CN115139721A

CN115139721A - Loading vehicle carriage height adjusting method and device, electronic equipment and loading vehicle

Info

Publication number: CN115139721A
Application number: CN202211081060.1A
Authority: CN
Inventors: 林国贤; 段珍珍; 邱宝象; 滕瑞静; 王柏超; 李坚利; 陈颖; 宋京洋; 徐银宽
Original assignee: Wanxiang Qianchao Co Ltd
Current assignee: Wanxiang Qianchao Co Ltd
Priority date: 2022-09-06
Filing date: 2022-09-06
Publication date: 2022-10-04
Anticipated expiration: 2042-09-06
Also published as: CN115139721B

Abstract

The disclosure relates to a method and a device for adjusting the height of a carriage of a loading vehicle, electronic equipment and the loading vehicle, wherein the method for adjusting the height of the carriage of the loading vehicle is applied to the loading vehicle, the loading vehicle comprises an active suspension, and the method for adjusting the height of the carriage of the loading vehicle comprises the following steps: acquiring a target height difference, wherein the target height difference is the height difference between the height of a carriage of a loading vehicle and the height of a loading and unloading platform; determining a loading and unloading scene of a loading vehicle; based on the loading and unloading scenes and the height difference, the height of the carriage is adjusted through the active suspension, so that the height of the adjusted carriage is matched with the height of the loading and unloading platform. Through the method for adjusting the height of the carriage of the loading vehicle, provided by the disclosure, the height difference of the loading vehicle in the butt joint process with the loading and unloading platform can be avoided, and then a user can conveniently load and unload goods.

Description

Loading vehicle carriage height adjusting method and device, electronic equipment and loading vehicle

Technical Field

The disclosure relates to the technical field of loading vehicles, in particular to a method and a device for adjusting the height of a carriage of a loading vehicle, electronic equipment and the loading vehicle, and further relates to a storage medium.

Background

With the rapid development of transportation business, loading and unloading based on loading vehicles have gradually come into the field of vision of people.

In the related art, in the process of loading and unloading, the loading vehicle and the loading and unloading platform need to be firstly butted, and then the loading and unloading are carried out. However, the loading vehicle often has a height difference in the process of docking with the loading and unloading platform, which is inconvenient for users to load and unload goods.

Disclosure of Invention

In order to overcome the problems in the related art, the disclosure provides a method and a device for adjusting the height of a carriage of a loading vehicle, electronic equipment and the loading vehicle.

According to a first aspect of the disclosed embodiments, there is provided a loader vehicle compartment height adjustment method, which is applied to a loader vehicle including an active suspension, the loader vehicle compartment height adjustment method including:

acquiring a target height difference, wherein the target height difference is the height difference between the height of a carriage of the loading vehicle and the height of a loading and unloading platform;

determining a loading and unloading scene of the loading vehicle;

and adjusting the height of the carriage through the active suspension based on the loading and unloading scene and the height difference so as to enable the adjusted height of the carriage to be matched with the height of the loading and unloading platform.

According to the loading vehicle carriage height adjusting method provided by the present disclosure, the adjusting of the carriage height through the active suspension based on the loading and unloading scene and the height difference so that the adjusted carriage height matches with the loading and unloading platform height specifically comprises:

and adjusting the height of the chassis of the wheels of the loading vehicle through the active suspension to adjust the height of the carriage based on the loading and unloading scene and the height difference so as to enable the adjusted height of the carriage to be matched with the height of the loading and unloading platform, wherein the height of the chassis is the height from the chassis at the positions of the wheels of the loading vehicle to the ground.

According to the loading vehicle carriage height adjusting method, the active suspension comprises an oil hydraulic cylinder, wherein the oil hydraulic cylinder corresponds to wheels of the loading vehicle;

the chassis height of the wheels of the loader vehicle is adjusted through the active suspension, and the chassis height adjusting method specifically comprises the following steps:

the chassis height of the wheel corresponding to the wheel oil hydraulic cylinder is adjusted by adjusting the oil pressure in the wheel oil hydraulic cylinder.

According to the method for adjusting the height of the carriage of the loading vehicle provided by the disclosure, the chassis height of the wheels of the loading vehicle is adjusted through the active suspension to adjust the height of the carriage, so that the adjusted height of the carriage is matched with the height of the loading and unloading platform, and the method specifically comprises the following steps:

adjusting the height of the chassis of the rear wheels of the loading vehicle through the active suspension on the premise that the loading scene is a loading scene, so that the adjusted height of the chassis of the rear wheels is the same as the height of the loading and unloading platform, and

and adjusting the chassis height of the front wheels of the loading vehicle through the active suspension, so that the adjusted chassis height of the front wheels is smaller than that of the rear wheels.

adjusting the height of the chassis of the rear wheels of the loading vehicle through the active suspension on the premise that the loading and unloading scene is the unloading scene, so that the adjusted height of the chassis of the rear wheels is the same as the height of the loading and unloading platform, and

and adjusting the chassis height of the front wheels of the loading vehicle through the active suspension, so that the adjusted chassis height of the front wheels is greater than that of the rear wheels.

According to the loading vehicle carriage height adjusting method, the active suspension is provided with a pressure sensor;

after the adjusting the height of the carriage through the active suspension based on the loading and unloading scene and the height difference so that the adjusted height of the carriage is matched with the height of the loading and unloading platform, the method for adjusting the height of the carriage of the loading vehicle further comprises the following steps:

monitoring the oil pressure of each wheel oil pressure cylinder in real time based on the pressure sensor;

determining the bearing of the wheels corresponding to the wheel oil hydraulic cylinders based on the oil pressure;

determining the current load bearing distribution condition of the loading vehicle based on the load bearing;

and generating a voice prompt based on the current load bearing distribution condition, wherein the voice prompt is used for prompting a cargo unloading position or a cargo loading position in the loading vehicle.

According to the method for adjusting the height of the carriage of the loading truck provided by the disclosure, after the height of the carriage is adjusted through the active suspension based on the loading and unloading scene and the height difference so that the adjusted height of the carriage is matched with the height of the loading and unloading platform, the method for adjusting the height of the carriage of the loading truck further comprises the following steps:

monitoring the height of the carriage of the loading vehicle in real time;

and under the condition that the height of the carriage is monitored to be changed, adjusting the chassis height of each wheel of the loading vehicle based on the active suspension so as to enable the height of the carriage of the loading vehicle after the chassis height is adjusted to be matched with the height of the loading and unloading platform.

According to the loading vehicle carriage height adjusting method, the active suspension is provided with a height sensor;

the real-time monitoring the carriage height of the loading vehicle specifically comprises:

and monitoring the chassis height of each wheel of the loading vehicle in real time based on the height sensor so as to realize the monitoring of the carriage height of the loading vehicle.

According to the carriage height adjusting method of the loading vehicle, the loading vehicle comprises an inclination angle sensor; the obtaining of the target height difference specifically includes:

under the condition that a carriage of the loading vehicle is connected with a loading and unloading platform, monitoring the inclination angle of the carriage and the loading and unloading platform based on the inclination angle sensor;

based on the tilt angle, the target height difference is determined.

According to the method for adjusting the height of the carriage of the loading vehicle, the determining of the loading and unloading scene of the loading vehicle specifically comprises the following steps:

monitoring the load bearing of the loading vehicle and/or the load bearing distribution condition of the loading vehicle in a preset continuous time period;

when the load bearing of the loading vehicle is reduced in a preset continuous time period and/or the load bearing distribution condition of the loading vehicle is that the load bearing is distributed on the rear side of the carriage, determining that the loading and unloading scene is a unloading scene;

and when monitoring that the load bearing of the loading vehicle is increased within a preset continuous time period, and/or the load bearing distribution condition of the loading vehicle is that the load bearing is distributed on the side of the carriage, determining that the loading and unloading scene is a loading scene, wherein the side of the carriage comprises the left side or the right side of the carriage.

According to a second aspect of the embodiments of the present disclosure, there is provided a loading vehicle to which the method for adjusting the height of a compartment of the loading vehicle according to any one of the embodiments of the first aspect is applied, the loading vehicle including: a vehicle compartment, wheels, and an active suspension, wherein,

the active suspension adjusts the height of the carriage by adjusting the height of the chassis of each wheel of the loading vehicle, so that the height of the carriage after adjustment is matched with the height of the loading and unloading platform.

According to a third aspect of the embodiments of the present disclosure, there is provided a loader vehicle compartment height adjusting apparatus applied to a loader vehicle including an active suspension, the loader vehicle compartment height adjusting apparatus including:

the system comprises an acquisition module, a loading module and a loading module, wherein the acquisition module is used for acquiring a target height difference, and the target height difference is the height difference between the carriage height of the loading vehicle and the height of a loading and unloading platform;

the determining module is used for determining a loading and unloading scene of the loading vehicle;

and the processing module is used for adjusting the height of the carriage through the active suspension based on the loading and unloading scene and the height difference so as to enable the adjusted height of the carriage to be matched with the height of the loading and unloading platform.

According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the loaded vehicle compartment height adjusting method according to any one of the embodiments of the first aspect.

According to a fifth aspect of the embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing the loaded vehicle compartment height adjusting method according to any one of the embodiments of the first aspect.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: through obtaining the loading and unloading scene of target difference in height and load wagon to based on loading and unloading scene and difference in height, through initiative suspension adjustment carriage height, so that the carriage height after the adjustment and the high phase-match of loading and unloading goods platform, thereby can ensure that the load wagon can not appear meeting the difference in height with loading and unloading goods platform butt joint in-process, and then the user of being convenient for loads, unloads.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a flow chart illustrating a loader car height adjustment method according to an exemplary embodiment.

FIG. 2 is a schematic diagram illustrating a partial configuration of an active suspension according to an exemplary embodiment.

FIG. 3 is one of the schematic structural diagrams of a hydraulic branch in an active suspension shown in accordance with an exemplary embodiment.

FIG. 4 is a second schematic diagram of a hydraulic branch in an active suspension according to an exemplary embodiment.

Fig. 5 is a schematic diagram illustrating an application scenario for obtaining a target height difference according to an exemplary embodiment.

FIG. 6 is a flow chart illustrating another loader car height adjustment method according to an exemplary embodiment.

Fig. 7 is a schematic view illustrating an application scenario of the loader car height adjustment method according to an exemplary embodiment.

Fig. 8 is a flow chart illustrating yet another loader car height adjustment method in accordance with an exemplary embodiment.

Fig. 9 is a flow chart illustrating yet another loader car height adjustment method in accordance with an exemplary embodiment.

Fig. 10 is a flow chart illustrating a process for determining a loading or unloading scenario for a load vehicle in accordance with an exemplary embodiment.

Fig. 11 is a schematic diagram of a loader vehicle according to an exemplary embodiment.

Fig. 12 is a block diagram of a loader car height adjustment apparatus shown in accordance with an exemplary embodiment.

Fig. 13 is a schematic structural diagram of an electronic device according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

The present disclosure provides a method for adjusting the height of a load compartment of a loader vehicle, wherein the method can be applied to a loader vehicle, which can comprise an active suspension. In the application process, the height of the carriage can be adjusted through the active suspension frame based on the loading and unloading scene and the height difference by acquiring the target height difference and the loading and unloading scene of the loading vehicle, so that the height of the adjusted carriage is matched with the height of the loading and unloading platform, the height difference can be avoided in the butt joint process of the loading vehicle and the loading and unloading platform, and the loading and unloading can be conveniently carried out by a user.

The active suspension (also called active suspension system) means that the rigidity and damping characteristic of the suspension system can be dynamically and adaptively adjusted according to the driving conditions (the motion state of a vehicle, the road surface condition and the like) of an automobile, so that the suspension system is always in the optimal vibration reduction state. The active suspension can control the height of the automobile body, improves the passing performance, and gives consideration to the smoothness, the operation stability and the like of the automobile. In the present disclosure, the car height will be adjusted based on the active suspension so that the adjusted car height matches the loading platform height.

FIG. 2 is a schematic illustration of a partial structure of an active suspension according to an exemplary embodiment; FIG. 3 is one of the schematic structural diagrams of the hydraulic branch in an active suspension shown in accordance with one exemplary embodiment; FIG. 4 is a second schematic diagram illustrating a hydraulic branch in an active suspension according to an exemplary embodiment. The operation of the active suspension will be described with reference to fig. 2 to 4.

As can be seen from fig. 2 to 4, the active suspension (also called a hydraulic active suspension) may include an oil storage module 10, a balancing module 20, and four hydraulic branches 30.

The oil storage module 10 may be in communication with the balancing module 20 through the oil supply main path 111, and is configured to supply oil to the balancing module 20. The oil storage module 10 includes an oil reservoir 11 that stores suspension oil, a hydraulic pump 12, a first oil pressure spring 13, and an oil pressure auxiliary assembly.

The hydraulic pump 12 is disposed between the main oil supply path 111 and the oil storage tank 11, and pressurizes the low-pressure suspension oil in the oil storage tank 11 to change the low-pressure suspension oil into high-pressure suspension oil, so that the suspension oil generates high-pressure oil pressure and enters the balancing module 20. The hydraulic pump 12 may be a gear pump, a plunger pump, or the like, or may be a brush motor or a brushless motor, which is not limited in particular.

A first oil pressure spring 13 connected to the main oil supply path 111 through a first branch path and connected between the hydraulic pump 12 and the balance module 20; when the oil pressure on the main oil supply path 111 is higher than the preset oil pressure threshold, the high-pressure oil can overflow into the first oil pressure spring 13, so that the oil pressure of the main oil supply path 111 can be maintained at a stable level, and the overpressure protection effect is achieved.

Further, the first oil spring 13 may be electrically connected to an electronic control system (hereinafter abbreviated as ECU) of the vehicle, and the ECU controls a working process of the first oil spring 13, so that the pressure in the main oil supply path 111 may be controlled more accurately, the control accuracy is higher, and it is avoided that the oil pressure of the main oil supply path 111 is too large due to insufficient pressure relief, which may cause damage to a system pipeline or other parts, or avoid pressure loss due to too large pressure relief, which may require repeated pressure compensation, and other adverse conditions.

The oil pressure auxiliary assembly includes a second solenoid valve 14 and a second oil pressure spring 15, and is connected to the main oil supply path 111 through a second branch path and is located between the first oil pressure spring 13 and the balancing module 20.

Specifically, the oil pressure auxiliary assembly can reduce the pressure buildup time (i.e., the time to build pressure) of the hydraulic pump 12. When the hydraulic pump 12 supplies the suspension oil to the balancing module 20 and the four hydraulic branches 30, the hydraulic pump 12 needs to operate for a period of time due to the necessary start time of the hydraulic pump 12 and the long pipeline, so as to establish the oil pressures required by the balancing module 20 and the four hydraulic branches 30. After the branch cylinders corresponding to the wheels drain the suspension oil and reduce the height of the vehicle body (which can be realized by reducing the height of the chassis of the wheels), 20-30 seconds may be needed when the oil pressure needs to be reestablished.

And through the auxiliary oil pressure subassembly, can play the effect of supplementary hydraulic pump 12 pressure build, specifically, when need not supplementary pressure build, highly compressed suspension fluid can be stored to second oil pressure spring 15, when needs supplementary pressure build, opens second solenoid valve 14 (can be for two-position two-way reversing valve), high pressure suspension fluid that prestores in the emergency release second oil pressure spring 15, so, make balanced module 20 can build pressure fast for the speed that the suspension rises, can shorten at least 2-3 seconds.

Further, the second oil pressure spring 15 is also electrically connected with the ECU, when the vehicle body needs to be lifted urgently (the vehicle body can be lifted by improving the height of the chassis of the wheels) due to the fact that the road jolts, the ECU can quickly predict and send a signal to indicate the second electromagnetic valve 14 to be opened, so that the second oil pressure spring 15 releases high-pressure suspension oil, and the speed of obtaining the high-pressure oil by the active suspension system is greatly improved. Therefore, the pressure building time is short, and the reaction speed of the vehicle body is quicker.

Further, the balancing module 20 is connected with the oil storage module 10 through an oil supply main path 111; the four hydraulic branches 30 are connected to the balancing module 20, and the balancing module 20 is configured to transmit the first oil pressure of the oil storage module 10 to the corresponding hydraulic branches 30, and further balance the oil pressures of the four hydraulic branches 30.

The balancing module 20 includes a central cylinder 21 and four balancing branches, and the balancing branches include four parallel left front branch 221, right rear branch 222, left rear branch 223, and right front branch 224, which correspond to a left front wheel (which may be understood as a left front row wheel), a right rear wheel (which may be understood as a right rear row wheel), a left rear wheel (which may be understood as a left rear row wheel), and a right front wheel (which may be understood as a right front row wheel), respectively.

One end of each balancing branch is connected with the main oil supply path 111, and the other end of each balancing branch is connected with the central cylinder 21, and is used for transmitting the high-pressure first oil pressure generated by the hydraulic pump 12 in the oil storage module 10 to the central cylinder 21; and each balance branch is provided with a third electromagnetic valve 225 for controlling the on-off of each balance branch.

The third electromagnetic valve 225 may be a two-position two-way reversing valve, the third electromagnetic valve 225 is connected to the ECU, when the vehicle runs to an uneven road and bumps, the vibration sensor, the height sensor and the pressure sensor in each hydraulic branch 30 transmit each signal of the suspension at each wheel to the ECU, and the ECU controls the opening and closing of the third electromagnetic valve 225 of the corresponding wheel according to the signal, so as to control the on-off of the balancing branch of the corresponding wheel.

The central cylinder 21 includes a balance cavity and a balance piston 215, the balance cavity includes a middle cavity and end cavities at both ends of the middle cavity, the volume of the middle cavity is greater than that of the end cavities, and the middle cavity and the end cavities are communicated with each other.

The balance piston 215 comprises three rigidly connected sub-pistons which are respectively positioned in an end cavity and a middle cavity, the three sub-pistons divide the balance cavity into a left front cavity 211, a right rear cavity 212, a left rear cavity and a right front cavity which are communicated, the left front cavity 211, the right rear cavity 212, the left rear cavity 213 and the right front cavity 214 are respectively connected with a left front branch 221, a right rear branch 222, a left rear branch 223 and a right front branch 224 of the balance branch, when the pressure of a certain cavity changes, the three pistons of the balance piston 215 slide in the balance cavity, and therefore the oil pressures of the four cavities, namely the oil pressures of the four balance branches, are balanced.

Therefore, the suspension of the four wheels can be adjusted in height, damping or vibration at the same time, so that the whole vehicle is more comfortable, stable and safe in the running process.

Further, the left and right

front cavities

211 and 214 are located at the end cavities, and most of the right and left

rear cavities

212 and 213 are located at the middle cavity. Therefore, the volumes of the front left cavity 211 and the front right cavity 214 are smaller than the volumes of the rear right cavity 212 and the rear left cavity 213, that is, the cavity volume of the front two wheels is smaller than that of the rear two wheels.

Because the weight that the front axle needs to bear is greater than the rear axle, consequently for the rear axle, the response of front axle is required more rapidly, and the cavity that the front axle that is small corresponds just can satisfy the requirement that the front axle reacts rapidly. For example, when the oil pressure of the hydraulic branch 30 corresponding to the front axle changes, the hydraulic branch can quickly react to the end cavity, because the end cavity is small in size and large in volume change rate, the hydraulic branch can quickly react with the rear axle, so that the front axle can quickly balance with the rear axle, the suspension of the left front wheel or the right front wheel can quickly react, when the hydraulic branch 30 corresponding to the rear axle changes, the middle cavity corresponding to the rear axle is large in size and small in volume change rate, therefore, the rear axle and the front axle are slow in balancing speed, and the left rear wheel and the right rear wheel are soft and comfortable.

Further, the left front cavity 211 is adjacent to the right rear cavity 212, and the left rear cavity 213 is adjacent to the right front cavity 214.

Specifically, if the wheel of the hydraulic branch 30 corresponding to the left front cavity 211 changes, for example, the left front wheel is squeezed by a stone, and pushes the suspension of the left front wheel upward, the oil pressure of the hydraulic branch 30 corresponding to the left front wheel increases, and when the hydraulic branch 30 corresponds to the balance cavity of the central cylinder 21, the volume of the left front cavity 211 increases, so as to push the balance piston 215 to move rightward, so that the volume of the right rear cavity 212 increases, and the volumes of the left rear cavity 213 and the right front cavity 214 decrease at the same time.

It can be seen that the suspension of the right rear wheel corresponding to the right rear cavity 212 is raised, while the suspension of the left rear wheel corresponding to the left rear cavity 213 and the suspension of the right front wheel corresponding to the right front cavity 214 are lowered. Thus, when a pressure change occurs in one hydraulic branch 30 of the vehicle, the pressure (i.e., the suspension height) of the hydraulic branch 30 of the opposite-angle wheel can be changed rapidly according to the opposite form, and the pressure (i.e., the suspension height) of the hydraulic branch 30 of the adjacent wheel can be changed rapidly according to the same form, so as to limit the vehicle body from generating an excessive roll in the horizontal direction, or limit the vehicle body from generating an excessive displacement in the vertical direction, so as to avoid the roll and bump phenomena, and improve the riding comfort of the vehicle and the driving smoothness of the vehicle.

Further, a fourth electromagnetic valve 226 is connected between the left front branch 221 and the right front branch 224, that is, the fourth electromagnetic valve 226 is used for controlling on-off of the two hydraulic branches 30 of the front axle; and a fifth solenoid valve 227 is connected between the right rear branch 222 and the left rear branch 223, that is, the fifth solenoid valve 227 is used for controlling the on-off of the two hydraulic branches 30 of the rear axle. The fourth solenoid valve 226 and the fifth solenoid valve 227 may also be two-position, two-way reversing valves.

In some embodiments, the four hydraulic branches 30 may be identical or different in structure. In the disclosed embodiment, the left front hydraulic branch and the right front hydraulic branch are identical in structure (as shown in fig. 3), but may be different in structure from the left rear hydraulic branch and the right rear hydraulic branch (as shown in fig. 4). As shown in fig. 3, the left front position indicated is connected to the left front chamber 211 of the balance chamber of the center cylinder 21, and as shown in fig. 4, the right rear position indicated is connected to the right rear chamber 212 of the balance chamber of the center cylinder 21, and the left front hydraulic branch will be described in detail below as an example.

The hydraulic branch 30 includes a branch cylinder 31 connected to a corresponding cavity of the center cylinder 21, and the branch cylinder 31 includes a second cylinder body and a second piston 312. Wherein, suspension fluid gets into and out the second cylinder body under the effect of first oil pressure to the realization is to the shock attenuation buffering of suspension, and adjusts the height of suspension through the length of stretching out of the piston rod of second piston 312.

In some embodiments, the hydraulic branch 30 further comprises a damping valve 32 connected between the center cylinder 21 and the branch cylinder 31 for adjusting the damping of the hydraulic branch 30 by adjusting the flow area of the suspension oil in the main branch path. Specifically, the damping valve 32 is a combination of a flow control valve and a stepping motor (not shown in the figure), the stepping motor is controlled by the ECU, and when the ECU adjusts the flow area of the hydraulic branch 30 according to the signal transmitted by the sensor assembly, the valve core of the flow control valve is adjusted to a corresponding position by starting the stepping motor to rotate, so as to adjust the thickness of the hydraulic branch 30.

The smaller the flow area, the "finer" the suspension oil is, the more difficult it is to pass through, and the greater the damping. The greater the damping, the shorter the vibration time from vibration to stationary when the suspension of the corresponding wheel encounters vibration or bump. Thus, the vibration time of each wheel suspension can be changed according to actual road conditions and passenger requirements.

In some embodiments, the hydraulic branch 30 further comprises a third oil pressure spring 33 and a fourth oil pressure spring 34; the third hydraulic spring 33 and the fourth hydraulic spring 34 are respectively connected to two ends of the damping valve, and the third hydraulic spring 33 and the fourth hydraulic spring 34 are electrically connected to the electronic control unit.

The third oil pressure spring 33 and the fourth oil pressure spring 34 can play a role of overpressure protection, when the oil pressure of the hydraulic branch 30 is too large, the third oil pressure spring 33 and the fourth oil pressure spring 34 can absorb high-pressure suspension oil, and vice versa, so that the situation that the oil pressure of the hydraulic branch 30 is too large to exceed a preset oil pressure threshold value is prevented, the stability of the oil pressure of the hydraulic branch 30 is kept, and the damage to parts of the hydraulic branch 30 is avoided.

In some embodiments, the hydraulic branch 30 further includes a stiffness adjusting assembly including a fifth oil pressure spring 351 and a spring rate shift valve 352. The fifth hydraulic spring 351 is used for communicating with the branch cylinder 31 and is electrically connected with the electronic control unit; the spring rate switching valve 352 controls the rate of the hydraulic branch 30 by controlling the on/off of the fifth hydraulic spring 351 and the branch cylinder 31.

Specifically, the spring rate switching valve 352 is turned back to a normally open valve, that is, turned on when power is off, and turned off when power is off, the suspension oil can enter or flow out of the fifth oil pressure spring 351 from the branch oil cylinder 31, and at this time, the amount of expansion and contraction of the piston rod of the branch oil cylinder 31 is large, the amount of change in the displacement of the vehicle in the vertical direction is small, and the change in the posture of the vehicle is small, so that the vibration of the vehicle is small, and the comfort is high.

When the stiffness of the branch cylinder 31 needs to be raised urgently, the spring stiffness switching valve 352 can be energized, the spring stiffness switching valve 352 is disconnected, the branch cylinder 31 becomes incompressible immediately, and the stiffness becomes large. At this time, the amount of extension and retraction of the piston rod of the branch cylinder 31 is small, that is, the amount of retraction of the suspension is small, the posture of the vehicle is greatly changed, but the moving performance of the vehicle is good.

The stiffness adjustment assembly cooperates with the damping adjustment of the damping valve 32 to adjust the vehicle to meet the optimal motion and comfort requirements of the occupant.

In some embodiments, each hydraulic branch 30 also includes a vibration sensor 36, a height sensor 37, and a pressure sensor 38. The vibration sensor 36 includes one or more for detecting vibration of the vehicle body; the height sensor 37 is used to detect the height of the suspension; the pressure sensor 38 is used to detect the oil pressure of the bypass cylinder 31.

The above sensors are exemplary, and in other embodiments, longitudinal and lateral acceleration and yaw gyro sensors may also be mounted near the center of gravity of the vehicle to acquire signals of body vibration, wheel bounce, body height and inclination.

Signals collected by all the sensors are input into the ECU, and the ECU sends out control instructions according to the input signals and a preset program to control the oil storage module 10, the balance module 20 and the corresponding hydraulic branch 30 so as to enable the four branch oil cylinders 31 to work. The height of the vehicle body is increased or decreased by increasing or decreasing suspension oil, namely, the ground clearance is automatically adjusted according to factors such as the vehicle speed and road conditions, and therefore the smoothness and the operation stability of the vehicle are improved.

In fig. 4, the working process and principle of the right rear hydraulic branch are similar to those of the left front hydraulic branch, and the rigidity adjusting components can be reduced in the right rear hydraulic branch compared with the left front hydraulic branch, and other structures are the same and are not described again.

It should be noted that the active suspension described in the foregoing embodiment may correspond to the active suspension 104 shown in fig. 11.

In order to further describe the method for adjusting the height of the carriage of the loading vehicle provided by the present disclosure, the following description is made with reference to fig. 1.

FIG. 1 is a flow chart illustrating a loader car height adjustment method according to an exemplary embodiment. The loader compartment height adjusting method may include steps 110 to 130, which will be described separately below.

In step 110, a target height difference is obtained, wherein the target height difference is a height difference between a height of a carriage of the loader and a height of the loading and unloading platform.

In an exemplary embodiment of the present disclosure, a height difference between a height of a carriage of a loader vehicle and a height of a loading platform, i.e., a target height difference, may be obtained.

In one embodiment, as can be seen from fig. 5, when the car 101 of the loading vehicle 100 is connected to the loading/unloading platform 103 (it should be noted that fig. 5 shows an unconnected state), the inclination angles of the car 101 and the loading/unloading platform 103 may be monitored in real time by an inclination angle sensor 1041 provided on the loading vehicle 100, and the target height difference may be determined based on the inclination angles.

In one example, the body 101 of the loader vehicle may be connected to the loading/unloading platform 103 based on the upper deck 102 so that the two are in a connected state.

In yet another example, an articulation plane may also be provided on the loader 100, wherein the articulation plane may be provided on the rear side of the carriage 101 of the loader 100, the articulation plane being used to articulate the loading platform 103. It will be appreciated that the articulation plane serves to connect the body 101 of the loader 100 to the loading platform 103 so that the body 101 of the loader 100 and the loading platform 103 are in the same plane to facilitate loading and unloading by a user.

In yet another embodiment, the rear side of the body 101 of the loader vehicle may also be provided with a contact sensor 1042. In the loading and unloading scene, when the contact sensor 1042 detects that an object is in contact with it, it can be understood that the loading plate 102 has been connected to the car 101 and the loading and unloading platform 103, respectively, that is, the car 101 and the loading and unloading platform 103 of the loading vehicle 100 are in a connected state.

In yet another embodiment, the articulating platform of loader 100 may also be provided with a contact sensor 1042. In the loading and unloading scene, when the contact sensor 1042 detects that an object is in contact with it, it can be understood that the hinge plane is connected to the loading and unloading platform 103, that is, the carriage 101 of the loading vehicle 100 is connected to the loading and unloading platform 103. In this embodiment, the tilt sensor 1041 may be disposed at a connecting axis of the hinge plane, and by detecting a rotation angle of the connecting axis, a tilt may be acquired, and a target height difference may be determined based on the tilt.

In still another embodiment, the inclination angle between the body 101 of the loader 100 and the loading platform 103 can be determined by detecting the component force in the front-rear direction of the hinge plane, and the target height difference can be determined.

In yet another embodiment, the cabin 101 of the loader 100 may also be provided with an image sensor. In one example, an image of the height of the car 101 and the loading/unloading platform 103 may be captured by an image sensor so that a target height difference may be determined from the image.

It should be noted that the form of acquiring the target height difference may be adjusted according to actual situations, and the form of acquiring the target height difference is not specifically limited in this disclosure.

In step 120, the loading and unloading scenario of the loader vehicle is determined.

In step 130, the car height is adjusted via the active suspension based on the loading and unloading scenario and the height difference such that the adjusted car height matches the loading and unloading platform height.

In one embodiment, the loading and unloading scenarios may include a loading scenario and a unloading scenario. In the application process, when the loading and unloading scenes are different, the height of the carriage is adjusted through the active suspension, so that the mode that the height of the adjusted carriage is matched with the height of the loading and unloading platform can be different.

In an exemplary embodiment of the present disclosure, based on a loading and unloading scenario and a height difference, the height of the carriage is adjusted through the active suspension, so that the height of the adjusted carriage is matched with the height of the loading and unloading platform, which can be achieved by the following method:

based on loading and unloading scenes and height differences, the height of the carriage is adjusted by adjusting the height of the chassis of the wheels of the loading vehicle through the active suspension, so that the adjusted height of the carriage is matched with the height of the loading and unloading platform, wherein the height of the chassis is the height from the chassis at the positions of the wheels of the loading vehicle to the ground.

In an exemplary embodiment of the present disclosure, the active suspension may include an oil hydraulic cylinder (corresponding to the bypass cylinder 31 in fig. 3 or 4), wherein the oil hydraulic cylinder corresponds to a wheel of the loader vehicle. I.e. one wheel hydraulic cylinder for each wheel.

The chassis height of the wheels of the loading vehicle can be adjusted by the active suspension in the following way:

the chassis height of the wheel corresponding to the wheel hydraulic cylinder is adjusted by adjusting the oil pressure in the wheel hydraulic cylinder.

The description will be given taking an example of increasing the height of the chassis of the left front wheel. In active suspension, the solenoid valve corresponding to the tire fluid path of the left front wheel (corresponding to hydraulic branch 30 in fig. 3 or 4) will be opened and the hydraulic pump will release high pressure suspension fluid outwardly and through the center cylinder into the tire fluid path of the left front wheel and ultimately into the wheel fluid cylinder corresponding to the left front wheel. Further, the oil in the wheel oil pressure cylinder increases, and the pressure in the cylinder rises. When the in-cylinder pressure is greater than the load, the extension length of the piston rod of the piston (corresponding to the second piston 312 in fig. 3 or 4) in the wheel hydraulic cylinder is increased, so that the suspension corresponding to the left front wheel can be increased, and the chassis height of the left front wheel can be increased. In addition, the oil pressure in the cylinder is gradually reduced until the oil pressure is the same as the load, so that the balance of a new wheel can be achieved, namely the chassis height of the left front wheel is stabilized at a certain fixed value.

It will be appreciated that the process of lowering the chassis height of the wheel will be the reverse of the process described hereinbefore and will not be particularly limited in this embodiment.

In this embodiment, based on loading and unloading goods scene and difference in height, the chassis height of the wheel of the loading vehicle is adjusted through the active suspension to realize adjusting the height of the carriage, so that the height of the adjusted carriage is matched with the height of the loading and unloading goods platform, and the difference in height can be avoided in the butt joint process (including the loading process and the unloading process) of the loading vehicle and the loading and unloading goods platform, thereby facilitating the loading and unloading of users.

According to the loading vehicle carriage height adjusting method, the target height difference and the loading and unloading scene of the loading vehicle are obtained, and the carriage height is adjusted through the active suspension frame based on the loading and unloading scene and the height difference, so that the adjusted carriage height is matched with the loading and unloading platform height, the height difference can be avoided in the process that the loading vehicle is in butt joint with the loading and unloading platform, and then loading and unloading are facilitated for a user.

In order to further introduce the method for adjusting the height of the carriage of the loading truck provided by the present disclosure, a process of adjusting the height of the carriage by adjusting the chassis height of the wheels of the loading truck through the active suspension in different loading and unloading scenes so as to match the adjusted height of the carriage with the height of the loading and unloading platform will be described below.

FIG. 6 is a flow chart illustrating another loader car height adjustment method in accordance with an exemplary embodiment.

In an exemplary embodiment of the present disclosure, as can be seen from fig. 6, the method for adjusting the height of the carriage of the loader may include steps 210 to 240, where steps 210 to 220 are the same as or similar to steps 110 to 120, and for the specific implementation and beneficial effects, reference is made to the foregoing description, which is not repeated herein, and step 230 and step 240 will be described below.

In step 230, on the premise that the loading and unloading scene is the loading scene, the chassis height of the rear wheels of the loading vehicle is adjusted through the active suspension so that the adjusted chassis height of the rear wheels is the same as the loading and unloading platform height, and the chassis height of the front wheels of the loading vehicle is adjusted through the active suspension so that the adjusted chassis height of the front wheels is smaller than the chassis height of the rear wheels.

In one embodiment, when the loading and unloading scene is judged to be a loading scene, the chassis height of the rear wheels and the chassis height of the front wheels of the loading vehicle can be respectively adjusted through the active suspension. The active suspension can adjust the height of the chassis of the rear wheels and the height of the chassis of the front wheels by adjusting the hydraulic pressure of the wheel hydraulic cylinder corresponding to the rear wheels and the hydraulic pressure of the wheel hydraulic cylinder corresponding to the front wheels, respectively. The specific adjustment method has been described in detail above, and is not described in detail in this embodiment. In the present disclosure, the direction in which the front end of the loading vehicle is located is referred to as a forward direction, and the direction in which the cabin of the loading vehicle is located is referred to as a rearward direction.

For the loading scene, in order to facilitate loading by a user, it is necessary to ensure that the carriage of the loading vehicle and the loading and unloading platform are in the same horizontal plane. In one example, the height of the rear wheels of the loader vehicle may be adjusted by the active suspension such that the adjusted rear wheels have the same height as the loading platform. It will be appreciated that since the platform is connected to the wagon by the rear of the wagon, the height of the chassis of the rear wheels determines whether the wagon can be level with the platform. In the application process, the chassis height of the rear wheels of the loading vehicle can be adjusted through the active suspension, so that the adjusted chassis height of the rear wheels is the same as the height of the loading and unloading platform, the carriage of the loading vehicle can be ensured to be positioned on the same horizontal plane with the loading and unloading platform, and the loading is convenient for users.

In another embodiment, in order to facilitate loading by the user, the inclined posture of the carriage can be set in a forward tilting mode, so that the goods placed at the rear part of the carriage tend to move towards the front part of the carriage under the action of gravity, and labor can be saved when the user moves the goods towards the front part of the carriage.

In one example, the ride height of the front wheels of the loader vehicle may be adjusted via the active suspension such that the adjusted ride height of the front wheels is less than the ride height of the rear wheels. In yet another embodiment, in order to ensure the stability of the cabin, the difference in height between the adjusted chassis height of the front wheels and the chassis height of the rear wheels may be within a height difference threshold range. The height difference threshold may be adjusted according to actual conditions, for example, may be 10 centimeters, and in this embodiment, the height difference threshold is not specifically limited.

In step 240, on the premise that the loading and unloading scene is the unloading scene, the chassis height of the rear wheels of the loading vehicle is adjusted through the active suspension so that the adjusted chassis height of the rear wheels is the same as the loading and unloading platform height, and the chassis height of the front wheels of the loading vehicle is adjusted through the active suspension so that the adjusted chassis height of the front wheels is greater than the chassis height of the rear wheels.

As can be seen from fig. 7, in the unloading scene, in order to facilitate unloading by the user, it is necessary to ensure that the carriage 101 of the loading vehicle 100 is at the same level as the loading/unloading platform 103, and in one example, the carriage 101 and the loading/unloading platform 103 may be connected by the upper deck 102. In one example, the height of the rear wheels of the loader 100 may be adjusted via active suspension such that the adjusted rear wheels have the same height as the lift platform. It will be appreciated that since the loading platform 103 is connected to the wagon 101 by the rear of the wagon 101, the ride height of the rear wheels determines whether the wagon 101 of the loader 100 can be level with the loading platform 103. In the application process, the chassis height of the rear wheels of the loading vehicle 100 can be adjusted through the active suspension, so that the adjusted chassis height of the rear wheels is the same as the height of the loading and unloading platform, and further the carriage 101 of the loading vehicle 100 and the loading and unloading platform 103 can be ensured to be in the same horizontal plane, thereby facilitating the unloading of users.

In another embodiment, the inclined posture of the car 101 may be set to a backward inclined posture for facilitating the unloading of the user, so that the goods placed at the front part of the car 101 tend to move toward the rear part of the car 101 due to the gravity, thereby ensuring the user to save labor when moving the goods toward the rear part of the car 101.

In one example, the ride height of the front wheels of the loader vehicle may be adjusted via the active suspension such that the adjusted ride height of the front wheels is greater than the ride height of the rear wheels. In yet another embodiment, to ensure the stability of the cabin, the difference in height between the adjusted front row wheel chassis height and the rear row wheel chassis height may be within a height difference threshold range. The height difference threshold may be adjusted according to actual conditions, for example, may be 10 centimeters, and in this embodiment, the height difference threshold is not specifically limited.

In order to further describe the method for adjusting the height of the carriage of the loader provided by the present disclosure, the following description will be made with reference to fig. 8.

In an exemplary embodiment of the present disclosure, as can be seen from fig. 8, the method for adjusting the height of the carriage of the loader may include steps 310 to 370, where steps 310 to 330 are the same as or similar to steps 110 to 130, and for the specific implementation and beneficial effects, reference is made to the foregoing description, which is not repeated herein, and steps 340 to 370 will be described below.

In step 340, the oil pressure of each wheel oil pressure cylinder is monitored in real time based on the pressure sensor.

In step 350, the weight bearing of the wheels corresponding to each wheel hydraulic cylinder is determined based on the hydraulic pressure.

In one embodiment, the active suspension may also be provided with a pressure sensor. In one example, the pressure sensor may be provided on a hydraulic branch corresponding to a wheel. During the application process, the oil pressure of each wheel oil hydraulic cylinder can be monitored in real time based on the pressure sensor. The wheel cylinders may correspond to the respective wheels, and the pressure applied to the respective wheels may be determined based on the wheel cylinders, that is, the load of the wheels corresponding to the respective wheel cylinders may be determined based on the oil pressure.

It can be understood that, in order to ensure the stability of the whole carriage, when loading and unloading goods, the goods in the carriage need to be ensured to be uniformly distributed in the carriage as far as possible, so that the problem that the carriage is not stable due to the fact that a certain position (for example, the load corresponding to a certain wheel) is too large is avoided.

During the loading process and the unloading process, the cargo unloading position (corresponding to the unloading scene) and the cargo loading position (corresponding to the loading scene) in the loading vehicle can be adjusted based on the load of the wheels corresponding to the respective wheel cylinders.

In step 360, the current load distribution of the loader vehicle is determined based on the load bearing.

In step 370, based on the current load bearing distribution situation, a voice prompt is generated, wherein the voice prompt is used for prompting the cargo unloading position or the cargo loading position in the loading vehicle.

In one embodiment, the current load distribution of the loader vehicle can be determined based on the load of the individual wheels. Further, a voice prompt may be generated based on the current load bearing distribution.

In one example, for the unloading scene, the wheel with the largest load bearing can be determined based on the load bearing of each wheel. It will be appreciated that the current load distribution is such that the load bearing of the car is mainly concentrated on the wheels with the greatest load bearing. Further, a voice prompt can be generated based on the current load bearing distribution situation, wherein the voice prompt is used for prompting that the cargo unloading position of the loading vehicle starts from the position of the wheel with the largest corresponding load bearing in the carriage, or the cargo unloading position of the loading vehicle is the wheel with the largest corresponding load bearing in the carriage.

In yet another example, continuing with the unloading scenario above, the sum of the weight loads for different areas in the vehicle cabin may also be determined based on the weight loads for each wheel. And further, determining the current bearing distribution condition based on the bearing sum of different areas, and generating a voice prompt. The voice prompt is used for prompting that the cargo unloading position of the loading vehicle starts from the carriage area with the largest load bearing, or the cargo unloading position of the loading vehicle is the carriage area with the largest load bearing.

In one example, the sum of the load bearing on the left side of the car may be calculated based on the load bearing of the left side wheels, and the sum of the load bearing on the right side of the car may be calculated based on the load bearing of the right side wheels. And further, determining the current vehicle weight distribution condition based on the total bearing on the left side of the carriage and the total bearing on the right side of the carriage, and generating a voice prompt. If the sum of the left bearing of the carriage is greater than the sum of the right bearing of the carriage, the current bearing distribution condition is that the left bearing of the carriage is greater than the right bearing of the carriage. Based on this, a corresponding voice prompt may be generated for prompting that the cargo unloading position of the loader vehicle is first started from the left side of the vehicle cabin, or that the cargo unloading position of the loader vehicle is the left side of the vehicle cabin.

In yet another example, for a loading scenario, the wheel with the least weight bearing may be determined based on the weight bearing of each wheel. It will be appreciated that the current load distribution is such that the load of the car is less distributed over the least loaded wheels. Further, a voice prompt may be generated based on the current load bearing distribution, wherein the voice prompt is used to prompt the cargo loading position of the loading vehicle to start from the position at the wheel with the smallest load bearing in the carriage.

In yet another example, continuing with the loading scenario above, the sum of the loads at different areas in the vehicle cabin may also be determined based on the loads at each wheel. And further, determining the current bearing distribution condition based on the bearing sum of different areas, and generating a voice prompt. The voice prompt is used for prompting that the loading position of the loading vehicle starts from the carriage area with the minimum load bearing, or the unloading position of the loading vehicle is the carriage area with the minimum load bearing.

In one example, the sum of the load bearing on the left side of the car may be calculated based on the load bearing of the left side wheels, and the sum of the load bearing on the right side of the car may be calculated based on the load bearing of the right side wheels. Furthermore, the current vehicle weight distribution situation is determined based on the total bearing on the left side of the carriage and the total bearing on the right side of the carriage, and a voice prompt is generated. If the sum of the left bearing of the carriage is greater than the sum of the right bearing of the carriage, the current bearing distribution condition is that the left bearing of the carriage is greater than the right bearing of the carriage. Based on this, a corresponding voice prompt may be generated for prompting that the cargo loading position of the loading vehicle is first from the right side of the vehicle cabin, or that the cargo unloading position of the loading vehicle is the right side of the vehicle cabin.

In this embodiment, through the oil pressure of each wheel oil pressure cylinder of real-time supervision, can determine the current bearing distribution of load wagon, and is further, based on current bearing distribution, generate respectively to the voice prompt under the loading scene and the voice prompt under the unloading scene, and then can ensure no matter under the loading scene or under the unloading scene, the stationarity of automobile body can all be guaranteed to the load wagon.

The process of another method for adjusting the height of the load compartment of the loader provided by the present disclosure will be described with reference to fig. 9.

In an exemplary embodiment of the present disclosure, as can be seen from fig. 9, the method for adjusting the height of the loading compartment of the loader may include steps 410 to 450, where steps 410 to 430 are the same as or similar to steps 110 to 130, and for specific implementation and beneficial effects thereof, reference is made to the foregoing description, which is not repeated herein, and step 440 and step 450 will be described below respectively.

In step 440, the height of the load vehicle is monitored in real time.

In one embodiment, the active suspension may be provided with a height sensor; the real-time monitoring of the carriage height of the loading vehicle can be realized by adopting the following modes:

In one example, the chassis height of each wheel on the loader can be monitored in real time, respectively, by a height sensor provided on the active suspension. In one example, the height sensor may be disposed on a hydraulic branch corresponding to a wheel. It can be understood that if the chassis height does not change in the cargo loading and unloading process, the carriage of the loading vehicle and the cargo loading and unloading platform can be considered to be in the same plane, and if the chassis height changes in the cargo loading and unloading process, the carriage of the loading vehicle and the cargo loading and unloading platform can not be considered to be in the same plane, and at the moment, the chassis height of each wheel needs to be adjusted in real time, so that the height of the carriage of the loading vehicle after the chassis height is adjusted is matched with the height of the cargo loading and unloading platform.

In step 450, in the case that the change of the carriage height is monitored, the chassis height of each wheel of the loading vehicle is adjusted based on the active suspension, so that the carriage height of the loading vehicle after the chassis height adjustment is matched with the loading and unloading platform height.

In one embodiment, a change in the height of the cabin may be determined when a change in the chassis height of the wheels on the loader is monitored based on the height sensor. In this scenario, the chassis height of each wheel of the loader vehicle may be adjusted again based on the active suspension, so that the height of the carriage of the loader vehicle after the chassis height adjustment matches the height of the loading and unloading platform. The following describes how the chassis height of the wheels of the loader vehicle is adjusted again on the basis of the active suspension, so that the height of the body of the loader vehicle after the adjustment of the chassis height matches the height of the loading platform.

In yet another embodiment, in a loading scenario, the height of the rear wheels of the loader vehicle may be adjusted by the active suspension such that the adjusted height of the rear wheels is the same as the height of the loading platform, and the height of the front wheels of the loader vehicle may be adjusted by the active suspension such that the adjusted height of the front wheels is less than the height of the rear wheels. Through this embodiment, can ensure that the carriage height of the load wagon after the chassis height adjustment matches with loading and unloading goods platform height, under the carriage height and the same circumstances of loading and unloading goods platform height promptly for whole carriage is the posture that leans forward, convenience of customers dress.

In yet another embodiment, in the unloading scenario, the chassis height of the rear wheels of the loading vehicle may be adjusted by the active suspension such that the adjusted chassis height of the rear wheels is the same as the loading platform height, and the chassis height of the front wheels of the loading vehicle may be adjusted by the active suspension such that the adjusted chassis height of the front wheels is greater than the chassis height of the rear wheels. Through this embodiment, can ensure that the carriage height of the load wagon after the chassis height adjustment and the high phase-match of loading and unloading goods platform, under the carriage height and the same circumstances of loading and unloading goods platform height promptly for whole carriage is the hypsokinesis posture, and convenience of customers unloads.

In another embodiment, after the completion of loading and unloading is monitored, the chassis height of each wheel can be adjusted again based on the active suspension, so that the chassis height of each wheel is at the same height, the stability of the whole loading vehicle can be ensured, and the stable starting of the loading vehicle is facilitated.

Wherein, whether the loading and unloading are completed or not can be monitored by adopting the following modes:

in one example, an image capturing device may be disposed on the loading vehicle, and whether loading and unloading are completed is determined based on an image captured by the image capturing device (e.g., a door of a vehicle compartment is closed).

In another example, pressure sensors may be further provided on the active suspension, and the load bearing of each wheel may be monitored for a preset period of time based on the pressure sensors. Wherein the pressure sensor may be provided on a hydraulic branch corresponding to the wheel. In the application process, if the bearing of each wheel is not changed within a preset time, the loading and unloading are finished.

It should be noted that the preset time period may be adjusted according to actual situations, for example, the preset time period may be 30 minutes, and the preset time period is not specifically limited in this embodiment.

The process of determining the loading and unloading scenario of the loader will be described with reference to fig. 10.

In an exemplary embodiment of the present disclosure, as can be seen in fig. 10, determining the loading and unloading scenario of the loading vehicle may include steps 510 to 530, which are described below.

In step 510, the load of the loading vehicles and/or the load distribution of the loading vehicles are monitored for a predetermined continuous period of time.

In one embodiment, the load bearing of the load carrier, and/or the load bearing profile of the load carrier, may be monitored for a predetermined continuous period of time based on pressure sensors. Wherein the load bearing of the individual wheels can be monitored on the basis of the pressure sensors, and the load bearing of the loader vehicle can be determined on the basis of the sum of the load bearing of the individual wheels.

The preset continuous time period may be adjusted according to actual conditions, and in this embodiment, the preset continuous time period is not specifically limited.

In step 520, when it is monitored that the load bearing of the loading vehicle is reduced in the preset continuous time period, and/or the load bearing distribution condition of the loading vehicle is that the load bearing is distributed on the rear side of the carriage, the loading and unloading scene is determined to be an unloading scene.

In one embodiment, when the load bearing of the vehicle is reduced within the preset continuous time period, the loading and unloading scene is an unloading scene.

In yet another embodiment, when the monitored weight bearing is greater than the first threshold, the loader vehicle may be considered to be in a phase of initiating unloading, which may be understood as unloading when fully loaded. In this case, the loading/unloading scene can be determined as the unloading scene. The first threshold may be 95% of the rated weight of the loading vehicle, and it should be noted that the first threshold may be adjusted according to actual situations, and is not specifically limited in this embodiment.

In another embodiment, the load bearing of each wheel may be monitored based on a pressure sensor, and when the difference between the sum of the load bearing of the rear wheels of the loading vehicle and the sum of the load bearing of the front wheels is greater than a preset difference, the load bearing distribution of the loading vehicle may be determined as the load bearing distribution on the rear side of the carriage, so that the loading and unloading scene may be determined as the unloading scene.

It should be noted that the preset difference may be adjusted according to an actual situation, and in this embodiment, the preset difference is not specifically limited.

In another embodiment, when the load bearing distribution of the loading vehicle is monitored to be that the load bearing is distributed on the rear side of the carriage and the load bearing is greater than the second threshold value, the loading vehicle can be considered to be in the stage of the middle unloading stage. In this case, the loading/unloading scene can be determined as the unloading scene. The second threshold may be 50% of the rated weight of the loading vehicle, and it should be noted that the second threshold may be adjusted according to actual situations, and is not specifically limited in this embodiment.

In still another embodiment, when it is detected that the loading/unloading scene of the loading vehicle is a loading scene at a certain time (for example, time a), the loading/unloading scene after the certain time (a time after the time a) may be regarded as a unloading scene.

In step 530, when it is monitored that the load bearing of the loading vehicles increases within a preset continuous time period, and/or the load bearing distribution condition of the loading vehicles is that the load bearing is distributed on the side of the carriage, determining the loading and unloading scene as a loading scene, wherein the side of the carriage comprises the left side or the right side of the carriage.

In one embodiment, when the increase in load bearing of the vehicle during the predetermined continuous time period is monitored, the loading/unloading scene is a loading scene.

In a further embodiment, when the load bearing is monitored to be less than the third threshold, the loader vehicle may be considered to be in the phase of starting loading, which may be understood to be loading without load. At this time, the loading/unloading scene can be determined as the loading scene. The third threshold may be 5% of the rated weight of the loading vehicle, and it should be noted that the third threshold may be adjusted according to the actual situation, and is not specifically limited in this embodiment.

In another embodiment, the load bearing of each wheel can be monitored based on a pressure sensor, and when the difference between the sum of the load bearing of the left row or the right row of wheels of the loading vehicle and the sum of the load bearing of the right row or the left row of wheels of the loading vehicle is monitored to be larger than a preset difference, the load bearing distribution condition of the loading vehicle can be determined as that the load bearing is distributed on the side of the carriage, so that the loading and unloading scene can be determined as the loading scene.

In another embodiment, when the load distribution condition of the loading vehicle is monitored to be that the load is distributed on the side of the carriage, and the load is greater than the second threshold value, the loading vehicle can be considered to be in the middle stage of loading. At this time, the loading/unloading scene can be determined as a loading scene. The second threshold may be 50% of the rated weight of the loading vehicle, and it should be noted that the second threshold may be adjusted according to actual situations, and is not specifically limited in this embodiment.

According to the description, the height adjusting method for the carriage of the loading vehicle provided by the disclosure can be used for adjusting the height of the carriage through the active suspension frame by acquiring the target height difference and the loading and unloading scene of the loading vehicle and based on the loading and unloading scene and the height difference, so that the height of the adjusted carriage is matched with the height of the loading and unloading platform, and therefore the height difference can be avoided in the butt joint process of the loading vehicle and the loading and unloading platform, and the loading and unloading can be conveniently carried out by a user.

Based on the same conception, the embodiment of the disclosure also provides a loading vehicle.

The structure of the loading vehicle will be described with reference to fig. 11.

In an exemplary embodiment of the present disclosure, as can be seen from fig. 11, the loader 100 applies the loader car body height adjusting method according to any one of the foregoing embodiments. Loader 100 can include, among other things, a car 101, wheels 105, and an active suspension 104. The active suspension 104 adjusts the height of the carriage 101 by adjusting the height of the chassis of each wheel 105 of the loader 100 so that the adjusted height of the carriage matches the height of the loading platform.

In an example, the active suspension 104 can adjust the chassis height of each wheel 105 of the loader 100 by adjusting the oil pressure of the wheel hydraulic cylinder corresponding to each wheel 105, and the specific implementation manner can refer to the foregoing description, which is not repeated in this embodiment.

Based on the same conception, the embodiment of the disclosure also provides a loading vehicle carriage height adjusting device.

It can be understood that, in order to implement the above functions, the loader vehicle body height adjusting device provided by the embodiment of the disclosure includes a hardware structure and/or a software module for performing the respective functions. The disclosed embodiments can be implemented in hardware or a combination of hardware and computer software, in combination with the exemplary elements and algorithm steps disclosed in the disclosed embodiments. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the subject matter of the embodiments of the present disclosure.

Fig. 12 is a block diagram illustrating a loader car body height adjustment apparatus according to an exemplary embodiment. It should be noted that the loader car body height adjustment device can be applied to a loader car, which can include an active suspension. Referring to fig. 12, the apparatus includes an obtaining module 710, a determining module 720 and a processing module 730, which are respectively described below.

The acquisition module 710 may be configured to acquire a target height difference, wherein the target height difference is a height difference between a car height of the loader and a loading platform height.

The determining module 720 may be configured for determining a loading or unloading scenario of the loader vehicle;

the processing module 730 may be configured to adjust the car height via the active suspension based on the loading scenario and the height difference such that the adjusted car height matches the loading dock height.

In an exemplary embodiment of the present disclosure, the processing module 730 may adjust the height of the car through the active suspension based on the loading and unloading scenario and the height difference in the following manner, so that the adjusted height of the car matches the height of the loading and unloading platform:

based on a loading and unloading scene and a height difference, the height of a carriage is adjusted by adjusting the height of a chassis of wheels of the loading vehicle through an active suspension, so that the adjusted height of the carriage is matched with the height of a loading and unloading platform, wherein the height of the chassis is the height from the chassis at the positions of the wheels of the loading vehicle to the ground.

In an exemplary embodiment of the present disclosure, the active suspension may include a wheel hydraulic cylinder, wherein the wheel hydraulic cylinder corresponds to a wheel of the loader vehicle; the processing module 730 can adjust the ride height of the wheels of the loader vehicle through the active suspension in the following manner:

In an exemplary embodiment of the disclosure, the processing module 730 may adjust the height of the carriage by adjusting the chassis height of the wheels of the loader vehicle through the active suspension in the following manner to match the adjusted height of the carriage with the height of the loading and unloading platform:

on the premise that the loading and unloading scene is a loading scene, the chassis height of the rear wheels of the loading vehicle is adjusted through the active suspension, so that the adjusted chassis height of the rear wheels is the same as the height of the loading and unloading platform, and

and adjusting the chassis height of the front wheels of the loader vehicle through the active suspension, so that the adjusted chassis height of the front wheels is smaller than that of the rear wheels.

adjusting the height of the chassis of the rear wheels of the loading vehicle through the active suspension on the premise that the loading and unloading scene is the unloading scene, so that the height of the chassis of the adjusted rear wheels is the same as the height of the loading and unloading platform, and

and adjusting the chassis height of the front wheels of the loader vehicle through the active suspension, so that the adjusted chassis height of the front wheels is greater than that of the rear wheels.

In an exemplary embodiment of the present disclosure, an active suspension may be provided with a pressure sensor; the processing module 730 may be further configured for:

based on a pressure sensor, monitoring the oil pressure of each wheel oil hydraulic cylinder in real time;

determining the bearing of the wheel corresponding to each wheel oil pressure cylinder based on the oil pressure;

determining the current load bearing distribution condition of the loading vehicle based on load bearing;

and generating a voice prompt based on the current load bearing distribution condition, wherein the voice prompt is used for prompting the cargo unloading position or the cargo loading position in the loading vehicle.

In an exemplary embodiment of the disclosure, the processing module 730 may be further configured to:

monitoring the height of a carriage of the loading vehicle in real time;

and under the condition that the change of the height of the carriage is monitored, the chassis height of each wheel of the loading vehicle is adjusted based on the active suspension, so that the height of the carriage of the loading vehicle after the chassis height is adjusted is matched with the height of the loading and unloading platform.

In an exemplary embodiment of the present disclosure, an active suspension may be provided with a height sensor;

the processing module 730 can monitor the height of the loading vehicle in real time in the following manner:

In an exemplary embodiment of the present disclosure, a loader vehicle may include a tilt sensor;

the obtaining module 710 may obtain the target height difference by:

under the condition that a carriage of the loading vehicle is connected with the loading and unloading platform, monitoring the inclination angle of the carriage and the loading and unloading platform based on an inclination angle sensor;

based on the tilt angle, a target height difference is determined. In an exemplary embodiment of the disclosure, the determining module 720 may determine the loading and unloading scenario of the loading vehicle by:

monitoring the load bearing of the loading vehicles in a preset continuous time period and/or the load bearing distribution condition of the loading vehicles;

when the load bearing of the loading vehicle is reduced in a preset continuous time period and/or the load bearing distribution condition of the loading vehicle is that the load bearing is distributed on the rear side of the carriage, determining a loading and unloading scene as an unloading scene;

and when the increase of the load bearing of the loading vehicle in the preset continuous time period is monitored, and/or the load bearing distribution condition of the loading vehicle is that the load bearing is distributed on the side of the carriage, determining the loading and unloading scene as a loading scene, wherein the side of the carriage comprises the left side or the right side of the carriage.

With regard to the apparatus in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be described in detail here.

Fig. 13 illustrates a physical structure diagram of an electronic device, and as shown in fig. 13, the electronic device may include: a processor (processor) 810, a communication Interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication Interface 820 and the memory 830 communicate with each other via the communication bus 840. Processor 810 may invoke logic instructions in memory 830 to perform a loader vehicle car height adjustment method, wherein the loader vehicle car height adjustment method is applied to a loader vehicle, the loader vehicle including an active suspension, and the loader vehicle car height adjustment method may include: acquiring a target height difference, wherein the target height difference is the height difference between the height of a carriage of a loading vehicle and the height of a loading and unloading platform; determining a loading and unloading scene of a loading vehicle; based on the loading and unloading scenes and the height difference, the height of the carriage is adjusted through the active suspension, so that the height of the adjusted carriage is matched with the height of the loading and unloading platform.

In addition, the logic instructions in the memory 830 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being stored on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of executing the method for adjusting the height of a load compartment provided by the above methods, wherein the method for adjusting the height of a load compartment is applied to a load vehicle, the load vehicle comprising an active suspension, and the method for adjusting the height of a load compartment comprises: acquiring a target height difference, wherein the target height difference is the height difference between the height of a carriage of a loading vehicle and the height of a loading and unloading platform; determining a loading and unloading scene of a loading vehicle; based on the loading and unloading scenes and the height difference, the height of the carriage is adjusted through the active suspension, so that the height of the adjusted carriage is matched with the height of the loading and unloading platform.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the method for regulating the height of a load vehicle compartment provided by the above methods, wherein the method for regulating the height of a load vehicle compartment is applied to a load vehicle, the load vehicle comprises an active suspension, and the method for regulating the height of a load vehicle compartment can comprise: acquiring a target height difference, wherein the target height difference is the height difference between the height of a carriage of a loading vehicle and the height of a loading and unloading platform; determining a loading and unloading scene of a loading vehicle; based on the loading and unloading scenes and the height difference, the height of the carriage is adjusted through the active suspension, so that the height of the adjusted carriage is matched with the height of the loading and unloading platform.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

It is further to be understood that while operations are depicted in the drawings in a particular order, this is not to be understood as requiring that such operations be performed in the particular order shown or in serial order, or that all illustrated operations be performed, to achieve desirable results. In certain environments, multitasking and parallel processing may be advantageous.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A method for adjusting the height of a loading vehicle carriage is characterized in that the method is applied to a loading vehicle, the loading vehicle comprises an active suspension, and the method comprises the following steps:

determining a loading and unloading scene of the loading vehicle;

2. The method as claimed in claim 1, wherein the step of adjusting the height of the loaded wagon via the active suspension based on the loading and unloading scene and the height difference so that the adjusted height of the loaded wagon matches the height of the loading and unloading platform comprises:

3. The lift truck bed height adjustment method of claim 2, wherein said active suspension includes a wheel hydraulic cylinder, wherein said wheel hydraulic cylinder corresponds to a wheel of said lift truck;

4. The method for adjusting the height of the loading vehicle carriage as claimed in claim 2 or 3, wherein the step of adjusting the height of the carriage by adjusting the chassis height of the wheels of the loading vehicle through the active suspension to adjust the height of the carriage so that the adjusted height of the carriage matches the height of the loading and unloading platform specifically comprises the following steps:

5. The method for adjusting the height of the loading vehicle carriage as claimed in claim 2 or 3, wherein the step of adjusting the height of the carriage by adjusting the chassis height of the wheels of the loading vehicle through the active suspension to adjust the height of the carriage so that the adjusted height of the carriage matches the height of the loading and unloading platform specifically comprises the following steps:

on the premise that the loading and unloading scene is an unloading scene, the chassis height of the rear wheels of the loading vehicle is adjusted through the active suspension, so that the adjusted chassis height of the rear wheels is the same as the height of the loading and unloading platform, and

6. The lift truck bed height adjustment method of claim 1, wherein said active suspension is provided with a pressure sensor;

determining the load bearing of the wheel corresponding to each wheel oil pressure cylinder based on the oil pressure;

7. The loader car height adjustment method of claim 1, wherein after said adjusting the car height by said active suspension based on said loading scenario and said height difference to match the adjusted car height to said loading dock height, said loader car height adjustment method further comprises:

monitoring the height of the carriage of the loading vehicle in real time;

8. The lift truck carriage height adjustment method of claim 7, wherein said active suspension is provided with a height sensor;

9. The loader car body height adjustment method of claim 1, in which said loader car comprises a tilt sensor;

the obtaining of the target height difference specifically includes:

based on the tilt angle, the target height difference is determined.

10. The method for adjusting the height of the carriage of the loader according to claim 1, wherein the determining the loading and unloading scene of the loader specifically comprises:

11. A loading vehicle, characterized in that the loading vehicle is a loading vehicle to which the method for adjusting the height of a loading vehicle body as claimed in any one of claims 1 to 10 is applied, and the loading vehicle comprises: a vehicle cabin, wheels, and an active suspension, wherein,

12. A loader vehicle car height adjustment arrangement, characterized in that it is applied to a loader vehicle as claimed in claim 11, which loader vehicle comprises an active suspension, and that the loader vehicle car height adjustment arrangement comprises:

the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring a target height difference, and the target height difference is the height difference between the height of a carriage of the loading vehicle and the height of a loading and unloading platform;

and the processing module is used for adjusting the height of the carriage through the active suspension frame based on the loading and unloading scene and the height difference so as to enable the adjusted height of the carriage to be matched with the height of the loading and unloading platform.

13. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the loader car height adjustment method of any of claims 1 to 10.

14. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the loader car height adjustment method according to any one of claims 1 to 10.