CN116001670B - Self-adaptive protection method, equipment and medium for lifting vehicle cargo box - Google Patents

Abstract

The invention discloses a self-adaptive protection method, equipment and medium for lifting a vehicle cargo box, belongs to the technical field of data processing, and is used for solving the technical problems that lifting of an existing mine car cargo box in an unmanned state is difficult to simultaneously consider the maximum value of cargo box lifting inclination angle change and control strategies in different cargo box working modes, and potential safety hazards of cargo box lifting are easy to cause. The method comprises the following steps: according to the state of the vehicle body, calculating the angle of the container inclination angle of the vehicle to obtain an inclination angle change value; according to the inclination angle change value and the corresponding time threshold value, carrying out maximum inclination angle test on the inclination angle of the container to obtain a test result of the inclination angle of the container; judging a cargo box lifting mode of the vehicle to obtain a cargo box working mode; updating the inclination angle of the container under different lifting modes to obtain the self-adaptive inclination angle of the container; and the marker bit of the maximum inclination angle is cleared for the abnormal cargo box working mode in the cargo box working modes.

Description

Vehicle cargo box lifting adaptive protection method, device and medium

Technical Field

The present application relates to the field of data processing, and in particular to a method, device and medium for adaptively protecting a vehicle cargo box when lifting.

Background technique

At present, in the application of mine cars, the protection of the cargo box lifting of the mine car mainly relies on the mechanical pressure relief method of the cargo box lifting device for protection. In the automatic driving mode, if there is no manual supervision, there is a safety risk that the lifting cannot be limited to the maximum limit. At the same time, in the automatic driving mode of the mine car, it is difficult to take into account the update strategy in real time during the lifting process of the cargo box, and it is difficult to update the maximum value of the cargo box lifting inclination angle in time, and the maximum value of the cargo box lifting inclination angle cannot be accurately judged. In the process of cargo box operation, it is difficult to calculate and judge the working status of cargo box lifting in real time, and timely handle the working status of cargo box under different working modes, thereby reducing the safety and redundancy of cargo box lifting.

Summary of the invention

The embodiments of the present application provide a method, device and medium for adaptively protecting the lifting of a vehicle cargo box, which are used to solve the following technical problems: when lifting the cargo box of an existing mine car in an unmanned driving state, it is difficult to simultaneously take into account the maximum value of the change in the lifting inclination angle of the cargo box and the control strategy under different cargo box working modes, which easily causes safety hazards in lifting the cargo box.

The present application embodiment adopts the following technical solutions:

On the one hand, an embodiment of the present application provides a vehicle cargo box lifting adaptive protection method, comprising: calculating the tilt angle of the vehicle cargo box according to the body state of the vehicle to obtain a tilt angle change value; performing a maximum tilt angle test on the cargo box tilt angle according to the tilt angle change value and a corresponding time threshold to obtain a test result of the cargo box tilt angle; judging the working mode of the vehicle cargo box lifting method according to the test result to obtain a cargo box working mode; updating the cargo box tilt angle under different lifting methods according to the cargo box working mode to obtain an adaptive cargo box tilt angle; and clearing the maximum tilt angle of the cargo box abnormal working mode in the cargo box working mode.

The embodiment of the present application first tests the maximum tilt angle of the cargo box in the automatic driving mode, then obtains the test result of the tilt angle of the cargo box, and then calculates and stores the change value of the tilt angle of the cargo box. At the same time, in the automatic driving mode, during the cargo box lifting operation, the maximum value of the change of the tilt angle of the cargo box lifting is updated in time according to the real-time update strategy to ensure the accuracy of the maximum tilt angle of the cargo box lifting. During the operation of the cargo box, the cargo box lifting working state and the corresponding cargo box working mode are calculated and judged in real time, and the change value of the tilt angle under different cargo box lifting working modes and the real-time record and update of the maximum tilt angle of the cargo box lifting are recorded and updated in real time, and different control strategies are implemented for the cargo box under different cargo box lifting working modes, so as to ensure the safety and redundancy of the cargo box lifting.

In a feasible implementation, according to the body state of the vehicle, the tilt angle of the cargo box of the vehicle is calculated to obtain the tilt angle change value, which specifically includes: acquiring the body state of the vehicle; wherein the body state includes at least: a cargo box lifting state, an automatic driving flag state, a vehicle speed state and a cargo box maximum tilt angle flag state; if the automatic driving flag state is in a set state, the vehicle speed state is in a stopped state and the cargo box lifting state is in a started lifting state, then the tilt angle of the cargo box of the vehicle is calculated to obtain an initial cargo box tilt angle; based on a preset time threshold, the real-time change calculation of the initial cargo box tilt angle is performed to obtain the tilt angle change value.

In a feasible implementation manner, according to the tilt angle change value and the corresponding time threshold, the maximum tilt angle test is performed on the tilt angle of the cargo box to obtain the test result of the tilt angle of the cargo box, which specifically includes: judging the maximum value of the tilt angle change value; if the tilt angle change value is the maximum value, accumulating the tilt angle change value to obtain a first accumulated time; if the first accumulated time is greater than the first preset time threshold, the maximum value of the tilt angle of the cargo box is recorded and stored, and the first accumulated time is accumulated twice to obtain a second accumulated time; if the second accumulated time is greater than the second preset time threshold, the cargo box lifting state in the vehicle body state is determined to be the cargo box descending state, and the maximum value of the cargo box tilt angle in the cargo box descending state is recorded and stored, and the second accumulated time is accumulated three times to obtain a third accumulated time; if the third accumulated time is greater than the third preset time threshold, the maximum tilt angle of the cargo box tilt angle is recorded to obtain the maximum tilt angle of cargo box lifting; wherein, the test result of the tilt angle of the cargo box includes: the maximum tilt angle of cargo box lifting and the tilt angle change value.

In a feasible implementation manner, according to the test result, the working mode of the cargo box lifting method of the vehicle is judged to obtain the cargo box working mode, which specifically includes: if the tilt angle change value does not reach the maximum value and the cargo box lifting state is the start lifting state, then the cargo box working mode is the cargo box lifting mode; if the tilt angle change value does not reach the maximum value and the cargo box lifting state is the set state, then the cargo box working mode is the cargo box pause mode; if the tilt angle change value reaches the maximum value and the cargo box lifting state is the start lifting state, and the tilt angle change value does not change with the accumulated timing, then the cargo box working mode is the cargo box lifting protection mode; if the maximum tilt angle of cargo box lifting is a fixed value and the tilt angle change value does not exceed the preset adjustment range, the maximum tilt angle of cargo box lifting is updated in range, and the cargo box working mode is the cargo box lifting limit update mode; if the tilt angle change value exceeds the preset adjustment range, and the maximum tilt angle of cargo box lifting is a changing value, then the vehicle's cargo box operating system is determined to be in a fault state, and the cargo box working mode is the cargo box working abnormal mode.

In a feasible implementation, according to the cargo box working mode, the cargo box inclination angle is updated under different lifting modes to obtain an adaptive cargo box inclination angle, specifically including: if the cargo box working mode is the cargo box lifting mode, then the inclination angle change value is judged according to the time accumulation range of the corresponding inclination angle change value, and the standard change threshold is judged; wherein, the time accumulation range is the time range for accumulating the inclination angle change value; if the inclination angle change value is less than the standard change threshold, then the maximum inclination angle of the cargo box lifting under the cargo box lifting mode is recorded and updated and stored in the EEPROM, and the corresponding maximum inclination angle of the cargo box lifting is determined as the adaptive cargo box inclination angle.

In a feasible implementation, according to the cargo box working mode, the cargo box inclination angle is updated under different lifting modes to obtain an adaptive cargo box inclination angle, specifically including: if the cargo box working mode is the cargo box lifting protection mode, then according to the time accumulation range of the corresponding inclination angle change value, the inclination angle change value is compared with the value of the corresponding maximum cargo box lifting inclination angle; if the inclination angle change value is greater than the value of the maximum cargo box lifting inclination angle, and the inclination angle change value is less than the standard change threshold, then the maximum cargo box lifting inclination angle under the cargo box lifting protection mode is recorded and updated and stored in the EEPROM, and the corresponding maximum cargo box lifting inclination angle is determined as the adaptive cargo box inclination angle.

In a feasible implementation, after comparing the tilt angle change value with the corresponding maximum tilt angle of cargo box lifting, the method further includes: if the tilt angle change value is smaller than the maximum tilt angle of cargo box lifting, comparing the tilt angle change value with a preset maximum tilt angle calibration value of cargo box; if the tilt angle change value is greater than the maximum tilt angle calibration value of cargo box, recording the maximum tilt angle of cargo box lifting corresponding to the tilt angle change value and updating and storing it in EEPROM, and determining the corresponding maximum tilt angle of cargo box lifting as the adaptive cargo box tilt angle.

In a feasible implementation manner, the maximum inclination angle of the abnormal cargo box working mode in the cargo box working mode is cleared, specifically including: if the cargo box working mode is identified as the abnormal cargo box working mode, the abnormal cargo box fault is prompted and recorded; the abnormal cargo box fault is downgraded, and the maximum inclination angle of the cargo box lifting and the inclination angle change value in the test result are cleared; and after the abnormal cargo box fault is repaired, the maximum inclination angle of the cargo box is re-tested until the adaptive cargo box inclination angle is obtained.

In the second aspect, an embodiment of the present application also provides a vehicle cargo box lifting adaptive protection device, the device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, so that the at least one processor can execute a vehicle cargo box lifting adaptive protection method described in any of the above embodiments.

In the third aspect, an embodiment of the present application also provides a non-volatile computer storage medium, characterized in that the storage medium is a non-volatile computer-readable storage medium, and the non-volatile computer-readable storage medium stores at least one program, each of which includes instructions, and when the instructions are executed by a terminal, the terminal executes a vehicle cargo box lifting adaptive protection method described in any of the above-mentioned embodiments.

The embodiment of the present application provides a method, device and medium for adaptive protection of vehicle cargo box lifting, which first tests the maximum tilt angle of the cargo box in the automatic driving mode, then obtains the test result of the tilt angle of the cargo box, and then calculates and stores the change value of the tilt angle of the cargo box. At the same time, in the automatic driving mode, during the cargo box lifting operation, the maximum value of the change of the tilt angle of the cargo box lifting is updated in time according to the real-time update strategy to ensure the accuracy of the maximum tilt angle of the cargo box lifting. During the operation of the cargo box, the cargo box lifting working state and the corresponding cargo box working mode are calculated and judged in real time, and the tilt angle change value and the maximum tilt angle of the cargo box lifting under different cargo box lifting working modes are recorded and updated in real time, and different control strategies are performed for the cargo box under different cargo box lifting working modes, so as to ensure the safety and redundancy of the cargo box lifting.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

FIG1 is a flow chart of a vehicle cargo box lifting adaptive protection method provided by an embodiment of the present application;

FIG2 is a flowchart of a cargo box adaptive protection strategy architecture provided by an embodiment of the present application;

FIG3 is a flow chart of a maximum tilt angle test for lifting a cargo box provided in an embodiment of the present application;

FIG4 is a flowchart of updating a cargo box lifting limit value provided in an embodiment of the present application;

FIG5 is a diagram of a normal automatic control mode of a cargo box operation provided by an embodiment of the present application;

FIG6 is a schematic diagram of the structure of a vehicle cargo box lifting adaptive protection device provided in an embodiment of the present application.

Detailed ways

In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

The embodiment of the present application provides a vehicle cargo box lifting adaptive protection method. As shown in FIG1 , the vehicle cargo box lifting adaptive protection method specifically includes steps S101-S104:

S101. Calculate the tilt angle of the cargo box of the vehicle according to the vehicle body state to obtain a tilt angle change value.

Specifically, the vehicle body state is obtained. The vehicle body state includes at least: the cargo box lifting state, the automatic driving flag state, the vehicle speed state, and the cargo box maximum tilt angle flag state. If the automatic driving flag state is set, the vehicle speed state is stopped, and the cargo box lifting state is started, the vehicle cargo box tilt angle is calculated to obtain the initial cargo box tilt angle.

Based on the preset time threshold, the initial cargo box tilt angle is calculated in real time to obtain the tilt angle change value.

As a feasible implementation method, Figure 2 is a flow chart of an adaptive cargo box protection strategy architecture provided in an embodiment of the present application. As shown in Figure 2, after the mine car is powered on and started, the vehicle's own control system will monitor the vehicle's body status, that is, the vehicle's operating parameters, such as monitoring the body lifting command, the flag status of the maximum tilt angle of the cargo box, the vehicle speed, the flag status of the unmanned automatic driving mode, and whether the cargo box is in a lifted state, etc., and then further judge whether the automatic driving flag status is in a set state and whether the vehicle speed status is in a stopped state. If all of the above conditions are met, then prepare to start testing the maximum tilt angle of the vehicle's cargo box.

S102: Perform a maximum tilt angle test on the tilt angle of the cargo box according to the tilt angle change value and the corresponding time threshold, and obtain a test result of the tilt angle of the cargo box.

Specifically, the maximum value of the tilt angle change value is judged. If the tilt angle change value is the maximum value, the tilt angle change value is accumulated and timed to obtain a first accumulated time.

If the first accumulated time is greater than the first preset time threshold, the maximum value of the cargo box tilt angle is recorded and stored, and the first accumulated time is accumulated twice to obtain the second accumulated time.

If the second accumulated time is greater than the second preset time threshold, the cargo box lifting state in the vehicle body state is determined as the cargo box lowered state, and the maximum value of the cargo box inclination angle in the cargo box lowered state is recorded and stored, and the second accumulated time is accumulated three times to obtain the third accumulated time.

If the third accumulated time is greater than the third preset time threshold, the maximum inclination angle of the cargo box is recorded to obtain the maximum inclination angle of the cargo box lifting.

The test results of the cargo box tilt angle include: the maximum tilt angle of the cargo box and the tilt angle change value. The first preset time threshold, the second preset time threshold and the third preset time threshold are time thresholds that meet the corresponding significant change of the tilt angle change value.

In one embodiment, Figure 3 is a flow chart of a maximum inclination angle test for lifting a cargo box provided in an embodiment of the present application. As shown in Figure 3, when the flag corresponding to the cargo box inclination angle is not 0, that is, when the cargo box inclination angle changes, the lifting instruction is 1, then the maximum inclination angle test of the cargo box is started, and the inclination angle change value of the cargo box is first calculated in real time. When the inclination angle change value is maintained at the maximum value and at the same time meets the inclination angle maximum change deviation threshold range, the time corresponding to the inclination angle change value is accumulated to obtain a first accumulated time t1 and the inclination angle change value at this time, and then it is judged that the inclination angle change value is the maximum value and t1 is greater than the first preset time threshold, and the maximum value is recorded and stored in the EEPROM, and then the time of t1 is continued to be accumulated to obtain a second accumulated time t2.

In one embodiment, as shown in Figure 3, when the lifting instruction of the cargo box becomes 0, that is, the lowering instruction of the cargo box becomes 1, the lifting state of the cargo box in the vehicle body state is determined as the lowering state of the cargo box, and the tilt angle change value of the cargo box continues to be monitored until the tilt angle change value no longer changes, and the second accumulated time t2 continues to be accumulated to obtain a third accumulated time t3, and then a judgment is made as to whether the tilt angle change value of the cargo box in the lowering state is 0, and if the third accumulated time is greater than the third preset time threshold, the maximum tilt angle of the cargo box is recorded, and then the maximum tilt angle of the cargo box lifting is calculated and stored. Finally, the maximum tilt angle test of the cargo box is completed, and the test results mainly record and store the maximum tilt angle of the cargo box lifting and the tilt angle change value to ensure that the lifting of the cargo box can be carried out normally and eliminate fault factors.

S103: According to the test result, the working mode of the cargo box lifting method of the vehicle is judged to obtain the cargo box working mode.

Specifically, if the tilt angle change value does not reach the maximum value and the cargo box lifting state is the start lifting state, the cargo box working mode is the cargo box lifting mode.

If the tilt angle change value does not reach the maximum value and the cargo box lifting state is in the set state, the cargo box working mode is the cargo box pause mode.

If the tilt angle change value reaches the maximum value and the cargo box lifting state is the start lifting state, and the tilt angle change value does not change with the accumulated timing, the cargo box working mode is the cargo box lifting protection mode.

If the maximum tilt angle of the cargo box lifting is a fixed value and the tilt angle change value does not exceed the preset adjustment range, the maximum tilt angle of the cargo box lifting is updated within the range, and the cargo box working mode is the cargo box lifting limit update mode.

If the tilt angle change value exceeds the preset adjustment range and the maximum tilt angle of the cargo box lifting is the change value, the vehicle's cargo box operating system is determined to be in a fault state, and the cargo box operation mode is the cargo box operation abnormal mode. The preset adjustment range is the maximum allowable adjustment range of the update deviation of the tilt angle change value of the cargo box lifting.

In one embodiment, after the maximum inclination angle of the cargo box is tested, the cargo box operating mode is divided into cargo box lifting mode, cargo box lowering mode, cargo box pause mode, cargo box lifting protection mode, cargo box lifting limit update mode, and cargo box operating abnormality mode. Among them, 1) Cargo box lifting mode: when the cargo box lifting instruction is 1 and the cargo box inclination angle change value has not reached the maximum value, the cargo box lifting solenoid valve control state is set to 1 to ensure that the cargo box lifting continues to work. 2) Cargo box lowering mode: when the cargo box lowering instruction is 1, the cargo box lowering solenoid valve is set to 1 to ensure that the cargo box lowering continues to work. 3) Cargo box pause mode: when the cargo box operation instruction (lifting instruction or lowering instruction) is set to 0, the inclination angle change value of the cargo box has not reached the limit, and the cargo box pause mode is entered to maintain the cargo box state. 4) Cargo box lifting protection mode: When the cargo box lifting instruction is 1, if the change value of the cargo box's tilt angle reaches the maximum value and remains unchanged within the cumulative judgment time, the cargo box lifting solenoid valve control state is set to 0 to ensure the safety of the cargo box lifting limit. 5) Cargo box lifting limit update mode: When the maximum tilt angle of the cargo box lifting does not change, and the change value of the cargo box's tilt angle is within the maximum allowable adjustment range when the update deviation is within the maximum allowable adjustment range, the maximum angle change value of the cargo box lifting is updated according to the vehicle status, and the update is stored in the EEPROM. 6) Cargo box working abnormal mode: Depending on whether the change value of the cargo box's tilt angle is abnormal during the lifting or lowering of the cargo box (such as the cargo box's tilt angle value does not change/tilt sensor failure, etc.) or the cargo box operating system fails, enter this mode and remind the staff to repair the fault. After the fault is repaired, the maximum tilt angle of the cargo box needs to be re-tested.

In one embodiment, Figure 5 is a diagram of a normal automatic control mode of cargo box operation provided by an embodiment of the present application. As shown in Figure 5, the corresponding meanings of each condition are: Condition 1: the cargo box operation instruction is 0, Condition 2: the change value of the tilt angle of the cargo box has not reached the maximum value, Condition 3: the cargo box lifting instruction is 1, Condition 4: the cargo box lowering instruction is 1, Condition 5: the change value of the tilt angle of the cargo box reaches the maximum value, Condition 6: within the cumulative confirmation time, the change value of the tilt angle of the cargo box reaches the maximum value, Condition 7: the tilt angle of the cargo box has not reached the maximum value and the maximum tilt angle of the cargo box lifting within the cumulative time is a fixed value, Condition 8: the maximum tilt angle of the cargo box lifting has not reached the adjustment range, Condition 9: the change value of the tilt angle of the cargo box reaches the maximum value and the maximum tilt angle of the cargo box lifting within the cumulative time is a fixed value, Condition 10: The tilt angle change value of the cargo box is updated logic, and the exit condition is met. Through the above conditions, the cargo box lifting mode, cargo box lowering mode, cargo box pause mode, cargo box lifting protection mode and cargo box lifting limit update mode achieve mutual data coordination. For example, the cargo box lifting mode can be converted to the cargo box operation pause mode through conditions 1 and 2, condition 3 can convert the cargo box operation pause mode to the cargo box lifting mode, condition 4 can convert the cargo box operation pause mode to the cargo box lowering mode, and through conditions 3 and 6, the cargo box lifting protection mode can be converted to the cargo box lifting limit update mode, etc., thereby ensuring that the cargo box operating system can be automatically controlled normally.

S104: According to the cargo box working mode, the cargo box tilt angle is updated under different lifting modes to obtain an adaptive cargo box tilt angle, and the maximum tilt angle of the cargo box abnormal working mode in the cargo box working mode is cleared.

Specifically, if the cargo box operation mode is the cargo box lifting mode, the standard change threshold value of the tilt angle change value is judged according to the time accumulation range of the corresponding tilt angle change value. Among them, the time accumulation range is the time range for the accumulation timing of the tilt angle change value. If the tilt angle change value is less than the standard change threshold, the maximum tilt angle of the cargo box lifting in the cargo box lifting mode is recorded and updated and stored in the EEPROM, and the corresponding maximum tilt angle of the cargo box lifting is determined as the adaptive cargo box tilt angle.

If the cargo box working mode is the cargo box lifting protection mode, the tilt angle change value is compared with the value of the corresponding cargo box lifting maximum tilt angle according to the time accumulation range of the corresponding tilt angle change value.

If the tilt angle change value is greater than the value of the maximum tilt angle of the cargo box lifting, and the tilt angle change value is less than the standard change threshold, the maximum tilt angle of the cargo box lifting in the cargo box lifting protection mode is recorded and updated and stored in the EEPROM, and the corresponding maximum tilt angle of the cargo box lifting is determined as the adaptive cargo box tilt angle.

If the tilt angle change value is less than the value of the maximum tilt angle of the cargo box lifting, the tilt angle change value will be compared with the preset cargo box tilt angle calibration maximum value.

If the tilt angle change value is greater than the calibrated maximum tilt angle of the cargo box, the maximum tilt angle of the cargo box lifting corresponding to the tilt angle change value is recorded and updated and stored in the EEPROM, and the corresponding maximum tilt angle of the cargo box lifting is determined as the adaptive cargo box inclination angle.

Furthermore, if the cargo box working mode is identified as an abnormal cargo box working mode, the abnormal cargo box fault is prompted and recorded. The abnormal cargo box fault is downgraded, and the maximum tilt angle of the cargo box lift and the tilt angle change value in the test results are cleared. After the abnormal cargo box fault is repaired, the maximum tilt angle of the cargo box is retested until the adaptive cargo box tilt angle is obtained.

In one embodiment, Figure 4 is a flow chart of updating the cargo box lifting limit provided in an embodiment of the present application. As shown in Figure 4, the cargo box inclination angle is updated under different lifting modes to obtain an adaptive cargo box inclination angle to implement the update operation of the cargo box lifting limit update mode, mainly including: judging different lifting modes to determine whether it is a cargo box lifting protection mode or a cargo box lifting mode, and then judging and updating the maximum inclination angle of the cargo box lifting and the inclination angle change value within the cumulative time range, respectively recording the adaptive cargo box inclination angles under different cargo box working modes, and updating the corresponding EEPROM storage values, completing the update processing of the adaptive cargo box inclination angle in the cargo box lifting limit update mode, so as to realize different adaptive control protection strategies for cargo box lifting under different cargo box working modes, thereby ensuring the safety and reliability of the cargo box lifting system.

In addition, the embodiment of the present application further provides a vehicle cargo box lifting adaptive protection device, as shown in FIG6 , the vehicle cargo box lifting adaptive protection device 600 specifically includes:

At least one processor 601. And a memory 602 in communication with the at least one processor 601; wherein the memory 602 stores instructions executable by the at least one processor 601, so that the at least one processor 601 can execute:

According to the vehicle body state, the tilt angle of the vehicle cargo box is calculated to obtain the tilt angle change value;

According to the tilt angle change value and the corresponding time threshold, the maximum tilt angle test is performed on the tilt angle of the cargo box to obtain the test result of the tilt angle of the cargo box;

According to the test results, the working mode of the vehicle's cargo box lifting method is judged to obtain the cargo box working mode;

According to the cargo box working mode, the cargo box inclination angle is updated under different lifting modes to obtain an adaptive cargo box inclination angle; and the maximum inclination angle of the cargo box abnormal working mode in the cargo box working mode is cleared.

The present application provides a method, device and medium for adaptive protection of vehicle cargo box lifting, which first tests the maximum tilt angle of the cargo box in the automatic driving mode, then obtains the test result of the tilt angle of the cargo box, and then calculates and stores the change value of the tilt angle of the cargo box. At the same time, in the automatic driving mode, during the cargo box lifting process, the maximum value of the change of the tilt angle of the cargo box lifting is updated in time according to the real-time update strategy to ensure the accuracy of the maximum tilt angle of the cargo box lifting. During the cargo box working process, the cargo box lifting working state and the corresponding cargo box working mode are calculated and judged in real time, and the tilt angle change value and the maximum tilt angle of the cargo box lifting in different cargo box lifting working modes are recorded and updated in real time, and different control strategies are performed for the cargo box in different cargo box lifting working modes, so as to ensure the safety and redundancy of the cargo box lifting.

Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

The devices and media provided in the embodiments of the present application correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

The present application is described with reference to the flowchart and/or block diagram of the method, device (system) and computer program product according to the embodiment of the present application. It should be understood that each process and/or box in the flowchart and/or block diagram, and the combination of the process and/or box in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for realizing the function specified in one process or multiple processes in the flowchart and/or one box or multiple boxes in the block diagram.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

In a typical configuration, a computing device includes one or more processors (CPU), input/output interfaces, network interfaces, and memory.

The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and/or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (7)

1. A vehicle cargo box lifting adaptive protection method, characterized in that the method comprises: Calculating the tilt angle of the cargo box of the vehicle according to the vehicle body state to obtain a tilt angle change value; According to the tilt angle change value and the corresponding time threshold, a maximum tilt angle test is performed on the tilt angle of the cargo box to obtain a test result of the tilt angle of the cargo box, specifically including: Performing maximum value judgment on the tilt angle change value; If the tilt angle change value is a maximum value, accumulating the tilt angle change value to obtain a first accumulated time; If the first accumulated time is greater than a first preset time threshold, the maximum value of the cargo box tilt angle is recorded and stored, and the first accumulated time is accumulated twice to obtain a second accumulated time; If the second accumulated time is greater than a second preset time threshold, the cargo box lifting state in the vehicle body state is determined as the cargo box lowering state, and the maximum value of the cargo box inclination angle in the cargo box lowering state is recorded and stored, and the second accumulated time is accumulated three times to obtain a third accumulated time; If the third accumulated time is greater than a third preset time threshold, the maximum tilt angle of the cargo box tilt angle is recorded to obtain the maximum tilt angle of the cargo box lift; The test results of the cargo box tilt angle include: the maximum tilt angle of the cargo box when it is lifted and the tilt angle change value; According to the test results, the working mode of the cargo box lifting method of the vehicle is judged to obtain the cargo box working mode, which specifically includes: If the tilt angle change value does not reach the maximum value and the cargo box lifting state is the start lifting state, the cargo box working mode is the cargo box lifting mode; If the tilt angle change value does not reach the maximum value and the cargo box lifting state is the set state, the cargo box working mode is the cargo box pause mode; If the tilt angle change value reaches the maximum value and the cargo box lifting state is the start lifting state, and the tilt angle change value does not change with the accumulated timing, then the cargo box working mode is the cargo box lifting protection mode; If the maximum tilt angle of the cargo box lifting is a fixed value and the tilt angle change value does not exceed the preset adjustment range, the maximum tilt angle of the cargo box lifting is updated within a range, and the cargo box working mode is the cargo box lifting limit update mode; If the tilt angle variation value exceeds the preset adjustment range, and the maximum tilt angle of the cargo box lifting is a variation value, the cargo box operating system of the vehicle is determined to be in a fault state, and the cargo box operation mode is an abnormal cargo box operation mode; According to the cargo box working mode, the cargo box tilt angle is updated under different lifting modes to obtain an adaptive cargo box tilt angle, specifically including: If the cargo box operation mode is the cargo box lifting mode, the standard change threshold value of the tilt angle change value is judged according to the time accumulation range of the corresponding tilt angle change value; wherein the time accumulation range is the time range for accumulating the tilt angle change value; If the inclination angle change value is less than the standard change threshold, the maximum inclination angle of the cargo box lifting in the cargo box lifting mode is recorded and updated and stored in the EEPROM, and the corresponding maximum inclination angle of the cargo box lifting is determined as the adaptive cargo box inclination angle; and the maximum inclination angle of the cargo box working abnormal mode in the cargo box working mode is cleared. 2. The method for adaptively protecting a vehicle cargo box when lifting according to claim 1 is characterized in that, according to the vehicle body state, the tilt angle of the cargo box of the vehicle is calculated to obtain the tilt angle change value, which specifically includes: Acquire the vehicle body state; wherein the vehicle body state includes at least: cargo box lifting state, automatic driving flag state, vehicle speed state and cargo box maximum tilt angle flag state; If the automatic driving flag state is in the set state, the vehicle speed state is in the stopped state, and the cargo box lifting state is in the started lifting state, the cargo box tilt angle of the vehicle is calculated to obtain an initial cargo box tilt angle; Based on a preset time threshold, the initial cargo box tilt angle is calculated in real time to obtain the tilt angle change value. 3. The method for adaptively protecting a vehicle cargo box when lifting according to claim 1 is characterized in that, according to the cargo box working mode, the cargo box tilt angle is updated under different lifting modes to obtain an adaptive cargo box tilt angle, which specifically includes: If the cargo box operation mode is the cargo box lifting protection mode, then the tilt angle change value is compared with the value of the corresponding cargo box lifting maximum tilt angle according to the time accumulation range of the corresponding tilt angle change value; If the inclination angle change value is greater than the value of the maximum inclination angle of the cargo box lifting, and the inclination angle change value is less than the standard change threshold, the maximum inclination angle of the cargo box lifting in the cargo box lifting protection mode is recorded and updated and stored in the EEPROM, and the corresponding maximum inclination angle of the cargo box lifting is determined as the adaptive cargo box inclination angle. 4. A vehicle cargo box lifting adaptive protection method according to claim 3, characterized in that after comparing the tilt angle change value with the value of the corresponding cargo box lifting maximum tilt angle, the method further comprises: If the tilt angle change value is less than the value of the maximum tilt angle of the cargo box lift, the tilt angle change value is compared with the preset cargo box tilt angle calibration maximum value; If the tilt angle change value is greater than the calibrated maximum value of the cargo box tilt angle, the maximum cargo box lifting tilt angle corresponding to the tilt angle change value is recorded and updated and stored in the EEPROM, and the corresponding maximum cargo box lifting tilt angle is determined as the adaptive cargo box tilt angle. 5. The vehicle cargo box lifting adaptive protection method according to claim 1 is characterized in that the maximum inclination angle clearing process is performed on the cargo box abnormal working mode in the cargo box working mode, specifically comprising: If it is identified that the cargo box operation mode is an abnormal cargo box operation mode, the abnormal cargo box failure is prompted and recorded; The abnormal fault of the cargo box is downgraded, and the maximum inclination angle of the cargo box lifting and the inclination angle change value in the test results are cleared; and after the abnormal fault of the cargo box is repaired, the maximum inclination angle of the cargo box is re-tested until the adaptive cargo box inclination angle is obtained. 6. A vehicle cargo box lifting adaptive protection device, characterized in that the device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, so that the at least one processor can execute the vehicle cargo box lifting adaptive protection method according to any one of claims 1-5. 7. A non-volatile computer storage medium, characterized in that the storage medium is a non-volatile computer-readable storage medium, and the non-volatile computer-readable storage medium stores at least one program, each of which includes instructions, and when the instructions are executed by a terminal, the terminal executes a vehicle cargo box lifting adaptive protection method according to any one of claims 1-5.