CN114475441A - Self-adaptive lifting system for rear trunk of cross-country vehicle and control method - Google Patents
Self-adaptive lifting system for rear trunk of cross-country vehicle and control method Download PDFInfo
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- CN114475441A CN114475441A CN202210156610.5A CN202210156610A CN114475441A CN 114475441 A CN114475441 A CN 114475441A CN 202210156610 A CN202210156610 A CN 202210156610A CN 114475441 A CN114475441 A CN 114475441A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R5/00—Compartments within vehicle body primarily intended or sufficiently spacious for trunks, suit-cases, or the like
- B60R5/04—Compartments within vehicle body primarily intended or sufficiently spacious for trunks, suit-cases, or the like arranged at rear of vehicle
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Abstract
The invention relates to the technical field of automobile trunks, in particular to a self-adaptive lifting system for a rear trunk of an off-road vehicle and a control method. The camera device, the driving device and the link mechanism are matched with the vehicle-mounted controller, a coordinate system of the luggage case relative to the position of the user is established, the height and the outward moving distance of the luggage case behind the off-road vehicle can be automatically adjusted according to the height and the position of the user, and the convenience of the user for storing and taking luggage is improved; the target position of the luggage case can be automatically calculated by acquiring the size data of the human body of the user and combining the preset angle value measured in a laboratory, and the luggage case is controlled to move to the target position; by comparing the height data recorded by the storage module latest with the historical height data in the storage module, the control efficiency of the system can be greatly improved and the storage space of the storage module can be saved by recycling the calculated rotation angle of the link mechanism.
Description
Technical Field
The invention relates to the technical field of automobile trunks, in particular to a self-adaptive lifting system for a rear trunk of an off-road vehicle and a control method.
Background
With the improvement of science and technology and the improvement of quality of life, people have more and more requirements on vehicles, the automobile trunk is used as an important component of the vehicle, and the convenience degree of the use of the automobile trunk directly influences the overall evaluation of a user on the vehicle.
Off-road vehicles have a higher chassis, a larger space, and a larger horsepower, and are more and more favored by users.
The existing luggage box of the off-road vehicle is usually of a fixed structure, a user can only control the opening and closing of the luggage box door, the whole position and height of the luggage box of the off-road vehicle can not be adjusted, and the luggage can be hardly stored and taken by shorter people with the heights of women, children and the like, so that the user experience is poor.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the self-adaptive lifting system and the control method for the rear luggage carrier of the off-road vehicle can freely adjust the height and the outward moving distance of the luggage carrier of the off-road vehicle, can automatically adapt to the height and the position of a user, and improve the convenience of the user for storing and taking luggage.
In order to solve the technical problems, the invention adopts the technical scheme that: a self-adaptive lifting system for a rear luggage box of an off-road vehicle is arranged at the rear part of the off-road vehicle and comprises a base 1 fixed at the top of a chassis of the off-road vehicle, a driving device 7 and a vehicle-mounted controller, wherein the end part of the base 1 is hinged with a first connecting rod 2, one end, away from the base 1, of the first connecting rod 2 is hinged with a second connecting rod 3, and one end, away from the first connecting rod 2, of the second connecting rod 3 is connected with a luggage box 4;
the rear part of the cross-country vehicle is provided with a camera device 6, and the camera device 6 is used for identifying the human body size and the personnel position information and sending the human body size and the personnel position information to the vehicle-mounted controller;
the driving device 7 is used for driving the first connecting rod 2 to rotate around the base 1, and the driving device 7 is also used for driving the second connecting rod 3 to rotate around the first connecting rod 2;
the camera device 6 and the driving device 7 are both electrically connected with the vehicle-mounted controller, and the vehicle-mounted controller is electrically connected with an ECU of the off-road vehicle.
Further, the base 1 is fixed on the top of the chassis at the rear part of the off-road vehicle through a connecting piece 8.
Further, a trunk handle 5 is mounted on the trunk 4 near the vehicle outside.
Further, the camera device 6 comprises a camera and an image processing module, the camera is used for shooting images of people behind the off-road vehicle, and the image processing module is used for acquiring the size of a human body and the position information of the people through an image recognition algorithm.
Further, the vehicle-mounted controller is provided with a coordinate module and a storage module, wherein the coordinate module is used for establishing a coordinate system, detecting the horizontal direction position and the vertical direction position of the luggage case 4 in real time, and simultaneously converting the position information of the luggage case 4 into corresponding coordinate information in real time;
the storage module is used for matching and storing the coordinate information with corresponding human body size and personnel position information.
Furthermore, the coordinate system uses the central point of the user's foot as an origin, uses the luggage handle 5 installed on the luggage case 4 as a landmark, uses the horizontal projection distance from the luggage handle 5 to the central point of the user's foot as an abscissa X, and uses the vertical projection distance from the luggage handle 5 to the central point of the user's foot as an ordinate Y.
A control method of a self-adaptive lifting system of a rear trunk of an off-road vehicle is based on the trunk lifting system and comprises the following steps:
s1, the off-road vehicle ECU receives the instruction sent by the user to judge whether the trunk lifting system needs to be started, if yes, the step S2 is continuously executed, and if not, the first connecting rod, the second connecting rod and the trunk are all returned to the initial positions through the driving device;
s2, obtaining the height L of the user through the camera device1Upper arm length L2Lower arm length L3Length L of head and neck4；
S3, the position of the luggage case is adjusted by driving the first connecting rod and the second connecting rod to move through the driving device, so that the handle of the luggage case moves to the X position of the abscissa and the Y position of the ordinate;
the coordinate X is L3×sinθ2+L2×sin|θ1-(180°-θ2)|；
The coordinate Y is L1-L4-L3×cosθ2-L2×cos|θ1-(180°-θ2)|；
Wherein, the theta1And theta2All are preset angle values;
s4, recording the angle W of the first connecting rod rotating around the base when the handle of the trunk moves to the X abscissa and the Y ordinate through the storage module of the vehicle-mounted controller1And the angle W of the second connecting rod rotating around the first connecting rod2And recording the corresponding height L of the human body at the moment1；
S5, setting the nth recorded height of human body and the angle data of the first connecting rod and the second connecting rod in the storage module as L1(n)、W1(n)And W2(n)；
S6, judging the height L of the user obtained by the imaging device at the n +1 th time1(n+1)Whether or not to compare with the previously recorded L1(1)～L1(n)Value L of1(m)If equal, the driving device directly drives the connecting rod to rotate around the base by a certain angle W1(m)And drives the connecting rod to rotate around the connecting rod by a rotation angle W2(m)Then, step S1 is executed again, and if not, step S2 is executed again.
Further, θ is1And theta2All are obtained by laboratory measurements, theta1For the expected included angle between the upper arm and the lower arm of the human body when the luggage is stored and taken, the theta2The expected included angle between the lower arm and the body of the human body when the luggage is stored and taken.
Further, the abscissa X is a horizontal projection distance from the trunk handle to a central point of the user's foot, and the ordinate Y is a vertical projection distance from the trunk handle to the central point of the user's foot.
An off-road vehicle comprises the off-road vehicle rear luggage case self-adaptive lifting system.
Compared with the prior art, the invention has the following main advantages:
1. the self-adaptive lifting system for the rear luggage case of the off-road vehicle is provided, the camera device, the driving device and the link mechanism are matched with the vehicle-mounted controller, a coordinate system of the luggage case relative to the position of a user is established, the height and the outward moving distance of the rear luggage case of the off-road vehicle can be automatically adjusted according to the height and the position of the user, and the convenience of the user for storing and taking luggage is improved;
2. the method for controlling the self-adaptive lifting system of the rear luggage carrier of the off-road vehicle is provided, the target position of the luggage carrier can be automatically calculated by acquiring the human body size data of a user and combining the preset angle value measured in a laboratory, and the luggage carrier is controlled to move to the target position;
3. by comparing the height data recorded by the storage module latest with the historical height data in the storage module, the control efficiency of the system can be greatly improved and the storage space of the storage module can be saved by recycling the calculated rotation angle of the link mechanism.
Drawings
FIG. 1 is a general schematic view of a rear trunk adaptive lift system of the off-road vehicle of the present invention;
FIG. 2 is a schematic view of the base and connecting rod structure of the present invention;
FIG. 3 is a schematic view of the luggage case of the present invention;
FIG. 4 is a schematic view of the present invention used by users of different heights;
FIG. 5 is a flow chart of a control method according to the present invention.
In the figure: 1. a base; 2. a first connecting rod; 3. a second connecting rod; 4. a luggage case; 5. a luggage handle; 6. a camera device; 7. a drive device; 8. a connecting member.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
It should be noted that, according to the implementation requirement, each step/component described in the present application can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can be combined into new steps/components to achieve the purpose of the present invention.
Self-adaptive lifting system for rear trunk of off-road vehicle
The self-adaptive lifting system for the rear luggage carrier of the off-road vehicle is arranged at the rear part of the off-road vehicle and comprises a base 1 fixed to the top of a chassis of the off-road vehicle, a driving device 7 and a vehicle-mounted controller, wherein the end part of the base 1 is hinged with a first connecting rod 2, one end, away from the base 1, of the first connecting rod 2 is hinged with a second connecting rod 3, and one end, away from the first connecting rod 2, of the second connecting rod 3 is connected with the luggage carrier 4;
the rear part of the cross-country vehicle is provided with a camera device 6, and the camera device 6 is used for identifying the human body size and the personnel position information and sending the human body size and the personnel position information to the vehicle-mounted controller;
the driving device 7 is used for driving the first connecting rod 2 to rotate around the base 1, and the driving device 7 is also used for driving the second connecting rod 3 to rotate around the first connecting rod 2;
the camera device 6 and the driving device 7 are both electrically connected with the vehicle-mounted controller, and the vehicle-mounted controller is electrically connected with an ECU of the off-road vehicle.
Further, the base 1 is fixed on the top of the chassis at the rear part of the off-road vehicle through a connecting piece 8.
Further, a trunk handle 5 is mounted on the trunk 4 near the vehicle outside.
Further, the camera device 6 comprises a camera and an image processing module, the camera is used for shooting images of people behind the off-road vehicle, and the image processing module is used for acquiring the size of a human body and the position information of the people through an image recognition algorithm.
Further, the vehicle-mounted controller is provided with a coordinate module and a storage module, wherein the coordinate module is used for establishing a coordinate system, detecting the horizontal direction position and the vertical direction position of the luggage case 4 in real time, and simultaneously converting the position information of the luggage case 4 into corresponding coordinate information in real time;
the storage module is used for matching and storing the coordinate information with corresponding human body size and personnel position information.
Further, the coordinate system uses the central point of the user's foot as an origin, uses the trunk handle 5 installed on the trunk 4 as a punctuation, uses the horizontal projection distance from the trunk handle 5 to the central point of the user's foot as an abscissa X, and uses the vertical projection distance from the trunk handle 5 to the central point of the user's foot as an ordinate Y.
Control method of self-adaptive lifting system for rear trunk of off-road vehicle
Based on the same inventive concept, the embodiment of the present application further provides a method for controlling an adaptive lifting system for a rear trunk of an off-road vehicle, which is based on the adaptive lifting system for a rear trunk of an off-road vehicle as described above, and as shown in fig. 5, the method specifically includes the following steps:
s1, the off-road vehicle ECU receives the instruction sent by the user to judge whether the trunk lifting system needs to be started, if yes, the step S2 is continuously executed, and if not, the first connecting rod, the second connecting rod and the trunk are all returned to the initial positions through the driving device;
s2, obtaining the height L of the user through the camera device1Upper arm length L2Lower arm length L3Length L of head and neck4；
S3, the position of the luggage case is adjusted by driving the first connecting rod and the second connecting rod to move through the driving device, so that the handle of the luggage case moves to the X position of the abscissa and the Y position of the ordinate;
the coordinate X is L3×sinθ2+L2×sin|θ1-(180°-θ2)|；
The coordinate Y is L1-L4-L3×cosθ2-L2×cos|θ1-(180°-θ2)|；
Wherein, the theta1And theta2All are preset angle values;
s4, recording the rotation angle W of the first connecting rod around the base when the handle of the trunk moves to the X and Y coordinates through the storage module of the vehicle-mounted controller1And the angle W of the second connecting rod rotating around the first connecting rod2And recording the corresponding height L of the human body at the moment1；
S5, storing the height of the human body recorded at the nth time in the module and the height of the first connecting rod and the second connecting rodAngle data are set to L1(n)、W1(n)And W2(n)；
S6, judging the height L of the user obtained by the imaging device at the n +1 th time1(n+1)Whether or not to compare with the previously recorded L1(1)～L1(n)Value L of1(m)If equal, the driving device directly drives the connecting rod to rotate around the base by a certain angle W1(m)And drives the connecting rod to rotate around the connecting rod by a rotation angle W2(m)Then, step S1 is executed again, and if not, step S2 is executed again.
Further, θ is1And theta2All are obtained by laboratory measurements, theta1For the expected included angle between the upper arm and the lower arm of the human body when the luggage is stored and taken, the theta2The expected included angle between the lower arm and the body of the human body when the luggage is stored and taken.
Further, the abscissa X is a horizontal projection distance from the trunk handle to a central point of the user's foot, and the ordinate Y is a vertical projection distance from the trunk handle to the central point of the user's foot.
Specifically, in this embodiment, a user is a male with a height of 175cm in the age of 40, and the length L of the upper arm is obtained by the camera device2313mm, a lower arm length L3236mm, head and neck length 383 mm;
according to the data in the laboratory, when a 175cm male with height stores and takes luggage, the expected included angle theta between the upper arm and the lower arm of the male is found1Is 160 degrees, and the expected included angle theta between the lower arm of the human body and the human body2Is 45 degrees;
then the calculation yields: x is 236 × 0.7+236 × 0.422 is 265 mm;
Y＝1750-383-236×0.7-313×0.9＝920mm,
the first link and the second link are driven by the driving device to move the handle of the luggage case to the coordinate (X is 265mm, Y is 920mm), wherein the origin coordinate (X is 0, Y is 0) is the central position of the foot of the user.
Based on the same inventive concept, the embodiment of the application also provides an off-road vehicle, which comprises the off-road vehicle rear luggage case self-adaptive lifting system.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A self-adaptive lifting system for a rear luggage box of an off-road vehicle is mounted at the rear part of the off-road vehicle, and is characterized by comprising a base (1) fixed at the top of a chassis of the off-road vehicle, a driving device (7) and a vehicle-mounted controller, wherein a first connecting rod (2) is hinged to the end part of the base (1), a second connecting rod (3) is hinged to one end, away from the base (1), of the first connecting rod (2), and one end, away from the first connecting rod (2), of the second connecting rod (3) is connected with the luggage box (4);
the rear part of the cross-country vehicle is provided with a camera device (6), and the camera device (6) is used for identifying the human body size and the personnel position information and sending the human body size and the personnel position information to the vehicle-mounted controller;
the driving device (7) is used for driving the first connecting rod (2) to rotate around the base (1), and the driving device (7) is also used for driving the second connecting rod (3) to rotate around the first connecting rod (2);
the camera device (6) and the driving device (7) are electrically connected with the vehicle-mounted controller, and the vehicle-mounted controller is electrically connected with an ECU of the off-road vehicle.
2. The adaptive lifting system for rear luggage of off-road vehicle as claimed in claim 1, wherein said base (1) is fixed on the top of chassis at the rear of off-road vehicle by means of connecting piece (8).
3. The adaptive lifting system for the rear trunk of an off-road vehicle as claimed in claim 1, wherein the trunk (4) is provided with a trunk handle (5) near the outside of the vehicle.
4. The adaptive lifting system for the trunk behind the off-road vehicle as claimed in claim 1, wherein the camera device (6) comprises a camera and an image processing module, the camera is used for shooting images of personnel behind the off-road vehicle, and the image processing module is used for acquiring information of the size of a human body and the position of the personnel through an image recognition algorithm.
5. The adaptive lifting system for the rear luggage compartment of the off-road vehicle as claimed in claim 1, wherein the on-vehicle controller is provided with a coordinate module and a storage module, the coordinate module is used for establishing a coordinate system, detecting the horizontal direction position and the vertical direction position of the luggage compartment (4) in real time, and simultaneously converting the position information of the luggage compartment (4) into corresponding coordinate information in real time;
the storage module is used for matching and storing the coordinate information with corresponding human body size and personnel position information.
6. The adaptive lifting system for the rear luggage compartment of the off-road vehicle as claimed in claim 5, wherein the coordinate system takes the central point of the user's foot as an origin, the luggage compartment handle (5) installed on the luggage compartment (4) as a punctuation, the horizontal projection distance from the luggage compartment handle (5) to the central point of the user's foot as an abscissa X, and the vertical projection distance from the luggage compartment handle (5) to the central point of the user's foot as an ordinate Y.
7. A control method of an adaptive lifting system for a rear trunk of an off-road vehicle is based on the adaptive lifting system for the rear trunk of the off-road vehicle as claimed in any one of claims 1 to 6, and is characterized by comprising the following steps:
s1, the off-road vehicle ECU receives the instruction sent by the user to judge whether the trunk lifting system needs to be started, if yes, the step S2 is continuously executed, and if not, the first connecting rod, the second connecting rod and the trunk are all returned to the initial positions through the driving device;
s2, obtaining the height L of the user through the camera device1Upper arm length L2Lower arm length L3Length L of head and neck4；
S3, the position of the luggage case is adjusted by driving the first connecting rod and the second connecting rod to move through the driving device, so that the handle of the luggage case moves to the X position of the abscissa and the Y position of the ordinate;
the coordinate X is L3×sinθ2+L2×sin|θ1-(180°-θ2)|；
The coordinate Y is L1-L4-L3×cosθ2-L2×cos|θ1-(180°-θ2)|；
Wherein, the theta1And theta2All are preset angle values;
s4, recording the rotation angle W of the first connecting rod around the base when the handle of the trunk moves to the X and Y coordinates through the storage module of the vehicle-mounted controller1And the angle W of the second connecting rod rotating around the first connecting rod2And recording the corresponding height L of the human body at the moment1；
S5, setting the nth recorded height of human body and the angle data of the first connecting rod and the second connecting rod in the storage module as L1(n)、W1(n)And W2(n)；
S6, judging the height L of the user obtained by the imaging device at the n +1 th time1(n+1)Whether or not to compare with the previously recorded L1(1)～L1(n)Value L of1(m)If equal, the driving device directly drives the connecting rod to rotate around the base by a certain angle W1(m)And drives the connecting rod to rotate around the connecting rod by a rotation angle W2(m)Then, step S1 is executed again, and if not, step S2 is executed again.
8. The off-road vehicle rear trunk adaptive lifting system control method as claimed in claim 7, wherein θ is1And theta2All are obtained by laboratory measurements, theta1For the expected included angle between the upper arm and the lower arm of the human body when the luggage is stored and taken, the theta2The expected included angle between the lower arm and the body of the human body when the luggage is stored and taken.
9. The method as claimed in claim 7, wherein the X axis is the horizontal projection distance of the trunk handle to the center of the user's foot, and the Y axis is the vertical projection distance of the trunk handle to the center of the user's foot.
10. An off-road vehicle, characterized in that, comprises an off-road vehicle rear luggage case self-adaptive lifting system as claimed in any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210156610.5A CN114475441B (en) | 2022-02-21 | 2022-02-21 | Self-adaptive lifting system for rear trunk of off-road vehicle and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210156610.5A CN114475441B (en) | 2022-02-21 | 2022-02-21 | Self-adaptive lifting system for rear trunk of off-road vehicle and control method |
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| CN114475441B CN114475441B (en) | 2023-10-13 |
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| US4969793A (en) * | 1988-02-16 | 1990-11-13 | Pawl E Timothy | Power trunk lift |
| US20010033085A1 (en) * | 2000-03-16 | 2001-10-25 | Horst Bienert | Loading system for the cargo space of a motor vehicle |
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| Publication number | Publication date |
|---|---|
| CN114475441B (en) | 2023-10-13 |
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