Engineering installation machinery and chassis leveling method and electronic equipment

Abstract

The present invention discloses an engineering installation machine and a chassis leveling method and an electronic device thereof. The engineering installation machine chassis leveling method comprises: at a designated working position, adjusting a center of gravity adjustment component through a control system to keep the chassis balanced, and obtaining a first center of gravity parameter of the engineering installation machine; at the designated working position, the engineering installation machine simulates an operating state, and the control system obtains a center of gravity offset parameter of the engineering installation machine according to the first center of gravity parameter, and when the center of gravity offset parameter is greater than a preset value, the control system adjusts the center of gravity adjustment component to make the center of gravity offset parameter less than the preset value. The engineering installation machine chassis leveling method involved in the present invention eliminates the risk of overturning of the engineering installation machine that may be caused by factors such as an unsolid ground, expands the scope of use of the engineering installation machine, and improves the safety of the operation.

Description

Technical Field

[0001] The invention relates to the field of engineering installation machinery, and in particular to an engineering installation machinery, a chassis leveling method thereof, and electronic equipment. Background Art

[0002] In the related technology, before the construction installation machinery is operated, the chassis needs to be leveled first. The conventional method is to equip the machine with outriggers around it, which are extended to support the ground. The outriggers are changed to change the extension length to achieve leveling. This method assumes that the ground is relatively solid, such as construction and hoisting in cities. Once leveled, it will not tilt during operation. However, in photovoltaic scenarios, due to the uneven terrain, the soil is relatively soft, and the operating cantilever is relatively long. Even if the initial leveling is achieved, the center of gravity will shift during operation, causing the outriggers to sink into the ground, causing the body to lose balance, affecting construction operations, and easily causing dangers such as overturning. The present application aims to propose a method for leveling the chassis of construction installation machinery to solve the above problems. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a method for leveling the chassis of an engineering installation machine. The method for leveling the chassis of an engineering installation machine involved in the present invention eliminates the risk of overturning of the engineering installation machine that may be caused by factors such as an unsolid ground surface, expands the scope of use of the engineering installation machine, and improves the safety of the operation.

[0004] The present invention also proposes an engineering installation machine, comprising a center of gravity adjustment component, wherein the center of gravity adjustment component is suitable for executing the aforementioned engineering installation machine chassis leveling method.

[0005] The present invention also proposes an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the aforementioned method for leveling the chassis of an engineering installation machine is implemented.

[0006] According to some embodiments of the present invention, the method for leveling the chassis of an engineering installation machinery includes: at a designated working position, adjusting a center of gravity adjustment component through a control system to keep the chassis balanced, and obtaining a first center of gravity parameter of the engineering installation machinery; at the designated working position, the engineering installation machinery simulates an operating state, and the control system obtains a center of gravity offset parameter of the engineering installation machinery based on the first center of gravity parameter; when the center of gravity offset parameter is greater than a preset value, the control system adjusts the center of gravity adjustment component to make the center of gravity offset parameter less than the preset value.

[0007] The method for leveling the chassis of an engineering installation machine involved in the present invention includes two processes: static leveling and dynamic leveling. First, the engineering installation machine is driven to a designated working position for static leveling, that is, the center of gravity adjustment component is adjusted when no engineering operation is performed to keep the chassis balanced, so as to obtain the first center of gravity parameter of the engineering installation machine; then dynamic leveling is performed, that is, when the center of gravity of the engineering installation machine changes in a simulated operation state, the center of gravity parameter will also change accordingly, and the center of gravity offset parameter is obtained according to the first center of gravity parameter obtained in the static leveling process, and then the center of gravity adjustment component is adjusted according to the center of gravity offset parameter to keep the chassis balanced. Therefore, even if the operation is performed on an unstable ground, since the center of gravity of the engineering installation machine can be adjusted in real time by dynamic leveling before the operation, the bonding strength between the center of gravity adjustment component and the ground is increased, and the overturning caused by the unstable ground can be avoided during the operation, thereby improving the safety during the operation, and at the same time, the engineering installation machine can adapt to more complex construction grounds.

[0008] According to some embodiments of the present invention, obtaining the center of gravity offset parameter includes: the control system adjusts the center of gravity adjustment component to obtain a second center of gravity parameter of the engineering installation machinery in real time, the difference between the second center of gravity parameter and the first center of gravity parameter is the center of gravity offset parameter, and when the center of gravity offset parameter is greater than a preset value, the control system adjusts the center of gravity adjustment component to make the center of gravity offset parameter less than the preset value.

[0009] According to some embodiments of the present invention, acquiring the center of gravity offset parameter of the engineering installation machine includes: identifying a body posture angle of the engineering installation machine by a posture sensor.

[0010] According to some embodiments of the present invention, the center of gravity adjustment component includes: a leg, and the length of the leg is adjustable; wherein adjusting the center of gravity adjustment component includes: adjusting the length of the leg and / or the swing angle of the leg.

[0011] According to some embodiments of the present invention, the center of gravity adjustment component includes: a cantilever, the length of which is adjustable; wherein adjusting the center of gravity adjustment component includes: adjusting the extension length of the cantilever, the cantilever swing angle, and / or the position of the counterweight on the cantilever.

[0012] According to some embodiments of the present invention, the center of gravity adjustment component includes a leg and a cantilever, and the simulated working state includes: selecting a direction of at least one of the legs, controlling the cantilever to extend a preset length, adjusting the center of gravity of the engineering installation machinery to obtain the center of gravity offset parameter, if the center of gravity offset parameter is greater than the preset value, adjusting the center of gravity adjustment component through the control system so that the center of gravity offset parameter is less than the preset value.

[0013] According to some embodiments of the present invention, selecting the direction of at least one of the legs includes: controlling the cantilever to extend a preset length in the direction of the first leg and adjusting the length of the first leg according to a center of gravity offset parameter; controlling the cantilever to extend a preset length in the direction of the second leg and adjusting the length of the second leg according to the center of gravity offset parameter; wherein the first leg and the second leg extend in directions away from each other.

[0014] According to some embodiments of the present invention, selecting the direction of at least one of the legs also includes: controlling the cantilever to extend a preset length in the direction of the third leg and adjusting the length of the third leg according to the center of gravity offset parameter, and the third leg is located between the first leg and the second leg.

[0015] According to some embodiments of the present invention, a counterweight unit is disposed at a preset position of the cantilever before the cantilever is extended to a preset length.

[0016] According to some embodiments of the present invention, the weight of the counterweight unit is the maximum counterweight of the engineering installation machinery during operation.

[0017] According to some embodiments of the present invention, when adjusting the center of gravity adjustment component, a first amplification factor is set in the control system according to the influence of the wind load on the cantilever.

[0018] According to some embodiments of the present invention, when adjusting the center of gravity adjustment component, a second amplification factor is set in the control system according to the acceleration of the component to be grasped.

[0019] The present invention also proposes an engineering installation machinery, including a chassis; a center of gravity adjustment component, the center of gravity adjustment component is connected to the chassis; a control system, the control system is suitable for obtaining center of gravity offset parameters and controlling the center of gravity adjustment component to execute the aforementioned engineering installation machinery chassis leveling method according to the center of gravity offset parameters; a walking mechanism, the walking mechanism is connected to the chassis. Therefore, the engineering installation machinery has all the features and advantages of the aforementioned engineering installation machinery chassis leveling method, which will not be repeated here. In general, it has at least the advantages of being able to adjust the center of gravity of the engineering installation machinery in real time and higher safety during operation.

[0020] According to some embodiments of the present invention, the engineering installation machine further comprises: a posture sensor, wherein the posture sensor is adapted to identify a body posture angle of the engineering installation machine and feed back the posture angle to the control system.

[0021] According to some embodiments of the present invention, the center of gravity adjustment component includes: a leg, and the leg is suitable for adjusting the length and the swing angle according to the center of gravity offset parameter.

[0022] According to some embodiments of the present invention, the length of the legs has a margin according to the working position.

[0023] According to some embodiments of the present invention, one end of the leg is connected to the chassis, and the other end of the leg is provided with a flat plate.

[0024] According to some embodiments of the present invention, the center of gravity adjustment component further includes: a cantilever, wherein the cantilever is suitable for adjusting the extension length, the swing angle and the counterweight according to the operation requirements.

[0025] According to some embodiments of the present invention, the walking mechanism is configured as at least one of tracks or wheels.

[0026] The present invention also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the aforementioned method for leveling the chassis of an engineering installation machine is implemented. Thus, the aforementioned method for leveling the chassis of an engineering installation machine is implemented more conveniently, so as to adjust the center of gravity of the engineering installation machine in real time, making it safer during operation and preventing it from overturning.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0029] Figure 1 It is a schematic flow chart of a method for leveling a chassis of an engineering installation machine according to an embodiment of the present invention;

[0030] Figure 2 is a schematic diagram of an engineering installation machine according to an embodiment of the present invention;

[0031] Figure 3 is a schematic diagram of an engineering installation machine according to another embodiment of the present invention;

[0032] Figure 4 It is a top view of an engineering installation machine according to an embodiment of the present invention.

[0033] Reference numerals:

[0034] 1000: engineering installation machinery; 1100: chassis; 1200: walking mechanism; 1300: cantilever; 1400: outrigger; 1410: first outrigger; 1420: second outrigger; 1430: third outrigger; 1440: fourth outrigger; 1500: flat plate structure. DETAILED DESCRIPTION

[0035] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0036] Reference below Figure 1-Figure 4 A method for leveling a chassis of an engineering installation machine according to an embodiment of the present invention is described.

[0037] refer to Figure 1 and Figure 2 The present invention proposes a method for leveling a chassis 1100 of an engineering installation machinery 1000, comprising: at a designated working position, adjusting a center of gravity adjustment component through a control system to keep the chassis 1100 balanced, and obtaining a first center of gravity parameter of the engineering installation machinery 1000; at the designated working position, the engineering installation machinery 1000 simulates an operating state, and the control system obtains a center of gravity offset parameter of the engineering installation machinery 1000 according to the first center of gravity parameter, and when the center of gravity offset parameter is greater than a preset value, the control system adjusts the center of gravity adjustment component to make the center of gravity offset parameter less than the preset value. Specifically, the engineering installation machinery 1000 includes a body, a traveling mechanism 1200, a control system and a center of gravity adjustment component. After the engineering installation machinery 1000 travels to the designated working position via the traveling mechanism 1200, the center of gravity adjustment component is directly adjusted by the control system in a non-working state to keep the chassis 1100 balanced. In the balanced state, the first center of gravity parameter of the engineering installation machinery 1000 is obtained, that is, the first center of gravity parameter of the engineering installation machinery 1000 is obtained after static leveling; then the engineering installation machinery 1000 simulates the working state, and the center of gravity adjustment component is adjusted in multiple directions. During the adjustment process, the center of gravity offset parameters of the engineering installation machinery 1000 are obtained in real time, and the center of gravity adjustment component is adjusted in real time according to the center of gravity offset parameters to keep the chassis 1100 balanced.

[0038] The method for leveling the chassis of an engineering installation machine involved in the present invention includes two processes, namely, static leveling and dynamic leveling. First, the engineering installation machine 1000 is driven to a designated working position for static leveling, that is, the center of gravity adjustment component is adjusted in a state where no engineering operation is performed, so that the chassis 1100 is kept balanced to obtain a first center of gravity parameter; then dynamic leveling is performed, that is, the center of gravity offset parameter of the engineering installation machine 1000 is obtained in real time under a simulated operation state, and the center of gravity adjustment component is adjusted in real time to restore the chassis 1100 to balance again. Thus, even if the operation is performed on an unstable ground, since the center of gravity adjustment component has been adjusted in real time by dynamic leveling before the operation to keep the chassis 1100 balanced, the bonding strength between the center of gravity adjustment component and the ground is increased, and the overturning that may be caused by the unstable ground can be avoided during the operation, thereby improving the safety during the operation, and at the same time, the engineering installation machine 1000 can adapt to more complex construction grounds.

[0039] According to some embodiments of the present invention, the acquisition of the center of gravity offset parameter can be performed through the following process, specifically, including the control system adjusting the center of gravity adjustment component to obtain the second center of gravity parameter of the engineering installation machinery 1000 in real time, the difference between the second center of gravity parameter and the first center of gravity parameter is the center of gravity offset parameter, when the center of gravity offset parameter is greater than the preset value, the control system adjusts the center of gravity adjustment component to make the center of gravity offset parameter less than the preset value, so that the chassis 1100 can be kept balanced. In this way, the center of gravity parameter of the engineering installation machinery 1000 can be adjusted in real time through the center of gravity adjustment component, so that the center of gravity offset parameter is less than the preset value, so that the chassis 1100 can be kept balanced, avoiding overturning due to loose ground during operation, and improving safety during operation.

[0040] According to some embodiments of the present invention, obtaining the center of gravity offset parameter of the engineering installation machinery 1000 includes: identifying the body posture angle of the engineering installation machinery 1000 through a posture sensor. Specifically, the body is provided with a posture sensor (not shown in the figure), which can identify the body posture angle and feed it back to the control system, and the control system can adjust the center of gravity adjustment component according to the body posture angle. Therefore, when the base surface of the operation sinks, the center of gravity adjustment component can be adjusted by the center of gravity offset parameter to restore the balance of the chassis 1100.

[0041] The specific structure and adjustment method of the center of gravity adjustment component are described in detail below:

[0042] According to some embodiments of the present invention, reference Figure 2The center of gravity adjustment component includes: a leg 1400, the length of the leg 1400 is adjustable, wherein adjusting the center of gravity adjustment component includes: adjusting the length of the leg 1400 and / or the swing angle of the leg 1400. Specifically, during the static leveling process, the chassis 1100 is kept balanced only by controlling the length of the leg 1400 and / or adjusting the swing angle of the leg 1400; during the dynamic leveling process, the length of the leg 1400 and / or the swing angle of the leg 1400 are adjusted in real time under the state of simulating the operation of the engineering installation machinery 1000, so that the chassis 1100 is kept balanced.

[0043] According to some embodiments of the present invention, reference Figure 2 , the center of gravity adjustment component may also include: a cantilever 1300, the length of the cantilever 1300 is adjustable; wherein adjusting the center of gravity adjustment component includes: adjusting the extension length of the cantilever 1300, the swing angle of the cantilever 1300, and / or the position of the counterweight on the cantilever 1300. Specifically, the cantilever 1300 is not adjusted during the static leveling process; during the dynamic leveling process, the chassis 1100 is kept balanced by adjusting the extension length, swing angle, and / or the position of the counterweight on the cantilever 1300 in real time. Specifically, the adjustment of the length of the cantilever 1300 can simulate the maximum extension length of the cantilever 1300 during the operation of the engineering installation machinery 1000; the adjustment of the swing angle of the cantilever 1300 can simulate the possible extension angle of the cantilever 1300 during the operation of the engineering installation machinery 1000; the position of the counterweight on the cantilever 1300 can simulate the influence of environmental factors and the components to be grasped on the leveling of the chassis 1100 during the operation of the engineering installation machinery 1000. Therefore, by simulating the operating state of the engineering installation machinery 1000 during the leveling process, secondary leveling of the engineering installation machinery 1000 can be avoided during the operation, thereby improving the operating efficiency.

[0044] According to some embodiments of the present invention, the center of gravity adjustment component may also include a leg 1400 and a cantilever 1300 at the same time: select the direction of at least one leg 1400, control the cantilever 1300 to extend to a preset length, and adjust the center of gravity of the engineering installation machine 1000. Specifically, refer to Figure 2, select a leg 1400 in one direction, rotate the chassis 1100 so that the cantilever 1300 faces this direction and then slowly extends out. During the extension of the cantilever 1300, the center of gravity of the vehicle body continues to shift in this direction. At this time, the leg 1400 located in this direction continues to sink, causing the vehicle body to tilt. The attitude sensor identifies the attitude angle of the vehicle body, and the control system controls the leg 1400 to continuously extend according to the acquired attitude angle of the vehicle body, so that the chassis 1100 can restore balance. Furthermore, the legs 1400 in other directions of the vehicle body can also be adjusted with reference to the above process, which will not be repeated here. Thus, the extension of the cantilever 1300 simulates the operating state of the engineering installation machinery for leveling. When the base surface of the operation is not solid, the bonding strength between the leg 1400 and the ground is increased in advance to avoid the tilt of the engineering installation machinery due to the loose ground during the operation, avoid secondary leveling, and improve the operation efficiency.

[0045] It is well known to those skilled in the art that the engineering installation machine 1000 includes a plurality of legs 1400, and the order of adjusting the legs 1400 during dynamic leveling is not particularly limited, as long as the chassis 1100 remains balanced after all the legs 1400 are adjusted. Figure 4 , the legs 1400 can be adjusted in the following order: selecting the direction where at least one leg 1400 is located includes: controlling the cantilever 1300 to extend a preset length in the direction where the first leg 1410 is located and adjusting the length of the first leg 1410 according to the center of gravity offset parameter; controlling the cantilever 1300 to extend a preset length in the direction where the second leg 1420 is located and adjusting the length of the second leg 1420 according to the center of gravity offset parameter; wherein the first leg 1410 and the second leg 1420 extend in directions away from each other. That is, after adjusting the first leg 1410, the cantilever 1300 is retracted, the chassis 1100 rotates to the diagonal direction where the second leg 1420 is located, the cantilever 1300 is extended, and the length of the second leg 1420 is adjusted to keep the chassis 1100 balanced. In this way, the leveling result is more accurate and the leveling speed is improved.

[0046] According to some embodiments of the present invention, selecting the direction of at least one leg 1400 further includes: controlling the cantilever 1300 to extend a preset length in the direction of the third leg 1430 and adjusting the length of the third leg 1430 according to the center of gravity offset parameter, and the third leg 1430 is arranged between the first leg 1410 and the second leg 1420. That is, after adjusting the leg 1400 in the diagonal direction, the third leg 1430 adjacent to the first leg 1410 or the second leg 1420 is adjusted to complete the adjustment of the legs 1400 of the entire engineering installation machinery 1000, so that the chassis 1100 remains balanced.

[0047] The following is a detailed description of the engineering installation machine 1000 including four legs 1400 as an example: Figure 4 , the first leg 1410 and the second leg 1420 are two legs 1400 in the diagonal direction, and the third leg 1430 and the fourth leg 1440 are legs 1400 in the diagonal direction. First adjust the first leg 1410, rotate the chassis 1100 to make the cantilever 1300 face the direction of the first leg 1410, and slowly unfold it in this direction. During the extension of the cantilever 1300, the center of gravity of the vehicle body continuously shifts in this direction, and the legs 1400 located in this direction sink. During the tilting process, the posture sensor identifies the posture angle of the vehicle body, and the control system controls the legs 1400 to continuously extend according to the posture angle of the vehicle body, so that the chassis 1100 can be restored to balance; retract the cantilever 1300 (refer to Figure 3 ), rotate the chassis 1100 to the direction where the second leg 1420 is located, and then extend the cantilever 1300 to adjust the length of the second leg 1420. The adjustment process refers to the adjustment process of the first leg 1410; retract the cantilever 1300, rotate the chassis 1100 to the direction where the third leg 1430 is located, and then extend the cantilever 1300 to adjust the length of the third leg 1430. The adjustment process refers to the adjustment process of the first leg 1410; retract the cantilever 1300, rotate the chassis 1100 to the direction where the fourth leg 1440 is located, and then extend the cantilever 1300 to adjust the length of the fourth leg 1440. The adjustment process refers to the adjustment process of the first leg 1410. In this way, the leveling result is more accurate and the leveling speed is improved. It should be noted that during the leveling process, the cantilever 1300 is extended to the maximum arm span for leveling to further improve the leveling efficiency.

[0048] According to some specific embodiments of the present invention, during the dynamic leveling process, the legs 1400 corresponding to the loose ground may be adjusted first to increase the leveling efficiency.

[0049] According to some embodiments of the present invention, during the operation of the engineering installation machine 1000, the counterweight unit is set at the preset position of the cantilever 1300 before the cantilever 1300 is extended to a preset length, that is, the component to be grabbed is grabbed in advance. Specifically, the maximum counterweight of the engineering installation machine 1000 can be directly grabbed, and then the cantilever 1300 is extended to adjust the length of the leg 1400. In this way, it is possible to avoid the weight of the component to be grabbed being too large during the operation, causing the leg 1400 to sink and perform a second leveling, thereby improving the efficiency of leveling.

[0050] According to some embodiments of the present invention, during the leveling process of the engineering installation machine 1000, when the control system obtains the center of gravity offset parameter in real time, it is also necessary to consider the influence of the environment and the components to be grasped on the leveling of the chassis 1100. When the chassis 1100 is leveled, the adjustment coefficient of the outrigger 1400 is set in the control system to avoid the influence of the environment and the components to be grasped on the balance of the chassis 1100, thereby improving the leveling efficiency.

[0051] The following is a detailed description of the outrigger 1400 adjustment coefficient:

[0052] According to some embodiments of the present invention, the influence of actual wind load needs to be considered during the operation of the engineering installation machine 1000. When the size coefficient of the component to be grabbed is large, for example, when the component to be grabbed is a photovoltaic component, the photovoltaic component is suspended in the air and is easily affected by the wind, which will increase the load of the cantilever 1300 to a certain extent. According to some specific embodiments of the present invention, the leg adjustment coefficient includes: a first amplification coefficient k1, and satisfies: k1 = 1 + v 2 / ng, where v is the wind speed, n is the equivalent coefficient of wind speed converted into wind pressure, and g is the acceleration of gravity. Thus, the engineering installation machine 1000 is further prevented from being affected by the wind speed during operation after leveling, and a second leveling is avoided, thereby improving the operation efficiency of the engineering installation machine 1000.

[0053] According to other embodiments of the present invention, during the operation of the engineering installation machine 1000, the acceleration of the component to be grasped during the movement will also increase the load of the support leg 1400 on the base surface to a certain extent. According to some embodiments of the present invention, the adjustment coefficient of the support leg 1400 may include: a second amplification coefficient k2, and satisfy k2 = (1 + a / g) m, where a is the acceleration of the component to be grasped during the movement, g is the acceleration of gravity, and m is the mass of the component to be grasped.

[0054] According to some embodiments of the present invention, the dynamic leveling process can also be performed through the following process: simulating the setting of the engineering installation machinery 1000 in "state 1": the legs 1400 are opened normally, the arm span is extended to the maximum range in a certain direction of the legs 1400, and the maximum load that can be supported is configured at the same time, and the center of gravity position of the engineering installation machinery 1000 is calculated; simulating the device in "state 2": the posture of the legs 1400 remains unchanged, the arm span is retracted to the center position, and a certain counterweight is added to the edge of the fuselage in the same direction of the legs 1400, so that the center of gravity position of the engineering installation machinery 1000 is consistent with state 1. At this time, the center of gravity of the two states is equivalent, and the calculated counterweight can be used to achieve leveling without the need to extend the cantilever 1300 for leveling. It should be noted that in the process of simulation calculation, a certain coefficient can also be retained. Therefore, by calculating and simulating the center of gravity of the engineering installation machinery 1000 when operating with the maximum arm span and maximum load, and then counterweighting the support legs 1400, the center of gravity after counterweighting is made to coincide with the calculated center of gravity, and there is no need to extend the cantilever 1300 for leveling, thereby further improving the leveling efficiency.

[0055] In another aspect of the present invention, an engineering installation machine 1000 is provided, referring to Figure 2, the engineering installation machinery 1000 includes a chassis 1100, a center of gravity adjustment component, a control system and a traveling mechanism. The center of gravity adjustment component is connected to the chassis 1100, the control system is suitable for obtaining center of gravity offset parameters and controlling the center of gravity adjustment component to execute the aforementioned engineering installation machinery chassis leveling method according to the center of gravity offset parameters, and the traveling mechanism is connected to the chassis 1100. Specifically, the engineering installation machinery 1000 travels to a designated working position through the traveling mechanism, and the chassis 1100 is kept balanced through static leveling and dynamic leveling. During the static leveling process, the control system adjusts the center of gravity adjustment component to keep the chassis 1100 balanced, and obtains the first center of gravity parameter in the balanced state; during the dynamic leveling process, the engineering installation machinery 1000 simulates the working state, and the control system adjusts the center of gravity adjustment component to obtain the center of gravity offset parameter in real time. Specifically, the control system adjusts the center of gravity adjustment component to obtain the second center of gravity parameter in real time. The difference between the second center of gravity parameter and the first center of gravity parameter is the center of gravity offset parameter. When the center of gravity offset parameter is greater than the preset value, the center of gravity adjustment component is adjusted to make the center of gravity offset parameter less than the preset value, so that the chassis 1100 remains balanced. Therefore, even if the operation is carried out on an unstable ground, the center of gravity adjustment component has been adjusted in real time through dynamic leveling before the operation to keep the chassis 1100 balanced, which increases the bonding strength between the center of gravity adjustment component and the ground. The overturning caused by the unstable ground can be avoided during the operation, which improves the safety during the operation. At the same time, the engineering installation machinery 1000 can adapt to more complex construction grounds.

[0056] According to some embodiments of the present invention, the engineering installation machinery 1000 may further include a posture sensor, which is suitable for identifying the body posture angle of the engineering installation machinery 1000 and feeding back to the control system. The control system then adjusts the center of gravity adjustment component according to the body posture angle, and adjusts the center of gravity offset parameters in real time to keep the chassis 1100 balanced.

[0057] According to some embodiments of the present invention, reference Figure 2 The center of gravity adjustment component may further include: a leg 1400, wherein the leg 1400 is adapted to adjust the length and the swing angle according to the center of gravity offset parameter. Specifically, during the static leveling process, the first center of gravity parameter may be obtained by adjusting the length and the swing angle of the leg 1400; during the dynamic leveling process, the length and the swing angle of the leg 1400 may be adjusted to further adjust the center of gravity offset parameter to be less than a preset value, so that the chassis 1100 remains balanced.

[0058] According to some embodiments of the present invention, the length of the legs 1400 has a margin according to the working position.

[0059] According to some embodiments of the present invention, reference Figure 3 and Figure 4One end of the leg 1400 is connected to the chassis 1100, and the other end of the leg 1400 is provided with a flat plate to increase the contact area between the leg 1400 and the working base surface.

[0060] According to some embodiments of the present invention, reference Figure 2 and Figure 3 The center of gravity adjustment component may also include: a cantilever 1300, which is suitable for adjusting the extension length, swing angle and counterweight according to the operation requirements. Specifically, during the dynamic leveling process, the center of gravity offset parameter can be adjusted to be less than a preset value by adjusting the extension length, swing angle and counterweight of the cantilever 1300, so that the chassis 1100 can be kept balanced.

[0061] According to some embodiments of the present invention, the walking mechanism is configured as at least one of tracks or wheels.

[0062] According to some embodiments of the present invention, the leg 1400 is provided with a self-locking device, which can lock the length and position of the leg 1400 when the power is withdrawn. According to other embodiments of the present invention, the end of the leg 1400 is provided with a flat plate structure 1500 to increase the contact surface between the leg 1400 and the foundation. The length of the leg 1400 can be designed with a margin according to the working environment.

[0063] The present invention also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the aforementioned method for leveling the chassis 1100 of the engineering installation machine 1000 is implemented. Thus, the aforementioned method for leveling the chassis 1100 of the engineering installation machine 1000 is implemented more flexibly and conveniently.

[0064] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0065] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A method for leveling the chassis of an engineering installation machine, characterized in that: include: At a designated working position, adjusting the center of gravity adjustment component through a control system to keep the chassis balanced, and obtaining a first center of gravity parameter of the engineering installation machinery; At the designated working position, the engineering installation machine simulates the working state, the control system obtains the center of gravity offset parameter of the engineering installation machine according to the first center of gravity parameter, and when the center of gravity offset parameter is greater than a preset value, the control system adjusts the center of gravity adjustment component to make the center of gravity offset parameter less than the preset value; The center of gravity adjustment component includes legs and cantilever, and the simulated operation state includes: After selecting the direction of at least one of the legs and controlling the cantilever to extend to a preset length, the center of gravity of the engineering installation machinery is adjusted to obtain the center of gravity offset parameter. If the center of gravity offset parameter is greater than the preset value, the center of gravity adjustment component is adjusted by the control system to make the center of gravity offset parameter less than the preset value.

2. The method according to claim 1, characterized in that The acquisition of the center of gravity offset parameter includes: the control system adjusts the center of gravity adjustment component to obtain the second center of gravity parameter of the engineering installation machinery in real time, the difference between the second center of gravity parameter and the first center of gravity parameter is the center of gravity offset parameter, when the center of gravity offset parameter is greater than a preset value, the control system adjusts the center of gravity adjustment component to make the center of gravity offset parameter less than the preset value.

3. The method for leveling the chassis of an engineering installation machinery according to claim 1, characterized in that: The acquisition of the center of gravity offset parameter also includes: identifying the body posture angle of the engineering installation machine through a posture sensor.

4. The method for leveling the chassis of an engineering installation machine according to claim 1, characterized in that: The center of gravity adjustment component includes: a leg, the length of which is adjustable; The adjusting of the center of gravity adjusting component includes: adjusting the length of the outrigger and / or the swing angle of the outrigger.

5. The method for leveling the chassis of an engineering installation machine according to claim 1, characterized in that: The center of gravity adjustment component includes: a cantilever, the length of which is adjustable; The adjusting of the center of gravity adjusting component includes: adjusting the extension length of the cantilever, the swing angle of the cantilever, and / or the position of the counterweight on the cantilever.

6. The method for leveling the chassis of an engineering installation machine according to claim 1, characterized in that: The selecting of the direction of at least one of the legs comprises: Controlling the cantilever to extend a preset length in the direction of the first leg and adjusting the length of the first leg according to the center of gravity offset parameter; Controlling the cantilever to extend to a preset length in the direction of the second leg and adjusting the length of the second leg according to the center of gravity offset parameter; wherein The first leg and the second leg extend in directions away from each other.

7. The method for leveling the chassis of an engineering installation machine according to claim 6, characterized in that: The selecting of the direction of at least one of the legs further comprises: The cantilever is controlled to extend a preset length in the direction of the third leg and the length of the third leg is adjusted according to the center of gravity offset parameter, and the third leg is arranged between the first leg and the second leg.

8. The method for leveling the chassis of an engineering installation machine according to claim 1, characterized in that: The counterweight unit is arranged at a preset position of the cantilever before the cantilever is extended to a preset length.

9. The method for leveling the chassis of an engineering installation machine according to claim 8, characterized in that: The weight of the counterweight unit is the maximum counterweight of the engineering installation machinery during operation.

10. The method for leveling the chassis of engineering installation machinery according to claim 5, characterized in that: When adjusting the center of gravity adjustment component, a first amplification factor is set in the control system according to the influence of the wind load on the cantilever.

11. The method for leveling the chassis of an engineering installation machine according to claim 5 or 10, characterized in that: When adjusting the center of gravity adjustment component, a second amplification factor is set in the control system according to the acceleration of the component to be grasped.

12. An engineering installation machine, characterized in that: include: Chassis; A center of gravity adjustment component, wherein the center of gravity adjustment component is connected to the chassis; A control system, wherein the control system is adapted to obtain a center of gravity offset parameter and control the center of gravity adjustment component to perform the method for leveling a chassis of an engineering installation machinery according to any one of claims 1 to 11 according to the center of gravity offset parameter; A walking mechanism is connected to the chassis.

13. The engineering installation machine according to claim 12, characterized in that: Also includes: A posture sensor is adapted to identify a body posture angle of the engineering installation machine and feed back the angle to the control system.

14. The engineering installation machine according to claim 12, characterized in that: The center of gravity adjustment component includes: a leg, and the leg is suitable for adjusting the length and the swing angle according to the center of gravity offset parameter.

15. The engineering installation machine according to claim 14, characterized in that: The length of the legs has a margin according to the working position.

16. The engineering installation machine according to claim 14, characterized in that: One end of the supporting leg is connected to the chassis, and the other end of the supporting leg is provided with a flat plate.

17. The engineering installation machine according to claim 12, characterized in that: The center of gravity adjustment component also includes a cantilever, which is suitable for adjusting the extension length, swing angle and counterweight according to work requirements.

18. The engineering installation machine according to claim 12, characterized in that: The walking mechanism is configured as at least one of a crawler track or a wheel.

19. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 11 is implemented.

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