A special vehicle leveling control method and device

Abstract

The present application discloses a special vehicle leveling control method, which includes: calculating the preset quick extension length of each leg of the special vehicle; setting the speed of the motor of each leg of the special vehicle to the first gear speed, and detecting the extension length of each leg; if the extension length of each leg reaches the preset quick extension length, then setting the speed of the motor of each leg of the special vehicle to the second gear speed, and obtaining the motor feedback current step change value of the motor of each leg; if the motor feedback current step change value of the motor of each leg meets the preset change value, then performing leveling control according to the horizontality between each leg of the special vehicle. This method can shorten the action time of the legs of the special vehicle without increasing the power demand, and realize rapid support leveling, so that the four legs can be stably supported to provide a stable horizontal platform for the upper equipment, that is, under limited power, the action speed of the legs of the special vehicle is increased and the action time of the legs of the special vehicle is compressed.

Description

Technical Field

[0001] The present application relates to the technical field of special vehicle control, and in particular to a special vehicle leveling control method and device. Background Art

[0002] Many military and civilian vehicle-mounted equipment require reliable support from the vehicle-mounted platform, such as vehicle-mounted artillery launchers, vehicle-mounted radars, large cranes, etc. When these vehicle-mounted equipment arrives at the designated location, the vehicle's four electric outriggers need to be extended, reliably supported, and leveled. The rapidity of the outrigger movement and the overall power requirement are important considerations. Therefore, a method is needed to achieve rapid support and leveling control of the electric outriggers of special vehicles. Summary of the invention

[0003] The present application provides a special vehicle leveling control method and device, which can shorten the action time of the special vehicle outriggers without increasing the power demand, and realize rapid support leveling, so that the four outriggers can provide a stable horizontal platform for the upper equipment, that is, under limited power, the action speed of the special vehicle outriggers is increased and the action time of the special vehicle outriggers is compressed.

[0004] In a first aspect, the present application provides a special vehicle leveling control method, the method comprising:

[0005] Calculate the preset quick extension length of each outrigger of special vehicles;

[0006] The rotation speed of the motor of each leg of the special vehicle is set to a first gear speed, and the extension length of each leg is detected;

[0007] If the extension length of each leg reaches the preset quick extension length, the speed of the motor of each leg of the special vehicle is set to the second gear speed, and the motor feedback current step change value of the motor of each leg is obtained;

[0008] If the step change value of the motor feedback current of the motor of each leg meets the preset change value, leveling control is performed according to the horizontality between the legs of the special vehicle.

[0009] In a second aspect, the present application provides a leveling control device for a special vehicle, the device comprising:

[0010] A calculation unit, used for calculating the preset quick extension length of each outrigger of the special vehicle;

[0011] A detection unit, used to set the rotation speed of the motor of each leg of the special vehicle to a first gear speed, and detect the extension length of each leg;

[0012] an acquisition unit, configured to set the rotation speed of the motor of each leg of the special vehicle to a second-speed rotation speed if the extension length of each leg reaches the preset quick extension length, and to acquire a step change value of the motor feedback current of the motor of each leg;

[0013] The leveling unit is used to perform leveling control according to the horizontality between the legs of the special vehicle if the step change value of the motor feedback current of the motor of each leg meets the preset change value.

[0014] In a third aspect, the present application provides a readable medium comprising execution instructions. When a processor of an electronic device executes the execution instructions, the electronic device executes any method described in the first aspect.

[0015] In a fourth aspect, the present application provides an electronic device, comprising a processor and a memory storing execution instructions, wherein when the processor executes the execution instructions stored in the memory, the processor executes any method described in the first aspect.

[0016] It can be seen from the above technical scheme that the present application provides a special vehicle leveling control method, the method comprising: calculating the preset quick extension length of each leg of the special vehicle; setting the speed of the motor of each leg of the special vehicle to the first gear speed, and detecting the extension length of each leg; if the extension length of each leg reaches the preset quick extension length, then setting the speed of the motor of each leg of the special vehicle to the second gear speed, and obtaining the motor feedback current step change value of the motor of each leg; if the motor feedback current step change value of the motor of each leg meets the preset change value, then performing leveling control according to the horizontality between each leg of the special vehicle. The method provided in the present application can shorten the action time of the legs of the special vehicle without increasing the power demand, and realize rapid support leveling, so that the four legs can be stably supported to provide a stable horizontal platform for the upper equipment, that is, under limited power, the action speed of the legs of the special vehicle is increased and the action time of the legs of the special vehicle is compressed.

[0017] The further effects of the above-mentioned non-conventional preferred manner will be described below in conjunction with specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the existing technical solutions, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1A schematic diagram of a flow chart of a special vehicle leveling control method for this application;

[0020] Figure 2 A schematic diagram of the architecture of a special vehicle leveling control system provided in one embodiment of the present application;

[0021] Figure 3 A schematic flow chart of a special vehicle leveling control method provided in one embodiment of the present application;

[0022] Figure 4 A schematic diagram of a size correspondence relationship provided in an embodiment of the present application;

[0023] Figure 5 A schematic structural diagram of a leveling control device for a special vehicle provided in one embodiment of the present application;

[0024] Figure 6 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0026] The inventors found that in the prior art, many military and civilian vehicle-mounted equipment require reliable support from the vehicle-mounted platform, such as vehicle-mounted artillery launchers, vehicle-mounted radars, large cranes, etc. When these vehicle-mounted equipment arrives at the designated location, the vehicle's four electric outriggers need to be extended, reliably supported, and leveled. The rapidity of the outrigger movement and the overall power requirement are important considerations. Therefore, a method for controlling the rapid support and leveling of the electric outriggers of special vehicles is needed.

[0027] Therefore, the present application provides a special vehicle leveling control method, the method comprising: calculating the preset quick extension length of each leg of the special vehicle; setting the speed of the motor of each leg of the special vehicle to the first gear speed, and detecting the extension length of each leg; if the extension length of each leg reaches the preset quick extension length, then setting the speed of the motor of each leg of the special vehicle to the second gear speed, and obtaining the motor feedback current step change value of the motor of each leg; if the motor feedback current step change value of the motor of each leg meets the preset change value, then performing leveling control according to the horizontality between each leg of the special vehicle. The method provided in the present application can shorten the action time of the legs of the special vehicle without increasing the power demand, and realize rapid support leveling, so that the four legs can be stably supported to provide a stable horizontal platform for the upper equipment, that is, under limited power, the action speed of the legs of the special vehicle is increased and the action time of the legs of the special vehicle is compressed.

[0028] Various non-limiting implementations of the present application are described in detail below in conjunction with the accompanying drawings.

[0029] See also Figure 1 , shows a special vehicle leveling control method in an embodiment of the present application, the method is applied to a special vehicle leveling control system, such as Figure 2 As shown, the special vehicle leveling control system may include a main controller, multiple outrigger drivers, multiple outrigger motors, multiple motor encoders, and multiple outrigger electric cylinders. For example, in one implementation, the special vehicle leveling control system may include four outriggers, specifically including a first outrigger (i.e., the left front outrigger of the special vehicle), a second outrigger (i.e., the right front outrigger of the special vehicle), a third outrigger (i.e., the left rear outrigger of the special vehicle), and a fourth outrigger (i.e., the right rear outrigger of the special vehicle), and each outrigger includes a driver, and each driver includes a motor (i.e., a servo motor) and an encoder (motor encoder). The main controller adopts an embedded controller and has a CAN bus communication function, which is mainly used to send control instructions to the four outrigger drivers and control the operation of the process. The driver has a CAN bus communication function, which is mainly used to receive control instructions from the main controller, drive the motor to rotate, and feedback the position, speed, current and other status information of the motor in the working process. The servo motor (i.e., the motor) is equipped with a motor encoder to drive the outrigger electric cylinder to extend and retract. The motor encoder is used to feedback the number of motor turns, which can be converted into the displacement of the outrigger electric cylinder through the transmission ratio and lead of the outrigger electric cylinder. In this embodiment, the method may include the following steps:

[0030] S101: Calculate the preset quick extension length of each outrigger of the special vehicle.

[0031] In this embodiment, the special vehicle includes a first leg, a second leg, a third leg and a fourth leg.

[0032] Specifically, Figure 3 As shown, the unevenness of the first leg and the second leg, the unevenness of the first leg and the third leg, the unevenness of the second leg and the fourth leg, the unevenness of the third leg and the fourth leg, the distance between each leg support plate and the ground, the span between the first leg and the second leg, the span between the first leg and the third leg, the span between the second leg and the fourth leg, the span between the third leg and the fourth leg, and the preset margin distance are obtained;

[0033] Determine a preset quick extension length of the first leg according to the unevenness between the first leg and the second leg (i.e., the front-to-back unevenness of the first leg), the unevenness between the first leg and the third leg (i.e., the left-to-right unevenness of the first leg), the distance between the first leg support plate and the ground, the span between the first leg and the second leg (i.e., the left-to-right leg span of the first leg), the span between the first leg and the third leg (i.e., the front-to-back leg span of the first leg), and the preset margin distance;

[0034] Determine a preset quick extension length of the second leg according to the unevenness between the first leg and the second leg (i.e., the front-to-back unevenness of the second leg), the unevenness between the second leg and the fourth leg (i.e., the left-to-right unevenness of the second leg), the distance between the second leg support plate and the ground, the span between the first leg and the second leg (i.e., the left-to-right leg span of the second leg), the span between the second leg and the fourth leg (i.e., the front-to-back leg span of the second leg), and the preset margin distance;

[0035] Determine a preset quick extension length of the third leg according to the unevenness between the first leg and the third leg (i.e., the front-to-back unevenness of the third leg), the unevenness between the third leg and the fourth leg (i.e., the left-to-right unevenness of the third leg), the distance between the third leg support plate and the ground, the span between the first leg and the third leg (i.e., the front-to-back leg span of the third leg), the span between the third leg and the fourth leg (i.e., the left-to-right leg span of the third leg), and the preset margin distance;

[0036] The preset quick extension length of the fourth leg is determined according to the unevenness between the fourth leg and the third leg (i.e. the left-right unevenness of the fourth leg), the unevenness between the second leg and the fourth leg (i.e. the front-back unevenness of the fourth leg), the distance between the fourth leg support plate and the ground, the span between the fourth leg and the third leg (i.e. the left-right leg span of the fourth leg), the span between the second leg and the fourth leg (i.e. the front-back leg span of the fourth leg) and the preset margin distance.

[0037] As an example, the calculation method of the preset quick extension length L1 of the left front leg (i.e., the first leg), the preset quick extension length L2 of the right front leg (i.e., the second leg), the preset quick extension length L3 of the left rear leg (i.e., the third leg), and the preset quick extension length L4 of the right rear leg (i.e., the fourth leg) are as follows:

[0038] L1=(-B / 2)tanα+A+(-C / 2)tanβ+|(B / 2)tanα|+|(C / 2)tanβ|-H;

[0039] L2=(-B / 2)tanα+A+(C / 2)tanβ+|(B / 2)tanα|+|(C / 2)tanβ|-H;

[0040] L3=(-B / 2)tanα+A+(-C / 2)tanβ+|(B / 2)tanα|+|(C / 2)tanβ|-H;

[0041] L4=(-B / 2)tanα+A+(C / 2)tanβ+|(B / 2)tanα|+|(C / 2)tanβ|-H;

[0042] In the formula: α represents the front and rear unevenness of the outrigger, which can be measured by the inclination sensor; β represents the left and right unevenness of the outrigger, which can be measured by the inclination sensor; A represents the distance between the outrigger support plate and the ground; B represents the front and rear outrigger span corresponding to the outrigger; C represents the left and right outrigger span corresponding to the outrigger; H represents the preset margin distance, which can be used to prevent the outrigger from touching the ground when the rated speed of the motor is exceeded, resulting in excessive current. It can be set according to the actual action time margin and is first set to a larger value during the debugging process. Through actual debugging, the parameter H is corrected according to the action time margin.

[0043] S102: setting the rotation speed of the motor of each leg of the special vehicle to a first gear speed, and detecting the extension length of each leg.

[0044] like Figure 3 As shown, the motors of the four legs can be initialized first, and then enabled. Then, the speed of the motor of each leg of the special vehicle can be set to a first speed, and the extension length of each leg can be detected.

[0045] S103: If the extension length of each leg reaches the preset quick extension length, the rotation speed of the motor of each leg of the special vehicle is set to the second gear speed, and the motor feedback current step change value of the motor of each leg is obtained.

[0046] like Figure 3As shown, if the extension length of each leg reaches the preset quick extension length, the rotation speed of the motor of each leg of the special vehicle is set to the second gear rotation speed, and the motor feedback current step change value of the motor of each leg is obtained. If the extension length of each leg does not reach the preset quick extension length, the rotation speed of the motor of each leg of the special vehicle is set to the first gear rotation speed, and the extension length of each leg is detected until the extension length of each leg reaches the preset quick extension length.

[0047] The specific method of obtaining the motor feedback current step change value of the motor of each leg is as follows:

[0048] Obtain the vehicle deadweight of the special vehicle, the support reaction force of the first leg and the second leg, the support reaction force of the third leg and the fourth leg, the longitudinal span of the first leg and the third leg, the longitudinal span of the second leg and the fourth leg, the distance from the vehicle deadweight center of mass of the special vehicle to the geometric center of the four legs, the distance from the front wheel axle to the first leg, the distance from the front wheel axle to the second leg, the distance from the rear wheel axle to the third leg, the distance from the rear wheel axle to the fourth leg, the lead of the electric cylinder, the transmission efficiency of the electric cylinder, the reduction ratio of the electric cylinder, and the motor torque coefficient;

[0049] According to the vehicle deadweight of the special vehicle, the support reaction force of the first leg and the second leg, the support reaction force of the third leg and the fourth leg, the longitudinal span of the first leg and the third leg, the longitudinal span of the second leg and the fourth leg, the distance from the vehicle deadweight center of mass of the special vehicle to the geometric center of the four legs, the distance from the front wheel axle to the first leg, the distance from the front wheel axle to the second leg, the distance from the rear wheel axle to the third leg, the distance from the rear wheel axle to the fourth leg, the lead of the electric cylinder, the transmission efficiency of the electric cylinder, the reduction ratio of the electric cylinder, and the motor torque coefficient, determine the motor feedback current step change value of the motor of the first leg, the motor feedback current step change value of the motor of the second leg, the motor feedback current step change value of the motor of the third leg, and the motor feedback current step change value of the motor of the fourth leg.

[0050] As an example, the motor feedback current step change value ΔI of the left front leg (i.e., the first leg) is A , the motor feedback current step change value ΔI of the right front leg (i.e. the second leg) B , the motor feedback current step change value ΔI of the left rear leg (i.e. the third leg) C , the motor feedback current step change value ΔI of the right rear leg (i.e. the fourth leg) D The calculation method is as follows:

[0051]

[0052]

[0053] Where: G represents the vehicle weight of the special vehicle; 2N 1 Represents the reaction force of the front two tires, that is, the reaction force of the first leg and the second leg; 2N 2 ——The reaction force of the rear two tires, that is, the reaction force of the third leg and the fourth leg; 2b represents the longitudinal span of the front and rear legs, that is, the longitudinal span of the first leg and the third leg, and the longitudinal span of the second leg and the fourth leg; e represents the distance from the vehicle's deadweight center of mass to the geometric center of the four legs, that is, the distance from the vehicle's deadweight center of mass to the geometric center of the four legs of the special vehicle; c 1 represents the distance from the front wheel axle to the front legs, that is, the distance from the front wheel axle to the first legs and the distance from the front wheel axle to the second legs; c 2 represents the distance from the rear wheel axle to the rear outrigger, i.e., the distance from the rear wheel axle to the third outrigger and the distance from the rear wheel axle to the fourth outrigger; s represents the lead of the electric cylinder; η represents the transmission efficiency of the electric cylinder; i represents the reduction ratio of the electric cylinder; k t Indicates the motor torque coefficient. See the corresponding relationship of the size Figure 4 .

[0054] S104: If the step change value of the motor feedback current of the motor of each leg meets the preset change value, leveling control is performed according to the horizontality between the legs of the special vehicle.

[0055] like Figure 3 As shown, if the step change value of the motor feedback current of the motor of each leg meets the preset change value, it means that each leg can reliably touch the ground, then the speed of the four leg motors can be set to 0 first, and then the leveling control can be performed according to the horizontality between the legs of the special vehicle. In other words, the preset quick extension length of the leg is calculated, the step change value of the motor feedback current is calculated, the leg is controlled to be quickly extended to the preset quick extension length at the first gear speed, and the motor driver feedback current is recorded; the leg is controlled to extend at a medium speed at the second gear speed; and the leg is judged to be reliably touching the ground according to the step change value of the motor feedback current.

[0056] like Figure 3 As shown, the way of performing leveling control according to the levelness between the legs of the special vehicle is as follows:

[0057] The rotation speed of the motor of each leg is set to 0, and whether the front-to-back levelness of the first leg, the second leg, the third leg, and the fourth leg meets the rough leveling accuracy;

[0058] If not (i.e., the front-to-back horizontality of the first leg, the second leg, the third leg, and the fourth leg does not meet the rough leveling accuracy) and the levelness of the first leg and the second leg is high, the speed of the motor of the third leg and the fourth leg is set to the third gear speed, and then the step of setting the speed of the motor of each leg to 0 to determine whether the front-to-back horizontality of the first leg, the second leg, the third leg, and the fourth leg meets the rough leveling accuracy; if not (i.e., the front-to-back horizontality of the first leg, the second leg, the third leg, and the fourth leg does not meet the rough leveling accuracy) and the levelness of the third leg and the fourth leg is high, the speed of the motor of the second leg and the third leg is set to the third gear speed, and then the step of setting the speed of the motor of each leg to 0 to determine whether the front-to-back horizontality of the first leg, the second leg, the third leg, and the fourth leg meets the rough leveling accuracy;

[0059] If yes (i.e., the front-to-rear levelness of the first leg, the second leg, the third leg, and the fourth leg meets the rough leveling accuracy), the speed of the motor of each leg is set to 0, and it is determined whether the left-to-right levelness of the first leg, the third leg, the second leg, and the fourth leg meets the rough leveling accuracy;

[0060] If not (i.e., the left-right horizontality of the first leg, the third leg, the second leg, and the fourth leg does not meet the rough leveling accuracy) and the levelness of the first leg and the third leg is high, the speed of the motor of the second leg and the fourth leg is set to the third gear speed, and then the step of setting the speed of the motor of each leg to 0 to determine whether the left-right horizontality of the first leg, the third leg, the second leg, and the fourth leg meets the rough leveling accuracy; if not (i.e., the left-right horizontality of the first leg, the third leg, the second leg, and the fourth leg does not meet the rough leveling accuracy) and the levelness of the second leg and the fourth leg is high, the speed of the motor of the second leg and the fourth leg is set to the third gear speed, and then the step of setting the speed of the motor of each leg to 0 to determine whether the left-right horizontality of the first leg, the third leg, the second leg, and the fourth leg meets the rough leveling accuracy;

[0061] If yes (i.e., the left-right levelness of the first leg, the third leg, the second leg, and the fourth leg meets the rough leveling accuracy), the speed of the motor of each leg is set to 0, and it is determined whether the front-back levelness of the first leg, the second leg, the third leg, and the fourth leg meets the fine leveling accuracy;

[0062] If not (i.e., the front-to-back horizontality of the first leg, the second leg, the third leg, and the fourth leg does not meet the precision of fine leveling) and the levelness of the first leg and the second leg is high, the speed of the motor of the third leg and the fourth leg is set to the fourth gear speed, and then the step of setting the speed of the motor of each leg to 0 to determine whether the front-to-back horizontality of the first leg, the second leg, the third leg, and the fourth leg meets the precision of fine leveling is continued; if not (i.e., the front-to-back horizontality of the first leg, the second leg, the third leg, and the fourth leg does not meet the precision of fine leveling) and the levelness of the third leg and the fourth leg is high, the speed of the motor of the second leg and the third leg is set to the third gear speed, and then the step of setting the speed of the motor of each leg to 0 to determine whether the front-to-back horizontality of the first leg, the second leg, the third leg, and the fourth leg meets the precision of fine leveling is continued;

[0063] If yes (i.e., the front-to-rear levelness of the first leg, the second leg, the third leg, and the fourth leg meets the fine leveling accuracy), the speed of the motor of each leg is set to 0, and it is determined whether the left-to-right levelness of the first leg, the third leg, the second leg, and the fourth leg meets the fine leveling accuracy;

[0064] If not (i.e., the left-right horizontality of the first leg, the third leg, the second leg, and the fourth leg does not meet the precision of fine leveling) and the levelness of the first leg and the third leg is high, the speed of the motor of the second leg and the fourth leg is set to the fourth gear speed, and then the step of setting the speed of the motor of each leg to 0 to determine whether the left-right horizontality of the first leg, the third leg, the second leg, and the fourth leg meets the precision of fine leveling is continued; if not (i.e., the left-right horizontality of the first leg, the third leg, the second leg, and the fourth leg does not meet the precision of fine leveling) and the levelness of the second leg and the fourth leg is high, the speed of the motor of the second leg and the fourth leg is set to the fourth gear speed, and then the step of setting the speed of the motor of each leg to 0 to determine whether the left-right horizontality of the first leg, the third leg, the second leg, and the fourth leg meets the precision of fine leveling is continued;

[0065] If yes (i.e., the left-right levelness of the first leg, the third leg, the second leg, and the fourth leg meets the fine leveling accuracy), determine whether the front-back and left-right levelness of the first leg, the second leg, the third leg, and the fourth leg meets the fine leveling accuracy;

[0066] If so (that is, the front-to-back and left-to-right levels of the first leg, the second leg, the third leg and the fourth leg meet the fine leveling accuracy), the leveling control is terminated.

[0067] That is to say, according to the front and rear unevenness, the method of extending both legs can be used to perform rough and fine leveling of the vehicle body in the front and rear directions, with the rough leveling being performed at the third gear speed and the fine leveling being performed at the fourth gear speed; according to the left and right unevenness, the method of extending both legs can be used to perform rough and fine leveling of the vehicle body in the left and right directions, with the rough leveling being performed at the third gear speed and the fine leveling being performed at the fourth gear speed; an unevenness inspection can be performed to confirm whether the front and rear levelness and the left and right levelness meet the leveling accuracy requirements. If not, perform front and rear or left and right fine leveling again.

[0068] Among them, the first gear speed is the maximum speed of the motor, the second gear speed is the rated speed of the motor, the third gear speed is lower than the second gear speed, and the fourth gear speed is lower than the third gear speed. Specifically, the first gear speed is the maximum speed of the motor (the motor performance index is selected); the second gear speed is the rated speed of the motor (the motor performance index is selected); the third gear speed is the rough leveling speed (lower than the second gear speed, which can be adjusted as needed); the fourth gear speed is the fine leveling speed (lower than the third gear speed, which can be adjusted as needed).

[0069] It can be seen from the above technical scheme that the present application provides a special vehicle leveling control method, the method comprising: calculating the preset quick extension length of each leg of the special vehicle; setting the speed of the motor of each leg of the special vehicle to the first gear speed, and detecting the extension length of each leg; if the extension length of each leg reaches the preset quick extension length, then setting the speed of the motor of each leg of the special vehicle to the second gear speed, and obtaining the motor feedback current step change value of the motor of each leg; if the motor feedback current step change value of the motor of each leg meets the preset change value, then performing leveling control according to the horizontality between each leg of the special vehicle. The method provided in the present application can shorten the action time of the legs of the special vehicle without increasing the power demand, and realize rapid support leveling, so that the four legs can be stably supported to provide a stable horizontal platform for the upper equipment, that is, under limited power, the action speed of the legs of the special vehicle is increased and the action time of the legs of the special vehicle is compressed.

[0070] like Figure 3 As shown, in an implementation of this embodiment, before the step of calculating the preset quick extension length of each leg of the special vehicle, the method further includes:

[0071] Check whether the vehicle condition of special vehicles meets the preset conditions;

[0072] Accordingly, the calculation of the preset quick extension length of each outrigger of the special vehicle includes:

[0073] If the vehicle condition of the special vehicle meets the preset condition, the preset quick extension length of each leg of the special vehicle is calculated.

[0074] Specifically, the vehicle condition includes the levelness of the vehicle's site (the levelness of the site can be automatically detected by an inclination sensor), the status of the vehicle's motor driver and inclination sensor, and the status of the vehicle's mounted equipment (such as a vehicle-mounted artillery launcher, a vehicle-mounted radar, a large crane, and other mounted equipment); the preset conditions are: the levelness of the vehicle's site meets the leveling conditions (i.e., whether it matches the outrigger stroke), the status of the motor driver and the inclination sensor is online, and the status of the mounted equipment is retracted.

[0075] That is, after the system receives the support leveling action instruction, it first makes the following judgment to confirm whether the process execution conditions are met:

[0076] a) Automatically detect whether the horizontality of the site meets the leveling conditions through the inclination sensor, that is, whether it matches the outrigger stroke.

[0077] b) Confirm whether the motor driver and inclination sensor are online.

[0078] c) Confirm whether vehicle-mounted artillery launchers, vehicle-mounted radars, large cranes and other mounted equipment are in the retracted state.

[0079] like Figure 5 As shown, it is a specific embodiment of the leveling control device for special vehicles described in this application. The device described in this embodiment is a physical device for executing the method described in the above embodiment. Its technical solution is essentially consistent with the above embodiment, and the corresponding description in the above embodiment is also applicable to this embodiment. The device described in this embodiment includes:

[0080] The calculation unit 501 is used to calculate the preset quick extension length of each leg of the special vehicle;

[0081] The detection unit 502 is used to set the speed of the motor of each leg of the special vehicle to a first gear speed and detect the extension length of each leg;

[0082] The acquisition unit 503 is used to set the speed of the motor of each leg of the special vehicle to the second gear speed if the extension length of each leg reaches the preset quick extension length, and to acquire the motor feedback current step change value of the motor of each leg;

[0083] The leveling unit 504 is used to perform leveling control according to the horizontality between the legs of the special vehicle if the step change value of the motor feedback current of the motor of each leg meets the preset change value.

[0084] Optionally, the special vehicle includes a first leg, a second leg, a third leg and a fourth leg; and the computing unit 501 is used to:

[0085] Obtaining the unevenness of the first leg and the second leg, the unevenness of the first leg and the third leg, the unevenness of the second leg and the fourth leg, the unevenness of the third leg and the fourth leg, the distance between each leg support plate and the ground, the span between the first leg and the second leg, the span between the first leg and the third leg, the span between the second leg and the fourth leg, the span between the third leg and the fourth leg, and a preset margin distance;

[0086] Determine a preset quick extension length of the first leg according to the unevenness between the first leg and the second leg, the unevenness between the first leg and the third leg, the distance between the first leg support plate and the ground, the span between the first leg and the second leg, the span between the first leg and the third leg, and the preset margin distance;

[0087] Determine a preset quick extension length of the second leg according to the unevenness between the first leg and the second leg, the unevenness between the second leg and the fourth leg, the distance between the second leg support plate and the ground, the span between the first leg and the second leg, the span between the second leg and the fourth leg, and the preset margin distance;

[0088] Determine a preset quick extension length of the third leg according to the unevenness between the first leg and the third leg, the unevenness between the third leg and the fourth leg, the distance between the third leg support plate and the ground, the span between the first leg and the third leg, the span between the third leg and the fourth leg, and the preset margin distance;

[0089] The preset quick extension length of the fourth leg is determined according to the unevenness between the fourth leg and the third leg, the unevenness between the second leg and the fourth leg, the distance between the fourth leg support plate and the ground, the span between the fourth leg and the third leg, the span between the second leg and the fourth leg, and the preset margin distance.

[0090] Optionally, the special vehicle includes a first leg, a second leg, a third leg and a fourth leg; and the acquisition unit is specifically used to:

[0091] Obtain the vehicle deadweight of the special vehicle, the support reaction force of the first leg and the second leg, the support reaction force of the third leg and the fourth leg, the longitudinal span of the first leg and the third leg, the longitudinal span of the second leg and the fourth leg, the distance from the vehicle deadweight center of mass of the special vehicle to the geometric center of the four legs, the distance from the front wheel axle to the first leg, the distance from the front wheel axle to the second leg, the distance from the rear wheel axle to the third leg, the distance from the rear wheel axle to the fourth leg, the lead of the electric cylinder, the transmission efficiency of the electric cylinder, the reduction ratio of the electric cylinder, and the motor torque coefficient;

[0092] According to the vehicle deadweight of the special vehicle, the support reaction force of the first leg and the second leg, the support reaction force of the third leg and the fourth leg, the longitudinal span of the first leg and the third leg, the longitudinal span of the second leg and the fourth leg, the distance from the vehicle deadweight center of mass of the special vehicle to the geometric center of the four legs, the distance from the front wheel axle to the first leg, the distance from the front wheel axle to the second leg, the distance from the rear wheel axle to the third leg, the distance from the rear wheel axle to the fourth leg, the lead of the electric cylinder, the transmission efficiency of the electric cylinder, the reduction ratio of the electric cylinder, and the motor torque coefficient, determine the motor feedback current step change value of the motor of the first leg, the motor feedback current step change value of the motor of the second leg, the motor feedback current step change value of the motor of the third leg, and the motor feedback current step change value of the motor of the fourth leg.

[0093] Optionally, the special vehicle includes a first leg, a second leg, a third leg and a fourth leg; the leveling unit is specifically used for:

[0094] The rotation speed of the motor of each leg is set to 0, and whether the front-to-back levelness of the first leg, the second leg, the third leg, and the fourth leg meets the rough leveling accuracy;

[0095] If not, and the levelness of the first leg and the second leg is high, the speed of the motor of the third leg and the fourth leg is set to the third gear speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the front and rear levelness of the first leg, the second leg, the third leg, and the fourth leg meets the coarse leveling accuracy; if not, and the levelness of the third leg and the fourth leg is high, the speed of the motor of the second leg and the third leg is set to the third gear speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the front and rear levelness of the first leg, the second leg, the third leg, and the fourth leg meets the coarse leveling accuracy;

[0096] If yes, the rotation speed of the motor of each leg is set to 0, and it is determined whether the left and right horizontality of the first leg, the third leg, the second leg, and the fourth leg meets the rough leveling accuracy;

[0097] If not, and the levelness of the first leg and the third leg is high, the speed of the motor of the second leg and the fourth leg is set to the third speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the left and right levelness of the first leg, the third leg, the second leg, and the fourth leg meets the coarse leveling accuracy; if not, and the levelness of the second leg and the fourth leg is high, the speed of the motor of the second leg and the fourth leg is set to the third speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the left and right levelness of the first leg, the third leg, the second leg, and the fourth leg meets the coarse leveling accuracy;

[0098] If yes, the rotation speed of the motor of each leg is set to 0, and it is determined whether the front-to-back levelness of the first leg, the second leg, the third leg, and the fourth leg meets the fine leveling accuracy;

[0099] If not and the levelness of the first leg and the second leg is high, the speed of the motor of the third leg and the fourth leg is set to the fourth speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the front and rear levelness of the first leg, the second leg, the third leg, and the fourth leg meets the precision of fine leveling; if not and the levelness of the third leg and the fourth leg is high, the speed of the motor of the second leg and the third leg is set to the third speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the front and rear levelness of the first leg, the second leg, the third leg, and the fourth leg meets the precision of fine leveling;

[0100] If yes, the rotation speed of the motor of each leg is set to 0, and it is determined whether the left and right horizontality of the first leg, the third leg, the second leg, and the fourth leg meets the fine leveling accuracy;

[0101] If not and the levelness of the first leg and the third leg is high, the speed of the motor of the second leg and the fourth leg is set to the fourth speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the left and right levelness of the first leg, the third leg, the second leg, and the fourth leg meets the precision of fine leveling; if not and the levelness of the second leg and the fourth leg is high, the speed of the motor of the second leg and the fourth leg is set to the fourth speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the left and right levelness of the first leg, the third leg, the second leg, and the fourth leg meets the precision of fine leveling;

[0102] If yes, determine whether the front-to-back and left-to-right levels of the first leg, the second leg, the third leg, and the fourth leg meet the fine leveling accuracy;

[0103] If yes, the leveling control is terminated.

[0104] Optionally, the first gear speed is the maximum speed of the motor, the second gear speed is the rated speed of the motor, the third gear speed is lower than the second gear speed, and the fourth gear speed is lower than the third gear speed.

[0105] Optionally, the device further comprises: a judgment unit;

[0106] The judgment unit is used to detect whether the vehicle condition of the special vehicle meets the preset conditions;

[0107] Accordingly, the computing unit is specifically used for:

[0108] If the vehicle condition of the special vehicle meets the preset condition, the preset quick extension length of each leg of the special vehicle is calculated.

[0109] Optionally, the vehicle condition includes the levelness of the vehicle site, the status of the vehicle's motor driver and inclination sensor, and the status of the vehicle's upper equipment; the preset conditions are: the levelness of the vehicle site meets the leveling conditions, the status of the motor driver and inclination sensor are online, and the status of the upper equipment is retracted.

[0110] Figure 6It is a structural diagram of an electronic device provided in an embodiment of the present application. At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. Among them, the memory may include a memory, such as a high-speed random access memory (Random-Access Memory, RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage, etc. Of course, the electronic device may also include hardware required for other services.

[0111] The processor, network interface and memory can be interconnected through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0112] The memory is used to store execution instructions. Specifically, the execution instructions are computer programs that can be executed. The memory may include internal memory and non-volatile memory, and provides execution instructions and data to the processor.

[0113] In one possible implementation, the processor reads the corresponding execution instructions from the non-volatile memory into the memory and then runs them, and can also obtain the corresponding execution instructions from other devices to form a special vehicle leveling control device at the logical level. The processor executes the execution instructions stored in the memory to implement the special vehicle leveling control method provided in any embodiment of the present application through the execution of the execution instructions.

[0114] The above application Figure 1The method performed by the special vehicle leveling control device provided in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or instructions in the form of software. The above processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The various methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0115] The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0116] An embodiment of the present application also proposes a readable storage medium, which stores execution instructions. When the stored execution instructions are executed by a processor of an electronic device, the electronic device can execute the special vehicle leveling control method provided in any embodiment of the present application, and is specifically used to execute the above-mentioned special vehicle leveling control method.

[0117] The electronic device described in the above embodiments may be a computer.

[0118] Those skilled in the art should understand that the embodiments of the present application can be provided as methods or computer program products. Therefore, the present application can adopt a complete hardware embodiment, a complete software embodiment, or a combination of software and hardware.

[0119] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0120] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0121] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A special vehicle leveling control method, characterized in that: The method comprises: Calculate the preset quick extension length of each outrigger of special vehicles; The rotation speed of the motor of each leg of the special vehicle is set to a first gear speed, and the extension length of each leg is detected; If the extension length of each leg reaches the preset quick extension length, the speed of the motor of each leg of the special vehicle is set to the second gear speed, and the motor feedback current step change value of the motor of each leg is obtained; If the step change value of the motor feedback current of the motor of each leg meets the preset change value, leveling control is performed according to the horizontality between the legs of the special vehicle; The special vehicle comprises a first leg, a second leg, a third leg and a fourth leg; the step of calculating the preset quick extension length of each leg of the special vehicle comprises: Obtaining the unevenness of the first leg and the second leg, the unevenness of the first leg and the third leg, the unevenness of the second leg and the fourth leg, the unevenness of the third leg and the fourth leg, the distance between each leg support plate and the ground, the span between the first leg and the second leg, the span between the first leg and the third leg, the span between the second leg and the fourth leg, the span between the third leg and the fourth leg, and a preset margin distance; Determine a preset quick extension length of the first leg according to the unevenness between the first leg and the second leg, the unevenness between the first leg and the third leg, the distance between the first leg support plate and the ground, the span between the first leg and the second leg, the span between the first leg and the third leg, and the preset margin distance; Determine a preset quick extension length of the second leg according to the unevenness between the first leg and the second leg, the unevenness between the second leg and the fourth leg, the distance between the second leg support plate and the ground, the span between the first leg and the second leg, the span between the second leg and the fourth leg, and the preset margin distance; Determine a preset quick extension length of the third leg according to the unevenness between the first leg and the third leg, the unevenness between the third leg and the fourth leg, the distance between the third leg support plate and the ground, the span between the first leg and the third leg, the span between the third leg and the fourth leg, and the preset margin distance; Determine a preset quick extension length of the fourth leg according to the unevenness between the fourth leg and the third leg, the unevenness between the second leg and the fourth leg, the distance between the fourth leg support plate and the ground, the span between the fourth leg and the third leg, the span between the second leg and the fourth leg, and the preset margin distance; The obtaining of the motor feedback current step change value of the motor of each leg includes: Obtain the vehicle deadweight of the special vehicle, the support reaction force of the first leg and the second leg, the support reaction force of the third leg and the fourth leg, the longitudinal span of the first leg and the third leg, the longitudinal span of the second leg and the fourth leg, the distance from the vehicle deadweight center of mass of the special vehicle to the geometric center of the four legs, the distance from the front wheel axle to the first leg, the distance from the front wheel axle to the second leg, the distance from the rear wheel axle to the third leg, the distance from the rear wheel axle to the fourth leg, the lead of the electric cylinder, the transmission efficiency of the electric cylinder, the reduction ratio of the electric cylinder, and the motor torque coefficient; Determine a motor feedback current step change value of the motor of the first leg, a motor feedback current step change value of the motor of the second leg, a motor feedback current step change value of the motor of the third leg, and a motor feedback current step change value of the motor of the fourth leg according to the vehicle deadweight of the special vehicle, the support reaction force of the first leg and the second leg, the support reaction force of the third leg and the fourth leg, the longitudinal span of the first leg and the third leg, the longitudinal span of the second leg and the fourth leg, the distance from the vehicle deadweight center of mass of the special vehicle to the geometric center of the four legs, the distance from the front wheel axle to the first leg, the distance from the front wheel axle to the second leg, the distance from the rear wheel axle to the third leg, the distance from the rear wheel axle to the fourth leg, the lead of the electric cylinder, the transmission efficiency of the electric cylinder, the reduction ratio of the electric cylinder, and the motor torque coefficient; The leveling control is performed according to the level between the legs of the special vehicle, including: The rotation speed of the motor of each leg is set to 0, and whether the front-to-back levelness of the first leg, the second leg, the third leg, and the fourth leg meets the rough leveling accuracy; If not, and the levelness of the first leg and the second leg is high, the speed of the motor of the third leg and the fourth leg is set to the third gear speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the front and rear levelness of the first leg, the second leg, the third leg, and the fourth leg meets the coarse leveling accuracy; if not, and the levelness of the third leg and the fourth leg is high, the speed of the motor of the second leg and the third leg is set to the third gear speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the front and rear levelness of the first leg, the second leg, the third leg, and the fourth leg meets the coarse leveling accuracy; If yes, the rotation speed of the motor of each leg is set to 0, and it is determined whether the left and right horizontality of the first leg, the third leg, the second leg, and the fourth leg meets the rough leveling accuracy; If not, and the levelness of the first leg and the third leg is high, the speed of the motor of the second leg and the fourth leg is set to the third speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the left and right levelness of the first leg, the third leg, the second leg, and the fourth leg meets the coarse leveling accuracy; if not, and the levelness of the second leg and the fourth leg is high, the speed of the motor of the second leg and the fourth leg is set to the third speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the left and right levelness of the first leg, the third leg, the second leg, and the fourth leg meets the coarse leveling accuracy; If yes, the rotation speed of the motor of each leg is set to 0, and it is determined whether the front-to-back levelness of the first leg, the second leg, the third leg, and the fourth leg meets the fine leveling accuracy; If not and the levelness of the first leg and the second leg is high, the speed of the motor of the third leg and the fourth leg is set to the fourth speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the front and rear levelness of the first leg, the second leg, the third leg, and the fourth leg meets the precision of fine leveling; if not and the levelness of the third leg and the fourth leg is high, the speed of the motor of the second leg and the third leg is set to the third speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the front and rear levelness of the first leg, the second leg, the third leg, and the fourth leg meets the precision of fine leveling; If yes, the rotation speed of the motor of each leg is set to 0, and it is determined whether the left and right horizontality of the first leg, the third leg, the second leg, and the fourth leg meets the fine leveling accuracy; If not and the levelness of the first leg and the third leg is high, the speed of the motor of the second leg and the fourth leg is set to the fourth speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the left and right levelness of the first leg, the third leg, the second leg, and the fourth leg meets the precision of fine leveling; if not and the levelness of the second leg and the fourth leg is high, the speed of the motor of the second leg and the fourth leg is set to the fourth speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the left and right levelness of the first leg, the third leg, the second leg, and the fourth leg meets the precision of fine leveling; If yes, determine whether the front-to-back and left-to-right levels of the first leg, the second leg, the third leg, and the fourth leg meet the fine leveling accuracy; If yes, the leveling control is terminated.

2. The method according to claim 1, characterized in that The first gear speed is the maximum speed of the motor, the second gear speed is the rated speed of the motor, the third gear speed is lower than the second gear speed, and the fourth gear speed is lower than the third gear speed.

3. The method according to claim 1, characterized in that Before the step of calculating the preset quick extension length of each leg of the special vehicle, the method further comprises: Check whether the vehicle condition of special vehicles meets the preset conditions; Accordingly, the calculation of the preset quick extension length of each outrigger of the special vehicle includes: If the vehicle condition of the special vehicle meets the preset condition, the preset quick extension length of each leg of the special vehicle is calculated.

4. The method according to claim 3, characterized in that: The vehicle condition includes the levelness of the vehicle site, the status of the vehicle's motor driver and inclination sensor, and the status of the vehicle's upper equipment; the preset conditions are: the levelness of the vehicle site meets the leveling conditions, the status of the motor driver and inclination sensor are online, and the status of the upper equipment is retracted.

5. A leveling control device for a special vehicle, characterized in that: The device comprises: A calculation unit, used for calculating the preset quick extension length of each outrigger of the special vehicle; A detection unit, used to set the rotation speed of the motor of each leg of the special vehicle to a first gear speed, and detect the extension length of each leg; an acquisition unit, configured to set the rotation speed of the motor of each leg of the special vehicle to a second-speed rotation speed if the extension length of each leg reaches the preset quick extension length, and to acquire a step change value of the motor feedback current of the motor of each leg; A leveling unit, configured to perform leveling control according to the horizontality between the legs of the special vehicle if the step change value of the motor feedback current of the motor of each leg meets a preset change value; The special vehicle comprises a first leg, a second leg, a third leg and a fourth leg; the step of calculating the preset quick extension length of each leg of the special vehicle comprises: Obtaining the unevenness of the first leg and the second leg, the unevenness of the first leg and the third leg, the unevenness of the second leg and the fourth leg, the unevenness of the third leg and the fourth leg, the distance between each leg support plate and the ground, the span between the first leg and the second leg, the span between the first leg and the third leg, the span between the second leg and the fourth leg, the span between the third leg and the fourth leg, and a preset margin distance; Determine a preset quick extension length of the first leg according to the unevenness between the first leg and the second leg, the unevenness between the first leg and the third leg, the distance between the first leg support plate and the ground, the span between the first leg and the second leg, the span between the first leg and the third leg, and the preset margin distance; Determine a preset quick extension length of the second leg according to the unevenness between the first leg and the second leg, the unevenness between the second leg and the fourth leg, the distance between the second leg support plate and the ground, the span between the first leg and the second leg, the span between the second leg and the fourth leg, and the preset margin distance; Determine a preset quick extension length of the third leg according to the unevenness between the first leg and the third leg, the unevenness between the third leg and the fourth leg, the distance between the third leg support plate and the ground, the span between the first leg and the third leg, the span between the third leg and the fourth leg, and the preset margin distance; Determine a preset quick extension length of the fourth leg according to the unevenness between the fourth leg and the third leg, the unevenness between the second leg and the fourth leg, the distance between the fourth leg support plate and the ground, the span between the fourth leg and the third leg, the span between the second leg and the fourth leg, and the preset margin distance; The obtaining of the motor feedback current step change value of the motor of each leg includes: Obtain the vehicle deadweight of the special vehicle, the support reaction force of the first leg and the second leg, the support reaction force of the third leg and the fourth leg, the longitudinal span of the first leg and the third leg, the longitudinal span of the second leg and the fourth leg, the distance from the vehicle deadweight center of mass of the special vehicle to the geometric center of the four legs, the distance from the front wheel axle to the first leg, the distance from the front wheel axle to the second leg, the distance from the rear wheel axle to the third leg, the distance from the rear wheel axle to the fourth leg, the lead of the electric cylinder, the transmission efficiency of the electric cylinder, the reduction ratio of the electric cylinder, and the motor torque coefficient; Determine a motor feedback current step change value of the motor of the first leg, a motor feedback current step change value of the motor of the second leg, a motor feedback current step change value of the motor of the third leg, and a motor feedback current step change value of the motor of the fourth leg according to the vehicle deadweight of the special vehicle, the support reaction force of the first leg and the second leg, the support reaction force of the third leg and the fourth leg, the longitudinal span of the first leg and the third leg, the longitudinal span of the second leg and the fourth leg, the distance from the vehicle deadweight center of mass of the special vehicle to the geometric center of the four legs, the distance from the front wheel axle to the first leg, the distance from the front wheel axle to the second leg, the distance from the rear wheel axle to the third leg, the distance from the rear wheel axle to the fourth leg, the lead of the electric cylinder, the transmission efficiency of the electric cylinder, the reduction ratio of the electric cylinder, and the motor torque coefficient; The leveling control is performed according to the level between the legs of the special vehicle, including: The rotation speed of the motor of each leg is set to 0, and whether the front-to-back levelness of the first leg, the second leg, the third leg, and the fourth leg meets the rough leveling accuracy; If not, and the levelness of the first leg and the second leg is high, the speed of the motor of the third leg and the fourth leg is set to the third gear speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the front and rear levelness of the first leg, the second leg, the third leg, and the fourth leg meets the coarse leveling accuracy; if not, and the levelness of the third leg and the fourth leg is high, the speed of the motor of the second leg and the third leg is set to the third gear speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the front and rear levelness of the first leg, the second leg, the third leg, and the fourth leg meets the coarse leveling accuracy; If yes, the rotation speed of the motor of each leg is set to 0, and it is determined whether the left and right horizontality of the first leg, the third leg, the second leg, and the fourth leg meets the rough leveling accuracy; If not, and the levelness of the first leg and the third leg is high, the speed of the motor of the second leg and the fourth leg is set to the third speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the left and right levelness of the first leg, the third leg, the second leg, and the fourth leg meets the coarse leveling accuracy; if not, and the levelness of the second leg and the fourth leg is high, the speed of the motor of the second leg and the fourth leg is set to the third speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the left and right levelness of the first leg, the third leg, the second leg, and the fourth leg meets the coarse leveling accuracy; If yes, the rotation speed of the motor of each leg is set to 0, and it is determined whether the front-to-back levelness of the first leg, the second leg, the third leg, and the fourth leg meets the fine leveling accuracy; If not and the levelness of the first leg and the second leg is high, the speed of the motor of the third leg and the fourth leg is set to the fourth speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the front and rear levelness of the first leg, the second leg, the third leg, and the fourth leg meets the precision of fine leveling; if not and the levelness of the third leg and the fourth leg is high, the speed of the motor of the second leg and the third leg is set to the third speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the front and rear levelness of the first leg, the second leg, the third leg, and the fourth leg meets the precision of fine leveling; If yes, the rotation speed of the motor of each leg is set to 0, and it is determined whether the left and right horizontality of the first leg, the third leg, the second leg, and the fourth leg meets the fine leveling accuracy; If not and the levelness of the first leg and the third leg is high, the speed of the motor of the second leg and the fourth leg is set to the fourth speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the left and right levelness of the first leg, the third leg, the second leg, and the fourth leg meets the precision of fine leveling; if not and the levelness of the second leg and the fourth leg is high, the speed of the motor of the second leg and the fourth leg is set to the fourth speed, and then the step of setting the speed of the motor of each leg to 0 is continued to be performed to determine whether the left and right levelness of the first leg, the third leg, the second leg, and the fourth leg meets the precision of fine leveling; If yes, determine whether the front-to-back and left-to-right levels of the first leg, the second leg, the third leg, and the fourth leg meet the fine leveling accuracy; If yes, the leveling control is terminated.

6. A readable medium, characterized in that: The readable medium includes execution instructions. When a processor of an electronic device executes the execution instructions, the electronic device executes the method according to any one of claims 1 to 4.

7. An electronic device, characterized in that: The electronic device includes a processor and a memory storing execution instructions. When the processor executes the execution instructions stored in the memory, the processor executes the method according to any one of claims 1 to 4.

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