, storage in place status, or fault lock status.

[0031] Specifically, after the sensing state machine controller performs threshold comparison and duration confirmation on the extension state parameters and the device state parameters, it generates a determination result for state switching; the determination result includes at least one of the following: allow extension determination result, support contact determination result, support stability determination result, retract into position determination result, and abnormal operation determination result.

[0032] Specifically, the permissible support conditions include: the deployed position of the supported component reaches a preset permissible support position, the electric telescopic support mechanism is in a retracted position or its telescopic stroke is not greater than the initial extension threshold, and the deployed position of the supported component is within a preset support release range; the preset support release range is pre-calibrated based on the deployment trajectory of the supported component, the extension stroke range of the electric telescopic support mechanism, and the boundary position of the vehicle's storage area; when the permissible support conditions are not met, the sensing state machine controller prohibits the output of extension control commands.

[0033] Specifically, the identification of the support contact event includes: when the support force state reaches a preset contact threshold and the duration exceeds a preset confirmation time, it is determined that the electric telescopic support mechanism has formed contact with the support surface; if the support contact event is not identified within a preset search stroke or a preset search time, the extension is stopped and an abnormal operation judgment result is generated.

[0034] Specifically, the target support position is generated based on the contact reference position and the compensation stroke, and the compensation stroke is determined by the sensing state machine controller based on the equipment state parameters; wherein, the sensing state machine controller determines the corresponding overhang length level based on the unfolded position state of the supported component, and selects the compensation stroke from the preset compensation parameter table based on the overhang length level.

[0035] Furthermore, the target support position satisfies the following conditions: the target support position is equal to the sum of the contact reference position and the compensation stroke, and does not exceed the preset maximum allowable support position; when the target support position exceeds the preset maximum allowable support position, the preset maximum allowable support position is taken as the target support position.

[0036] Furthermore, the support stability conditions include: the deviation between the current position of the electric telescopic support mechanism and the target support position is less than a preset position error, and the support force state enters the target support range, or the change in driving load is lower than a preset fluctuation threshold; when the support stability conditions continue to meet the preset stability time, it is determined that the electric telescopic support mechanism is in place.

[0037] Furthermore, in the retracted state, the sensing state machine controller first sets the retraction permission flag of the supported component to the prohibited state and controls the electric telescopic support mechanism to retract; when it is determined that the electric telescopic support mechanism has been retracted according to the telescopic stroke, the retracted state, or the change in the drive load, the retraction permission flag is set to the permitted state, so that the supported component performs the retraction action.

[0038] Furthermore, the abnormal operating events include overload, stall, jamming, overtravel, support stress exceeding the safety threshold, drive load change exceeding the safety threshold, or no effective change in the telescopic stroke within a preset time; after entering the fault lockout state, the sensing state machine controller prohibits the electric telescopic support mechanism from continuing to perform actions.

[0039] like Figures 2 to 5 As shown, this embodiment provides an adaptive control method for an intelligent telescopic mechanism for a vehicle-mounted sunshade. The vehicle-mounted sunshade includes a long mounting base fixed to the side of the vehicle, a canopy that can be unfolded or retracted from the mounting base, a second crossbeam for pulling the outer end of the canopy, two crossbars disposed between the mounting base and the second crossbeam, a telescopic screw rod disposed within the crossbars, a scissor telescopic assembly arranged between the two crossbars, and electrically telescopic support legs that fold and retract onto the crossbars.

[0040] The long mounting base houses a drive motor, reducer, fabric roll shaft, controller, and motor drive board. The two crossbars each include a fixed sleeve and a movable crossbar. A lead screw nut is installed inside the movable crossbar. The drive motor, through a synchronous transmission mechanism, drives the two telescopic lead screws to rotate, causing the movable crossbar to extend or retract along the fixed sleeve, thereby pushing the second crossbeam away from or towards the mounting base. One end of the tarpaulin is wound around the fabric roll shaft, and the other end is connected to the second crossbeam. When the second crossbeam moves outward, it pulls the tarpaulin to unfold.

[0041] The folding electric support leg is mounted near the outer end of the second crossbeam or crossbar via a hinged joint. In the retracted state, the support leg is parallel to and close to the crossbar; in the supported state, the support leg flips from the folded position to a vertical position and extends downward via an internal electric push rod or lead screw telescopic assembly. Support feet are installed at the lower end of the support leg, and pressure or strain sensors are installed at the support feet to detect the ground contact force. The scissor telescopic assembly connects the mounting base side and the second crossbeam side to keep the two crossbars synchronized during telescopic movement, limit lateral sway, and maintain a flat and stable state after the second crossbeam is in position.

[0042] The controller functions as a sensing state machine controller. A Hall effect counter or encoder is installed at the end of the crossbar drive motor or telescopic lead screw. The controller calculates the deployed position D of the second crossbeam based on the number of output pulses. A Hall effect counter or encoder is installed on the telescopic motor of the support leg. The controller calculates the telescopic stroke X of the support leg based on the number of pulses and the telescopic speed V based on the change in X per unit time. A current sampling unit is installed on the motor drive board to collect the drive current I of the crossbar drive motor and the support leg telescopic motor. Limit detection devices are installed at the hinge position, retracted position, and extended limit position of the support leg to determine whether the support leg is retracted properly, whether it has been flipped to a vertical position, and whether it has reached its maximum extension limit.

[0043] During operation, after receiving the deployment command, the controller first controls the drive motor inside the mounting base to rotate, causing the telescopic screw inside the crossbar to push the second crossbeam outward and simultaneously deploy the tarpaulin. The controller calculates the deployment position D based on the crossbar's coded pulses. When D reaches the preset allowable support position, and the support legs are in the retracted position, and D is within the preset support release range, the state machine switches from the allowable extension judgment state to the extension search state.

[0044] After entering the extension search state, the controller first releases the folding lock of the support leg, causing the support leg to flip from a retracted state parallel to the crossbar to a vertical state; then, it controls the support leg telescopic motor to drive the movable support rod to extend downward. During the extension process, the controller collects the support leg stroke X, speed V, current I, and pressure or strain signal F of the support foot pad in real time. When F reaches the preset contact threshold and continues for a preset confirmation time, or when the current increment reaches the preset load increment threshold and the extension speed decreases, the controller determines that the support foot pad has formed effective contact with the ground and records the extension stroke at this time as the contact reference position X. c .

[0045] After entering the contact confirmation state, the controller determines the canopy extension length level of the sunshade based on the second crossbeam deployment position D, and selects the compensation stroke ΔX from the compensation parameter table according to the extension length level, vehicle tilt state, or preset load level, and generates the target support position X. t , where X t =min(X c +ΔX,X max ), X max This is the maximum permissible extension position of the support leg. The controller then continues to drive the support leg towards the X direction. t sports.

[0046] When the current position of the supporting leg is relative to the target supporting position X t When the deviation between the two is less than the preset position error, and the supporting force F enters the target support range, or when the fluctuation of the support leg drive current is lower than the preset fluctuation threshold and remains stable for a preset time, the controller stops the support leg telescopic motor and switches the state to the support in place state. At this time, the second crossbeam is kept in the extended position by the crossbar screw and the scissor telescopic assembly, and the support leg provides stable support to the outer end of the tarpaulin.

[0047] When a retraction command is received, the controller first sets the tarpaulin retraction permission flag to the prohibited state and controls the support legs to retract. Only when the extension stroke X of the support legs is less than the retraction threshold and the retraction limit device is effective, does the controller allow the support legs to rotate back to the retraction position parallel to the crossbar. After the support legs are retracted into place, the controller then allows the crossbar screw to retract and drive the second crossbeam to approach the mounting base, while the fabric roll-up shaft rolls up the tarpaulin.

[0048] If, at any stage, overload, stall, jamming, overtravel, no effective displacement change within a preset time, pressure exceeding a safety threshold, or current exceeding a safety threshold is detected in the support leg, the controller immediately stops the corresponding motor, records the direction of the abnormality, and switches to fault lockout mode. Until the fault is cleared or a reverse escape maneuver is executed, the controller prohibits the support leg from continuing to move in the direction of the abnormality.

[0049] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An adaptive control method for an intelligent telescopic mechanism of a vehicle-mounted deployment device, the vehicle-mounted deployment device comprising a supported component for vehicle deployment or storage, and an electrically operated telescopic support mechanism for supporting the supported component, characterized in that, Includes the following steps: Obtain the telescopic state parameters of the electric telescopic support mechanism and the equipment state parameters of the vehicle-mounted deployment device; The extension state parameters and the equipment state parameters are input into the sensing state machine controller. The sensing state machine controller switches between the retracted standby state, the allowed extension judgment state, the extension search state, the contact confirmation state, the support in place state, the retracted storage state, and the fault lock state according to the current operation stage in the equipment state parameters and the unfolded position state of the supported component. When the device is in the allowed extension judgment state and it is determined that the supported component has met the allowed support conditions, an extension control command is output to cause the electric telescopic support mechanism to enter the extension search state. In the extended search state, support contact events are identified based on the extension state parameters. After a support contact event is identified, the system switches to the contact confirmation state and records the corresponding extension position as the contact reference position. In the contact confirmation state, the electric telescopic support mechanism is controlled to move toward the target support position.

2. The method according to claim 1, characterized in that, The control process for the electric telescopic support mechanism to move toward the target support position includes: When it is determined that the target support position has been reached or the support stability condition has been met, the electric telescopic support mechanism is stopped and switched to the support in place state; When a storage instruction is received or the current operation phase enters the storage phase, switch to the retractable storage state and control the electric telescopic support mechanism to retract to the storage position and then stop. When an abnormal operation event is detected, the electric telescopic support mechanism is stopped, the direction of the abnormality is recorded, and the system is switched to the fault lockout state.

3. The method according to claim 1, characterized in that, The acquisition of the telescopic state parameters includes: calculating the telescopic stroke of the movable support rod relative to the fixed sleeve based on the number of pulses output by the Hall counting unit or encoder, and calculating the telescopic speed based on the change in the telescopic stroke per unit time; determining the change in drive load based on the drive current collected by the current sampling unit; determining the support stress state based on the pressure or strain signal collected by the force detection component; and determining the retracted state or extended limit state based on the on / off state of the limit detection component.

4. The method according to claim 1, characterized in that, The equipment status parameters include at least one of the following: deployment position status, load-bearing status, and current operation stage; wherein, the deployment position status is determined based on the stroke count of the deployment drive mechanism, displacement detection signal, limit detection signal, or deployment action duration; the load-bearing status is determined based on the support force status, drive load change, deployment position status of the supported component, or preset load level; and the current operation stage is determined based on deployment command, storage command, support in place status, storage in place status, or fault lock status.

5. The method according to claim 1, characterized in that, After the sensing state machine controller performs threshold comparison and duration confirmation on the extension state parameters and the device state parameters, it generates a determination result for state switching; the determination result includes at least one of the following: allow extension determination result, support contact determination result, support stability determination result, retract into place determination result, and abnormal operation determination result.

6. The method according to claim 1, characterized in that, The permissible support conditions include: the deployed position of the supported component reaches a preset permissible support position, the electric telescopic support mechanism is in a retracted position or its telescopic stroke is not greater than the initial extension threshold, and the deployed position of the supported component is within a preset support release range; the preset support release range is pre-calibrated based on the deployment trajectory of the supported component, the extension stroke range of the electric telescopic support mechanism, and the boundary position of the vehicle's storage area; when the permissible support conditions are not met, the sensing state machine controller prohibits the output of extension control commands.

7. The method according to claim 1, characterized in that, The identification of the support contact event includes: when the support force state reaches a preset contact threshold and the duration exceeds a preset confirmation time, it is determined that the electric telescopic support mechanism has formed contact with the support surface; if the support contact event is not identified within a preset search stroke or a preset search time, the extension is stopped and an abnormal operation judgment result is generated.

8. The method according to claim 1, characterized in that, The target support position is generated based on the contact reference position and the compensation stroke, and the compensation stroke is determined by the sensing state machine controller based on the equipment state parameters; wherein, the sensing state machine controller determines the corresponding overhang length level based on the unfolded position state of the supported component, and selects the compensation stroke from the preset compensation parameter table based on the overhang length level.

9. The method according to claim 8, characterized in that, The target support position satisfies the following conditions: the target support position is equal to the sum of the contact reference position and the compensation stroke, and does not exceed the preset maximum allowable support position; when the target support position exceeds the preset maximum allowable support position, the preset maximum allowable support position is taken as the target support position.

10. The method according to claim 2, characterized in that, The support stability conditions include: the deviation between the current position of the electric telescopic support mechanism and the target support position is less than a preset position error, and the support force state enters the target support range, or the change in driving load is lower than a preset fluctuation threshold; when the support stability conditions continue to meet the preset stability time, it is determined that the electric telescopic support mechanism has reached the support position.

11. The method according to claim 2, characterized in that, In the retracted state, the sensing state machine controller first sets the retraction permission flag of the supported component to the prohibited state and controls the electric telescopic support mechanism to retract; when it is determined that the electric telescopic support mechanism has been retracted according to the telescopic stroke, the retracted state, or the change of the drive load, the retraction permission flag is set to the permitted state, so that the supported component performs the retraction action.

12. The method according to claim 2, characterized in that, The abnormal operating events include overload, stall, jamming, overtravel, support stress exceeding the safety threshold, drive load change exceeding the safety threshold, or no effective change in the telescopic stroke within a preset time; after entering the fault lockout state, the sensing state machine controller prohibits the electric telescopic support mechanism from continuing to operate.

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