Modular vehicle and adjustment method, device, system and medium thereof

Abstract

The embodiments of the present application provide a modular vehicle and its adjustment method, device, system and medium. The modular vehicle includes at least one unit vehicle and multiple support loops determined according to the support points of at least one unit vehicle. The method includes: during the transportation of the modular vehicle, obtaining the state parameters of the modular vehicle, wherein the state parameters include the pressure value applied to each support loop by the modular vehicle and its bearing load and / or the inclination angle of the modular vehicle carrying plane; when the state parameters meet the adjustment conditions, determining the target support loop among the multiple support loops according to the state parameters; and adjusting the height of the support point in the target support loop. According to the embodiment scheme of the present application, the height of the support point can be adjusted according to the objectively quantified state parameters, thereby improving the transportation safety of the vehicle.

Description

Technical Field

[0001] The present application belongs to the field of vehicle transportation, and in particular to a modular vehicle and its adjustment method, equipment, system and medium. Background Art

[0002] In the field of vehicle transportation, in order to increase the load weight and flexibility of transport vehicles, a modular vehicle consisting of one or more unit vehicles was born.

[0003] In the process of transporting goods by modular vehicles, in order to ensure transportation safety, users are often required to adjust the modular vehicles based on their subjective experience.

[0004] However, this manual adjustment method often has low accuracy and affects the transportation safety of the vehicle. Summary of the invention

[0005] The embodiments of the present application provide a modular vehicle and an adjustment method, device, system and medium thereof, which can adjust the height of the support point according to objective and quantified state parameters, thereby improving the transportation safety of the vehicle.

[0006] In a first aspect, an embodiment of the present application provides a method for adjusting a modular vehicle, wherein the modular vehicle includes at least one modular vehicle and a plurality of support loops determined according to support points of the at least one modular vehicle, the method comprising:

[0007] During the transportation of the module car, the state parameters of the module car are obtained, wherein the state parameters include the pressure value applied to each supporting loop by the module car and its carrying load and / or the inclination angle of the carrying plane of the module car;

[0008] When the state parameter meets the adjustment condition, determining a target support loop among the multiple support loops according to the state parameter;

[0009] Adjust the height of the support point in the target support loop.

[0010] In a second aspect, an embodiment of the present application provides a module vehicle adjustment system, including:

[0011] A state monitoring device is used to collect state parameters of the module car during the transportation of the module car, wherein the state monitoring device includes a pressure monitoring device and / or an angle monitoring device, and the state parameters include a pressure value applied to each support circuit by the module car and its bearing load determined by the pressure monitoring device and / or an inclination angle of the module car carrying plane detected by the angle monitoring device;

[0012] The module vehicle adjustment device is used to obtain state parameters from the state monitoring device; and, when the state parameters meet the adjustment conditions, determine the target support loop among multiple support loops according to the state parameters; and adjust the height of the support point in the target support loop.

[0013] In a third aspect, a module vehicle adjustment device is provided, wherein the module vehicle comprises a plurality of support points, and the device comprises:

[0014] The state parameter acquisition module is used to obtain the state parameters of the module vehicle during the transportation of the module vehicle;

[0015] A support point determination module, used for determining a target support loop among multiple support loops according to the state parameters when the state parameters meet the adjustment conditions;

[0016] Height adjustment module, used to adjust the height of the support point in the target support loop,

[0017] The state parameters include the pressure value applied to each support loop by the module vehicle and its load and / or the tilt angle of the module vehicle carrying plane.

[0018] In a fourth aspect, a module vehicle adjustment device is provided, comprising:

[0019] a processor and a memory storing computer program instructions;

[0020] The processor reads and executes computer program instructions to implement the module vehicle adjustment method provided by the first aspect or any optional implementation manner of the first aspect.

[0021] In a fifth aspect, a computer storage medium is provided, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the modular vehicle adjustment method provided by the first aspect or any optional implementation of the first aspect is implemented.

[0022] The modular vehicle and its adjustment method, device, system and medium of the embodiments of the present application, because the transportation safety of the vehicle is affected by the load level of the vehicle and / or the tilt level of the vehicle, therefore, when the pressure value applied to each support loop by the modular vehicle and its load and / or the tilt angle of the modular vehicle carrying plane are used as state parameters, the state parameters can objectively quantify the safety level of the modular vehicle. By using the state parameters to adjust the height of the target support point, the support point can be adjusted when the state parameters representing the transportation safety meet the adjustment conditions, that is, when the vehicle has a safety risk. Compared with the method of manually adjusting the height of the modular vehicle, the height of the support point can be adjusted according to the objectively quantified state parameters, thereby improving the transportation safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1 It is a structural schematic diagram of a unit vehicle provided in an embodiment of the present application;

[0025] Figure 2 is a schematic diagram of an exemplary three-point support structure provided in an embodiment of the present application;

[0026] Figure 3 is a schematic diagram of another exemplary three-point support structure provided in an embodiment of the present application;

[0027] Figure 4 is a schematic diagram of an exemplary four-point support structure provided in an embodiment of the present application;

[0028] Figure 5 is a force diagram of an exemplary module vehicle provided in an embodiment of the present application;

[0029] Figure 6 It is a structural schematic diagram of a module vehicle adjustment system provided in an embodiment of the present application;

[0030] Figure 7 It is a flow chart of a first module vehicle adjustment method provided in an embodiment of the present application;

[0031] Figure 8 It is a flow chart of a second module vehicle adjustment method provided in an embodiment of the present application;

[0032] Fig. 9 It is a flow chart of a third module vehicle adjustment method provided in an embodiment of the present application;

[0033] Fig.10 It is a flowchart of a fourth module vehicle adjustment method provided in an embodiment of the present application;

[0034] Fig.11 It is a flowchart of a fifth module vehicle adjustment method provided in an embodiment of the present application;

[0035] Fig.12 is a flow chart of a sixth module vehicle adjustment method provided in an embodiment of the present application;

[0036] Fig.13 is a flow chart of a seventh module vehicle adjustment method provided in an embodiment of the present application;

[0037] Fig.14is a flow chart of an eighth module vehicle adjustment method provided in an embodiment of the present application;

[0038] Fig.15 is a flow chart of a ninth module vehicle adjustment method provided in an embodiment of the present application;

[0039] Fig.16 is a functional schematic diagram of an intelligent vehicle correction system provided by an embodiment of the present application;

[0040] Fig.17 It is a structural schematic diagram of an adjustment device for a module vehicle provided in an embodiment of the present application;

[0041] Fig.18 A schematic diagram of the hardware structure of a module vehicle adjustment device provided in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0042] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0043] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article 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, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0044] With the large-scale construction of infrastructure, the tonnage and volume of goods are also constantly increasing. For example, in the wind power scenario, with the advent of the era of offshore parity, the development and application of large-megawatt wind turbines will be the general trend. Large-megawatt wind turbines often have the characteristics of large size, large mass, irregular shape, etc., and wind turbine components often need to be transported as a whole after being assembled by the manufacturer. Therefore, how to meet the transportation needs of large-tonnage and large-scale goods such as wind turbine components has become an urgent problem to be solved.

[0045] In order to meet the transportation needs of large-tonnage and large-sized goods, modular vehicle technology has emerged. Since modular vehicles can increase their load capacity by flexibly splicing multiple units horizontally and vertically, they can be used to transport large-tonnage and large-volume goods.

[0046] However, during the transportation of modular vehicles, due to the influence of driving environments such as steep roads or slopes, irregular shapes of cargoes and other conditions, the transportation safety of modular vehicles is often affected by risks such as local overload at some support points of the vehicle or overturning of the entire vehicle.

[0047] In a related technology, since the oil pressure gauge on the power head module of the modular vehicle can reflect the load distribution of the suspension support point, the driver and other operators can observe the value of the oil pressure gauge and manually control the remote control based on the observed oil pressure gauge value to achieve the lifting and lowering of the support point. However, this control method requires the operator's control experience, and the adjustment accuracy is low. Especially when transporting goods with a high center of gravity, this method relies too much on the driver's subjective judgment, is not effective, and has certain risks. Once the adjustment is insufficient or excessive, if it cannot be adjusted in time, it will cause the vehicle and cargo to overturn. In addition, the pressure gauge cannot intuitively quantify the degree of tilt of the vehicle and cargo, which may cause the driver to misjudge whether the modular vehicle has a risk of overturning during the vehicle's driving. Therefore, the method of manually adjusting the modular vehicle in the related technology often cannot avoid the risk of manual misjudgment and misoperation, which leads to low transportation safety of the modular vehicle.

[0048] Therefore, a technical solution is needed to improve the transportation safety of modular vehicles.

[0049] Based on this, the embodiments of the present application provide a modular vehicle adjustment method, device, equipment and medium, which can be applied to the application scenario of modular vehicles transporting goods.

[0050] In some embodiments, the invention can be specifically applied to a specific application scenario of transporting wind turbine components of a wind turbine generator set using a modular vehicle. For example, the invention can be specifically applied to a transportation scenario of transporting components such as a nacelle, a wheel hub, a generator, etc.

[0051] Compared with the solution of adjusting the height of the module vehicle based on manual experience, the height of the support point can be adjusted according to objective and quantified state parameters, thereby improving the transportation safety of the vehicle.

[0052] In order to better understand the present application, the embodiments of the present application provide specific explanations of concepts such as modular vehicles, support points, support loops, local overloads, stability, and overturning risks.

[0053] (1) Modular vehicle.

[0054] A modular vehicle is a modular flatbed vehicle that can be assembled from one or more unit vehicles. Specifically, it can be configured into various structures, sizes and weights according to different requirements for loading goods. For example, unit vehicles can be combined and merged at will according to the characteristics of the transported goods (external dimensions, tonnage, length, width, etc.), so as to realize the transportation of super-large tonnage goods.

[0055] Structurally, a modular vehicle includes at least one unit vehicle and a power pack unit (PPU). The power pack unit is used to provide driving force, and the unit vehicle is used to carry goods. In one example, the unit vehicle can be implemented as a multi-axis module group, such as a 4-axis module group or a 6-axis module group, etc., and the number of axes of the unit vehicle is not limited.

[0056] In some embodiments, the modular vehicle can be implemented as an automated flatbed vehicle with adjustable support point height, such as a multi-axis, multi-suspension, multi-wheel drive self-propelled hydraulic flatbed vehicle (Self-Propelled Modular Transporters, SPMT). SPMT is mainly used for the transportation of heavy, large, high, and special-shaped structures, such as docks, shipyards, bridges, and high-speed railways. Its advantages are mainly flexible use, convenient loading and unloading, and a load capacity of more than 50,000 tons in the case of mechanical assembly or free combination of multiple vehicles. It has the advantages of strong maneuverability, no need for traction, self-driving, large load capacity, and diversified splicing methods, which meets the wind power industry's requirements for vehicle transportation efficiency and economy as well as various transportation functions and performance aspects.

[0057] In terms of driving mode, SPMT can adopt a closed pump to drive the motor reducer.

[0058] In terms of splicing technology, SPMT can use hard splicing and / or soft splicing. The modular vehicle and its adjustment method, equipment, system and medium of the embodiment of the present application, since the transportation safety of the vehicle is affected by the load level of the vehicle and / or the tilt level of the vehicle, when the pressure value applied to each support loop by the modular vehicle and its load-bearing load and / or the tilt angle of the modular vehicle carrying plane are used as state parameters, the state parameters can objectively quantify the safety level of the modular vehicle. By using the state parameters to adjust the height of the target support point, the support point can be adjusted when the state parameters representing the transportation safety meet the adjustment conditions, that is, when the vehicle has a safety risk. Compared with the method of manually adjusting the height of the modular vehicle, the height of the support point can be adjusted according to the objectively quantified state parameters, thereby improving the transportation safety of the vehicle.

[0059] During soft splicing, each module car has its own control system, which can realize its own steering coordination and synchronization function. The module cars communicate with each other using CAN bus signals to realize the coordinated synchronization of driving and steering between different module cars. During communication, the control system of one module car serves as the main unit, and other module cars receive driving, steering and other commands from the main unit. In a specific example, an electronic hydraulic composite multi-mode steering module car and a mechanical tie rod steering module car can be spliced. Both vehicles can be spliced ​​with each other.

[0060] In terms of steering, hydraulic cylinder power steering can be used. In one example, optimization design software for the steering structure of a multi-axle modular transporter can be used. This software is used to analyze the design of the steering mechanism under different wheelbases, different axes, and different carpooling methods, so that the difference between the actual steering angle and the ideal steering angle of the modular vehicle when turning is as small as possible, thereby making the steering mechanism design more reasonable and scientific.

[0061] In terms of frame structure, the frame can adopt integrated technology and use high-strength welded steel plate materials with a yield strength of up to 685MPa. The semi-enclosed frame structure increases its strength and rigidity. In terms of manufacturing, the tooling segmented assembly welding technology is used to ensure the frame accuracy.

[0062] In terms of hydraulic integration technology, modular axis transport vehicles have adopted a large number of modular design technologies in the process of hydraulic system design. For example, functions such as hydraulic source control, lifting control, and steering manual / remote control are integrated into the hydraulic control box, and four-way valves and stop valves are integrated into one hydraulic valve block. This not only reduces the installation space, but also makes the entire structure look simple and beautiful, and the operation is more convenient and quick.

[0063] (2) Unit vehicle.

[0064] Figure 1Schematic diagram of a unit vehicle provided in an embodiment of the present application. Figure 1 As shown, the unit vehicle may include a vehicle body 11 and a plurality of suspensions.

[0065] The upper plane of the vehicle body 11 , namely the carrying plane of the modular vehicle, is used to carry the load 20 , and the lower plane of the vehicle body 11 is used to connect a plurality of suspensions.

[0066] (3) Support point.

[0067] Before introducing the support points, the suspension is explained in detail.

[0068] The suspension is used to achieve functions such as load bearing, steering, and height adjustment. Figure 1 , one suspension corresponds to one axis. Each suspension includes a suspension mechanism 121 and a wheel 122. In some embodiments, the suspension of the SPMT is an independent hydraulic suspension, wherein hydraulic means supported by a hydraulic cylinder, and independent means capable of independent load bearing and steering.

[0069] The suspension mechanism 121 is used to transmit the force and torque acting between the wheel 122 and the vehicle body 11, and to adjust the height between the vehicle body 11 and the wheel 122. Exemplarily, the suspension mechanism 121 may include structures such as a supporting hydraulic cylinder, a fixed arm, and a swing arm brake air chamber. Specifically, through the extension and retraction of the hydraulic cylinder of the suspension, the swing arm swings longitudinally along the trailer with the swing arm transverse axis as the center, generating the vertical displacement degree of freedom of the wheel, forming the lifting and lowering of the suspension.

[0070] Since each suspension can be supported by a hydraulic cylinder, each suspension can be used as a supporting point.

[0071] (3) Support circuit.

[0072] When a hydraulic cylinder with multiple supporting points forms a hydraulic circuit, the multiple supporting points can be considered to constitute a supporting circuit.

[0073] During transportation, the load can be borne by the supporting hydraulic cylinders of each suspension. If the supporting hydraulic cylinders in each suspension are not connected to the hydraulic cylinders of other suspensions, when encountering complex road conditions, the forces on the suspensions will be unequal, and the suspensions with excessive forces may be overloaded. However, if all the hydraulic cylinders are connected into a loop, once the weight of the cargo deviates from the neutral position of the vehicle, a tipping moment will be generated.

[0074] Therefore, considering factors such as evenly distributing the load and ensuring the stability of the supporting surface, all suspensions of the modular vehicle are often divided into three to four groups, and the hydraulic cylinders of each group of suspensions are connected to form a hydraulic circuit. Accordingly, a modular vehicle can generate three to four hydraulic circuits. Accordingly, multiple supporting points of a modular vehicle can form three to four supporting circuits. Exemplarily, the three hydraulic circuits can automatically adapt to the impact of uneven roads to the greatest extent possible, and prevent the vehicle frame and cargo from being subjected to additional twisting forces and distortions caused by uneven ground. Therefore, the three hydraulic circuits can be used as a hydraulic combination.

[0075] Figure 2 Schematic diagram of an exemplary three-point support structure provided in the embodiment of the present application. Figure 2 As shown, if the module vehicle 10 includes 12 support points (suspension) 12, it can be as follows Figure 2 The front 3 and rear 3 hydraulic point arrangement method shown divides the 12 support points 12 into 3 groups, namely G11, G12 and G13.

[0076] The three supporting points in the G11 group form a supporting circuit (for the sake of ease of illustration, the supporting circuit will be referred to as supporting circuit C1 in the following part), and the hydraulic cylinders of the three supporting points in the group form a hydraulic circuit. The point of action of the resultant force of the three supporting points in the group is the geometric center point C1 of the circuit.

[0077] The three supporting points in the G12 group form a supporting circuit (for the sake of ease of illustration, the supporting circuit will be referred to as supporting circuit B1 in the following part), and the hydraulic cylinders of the three supporting points in the group form a hydraulic circuit. The point of action of the resultant force of the three supporting points in the group is the geometric center point B1 of the circuit.

[0078] The six supporting points in the G13 group form a supporting circuit (for the sake of ease of illustration, the supporting circuit will be referred to as supporting circuit A1 in the following part), and the hydraulic cylinders of the six supporting points in the group form a hydraulic circuit, and the point of action of the resultant force of the six supporting points in the group is the geometric center point A1 of the circuit.

[0079] Correspondingly, the triangle A1B1C1 shown by the dotted line is the supporting triangle A1B1C1 corresponding to the dot coding method. When the center of gravity of the cargo falls within the supporting triangle A1B1C1, the vehicle will have good stability. If the center of gravity of the cargo exceeds the area where the supporting triangle A1B1C1 is located, the vehicle will be at risk of overturning.

[0080] Figure 3 Schematic diagram of another exemplary three-point support structure provided in the embodiment of the present application. Figure 3 As shown, the 12 support points 12 can be arranged as follows: Figure 3The front 4 and rear 2 hydraulic point arrangement method shown divides the 12 suspensions 12 into 3 groups, namely G21, G22 and G23.

[0081] The two supporting points in the G21 group form a supporting circuit (for the sake of ease of illustration, the supporting circuit will be referred to as supporting circuit C2 in the following part), and the hydraulic cylinders of the two supporting points in the group form a hydraulic circuit, and the point of action of the resultant force of the two supporting points in the group is the geometric center point C2 of the circuit.

[0082] The two supporting points in the G22 group form a supporting circuit (for the sake of ease of illustration, the supporting circuit will be referred to as supporting circuit B2 in the following part), the hydraulic cylinders of the two supporting points in the group form a hydraulic circuit, and the point of action of the resultant force of the two suspensions in the group is the geometric center point B2 of the circuit.

[0083] The 8 suspensions in the G23 group form a support circuit (for the sake of ease of illustration, the support circuit will be referred to as support circuit A2 in the following part), and the hydraulic cylinders at the 8 support points in the group form a hydraulic circuit, and the point of action of the resultant force of the 8 support points in the group is the geometric center point A2 of the circuit.

[0084] Among them, the triangle A2B2C2 shown by the dotted line is the supporting triangle A2B2C2 corresponding to this dot coding method.

[0085] pass Figure 2 and Figure 3 By comparison, although both are three-point supports with 12 supporting points, the supporting triangle A1B1C1 corresponding to the front 3 and rear 3 is different from the supporting triangle A2B2C2 corresponding to the front 4 and rear 2 hydraulic point arrangement method. Accordingly, different point arrangement methods correspond to different stable areas. Different cargo parts have different centers of gravity, and different point arrangement methods are applicable.

[0086] Figure 4 Schematic diagram of an exemplary four-point support structure provided in the embodiment of the present application. Figure 4 As shown, the 12 support points 12 can be arranged as follows: Figure 4 The front 3 and rear 3 hydraulic point arrangement method shown divides the 12 support points 12 into 4 groups, namely G31, G32, G33 and G34.

[0087] The three supporting points in each group of G31, G32, G33, and G34 form a supporting circuit. For the convenience of illustration, the following parts are respectively represented as supporting circuit C3, supporting circuit B3, supporting circuit A3, and supporting circuit D3. The hydraulic cylinders of the three supporting points in each group form a hydraulic circuit. Accordingly, the 12 supporting points form four supporting circuits, and the points of action of the resultant forces of the three supporting points of each of the four groups are points C3, B3, A3, and D3, respectively.

[0088] Correspondingly, this point coding method corresponds to the supporting quadrilateral C3B3A3D3.

[0089] (4) Local overloading of the module vehicle.

[0090] Each axis of the modular vehicle, i.e. each suspension, has a certain load-bearing capacity. If the modular vehicle tilts laterally or the center of gravity of the cargo shifts during transportation, the pressure applied by the cargo to each suspension at a certain support point may be greater than its load-bearing capacity, thus causing partial overload of the modular vehicle. When the modular vehicle is partially overloaded seriously, it may cause a tire blowout and cause a serious accident.

[0091] (5) Stability of modular vehicles and risk of overturning.

[0092] The stability of a modular vehicle refers to the ability of the modular vehicle to resist external factors and maintain its original balanced position. On the contrary, if the modular vehicle overturns or rolls over due to external factors, the stability of the modular vehicle fails, which is referred to as instability. If the modular vehicle has the risk of overturning, it means that the modular vehicle has the risk of instability.

[0093] Since hydraulic modular vehicles usually transport over-height, over-weight and over-sized goods, their stability is particularly important. Stability is closely related to the main parameters of the vehicle structure and the loading of the goods. If the structure is improperly designed, the transportation loading is improper, there is a certain lateral inclination of the road surface, or the influence of factors such as side winds, the vehicle will have load transfer, causing the vehicle to overturn or cause tire overload, which may lead to tire blowout, causing serious accidents.

[0094] Specifically, Figure 5 : is a force diagram of an exemplary module vehicle provided in an embodiment of the present application, wherein the x-axis extends along the longitudinal direction of the supporting horizontal plane, that is, the traveling direction of the module vehicle, the y-axis extends along the lateral direction of the supporting horizontal plane, and the z-axis extends along the vertical direction of the supporting horizontal plane.

[0095] like Figure 5 As shown in the figure, when the modular vehicle is supported by three points, the combined force points of the three support points are on the support horizontal plane ( Figure 5 A supporting triangle ABC is formed on the vehicle body (not shown). When the vehicle body is not tilted, the foot of the vertical of the combined center of gravity G of the modular vehicle and the cargo is located at point M on the supporting horizontal plane. When the vehicle body gradually tilts along the y direction, the intersection point N of the gravity action line of the combined center of gravity G of the modular vehicle and the cargo and the carrying plane of the modular vehicle gradually moves toward the E side along the straight line ME. When the intersection point N moves to point E, the vehicle will be in a critical state of overturning instability. That is to say, if N is between ME, the vehicle is in a stable state, and if N is outside ME, the vehicle is in a state of overturning instability. At this time, ME is called the lateral stability line of the modular vehicle.

[0096] Correspondingly, when N is at point E, the angle between the gravity line of the combined gravity center G of the modular vehicle and the cargo and This can be called the lateral static stability angle . Transverse static stability angle Used to characterize the maximum tilt angle allowed for the vehicle in the lateral direction, the lateral static stability angle The larger it is, the higher the static stability of the vehicle.

[0097] After introducing the above concepts, for ease of understanding, before specifically describing the modular vehicle adjustment solution provided in the embodiment of the present application, the following parts of the embodiment of the present application will respectively describe the modular vehicle and the modular vehicle adjustment system.

[0098] An embodiment of the present application provides a modular vehicle, comprising at least one unit vehicle, a plurality of support loops, and a modular vehicle adjustment system.

[0099] In some embodiments, in wind power scenarios, such as in the era of offshore wind turbine parity, the onshore transportation cost is often reduced by assembling multiple components of wind turbine generator sets into wind turbine components in advance before shipment. For example, the generator, nacelle and generator can be assembled into three major parts of the head, or the nacelle and generator can be assembled into two major parts of the head before shipment. The construction party usually hoists the three major parts of the head, or the two major parts of the head, etc. on the wind power installation ship as a whole to save offshore hoisting time. Therefore, wind turbine components such as the head assembly have gradually become the main way to transport large wind turbine components.

[0100] Therefore, the modular vehicle provided in the present application is used to transport components of a wind turbine generator set. Among them, the components of a wind turbine generator set can be assembled from multiple parts of a wind turbine generator set. For example, the components transported can be three major parts of the head, two major parts of the head, and other components.

[0101] In this embodiment, since wind turbine components such as the head assembly often have a high center of gravity, large volume, and heavy mass, the module vehicle may cause some supporting points to be overloaded or overturn when traveling on a steep road or slope, making adjustment difficult.

[0102] Therefore, the modular vehicle provided by the embodiment of the present application can adjust the height of some supporting points to balance the load force of each supporting point. In addition, due to the offset of the center of gravity of the wind turbine assembly, there will be a large overturning moment, and even cause rollover. The modular vehicle provided by the embodiment of the present application can adjust the inclination and load pressure of the vehicle body to keep the level of the load platform surface and the load balance as much as possible. Therefore, the safety of the transportation of the components of the wind turbine generator set is improved.

[0103] Structurally, the modular vehicle provided in the embodiment of the present application may include: at least one unit vehicle, multiple support loops and a modular vehicle adjustment system. Next, the following parts of the embodiment of the present application will respectively provide specific descriptions of the unit vehicle, the support loop and the adjustment system.

[0104] First, for a unit vehicle, the number of unit vehicles can be one or more. Specifically, the number of unit vehicles can be flexibly set according to the weight, volume, length, width, etc. of the goods to be transported, and this embodiment of the present application will not be repeated. In addition, other contents of the unit vehicle can refer to the relevant description of the above part of the embodiment of the present application, and this will not be repeated.

[0105] Among them, since each unit vehicle has multiple supporting points, the number of supporting points of the module vehicle is equal to the sum of the number of supporting points of the unit vehicles.

[0106] Secondly, for multiple support loops, they are determined according to the support points of the unit vehicle.

[0107] The multiple support points of the modular vehicle in the embodiment of the present application can form three support loops (corresponding to the three-point support method) or four support loops (corresponding to the four-point support method), which is not limited to this. Specifically, the relevant content of the three-point support can be referred to in conjunction with the above embodiment of the present application. Figure 2 and Figure 3 For the relevant description of the four-point support, please refer to the above part of the embodiment of this application. Figure 4 The relevant instructions are not repeated here.

[0108] Next, with respect to the module vehicle adjustment system, the following part of the embodiment of the present application will be described in detail in conjunction with the accompanying drawings.

[0109] Figure 6 It is a structural schematic diagram of a modular vehicle adjustment system provided in an embodiment of the present application.

[0110] like Figure 6 As shown, the module car adjustment system 13 may include a state monitoring device 131 and a module car adjustment device 132 .

[0111] First, let's look at the state monitoring device 131 .

[0112] The state monitoring device 131 is used to obtain state parameters of the module vehicle during the transportation of the module vehicle.

[0113] In some embodiments, in order to prevent partial overloading of the vehicle, the state parameter may include the pressure value detected by the pressure monitoring device and applied to each support circuit by the module vehicle and its load. In one example, when the module vehicle is in an unloaded state, the pressure value on each support circuit includes the pressure value of the module vehicle body on each support point. In other words, the weight of the module vehicle's load can be considered to be zero. When the module vehicle is in a state of transporting goods, the pressure value on each support circuit may include the pressure value applied to each support point by the module vehicle body and the weight of the goods.

[0114] Accordingly, the state monitoring device may include a pressure monitoring device. Exemplarily, the pressure monitoring device may include a pressure sensor, such as a heavy-duty pressure sensor, a resistance pressure sensor, a capacitance pressure sensor, an oil pressure gauge, etc. It should be noted that the pressure monitoring device is other pressure sensing devices, and this is not specifically limited.

[0115] In one embodiment, the pressure sensor is distributed at the hydraulic cylinder support of all support points, and it can detect the pressure value at the hydraulic support and convert it into an electrical signal corresponding to the physical quantity. In one example, a pressure monitoring device can be installed at each support point. Accordingly, for each support loop, the pressure value collected by the pressure detection device corresponding to each support point in the support loop can be obtained, and then a reference value can be determined based on the pressure values ​​of multiple support points as the pressure value corresponding to the support loop. For example, the maximum value of the pressure values ​​of multiple support points can be selected as the reference value, or the average pressure value of multiple support points can be used as the reference value, without limitation. In another example, a pressure monitoring device can be installed at a support point of each support loop, and the pressure value collected by the pressure monitoring device can be used as the pressure value corresponding to the support loop.

[0116] In other embodiments, when a modular vehicle is loaded with high-center-of-gravity cargo and is traveling on a steep road or slope, it may cause overload of the suspension and axles of some fulcrums. The cargo will have a large overturning moment and may even cause rollover. At this time, the vehicle body needs to be tilted to keep the stable surface as level as possible.

[0117] Therefore, in order to prevent the vehicle from overturning during driving, the state parameter may include the inclination angle of the module vehicle carrying plane detected by the angle monitoring device. The angle monitoring device may be installed on the carrying screen of the module vehicle. In one example, the inclination angle collected by the angle monitoring device may be expressed as positive or negative to indicate its inclination direction. In a specific example, if the angle monitoring device is used to detect the lateral inclination angle of the module vehicle, if the collected inclination angle is a positive value, it indicates that it is tilted to the right. Conversely, if the collected inclination angle is a negative value, it indicates that the vehicle is tilted to the left.

[0118] It should be noted that the positive or negative value of the tilt angle and the tilt direction it represents can also be determined according to the specific implementation method and specific scenario setting of the angle monitoring device. For example, a negative value can be used to represent a tilt to the right, and a positive value can be used to represent a tilt to the left. The embodiment of the present application does not specifically limit the positive or negative value of the tilt angle and the tilt direction it represents.

[0119] Accordingly, the state monitoring device may include an angle monitoring device. Exemplarily, it may be an angle detector. In some examples, in order to achieve the cross slope correction of the module car, the module car may include an angle monitoring device for detecting its tilt angle in the lateral direction. Alternatively, in order to achieve tilt correction in other directions, the angle monitoring device may also be used to detect tilt angles in directions other than the lateral direction. The specific monitoring direction of the angle monitoring device may be set according to the actual scenario and specific needs, and is not limited thereto.

[0120] It should be noted that the angle monitoring device may also be other devices with angle detection function besides the angle detector, and there is no specific limitation on this.

[0121] In some other embodiments, in order to further improve the safety of the vehicle during driving, vehicle adjustments to prevent rollover and local overloading can be performed during driving. Accordingly, the state parameters may include the pressure value of the modular vehicle's load applied to each support point detected by the pressure monitoring equipment, and the inclination angle of the modular vehicle's carrying plane detected by the angle monitoring equipment.

[0122] The pressure values ​​on each supporting point and the inclination angle of the module vehicle carrying plane can be found in the relevant descriptions of the above two embodiments, which will not be described in detail here.

[0123] After fully introducing the condition monitoring device, the following part of the embodiment of the present application will specifically explain the modular vehicle adjustment device by combining the method and the specific structure.

[0124] In order to better understand the present application, the module vehicle adjustment method of the embodiment of the present application will be described in detail below with reference to the accompanying drawings. It should be noted that these embodiments are not intended to limit the scope of the present application.

[0125] Figure 7 It is a flow chart of the first modular vehicle adjustment method provided by the embodiment of the present application. In some embodiments, the execution body of each step of the modular vehicle adjustment method can be implemented by the control system of the modular vehicle, or a new control module can be added to the modular vehicle to implement it, without limitation. The modular vehicle adjustment method of the embodiment of the present application can be applied to the adjustment during the driving process of the vehicle, for example, it can be applied to the cross slope correction, longitudinal slope correction or large slope correction of the modular vehicle, etc., and the specific application scenario of the method is not limited.

[0126] Specifically, Figure 7 As shown, the module vehicle adjustment method includes S710 to S730.

[0127] S710, during the transportation of the module vehicle, obtaining status parameters of the module vehicle.

[0128] In S710, the state parameters of the module vehicle may include the pressure value of the load of the module vehicle applied to each support loop and / or the inclination angle of the module vehicle carrying plane. Specifically, the pressure value and inclination angle of each support loop can refer to the relevant description of the above embodiment of the present application, which will not be repeated here.

[0129] S720: When the state parameter meets the adjustment condition, determine the target supporting loop among the multiple supporting loops according to the state parameter.

[0130] First, the adjustment condition corresponds to the state parameter. Next, the following part of the embodiment of the present application will specifically explain the adjustment condition in combination with the state parameter.

[0131] In some embodiments, in order to prevent the risk of overloading during transportation, the adjustment condition may include an anti-overloading adjustment condition corresponding to the pressure value of each support circuit.

[0132] In one example, in order to be able to identify the overload risk caused by uneven load distribution, the adjustment condition includes adjustment condition F1, that is, the maximum value of the pressure difference values ​​corresponding to any two supporting circuits among the multiple supporting circuits is greater than the pressure difference threshold. In other words, when at least one of the pressure difference values ​​corresponding to any two supporting circuits among the multiple supporting circuits is greater than the pressure difference threshold, it is determined that the state parameter meets the adjustment condition. At this time, the modular vehicle has an overload risk. On the contrary, when the pressure difference values ​​corresponding to any two supporting circuits among the multiple supporting circuits are less than or equal to the pressure difference threshold, the state parameter does not meet the adjustment condition. At this time, the modular vehicle does not have an overload risk.

[0133] The pressure difference between any two supporting circuits may be the difference between the pressure values ​​between any two supporting circuits. For example, for a three-point supporting structure, such as supporting circuits AC, the pressure difference between any two supporting circuits may include a total of three pressure differences, namely, the pressure difference between supporting circuit A and supporting circuit B. , the pressure difference between support circuit A and support circuit C , the pressure difference between support loop B and support loop C . Accordingly, if , , If at least one of the pressure difference values ​​is greater than the pressure difference threshold, it means that the adjustment condition is met.

[0134] It should be noted that, since the embodiment of the present application mainly focuses on the difference between the two, the pressure difference is a non-negative value.

[0135] In a specific example, the pressure difference threshold may be set to a fixed value, such as an empirical value, according to the actual transportation scenario and specific judgment requirements.

[0136] In another specific example, in an actual transportation scenario, due to the large difference in weight of different goods, the pressures borne by each support circuit in each process are often different. If an adjustment condition including a rated pressure difference threshold is selected, it will often lead to misjudgment of the adjustment.

[0137] Therefore, in order to reduce the adjustment misjudgment rate, a pressure difference threshold value for dynamic adjustment can be obtained by multiplying the pressure value corresponding to one of the two supporting circuits by a preset percentage.

[0138] For example, the pressure difference threshold corresponding to any two support circuits can be the product of the smaller / larger value of the pressure values ​​of the two support circuits and a preset percentage. For example, for support circuit A and support circuit B, if the pressure value P of the support circuit A applied by the module vehicle and its load is A Less than the pressure P applied by the module vehicle and its load on the support circuit B B , then the pressure difference threshold = *P A . is a preset percentage, such as Can be set to 20%.

[0139] In addition, the preset percentage can also be set to other percentages according to actual needs and specific scenarios, and the embodiments of the present application do not specifically limit this. For example, if the safety and overload prevention capabilities are further improved, the preset percentage can be selected as a value less than 20%.

[0140] It should be noted that when the vehicle is in a pressure balance state, the pressure on each support circuit is often relatively even. On the contrary, if the pressure difference between the support circuits is too large, the modular vehicle and its load will distribute more weight to the support points in some support circuits, which often easily causes the support points in the support circuits to be overloaded. Therefore, by using the pressure difference between the two support circuits as an adjustment condition to be greater than the pressure difference threshold, the modular vehicle can be adjusted in time to avoid the overload risk caused by uneven load distribution when the overload risk occurs.

[0141] In another example, if the pressure value of a support circuit is too large, each support point in the support circuit often has the risk of overloading.

[0142] Therefore, in order to be able to identify the overload risk caused by excessive pressure in a single supporting circuit, the adjustment condition may include adjustment condition F2, that is, the pressure value corresponding to at least one of the multiple supporting circuits is greater than the pressure threshold. In other words, when the pressure value corresponding to any supporting circuit is greater than the pressure threshold, the state parameter meets the adjustment condition. At this time, the modular vehicle has an overload risk. On the contrary, when the pressure values ​​corresponding to multiple supporting circuits are all less than or equal to the pressure threshold, the state parameter does not meet the adjustment condition. At this time, the modular vehicle does not have an overload risk.

[0143] In a specific example, the pressure threshold may be 250 bar, wherein the pressure threshold may be set to other values ​​according to specific transported goods and the bearing capacity of each support point, or may be measured in other pressure measurement units such as Pa, which is not limited.

[0144] It should be noted that the anti-overload adjustment condition may also be other conditions that can determine whether each supporting point is overloaded according to the pressure value, and there is no specific limitation on this.

[0145] In some other embodiments, in order to avoid the risk of overturning during transportation, the adjustment condition may include an anti-overturning adjustment condition corresponding to the inclination angle of the carrying plane.

[0146] Specifically, when the state parameter includes the tilt angle of the module cart carrying plane, the adjustment condition includes the adjustment condition F3, that is, the absolute value of the tilt angle of the module cart carrying plane is greater than the tilt angle threshold.

[0147] That is, when the absolute value of the tilt angle of the module vehicle carrying plane is greater than the tilt angle threshold, the state parameter meets the adjustment condition. At this time, the module vehicle has a risk of overturning. On the contrary, when the absolute value of the tilt angle of the module vehicle carrying plane is less than or equal to the tilt angle threshold, the state parameter does not meet the adjustment condition. At this time, the module vehicle does not have a risk of overturning.

[0148] Among them, the tilt angle threshold is the critical angle value of the rollover risk. In one example, the tilt angle threshold in the adjustment condition can be determined according to the driving environment of the module vehicle. For example, if the module vehicle generally runs on a relatively flat horizontal surface such as a plain area, then when performing cross slope correction, the value of the tilt angle threshold can be the road limit cross slope angle of 3.43°. It should be noted that the tilt angle threshold can also be selected as other values ​​according to actual scenarios and specific needs, such as selecting an empirical value, etc., and there is no limitation on this. In addition, when longitudinal slope correction is required, the value of the tilt angle threshold can be selected as other values. The selection method of the tilt angle threshold during longitudinal slope correction is the same as that during cross slope correction, and the embodiment of the present application does not limit this.

[0149] In a specific embodiment, if the running stability of the vehicle needs to be further improved, the tilt angle threshold may be selected to be a value less than 3.43°.

[0150] In a specific example, if the modular vehicle is running on a relatively uneven horizontal surface such as a mountainous area or a hilly area, the tilt angle threshold value may be a value greater than 3.43°. For example, according to the lateral stability evaluation level and the benchmark approximate value table, when transporting in mountainous areas or hilly areas, the tilt angle threshold value may be 4.57°.

[0151] Secondly, the target supporting loop refers to the supporting loop that needs to be height-adjusted among the multiple supporting loops. Next, the target supporting loop is specifically described through three embodiments.

[0152] In some embodiments, when the adjustment condition includes the above-mentioned adjustment condition F1 related to the pressure difference, two support loops with a pressure difference greater than a preset threshold value can be used as a pair of target support loops. It should be noted that when the adjustment condition is met, one support loop can form M pairs of support loops with M other support loops.

[0153] For example, if the module vehicle includes three support circuits AC, and the pressure values ​​of the three support circuits are 180 bar, 220 bar and 160 bar respectively, then =40bar, =20bar, =60bar. If the pressure difference threshold corresponding to any two support circuits is the product of the smaller pressure of the two support circuits and 20%, then Corresponding pressure threshold 180*20%=36bar, Corresponding pressure threshold 160*20%=32bar, Corresponding pressure threshold 160*20%=32bar.

[0154] Accordingly, due to , , That is to say, the pressure difference between supporting loop A and supporting loop B is greater than the pressure difference threshold, and the pressure difference between supporting loop A and supporting loop C is greater than the pressure difference threshold, then supporting loop A and supporting loop B can be used as a pair of target supporting loops, and supporting loop A and supporting loop C can be used as another pair of target supporting loops.

[0155] In other embodiments, when the adjustment condition includes the adjustment condition F2 corresponding to the pressure value, the support loop with a pressure value greater than the pressure threshold can be used as the target support loop. For example, if the pressure values ​​of the four support loops AD of the module vehicle are 248 bar, 262 bar, 235 bar, and 254 bar, respectively, since the pressure values ​​of the support loop B and the support loop D both exceed the pressure threshold of 250 bar, the support loop B and the support loop D can be used as the target support points.

[0156] In some embodiments, when the adjustment condition includes the adjustment condition F3 related to the tilt angle, the target support loop includes a first support loop close to the tilt direction of the module car and a second support loop away from the tilt direction of the module car.

[0157] For example, continue with Figure 2 For example, if Figure 2 The upper, lower, left and right sides of the module vehicle are respectively the left side, right side, rear side and front side. The support loop A1 is located in the middle and front position of the vehicle, the support loop B1 is located at the right rear position of the vehicle, and the support loop C1 is located at the left rear position of the vehicle.

[0158] If the tilt angle is positive (a positive value indicates that the vehicle tilts to the right) and the absolute value of the tilt angle is greater than the tilt angle threshold, the support loop B1 may be determined as the first target support loop and the support loop C1 may be determined as the second target support loop.

[0159] As another example, continue with Figure 4 For example, if Figure 4 The upper, lower, left and right sides of the module vehicle are respectively the left side, right side, rear side and front side. The support loop A3 is located at the left front of the vehicle, the support loop B3 is located at the right rear of the vehicle, the support loop C3 is located at the left rear of the vehicle, and the support loop D3 is located at the right front of the vehicle.

[0160] If the tilt angle is negative (a negative value indicates that the vehicle tilts to the left) and the absolute value of the tilt angle is greater than the tilt angle threshold, the support loop A3 and the support loop C3 can be determined as the first target support loop, and the support loop B3 and the support loop D3 can be determined as the second target support loop.

[0161] S730, adjusting the height of the support point in the target support loop.

[0162] In some embodiments, the height value of each support point in the target support loop can be raised or lowered by a remote controller. Specifically, if the control system of the module vehicle determines the target support loop, a control signal can be sent to the remote controller, and after the remote controller receives the control signal, the height of each support point in the target support loop can be adjusted.

[0163] In this embodiment, the support point height can be adjusted by automatically triggering the controller using the control system. Compared with manually adjusting the support point height using a remote control, this avoids the deviation of manual adjustment and enables automated and rapid adjustment of the support point.

[0164] In some embodiments, the height value of each supporting point in each supporting loop may be adjusted in one or more rounds.

[0165] Specifically, during one round of adjustment, the height value in the target support loop can be adjusted so that the state parameters of the module vehicle do not meet the adjustment conditions, that is, after the height is adjusted, the module vehicle does not have the risk of overturning and / or overloading. It should be noted that when only one round of adjustment is performed, the height adjustment value in the target support loop is not a fixed value, and it can be adjusted according to specific circumstances.

[0166] During multiple rounds of adjustments, the height of the target support loop can be adjusted iteratively for multiple rounds. In each round of adjustment, each support point in each support loop is uniformly raised / lowered to a fixed height value until the state parameters of the module vehicle do not meet the adjustment conditions. That is to say, during the i-th round of adjustment of the target support loop, if the state parameters of the module vehicle still meet the adjustment conditions after the i-th round of adjustment, the i+th round of adjustment of the target support loop is entered. If the state parameters of the module vehicle do not meet the adjustment conditions after the i-th round of adjustment, the adjustment of the target support loop is terminated. Wherein, i is an integer greater than or equal to 1.

[0167] Specifically, the following part of the embodiment of the present application will be divided into 3 examples in combination with the adjustment conditions and the target support points, and each adjustment process in the multiple iterative adjustment processes will be specifically described.

[0168] In one example, when the adjustment condition includes that the maximum value of the pressure difference values ​​corresponding to any two support circuits among multiple support circuits is greater than the pressure difference threshold, if the target support circuit includes at least one pair of target support circuits, all the support points of the support circuit with a larger pressure value in each pair of target support circuits can be lowered to a first preset height, and / or all the support points of the support circuit with a smaller pressure value in each pair of target support circuits can be raised to a second preset height.

[0169] In another example, when the adjustment condition includes that a pressure value corresponding to at least one of the plurality of supporting loops is greater than a pressure threshold, all the supporting points in the target supporting points may be lowered to a third preset height.

[0170] In another example, when the adjustment condition includes that the absolute value of the tilt angle is greater than the tilt angle threshold, each support point of the first support loop can be raised to a fourth preset height, and / or each support point of the second support loop can be lowered to a fifth preset height.

[0171] It should be noted that the first preset height to the fifth preset height in the embodiment of the present application can be the same value, or can be different values. The first preset height to the fifth preset height can be set according to the actual scenario and specific needs, for example, it can be an empirical value, and the specific setting method of the above preset height values ​​is not described in detail. In a specific example, the value interval of the first preset height to the fifth preset height can be [50,60], and the unit of measurement can be millimeters.

[0172] In the modular vehicle adjustment method of the embodiment of the present application, since the transportation safety of the vehicle is affected by the load level of the vehicle and / or the tilt level of the vehicle, when the pressure value applied to each support loop by the modular vehicle and its load and / or the tilt angle of the modular vehicle carrying plane are used as state parameters, the state parameters can objectively quantify the safety level of the modular vehicle. By using the state parameters to adjust the height of the target support point, the support point can be adjusted when the state parameters representing the transportation safety meet the adjustment conditions, that is, when the vehicle has a safety risk. Compared with the method of manually adjusting the height of the modular vehicle support point, the height of the support point can be adjusted according to the objectively quantified state parameters, thereby improving the transportation safety of the vehicle.

[0173] In addition, the modular vehicle adjustment method can avoid the problem of slow adjustment caused by manual operation, making the modular vehicle adjustment effective, especially when encountering a steep road or a cross slope, the vehicle body can be tilted and the load of each support point can be adjusted in time, thereby improving the reliability and safety of the vehicle body tilt correction and load correction.

[0174] In order to fully understand the modular vehicle adjustment method of the embodiment of the present application, the following part of the embodiment of the present application will specifically explain the modular vehicle adjustment method in combination with state parameters and adjustment conditions.

[0175] In some embodiments, Figure 8 It is a flow chart of the second module vehicle adjustment method provided in the embodiment of the present application. Figure 8 and Figure 7 The difference is that, when the state parameter includes the pressure value corresponding to each supporting circuit, and the adjustment condition includes the adjustment condition F1 corresponding to the pressure difference, S720 may specifically include: S721 and S722.

[0176] S721, calculating the pressure difference corresponding to any two supporting circuits among the multiple supporting circuits.

[0177] In one example, if the module vehicle includes three support loops AC, three pressure difference values ​​can be calculated through S721, which are the pressure difference between support loop A and support loop B. , the pressure difference between support circuit A and support circuit C , the pressure difference between support loop B and support loop C .

[0178] In another example, if the module vehicle includes four support loops AD, six pressure difference values ​​can be calculated through S721, namely: the pressure difference between support loop A and support loop B; , the pressure difference between support circuit A and support circuit C , the pressure difference between support circuit A and support circuit D , the pressure difference between support loop B and support loop C , the pressure difference between support loop B and support loop D , the pressure difference between support circuit C and support circuit D .

[0179] S722, when the maximum value among the pressure difference values ​​is greater than the pressure difference threshold, two support circuits corresponding to the target pressure difference values ​​among the multiple pressure difference values ​​(4 or 6) calculated in S721 are determined as a pair of target support circuits. The target pressure difference value is a pressure difference value greater than the pressure difference threshold.

[0180] Specifically, the specific content of S722 can refer to the relevant description of the target support loop in the above part of the embodiment of the present application, which will not be repeated here.

[0181] In some embodiments, when the state parameter includes the pressure value corresponding to each support circuit, and the adjustment condition includes the adjustment condition F1 corresponding to the pressure difference, each pair of target support circuits can be adjusted accordingly. Fig. 9 , and detailed descriptions are given of the specific height adjustment methods for each pair of target support loops.

[0182] Specifically, Fig. 9 It is a flow chart of the third module vehicle adjustment method provided in the embodiment of the present application. Fig. 9 and Figure 8 The difference is that S730 may specifically include S731.

[0183] S731, for each pair of target supporting loops, raising the height of the supporting point in the supporting loop with a smaller pressure value in each pair of target supporting loops, and / or lowering the height of the supporting point in the supporting loop with a larger pressure value in each pair of target supporting loops.

[0184] For example, if the support loop A includes six support points P A1 To support point P A6 , the support loop B includes three support points P B1 To support point P B3 , if the pressure difference between support circuit A and support circuit B Greater than the pressure threshold, and the pressure value P corresponding to the supporting loop A A Less than the pressure value P corresponding to the support circuit B B , then the supporting point P in the supporting loop A can be raised A1 To support point P A6 and / or, lower the three support points P in the support loop B. B1 To support point P B3 height.

[0185] Through S731, the pressure difference between the supporting circuits can be made less than or equal to the pressure difference threshold. Accordingly, the pressure of each supporting circuit can be balanced, thereby avoiding the risk of overload.

[0186] In one embodiment, when there are multiple pairs of target support circuits, in order to prevent local overload, the multiple pairs of target support circuits can be adjusted one by one. For example, the multiple pairs of target support circuits can be adjusted one by one in the order of pressure difference from large to small. Alternatively, other adjustment orders can be selected to adjust the multiple pairs of target support circuits one by one, which will not be described in detail in the embodiments of the present application.

[0187] Accordingly, when multiple pairs of target support circuits are adjusted one by one in the order of pressure difference from large to small, Fig.10 It is a flow chart of the fourth module vehicle adjustment method provided in the embodiment of the present application. Fig.10 and Figure 8 The difference is that S730 may specifically include: S732 to S734.

[0188] S732: If there are multiple pairs of target support circuits, determine a pair of target support circuits corresponding to the maximum value of the pressure difference as the support circuit pair to be adjusted. For example, if support circuit A and support circuit B are a pair of target support circuits, and the pressure difference is =40bar. Support loop B and support loop C are used as a pair of target support loops, and the pressure difference =60bar.

[0189] Then, support loop B and support loop C can be first used as the support loop pair to be adjusted.

[0190] S733, raising the height of the supporting point in the supporting circuit with a smaller centering pressure value of the supporting circuit to be adjusted, and / or lowering the height of the supporting point in the supporting circuit with a larger centering pressure value of the supporting point to be adjusted.

[0191] In S733, the height of the increase may be a fixed value, such as lowering the first preset height. Similarly, the height of the decrease may also be a fixed value, such as lowering the second preset height. Specifically, the first preset height, the second preset height, and the height adjustment method can refer to the relevant content of the above-mentioned part of the embodiment of the present application, which will not be repeated here.

[0192] S734, re-obtain the pressure value corresponding to each supporting point, and return to S721.

[0193] It should be noted that after returning to S721, the pressure difference corresponding to any two supporting circuits will be recalculated. If the recalculated pressure difference still has a difference greater than the pressure difference threshold, the next round of adjustment process will be entered, that is, S722, S732 to S724 will continue to be executed.

[0194] In one embodiment, continue to see Fig.10 If, after returning to S721, the maximum value of the recalculated pressure difference values ​​is less than or equal to the pressure difference threshold, that is, the recalculated pressure difference values ​​are all less than or equal to the pressure difference threshold, then S723 is executed, that is, the adjustment process based on the pressure difference is ended.

[0195] In the embodiment of the present application, if two supporting circuits correspond to the maximum pressure difference during the i-th round of adjustment, then after the i-th round of adjustment, the other two supporting circuits may correspond to the maximum pressure difference, or two supporting circuits may still correspond to the first pressure difference. Therefore, the two supporting circuits may be adjusted in one or more rounds. Compared with other one-by-one adjustment methods, the iterative adjustment method in the embodiment of the present application can adjust the supporting circuit corresponding to the maximum pressure difference in each round of adjustment, thereby improving the accuracy and efficiency of the anti-overload adjustment and avoiding accidents such as missed adjustment.

[0196] After introducing in detail the specific contents of anti-overload adjustment according to the pressure difference, next, the embodiment of the present application will continue to introduce the specific contents of anti-overload adjustment according to the pressure value.

[0197] In some embodiments, Fig.11: is a flow chart of the fifth module vehicle adjustment method provided in the embodiment of the present application. When the state parameter includes the pressure value corresponding to each support circuit, and the adjustment condition includes the adjustment condition F2 corresponding to the pressure value, Fig.11 and Figure 7 The difference is that S720 may specifically include: S724 and S725.

[0198] S724, determine whether there is a first supporting loop among the multiple supporting loops. The first supporting loop is a supporting loop whose corresponding pressure value is greater than a preset pressure threshold. If there is at least one first supporting loop among the multiple supporting loops, continue to execute S725.

[0199] In some embodiments, after executing S724, there is still a situation where the first supporting circuit does not exist in the multiple supporting circuits. At this time, the process of adjusting the anti-overload according to the pressure value can be ended.

[0200] S725: When there is at least one first supporting loop, use the first supporting loop as the target supporting loop.

[0201] It should be noted that the specific contents of S724 and S725 can be found in the relevant description of the target support loop in the above embodiments of the present application, and will not be repeated here.

[0202] In one example, if the adjustment condition includes adjustment condition F1 and adjustment condition F2, S720 may include S721-S722 and S724-S725. The execution order of S721-S722 and S724-S725 is not specifically limited.

[0203] In some embodiments, when the state parameter includes the pressure value corresponding to each support loop and the adjustment condition includes the adjustment condition F2 corresponding to the pressure value, each target support loop can be adjusted accordingly. Fig.12 , and detailed descriptions are given of the specific height adjustment methods for each target support loop.

[0204] Specifically, Fig.12 It is a flow chart of the sixth module vehicle adjustment method provided in the embodiment of the present application. Fig.12 and Fig.11 The difference is that S730 may specifically include S735.

[0205] S735, lowering the height of the support point in the target support loop.

[0206] For example, if the support loop A includes six support points P A1 To support point P A6, if the pressure value P corresponding to the support circuit A A , the pressure value P corresponding to the support circuit B B If both are greater than the pressure threshold, support loop A and support loop B are the first support loop, that is, the target support loop.

[0207] Accordingly, the support point P in the support loop A can be reduced A1 To support point P A6 The height of the support loop B is reduced by 3 points P. B1 To support point P B3 height.

[0208] Through S735, the pressure difference of each supporting circuit can be made less than or equal to the pressure threshold. Accordingly, the pressure of each supporting circuit can be kept within a normal range, thereby avoiding the risk of overload.

[0209] In one embodiment, when there are multiple target support circuits, in order to prevent local overload, the multiple target support circuits can be adjusted one by one. For example, the multiple target support circuits can be adjusted one by one in the order of pressure values ​​from large to small. Alternatively, other adjustment orders can be selected to adjust multiple pairs of target support circuits one by one, which will not be described in detail in the embodiments of the present application.

[0210] Accordingly, when multiple target support circuits are adjusted one by one in the order of pressure values ​​from large to small, Fig.13 It is a flow chart of the seventh module vehicle adjustment method provided in the embodiment of the present application. Fig.13 and Fig.11 The difference is that S730 may specifically include: S732 to S734.

[0211] S736, taking the target support circuit corresponding to the maximum pressure value as the support circuit to be adjusted.

[0212] For example, if during the i-th round of adjustment, the pressure values ​​of the four support loops AD of the module vehicle are 272 bar, 262 bar, 235 bar, and 254 bar respectively, since the pressure values ​​of support loop A, support loop B, and support loop D all exceed the pressure threshold of 250 bar, support loop A, support loop B, and support loop D can be used as target support loops.

[0213] Correspondingly, since the pressure value of the supporting loop A is the largest, the supporting loop A can be used as the supporting loop to be adjusted in the i-th round of adjustment process.

[0214] S737, lowering the height of all supporting points in the supporting loop to be adjusted by a preset height value.

[0215] Continuing with the previous example, all support points in support loop A may be reduced by a third height value.

[0216] S738, re-obtain the pressure values ​​corresponding to each of the multiple supporting loops, and return to step S724, until the first supporting loop does not exist among the multiple supporting loops, then execute S726.

[0217] It should be noted that after returning to S726, it will be re-determined whether the first supporting loop exists among the multiple supporting loops of the module vehicle. If the first supporting loop still exists, the next round of adjustment process will be entered, that is, S725, S736 to S728 will be continued to be executed.

[0218] In one embodiment, continue to see Fig.13 If, after returning to S724, it is re-determined that the first supporting circuit does not exist in the multiple supporting circuits of the module vehicle, that is, the pressure difference of all supporting points is less than or equal to the pressure threshold, then S727 is executed, that is, the adjustment process based on the pressure value is ended.

[0219] Through the iterative adjustment method in the embodiment of the present application, compared with other one-by-one adjustment methods, fine adjustments can be made to the target support circuit corresponding to the maximum pressure value in each round of adjustment, thereby improving the accuracy of anti-overload adjustment and avoiding accidents such as missed adjustments.

[0220] After introducing in detail the specific contents of anti-overload adjustment according to the pressure value, next, the embodiment of the present application will continue to introduce the specific contents of anti-overturning adjustment according to the tilt angle.

[0221] In some embodiments, Fig.14 : is a flow chart of the eighth module vehicle adjustment method provided by the embodiment of the present application. When the state parameter includes the tilt angle of the module vehicle carrying plane, and the adjustment condition includes the above adjustment condition F3 corresponding to the tilt angle, Fig.14 and Figure 7 The difference is that S720 may specifically include: S727.

[0222] S727, when the absolute value of the inclination angle is greater than the inclination angle threshold, the supporting loop located on the first side among the multiple supporting loops is determined as the first target supporting loop, and the supporting loop located on the second side among the multiple supporting loops is determined as the second target supporting loop.

[0223] The first side is a side of the module vehicle close to the tilt direction represented by the tilt angle, and the second side is a side of the module vehicle away from the tilt direction.

[0224] It should be noted that the specific content of S727 can be found in the relevant description of the target support loop in the above embodiment of the present application, and will not be repeated here.

[0225] In some embodiments, see Fig.14 , Fig.14 and Figure 7 The difference is that S730 may specifically include S739.

[0226] S739, raising the height of the support point in the first target support loop, and / or lowering the height of all support points in the second target support loop, so that the adjusted inclination angle of the module vehicle carrying plane is less than or equal to the inclination angle threshold.

[0227] For example, continue with Figure 2 For example, if Figure 2 The upper, lower, left and right sides of the module vehicle are respectively the left side, right side, rear side and front side. The support loop A1 is located in the middle and front position of the vehicle, the support loop B1 is located at the right rear position of the vehicle, and the support loop C1 is located at the left rear position of the vehicle.

[0228] If the tilt angle is positive (a positive value indicates that the vehicle tilts to the right) and the absolute value of the tilt angle is greater than the tilt angle threshold, the support loop B1 may be determined as the first target support loop and the support loop C1 may be determined as the second target support loop.

[0229] Accordingly, S739 may specifically include: raising the height of all supporting points in the supporting loop B1 and / or lowering the height of all supporting points in the supporting loop C1.

[0230] As another example, continue with Figure 4 For example, if Figure 4 The upper, lower, left and right sides of the module vehicle are respectively the left side, right side, rear side and front side. The support loop A3 is located at the left front of the vehicle, the support loop B3 is located at the right rear of the vehicle, the support loop C3 is located at the left rear of the vehicle, and the support loop D3 is located at the right front of the vehicle.

[0231] If the tilt angle is negative (a negative value indicates that the vehicle tilts to the left) and the absolute value of the tilt angle is greater than the tilt angle threshold, the support loop A3 and the support loop C3 can be determined as the first target support loop, and the support loop B3 and the support loop D3 can be determined as the second target support loop.

[0232] Correspondingly, S739 may specifically include: raising the height of each supporting point in the supporting loop A3 and the supporting loop C3, and / or lowering the height of each supporting point in the supporting loop B3 and the supporting loop D3.

[0233] In one embodiment, in S739, the height of the support points in the first target support point and / or the support points in the second target support loop can be adjusted multiple times using an iterative adjustment method. Specifically, the support points in the first target support loop can all be raised to a fourth preset height, and / or all the support points in the second target support loop can be lowered to a fifth preset height. Then, the inclination angle of the bearing horizontal plane is collected again. If it is greater than the angle threshold, it continues to return to S727 and S739 until the recollected inclination angle is less than or equal to the angle threshold, and the anti-overturning adjustment based on the inclination angle is terminated.

[0234] Through the iterative adjustment method in this embodiment, compared with other one-by-one adjustment methods, the target support loop can be finely adjusted in each round of adjustment, which improves the accuracy of anti-overturning adjustment and avoids accidents such as missed adjustments.

[0235] In one example, to improve safety, anti-rollover adjustment can be performed when the vehicle is very slow or when the vehicle is lifted, that is, Fig.14 In a specific example, if the vehicle speed is lower than 5 km / h, the vehicle speed is considered to be very slow.

[0236] Through the above combination Figure 5 It can be seen from the specific content that the point arrangement of the support loop also affects the stability of the vehicle, and thus affects the safety of the vehicle. Accordingly, in some embodiments, in order to improve transportation safety, in addition to the above combination Figure 7-Figure 14 In addition to the illustrated anti-overloading and / or anti-overturning adjustments during transportation, the geometric stability of the entire module vehicle can also be adjusted by grouping the support points before transportation.

[0237] Fig.15 It is a flow chart of the ninth module vehicle adjustment method provided in the embodiment of the present application. Fig.15 and Figure 7 The difference is that before S710, it also includes S740 to S780.

[0238] S740, before the module vehicle is transported, multiple supporting points of the module vehicle are grouped to obtain multiple groups.

[0239] First, in terms of the number of groups, they can be divided into 3 or 4 groups.

[0240] In one example, if a three-point support structure is used, the multiple support points of the module vehicle can be divided into three groups. For example, the multiple support points can be divided into the following groups: Figure 2 and Figure 3 The three support groups shown are front, left rear, and right rear. Figure 2 There are 3 groups in total: G11, G12, and G13. Figure 4There are three groups in total: G21, G22, and G23.

[0241] In another example, if a four-point support structure is used, the multiple support points of the module vehicle can be divided into four groups, for example, the multiple support points can be divided into the following groups: Figure 4 The four support groups shown are left front, right front, left rear, and right rear. Figure 4 There are 4 groups in total: G31, G32, G33, and G34.

[0242] Secondly, in terms of specific grouping methods, if the modular vehicle includes 2*n0 support points in total, it can be grouped by hydraulic point arrangement with n1 in front and n2 in the back, where n0=n1+n2.

[0243] Correspondingly, in the three-point support structure, the first group in the front can have 2*n1 support points, and the second group in the right rear and left rear can have n2 support points respectively. Alternatively, the first group in the right front and left front can have n1 support points respectively, and the second group in the rear can have 2*n2 support points.

[0244] In the four-point support structure, the first groups at the left front and right front include n1 support points respectively, and the second groups at the right rear and left rear include n2 support points respectively.

[0245] In terms of optional grouping methods, for each support structure, there are n0-1 optional grouping methods. In one example, taking a three-point support structure as an example, if n0 is equal to 6, the optional grouping methods include: (1) n1=1, n2=5; (2) n1=2, n2=4; (3) n1=3, n2=3 (see Figure 2 ); (4) n1=4, n2=2 (see Figure 4 ); (5) n1=5, n2=1.

[0246] In one embodiment, in implementing S740, if the supporting structure is not adjusted, one of n0-1 optional grouping modes can be selected for grouping. For example, if n0 is equal to 12, a grouping mode of 4 at the front and 8 at the back can be selected in S740.

[0247] In another embodiment, in the implementation S740, if the support structure can be changed, one of the n0-1 optional grouping methods of the three-point support structure and the n0-1 optional grouping methods of the four-point support structure can be selected for grouping.

[0248] S750: Calculate the lateral stability angles corresponding to the plurality of groups according to the position coordinates of the plurality of groups, the weight of the load carried by the module car, and the height of the load carried by the module car.

[0249] First, the position coordinates of each group can be the position coordinates of the combined force action point of the two supporting points in the group. Figure 4 , the position coordinates of group G21 can be the position coordinates of point C2.

[0250] In one embodiment, the abscissa in the position coordinates of each group may be an average value of the abscissas of multiple supporting points in the group, and the ordinate may be an average value of the ordinates of multiple supporting points in the group.

[0251] Accordingly, the position coordinates of each group are calculated. The specific calculation formula is shown in formula (1):

[0252] (1)

[0253] Wherein, X and Y represent the horizontal coordinate and vertical coordinate of the group respectively; , They respectively represent the abscissa and ordinate of the i-th supporting point in the group; n represents the number of supporting points in the group.

[0254] In one example, the position coordinates of each group may be calculated according to the number of axes, wheelbase, longitudinal distance and grouping method of the module vehicle.

[0255] For example, for a modular vehicle with 12 axles and 2 longitudinal rows, if its wheelbase a=1500 mm, longitudinal row distance b=1780 mm, when the grouping method of n1=4 and n2=8 is adopted, if it is divided into three groups ABC, then the horizontal and vertical coordinates of group A are x A =-6000mm, y A =0. The horizontal and vertical coordinates of group B are x B =3000mm, y B =-890mm. The horizontal and vertical coordinates of group C are x C =3000mm, y C =890mm.

[0256] Secondly, for the mass and center of gravity height of the load carried by the modular vehicle, different goods may correspond to different masses and center of gravity heights, and the mass and center of gravity height of the load carried by the modular vehicle may be directly collected for the transported goods. Among them, the center of gravity height of the load carried by the modular vehicle is the height of the center of gravity of the load carried by the modular vehicle from the ground.

[0257] For example, the mass of the load is m1 = 300t, and the center of gravity height is mm.

[0258] Secondly, with regard to the lateral stability angle, different hydraulic point grouping methods correspond to different lateral stability angles. The smaller the lateral stability angle, the higher the static lateral stability when transporting the goods, and correspondingly the higher the anti-overturning ability.

[0259] Specifically, the calculation method of the lateral stability angle may include the following steps A1-A3.

[0260] Step A1: Calculate the height of the center of gravity of the overall structure of the vehicle and the load-bearing load formed by the modular vehicle according to the mass of the load-bearing load and the height of the center of gravity.

[0261] Accordingly, the center of gravity height H of the overall structure of the vehicle and cargo is calculated. The specific calculation formula is shown in formula (2):

[0262] (2)

[0263] in, m 1 , m 2 They are the weight of the load and the weight of the module vehicle respectively; The height of the module vehicle's carrying surface from the ground; , They are respectively the height of the center of gravity of the module car bearing load and the height of the center of gravity of the module car.

[0264] In one example, if , , = , = , = According to formula (2), the center of gravity height of the overall vehicle-cargo structure can be calculated as H = 4068 mm.

[0265] Step A2: Calculate the length of the transverse stability line ME according to the horizontal coordinates of group A and group C.

[0266] Accordingly, the lateral stability line ME is calculated, and the specific calculation formula is shown in formula (3):

[0267] (3)

[0268] Among them, continue to see Figure 5 , It is the x-coordinate of the point M of the foot of the perpendicular of the center of gravity of the load on the carrying plane of the module vehicle.

[0269] In one example, if we calculate by formula (1) x A=-6000mm, y A =0, x B =3000mm, y B =-890mm, x C =3000mm, y C =890mm. Then we can calculate 592.7mm.

[0270] Step A3: Calculate the lateral stability angle according to the center of gravity height H of the overall structure of the vehicle and cargo and the lateral stability line ME.

[0271] Accordingly, the lateral stability angle is calculated , the specific calculation formula is shown in formula (4):

[0272] (4)

[0273] Continuing with the above example, if the three-point support grouping method of 4 in front and 8 in the back is obtained by calculation, the corresponding 592.7mm, H=4068mm, then the lateral stability angle corresponding to the three-point support grouping method of front 4 and rear 8 is =8.28°.

[0274] S760: Determine whether the lateral stability angles corresponding to the multiple groups are greater than a stability angle threshold.

[0275] First, for the stability angle threshold, the stability angle threshold may be related to the transportation environment of the vehicle and the operation control method during transportation. Exemplarily, when the vehicle needs to be corrected for a cross slope, the stability angle threshold may be expressed as the stability limit angle during the cross slope correction. For example, the stability angle threshold during the cross slope correction may be a t1-level fine cross slope correction stability limit of 6°, a t2-level general cross slope correction stability limit of 8.3°, a t3-level plain road lateral stability limit of 16.2°, and a t4-level mountain road lateral stability limit of 19.8°. In one example, in an embodiment of the present application, the stability angle threshold may be 8.3°.

[0276] Correspondingly, if in a certain hydraulic point grouping mode, the angle between the gravity line of the combined gravity center G of the vehicle module and cargo and the vertical direction of the supporting horizontal plane is If it is greater than the stability angle threshold, the hydraulic point grouping method cannot guarantee the static stability requirements.

[0277] In some embodiments, since the load carried by the modular vehicle may cause deformation of the vehicle tires, and the tire deformation may cause a certain deviation in the tilt angle of the vehicle, the deformation of the vehicle tires is one of the factors affecting the stability of the vehicle.

[0278] Therefore, in order to further improve the accuracy of static stability adjustment of the vehicle, the tilt angle caused by the deformation of the vehicle tire can be introduced when designing the stability angle threshold. .

[0279] In other embodiments, in order to reduce the vibration of the vehicle when it is lightly loaded, a hydraulic accumulator may be provided on each suspension, however, the hydraulic accumulator may affect the stability of the vehicle.

[0280] Therefore, in order to further improve the accuracy of static stability adjustment of the vehicle, the tilt angle caused by the hydraulic accumulator can be introduced when designing the stability angle threshold. .

[0281] In some other embodiments, due to factors such as manufacturing and assembly errors of the goods and measurement conditions of the device phenomenon, it is difficult to ensure that the center of gravity of the goods is absolutely aligned with the center of the modular vehicle. The deviation of the center of gravity of the goods will shorten the lateral stability line and affect the stability of the vehicle.

[0282] Therefore, in order to further improve the accuracy of the static stability adjustment of the vehicle, the cargo center of gravity offset angle can be introduced when designing the stability angle threshold. .

[0283] In one example, the stability angle threshold may also be designed based on factors such as the force of lateral wind and the braking force of the vehicle.

[0284] For example, the specific calculation formula of the stability angle threshold may be as shown in formula (5):

[0285] (5)

[0286] in, is the safety factor of overturning failure stability. For example, the value range can be 1~2.

[0287] The total lateral tilt angle of the vehicle body in formula (5) The specific calculation formula can be shown as formula (6):

[0288] (6)

[0289] in, is the wind force of the crosswind, is the height of the wind measurement point from the supporting horizontal plane,

[0290] Among them, the resultant force in the support loop C is The specific calculation formula can be shown as formula (7):

[0291] (7)

[0292] in, For braking force, The longitudinal slope of the road.

[0293] S770: When the lateral stability angles corresponding to the multiple groups are greater than the stability angle threshold, determine each of the multiple groups as a support loop.

[0294] For example, if the lateral stability angle corresponding to a certain grouping method is greater than 8.3°, the support points in each group under the certain grouping method may belong to one support loop.

[0295] S780, when the lateral stability angles corresponding to the multiple groups are less than or equal to the stability angle threshold, regroup the support points of at least one unit vehicle to obtain a plurality of re-divided groups, and return to S750.

[0296] For example, if the lateral stability angle corresponding to the grouping method of n1=4 and n2=8 calculated through S740 to S760 is =8.28°, less than or equal to 8.3°, then this grouping method does not meet the static stability requirements, and the modular vehicle needs to be re-grouped by hydraulic points. If the grouping method is changed to n1=3, n2=9, it can be calculated by formula (1) to obtain x A =-6750mm, y A =0, x B =2250mm, y B =-890mm, x C =2250mm, y C =890mm. Calculated by formula (3) 592.7mm. and Substituting 592.7 mm and H = 4068 mm into formula (4), we get the lateral stability angle corresponding to the grouping method of n1 = 3 and n2 = 9. =9.314°.

[0297] because =9.314° is greater than the stability angle threshold, that is, this grouping method can meet the static stability requirements. Therefore, the 6 supports in the 1st to 3rd rows and 2 columns can be regarded as a support loop, the 9 support points in the last 4-12th rows and 1 column on the left can be regarded as a support loop, and the 9 support points in the last 4-12th rows and 1 column on the right can be regarded as a support loop.

[0298] In this embodiment, before the modular vehicle is transported, the hydraulic point grouping method that is not conducive to geometric stability can be changed according to the center of gravity of the vehicle and cargo, so the modular vehicle can be automatically hydraulically grouped, and the modular vehicle can be reviewed to see whether the modular vehicle meets the requirements of geometric stability, thereby avoiding the problem of vehicle body tilt caused by the point grouping method. In addition, reasonable hydraulic point grouping before transportation can make relevant preparations for anti-rollover adjustment during the later transportation process, that is, reduce the number of anti-rollover adjustment adjustments during the later transportation process, prepare for efficient anti-rollover adjustment in the later stage, and further improve the effectiveness and safety of the modular vehicle adjustment and increase the adjustment speed.

[0299] Compared with the method of manually grouping points based on driver experience, the accuracy and speed of the method of manually grouping points based on driver experience are often lower, especially when transporting new goods for the first time, because the driver lacks experience in grouping points for new goods, the grouping accuracy is often low. However, the embodiment of the present application can select the best grouping method through iterative grouping to reduce the occurrence of vehicle and cargo tilt problems, improve the rationality and accuracy of the grouping method, and improve the grouping speed.

[0300] In one example, the modular vehicle adjustment method of the embodiment of the present application may be implemented by an intelligent vehicle correction system. For example, the modular vehicle adjustment method may be implemented by an intelligent cross slope correction system capable of cross slope correction.

[0301] Fig.16 Schematic diagram of the function of an intelligent vehicle correction system provided by an embodiment of the present application. Fig.16 As shown, the intelligent vehicle correction system can have geometric stability calculation function, anti-overload calculation function, anti-overturning calculation function and support point height adjustment function.

[0302] The geometric stability calculation function can be executed before vehicle transportation, such as before transporting a new cargo for the first time. Specifically, when executing the geometric stability calculation function, the point grouping method can be iteratively adjusted. Specifically, the center of gravity height H of the overall structure of the vehicle and cargo and the initial point grouping parameters n1 and n2 can be obtained. Then, the position coordinates of each of the multiple groups are calculated based on the initial point grouping parameters n1 and n2. Then, the length of the lateral stability line ME is calculated based on the position coordinates of each of the multiple groups. After obtaining the length of the lateral stability line ME, the lateral stability angle corresponding to the initial point grouping parameters n1 and n2 can be calculated based on the center of gravity height H of the overall structure of the vehicle and cargo and the length of the lateral stability line ME. Next, determine the lateral stability angle corresponding to the initial point grouping parameters n1 and n2 Is it greater than the stability angle threshold of 8.3°? If it is less than or equal to 8.3°, adjust the point grouping parameters n1 and n2. Then recalculate the length of the lateral stability line ME and the lateral stability angle corresponding to the adjusted point grouping parameters n1 and n2 according to the adjusted point grouping parameters n1 and n2 On the contrary, the lateral stability angle If it is greater than 8.3°, the subsequent anti-overload calculation function and anti-subversion calculation function will continue to be executed.

[0303] The anti-overload calculation function can be executed during the vehicle transportation process. When executing the anti-overload calculation function, iterative calculation can be performed. Specifically, the pressure value of each support circuit can be obtained by a pressure sensor. If there are two support circuits with a pressure difference greater than 20% between each other, or if there is a support circuit with a pressure value greater than 250 bar, the height adjustment function for the support point in the target support circuit is performed. After the adjustment is completed, the next round of anti-overload calculation is performed, that is, the pressure value of each support circuit is re-acquired, and then it is determined based on the re-acquired pressure value whether there are two support circuits with a pressure difference greater than 20% between each other, or if there is a support circuit with a pressure value greater than 250 bar. If the judgment result is that there are no two support circuits with a pressure difference greater than 20% between each other, and there is no support circuit with a pressure value greater than 250 bar, the anti-overload adjustment is terminated.

[0304] The anti-rollover calculation function can be executed during the vehicle transportation process. When executing the anti-overload calculation function, iterative calculation can be performed. Specifically, the inclination angle of the support horizontal plane can be obtained by an angle detector. Then, it is determined whether the inclination angle is greater than 3.43°. If the judgment result is yes, the height adjustment function for the support point in the target support loop is executed. And after the adjustment is completed, the next round of anti-rollover calculation is performed, that is, the inclination angle of the support horizontal plane is re-obtained, and then it is determined whether it is greater than 3.43° based on the re-obtained inclination angle. If the judgment result is no, the anti-overload adjustment is terminated.

[0305] In some embodiments, in order to improve adjustment efficiency, anti-overload calculation and anti-overturning calculation can be performed simultaneously.

[0306] Based on the same application concept, in addition to providing a modular vehicle adjustment method, the embodiment of the present application also provides a corresponding modular vehicle adjustment device.

[0307] The following is a detailed description of the adjustment device of the module vehicle according to the embodiment of the present application in conjunction with the accompanying drawings.

[0308] Fig.17 Schematic diagram of the structure of a module vehicle adjustment device provided in an embodiment of the present application. Fig.17 As shown, the adjustment device 1700 of the module vehicle includes a state parameter acquisition module 1710 , a support loop determination module 1720 and a height adjustment module 1730 .

[0309] The state parameter acquisition module 1710 is used to acquire the state parameters of the module vehicle during the transportation of the module vehicle;

[0310] A support loop determination module 1720, configured to determine a target support loop among multiple support loops according to the state parameters when the state parameters meet the adjustment conditions;

[0311] The height adjustment module 1730 is used to adjust the height of the support point in the target support loop.

[0312] The state parameters include the pressure value applied to each support loop by the module vehicle and its load and / or the tilt angle of the module vehicle carrying plane.

[0313] In some embodiments, the state parameter includes a pressure value corresponding to each support circuit, and the adjustment condition includes that the maximum value of the pressure difference values ​​corresponding to any two support circuits in the plurality of support circuits is greater than a pressure difference threshold;

[0314] The support loop determination module 1720 includes:

[0315] A pressure difference calculation unit, used for calculating the pressure difference corresponding to any two supporting circuits among the multiple supporting circuits;

[0316] The support circuit determination unit is used to determine two support circuits corresponding to each pressure difference value in at least one pressure difference value greater than the pressure difference threshold as a pair of target support circuits when the maximum value in at least one pressure difference value is greater than the pressure difference threshold.

[0317] In some embodiments, the height adjustment module 1730 is used to:

[0318] For each pair of target supporting circuits, the height of the supporting point in the supporting circuit with the smaller pressure value in each pair of target supporting circuits is increased, and / or the height of the supporting point in the supporting circuit with the larger pressure value in each pair of target supporting circuits is decreased.

[0319] In some embodiments, the height adjustment module 1730 includes:

[0320] A support circuit determination unit, used for determining a pair of target support circuits corresponding to the maximum value of the pressure difference as the support circuit pair to be adjusted when there are multiple pairs of target support circuits;

[0321] A height adjustment unit, used to increase the height of a support point in a support loop with a smaller centering pressure value of the support loop to be adjusted, and / or to decrease the height of a support point in a support loop with a larger centering pressure value of the support loop to be adjusted;

[0322] The iterative calculation unit is used to re-acquire the pressure value corresponding to each supporting circuit, and return to the step of recalculating the pressure difference corresponding to any two supporting circuits according to the re-acquired pressure values, until the maximum value of the recalculated pressure difference values ​​is less than or equal to the pressure difference threshold.

[0323] In some embodiments, the state parameter includes a pressure value corresponding to each support circuit, and the adjustment condition includes that the pressure value corresponding to at least one support circuit among the plurality of support circuits is greater than a pressure threshold;

[0324] The support loop determination module 1720 includes:

[0325] A judging unit, used to judge whether there is a first supporting circuit among the multiple supporting circuits, the corresponding pressure value of which is greater than a preset pressure threshold;

[0326] a supporting loop determining unit, configured to use the first supporting loop as a target supporting loop when the first supporting loop exists;

[0327] In some embodiments, the height adjustment module 1730 includes:

[0328] a support circuit determination unit, configured to, when there are multiple target support circuits, use the target support circuit corresponding to the maximum pressure value as the support circuit to be adjusted;

[0329] A height adjustment unit, used to reduce the height of all support points in the support loop to be adjusted by a preset height value;

[0330] The iterative calculation unit is used to re-acquire the pressure values ​​corresponding to each of the multiple supporting loops, and return to the step of determining whether there is a first supporting loop among the multiple supporting loops until the first supporting loop does not exist among the multiple supporting loops.

[0331] In some embodiments, the state parameter includes an inclination angle of the module vehicle carrying plane, and the adjustment condition includes that the absolute value of the inclination angle is greater than an inclination angle threshold;

[0332] The support loop determination module 1720 is specifically used for:

[0333] When the absolute value of the tilt angle is greater than the tilt angle threshold, a supporting loop located on the first side among the multiple supporting loops is determined as a first target supporting loop, and a supporting loop located on the second side among the multiple supporting loops is determined as a second target supporting loop,

[0334] The first side is a side of the module vehicle close to the tilt direction represented by the tilt angle, and the second side is a side of the module vehicle away from the tilt direction.

[0335] In some embodiments, the height adjustment module 1730 is specifically configured to:

[0336] The height of the supporting point in the first target supporting loop is increased, and / or the height of all supporting points in the second target supporting loop is decreased, so that the adjusted inclination angle of the module vehicle carrying plane is less than or equal to the inclination angle threshold.

[0337] In some embodiments, the module vehicle adjustment device 1700 further includes:

[0338] A grouping module, used for grouping the support points of at least one unit vehicle into a plurality of groups before the module vehicle is transported;

[0339] A lateral stability angle calculation module, used to calculate the lateral stability angles corresponding to the multiple groups according to the position coordinates of the multiple groups, the mass of the load carried by the module car and the height of the center of gravity of the load carried by the module car;

[0340] A judging module, used to judge whether the lateral stability angles corresponding to the plurality of groups are greater than a stability angle threshold;

[0341] A first processing module, configured to determine each of the plurality of groups as a supporting loop when the angle is greater than a stability angle threshold;

[0342] The loop module is used to regroup the support points of at least one unit vehicle when the angle is less than or equal to the stability angle threshold, obtain multiple re-divided groups, and return to the step of calculating the lateral stability angle corresponding to the multiple re-divided groups.

[0343] In some embodiments, a module car is used to carry components of a wind turbine.

[0344] The modular vehicle adjustment device of the embodiment of the present application, since the transportation safety of the vehicle is affected by the load level of the vehicle and / or the tilt level of the vehicle, therefore, when the pressure value applied to each support loop by the modular vehicle and its load and / or the tilt angle of the modular vehicle carrying plane are used as state parameters, the state parameters can objectively quantify the safety level of the modular vehicle. By using the state parameters to adjust the height of the target support point, the support point can be adjusted when the state parameters representing the transportation safety meet the adjustment conditions, that is, when the vehicle has a safety risk. Compared with the method of manually adjusting the height of the modular vehicle, the height of the support point can be adjusted according to the objectively quantified state parameters, thereby improving the transportation safety of the vehicle.

[0345] Other details of the adjustment device of the module vehicle according to the embodiment of the present application are combined with the above Figures 7 to 16 The module vehicle adjustment method described in the example shown is similar and can achieve its corresponding technical effect. For the sake of brevity, it will not be repeated here.

[0346] Fig.18 A schematic diagram of the hardware structure of a module vehicle adjustment device provided in an embodiment of the present invention is shown.

[0347] The modular vehicle adjustment device may include a processor 1801 and a memory 1802 storing computer program instructions.

[0348] Specifically, the processor 1801 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present invention.

[0349] The memory 1802 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 1802 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. In some instances, the memory 1802 may include a removable or non-removable (or fixed) medium, or the memory 1802 is a non-volatile solid-state memory. In some embodiments, the memory 1802 may be internal or external to the modular vehicle adjustment device.

[0350] In some examples, the memory 1802 may be a read-only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0351] The memory 1802 may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0352] The processor 1801 reads and executes the computer program instructions stored in the memory 1802 to implement Figure 7-Figure 15 The method in the embodiment shown in the figure is achieved Figure 7-Figure 15 The corresponding technical effects achieved by executing the method in the example shown are not repeated here for the sake of brevity.

[0353] In one example, the module vehicle adjustment device may further include a communication interface 1803 and a bus 1810. Fig.18 As shown, the processor 1801, the memory 1802, and the communication interface 1803 are connected via a bus 1810 and communicate with each other.

[0354] The communication interface 1803 is mainly used to implement the communication between the modules, devices, units and / or equipment in the embodiment of the present invention.

[0355] Bus 1810 includes hardware, software or both, and couples the components of online data traffic billing equipment to each other. For example, but not limitation, the bus may include Accelerated Graphics Port (AGP) or other graphics bus, Enhanced Industry Standard Architecture (EISA) bus, Front Side Bus (FSB), Hyper Transport (HT) interconnection, Industry Standard Architecture (ISA) bus, InfiniBand interconnection, Low Pin Count (LPC) bus, Memory bus, Micro Channel Architecture (MCA) bus, Peripheral Component Interconnect (PCI) bus, PCI-Express (PCI-X) bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association Local (VLB) bus or other suitable bus or two or more of these combinations. Where appropriate, bus 1810 may include one or more buses. Although the embodiments of the present invention describe and illustrate specific buses, the present invention contemplates any suitable bus or interconnection.

[0356] The module vehicle adjustment device can execute the module vehicle adjustment method in the embodiment of the present invention, thereby realizing the combination Figures 7 to 17 The described module vehicle adjustment method and device.

[0357] In addition, in combination with the modular vehicle adjustment method in the above embodiments, the present invention can provide a computer storage medium to implement the method. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any modular vehicle adjustment method in the above embodiments is implemented.

[0358] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0359] The functional blocks shown in the above structural block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memory, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0360] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0361] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device, equipment and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0362] The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.

Claims

1. A module vehicle adjustment method, characterized in that: The modular vehicle comprises at least one unit vehicle, and a plurality of support circuits determined according to the support points of the at least one unit vehicle, wherein the hydraulic cylinders of the plurality of support points form a support circuit when forming a hydraulic circuit, and the method comprises: During the transportation of the module vehicle, the state parameters of the module vehicle are obtained, wherein the state parameters include the pressure value applied to each support loop by the module vehicle and its load and / or the inclination angle of the transport plane of the module vehicle; In the case where the state parameter meets the adjustment condition, determining a target supporting loop among the plurality of supporting loops according to the state parameter; adjusting the height of the support point in the target support loop; In the case where the state parameter includes the pressure value corresponding to each supporting circuit, the adjustment condition includes that the maximum value of the pressure difference values ​​corresponding to any two supporting circuits among the multiple supporting circuits is greater than the pressure difference threshold; When the state parameter meets the adjustment condition, determining a target supporting loop among the plurality of supporting loops according to the state parameter comprises: Calculate the pressure difference between any two supporting circuits among the multiple supporting circuits; In a case where a maximum value of at least one of the pressure difference values ​​is greater than the pressure difference threshold, two support circuits corresponding to each pressure difference value of the at least one pressure difference value greater than the pressure difference threshold are determined as a pair of target support circuits; The height of the support point in the target support loop is adjusted so that the pressure difference between the support loops is less than or equal to the pressure difference threshold.

2. The method according to claim 1, characterized in that The step of adjusting the height of the support point in the target support loop comprises: For each pair of target support loops, the height of the support point in the support loop with the smaller pressure value in each pair of target support loops is increased, and / or the height of the support point in the support loop with the larger pressure value in each pair of target support loops is decreased.

3. The method according to claim 1, characterized in that The step of adjusting the height of the support point in the target support loop comprises: In the case where there are multiple pairs of target support circuits, a pair of target support circuits corresponding to the maximum value of the pressure difference is determined as the pair of support circuits to be adjusted; Raise the height of the supporting point in the supporting circuit with a smaller centering pressure value of the supporting circuit to be adjusted, and / or lower the height of the supporting point in the supporting circuit with a larger centering pressure value of the supporting circuit to be adjusted; Re-acquire the pressure value corresponding to each supporting circuit, and return to the step of recalculating the pressure difference value corresponding to any two supporting circuits based on the re-acquired pressure value, until the maximum value of the recalculated pressure difference values ​​is less than or equal to the pressure difference threshold.

4. The method according to claim 1, characterized in that: The state parameter includes a pressure value corresponding to each supporting circuit, and the adjustment condition includes that a pressure value corresponding to at least one supporting circuit among the multiple supporting circuits is greater than a pressure threshold; When the state parameter meets the adjustment condition, determining a target supporting loop among the plurality of supporting loops according to the state parameter comprises: Determine whether there is a first supporting circuit among the plurality of supporting circuits, the corresponding pressure value of which is greater than a preset pressure threshold; When the first supporting loop exists, the first supporting loop is used as a target supporting loop.

5. The method according to claim 4, characterized in that The step of adjusting the height of the support point in the target support loop comprises: In the case where there are multiple target support circuits, the target support circuit corresponding to the maximum pressure value is used as the support circuit to be adjusted; Lower the height of all supporting points in the supporting loop to be adjusted by a preset height value; Reacquire the pressure values ​​corresponding to each of the multiple supporting loops, and return to the step of determining whether the first supporting loop exists in the multiple supporting loops until the first supporting loop does not exist in the multiple supporting loops.

6. The method according to claim 1, characterized in that The state parameter includes the tilt angle of the module vehicle carrying plane, and the adjustment condition includes that the absolute value of the tilt angle is greater than the tilt angle threshold; When the state parameter meets the adjustment condition, determining a target supporting loop among the plurality of supporting loops according to the state parameter comprises: When the absolute value of the tilt angle is greater than the tilt angle threshold, a supporting loop located on the first side among the multiple supporting loops is determined as a first target supporting loop, and a supporting loop located on the second side among the multiple supporting loops is determined as a second target supporting loop, The first side is a side of the module vehicle close to the tilt direction represented by the tilt angle, and the second side is a side of the module vehicle away from the tilt direction.

7. The method according to claim 6, characterized in that The step of adjusting the height of the support point in the target support loop comprises: The height of the support point in the first target support loop is raised, and / or the height of all support points in the second target support loop is lowered, so that the adjusted inclination angle of the module vehicle carrying plane is less than or equal to the inclination angle threshold.

8. The method according to claim 1, characterized in that Before obtaining the state parameters of the module vehicle, the method further includes: Before transporting the module vehicle, grouping the support points of the at least one unit vehicle to obtain a plurality of groups; Calculating lateral stability angles corresponding to the plurality of groups according to the position coordinates of the plurality of groups, the mass of the load carried by the module vehicle, and the height of the center of gravity of the load carried by the module vehicle; Determining whether the lateral stability angles corresponding to the plurality of groups are greater than a stability angle threshold; In the case where the angle is greater than the stability angle threshold, determining each of the plurality of groups as a supporting loop; When the angle is less than or equal to the stability angle threshold, the support points of the at least one unit vehicle are regrouped to obtain a plurality of re-divided groups, and the step of calculating the lateral stability angle corresponding to the plurality of re-divided groups is returned.

9. The method according to any one of claims 1 to 8, characterized in that: The module vehicle is used to carry components of a wind turbine generator set.

10. A modular vehicle adjustment system, characterized in that: The system comprises: A state monitoring device, used for collecting state parameters of the module vehicle during the transportation of the module vehicle, wherein the state monitoring device includes a pressure monitoring device and / or an angle monitoring device, and the state parameters include a pressure value applied to each support circuit by the module vehicle and its bearing load determined by the pressure monitoring device and / or an inclination angle of the transport plane of the module vehicle detected by the angle monitoring device, the module vehicle includes at least one unit vehicle, and a plurality of support circuits determined according to the support points of the at least one unit vehicle, and the hydraulic cylinders of the plurality of support points form a support circuit when forming a hydraulic circuit; A modular vehicle adjustment device, configured to obtain the state parameter from the state monitoring device; and, if the state parameter meets the adjustment condition, determine a target support loop among the plurality of support loops according to the state parameter; and adjust the height of the support point in the target support loop; In the case where the state parameter includes the pressure value corresponding to each supporting circuit, the adjustment condition includes that the maximum value of the pressure difference values ​​corresponding to any two supporting circuits among the multiple supporting circuits is greater than the pressure difference threshold; The module vehicle adjustment device is used to calculate the pressure difference corresponding to any two supporting circuits among the plurality of supporting circuits; and, when the maximum value among at least one of the pressure difference values ​​is greater than the pressure difference threshold, determine the two supporting circuits corresponding to each pressure difference value among the at least one pressure difference value greater than the pressure difference threshold as a pair of the target supporting circuits; The module vehicle adjustment device adjusts the height of the support point in the target support loop so that the pressure difference between the support loops is less than or equal to the pressure difference threshold.

11. A modular vehicle adjustment device, characterized in that: The modular vehicle comprises a plurality of supporting points, and the hydraulic cylinders of the plurality of supporting points form a supporting circuit when forming a hydraulic circuit. The device comprises: A state parameter acquisition module, used for acquiring the state parameters of the module vehicle during the transportation of the module vehicle; A support loop determination module, used for determining a target support loop among multiple support loops according to the state parameter when the state parameter meets the adjustment condition; A height adjustment module, used to adjust the height of the support point in the target support loop, Wherein, the state parameters include the pressure value applied by the module vehicle and its carrying load to each supporting circuit and / or the inclination angle of the module vehicle carrying plane; In the case where the state parameter includes the pressure value corresponding to each supporting circuit, the adjustment condition includes that the maximum value of the pressure difference values ​​corresponding to any two supporting circuits among the multiple supporting circuits is greater than the pressure difference threshold; The support loop determination module comprises: A pressure difference calculation unit, used for calculating the pressure difference corresponding to any two supporting circuits among the multiple supporting circuits; a support circuit determination unit, configured to determine, when a maximum value of at least one of the pressure difference values ​​is greater than the pressure difference threshold, two support circuits corresponding to each pressure difference value in the at least one pressure difference value that is greater than the pressure difference threshold as a pair of the target support circuits; The height adjustment module adjusts the height of the support point in the target support loop so that the pressure difference between the support loops is less than or equal to the pressure difference threshold.

12. A modular vehicle, characterized in that: include: At least one unit vehicle; A plurality of support loops determined according to the support points of the at least one unit vehicle; And the adjustment system as claimed in claim 10.

13. A modular vehicle adjustment device, characterized in that: The device comprises: a processor and a memory storing computer program instructions; The processor reads and executes the computer program instructions to implement the modular vehicle adjustment method as described in any one of claims 1-9.

14. A computer storage medium, characterized in that: The computer storage medium stores computer program instructions, and when the computer program instructions are executed by the processor, the modular vehicle adjustment method according to any one of claims 1 to 9 is implemented.

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