A leveling method for simultaneously leveling and aligning edges at a constant speed by using a virtual fixed reference point

Abstract

This invention relates to a leveling method using a virtual fixed reference point and simultaneous, uniform-speed raising and lowering of opposite sides, belonging to the field of leveling technology. It includes: calculating the vertical axis lifting and lowering displacement based on the vertical axis error: ±vertical axis leg spacing × Sin(vertical axis error) / 2 (positive represents raising the leg, negative represents lowering the leg); controlling the speed through speed feedback, with the legs simultaneously raising and lowering at a uniform speed to complete the vertical axis lifting and lowering displacement; calculating the horizontal axis lifting and lowering displacement based on the horizontal axis error: ±horizontal axis leg spacing × Sin(horizontal axis error) / 2 (positive represents raising the leg, negative represents lowering the leg); controlling the speed through speed feedback, with the legs simultaneously raising and lowering at a uniform speed to complete the horizontal axis lifting and lowering displacement; until the vertical and horizontal axis errors meet the requirements. This invention achieves leveling without increasing the load height without using fixed outriggers.

Description

Technical Field

[0001] This invention belongs to the field of leveling technology, specifically relating to a leveling method that uses a virtual fixed reference point to simultaneously raise and lower opposite sides at the same speed. Background Technology

[0002] Leveling technology is widely used in industrial and agricultural production activities and plays a significant role. One method, which is employed in considerable numbers, is the fixed reference point method. This method involves fixing one outrigger in place while the other outriggers move up and down to complete the leveling. This method has the advantage that the leveling height does not increase with the number of leveling operations, but it carries the risk that the movement of the three outriggers may be restricted.

[0003] The limitation on the movement of the other three legs is due to the fixed position of one outrigger, which affects the movement of the other three. Is it possible to find a method that doesn't require fixing the outriggers and whose leveling height doesn't increase with the number of leveling adjustments?

[0004] No results were found in the search of relevant literature and patents. Summary of the Invention

[0005] Technical problems to be solved

[0006] To avoid the shortcomings of existing technologies, this invention provides a leveling method that uses a virtual fixed reference point to level opposite sides while raising and lowering them at the same speed, achieving a leveling method that does not increase the load height without using fixed support legs.

[0007] Technical solution

[0008] A leveling method that uses a virtual fixed reference point and simultaneously adjusts opposite sides at a constant speed for elevation, characterized by the following steps:

[0009] Step 1: If the vertical axis error meets the requirements, proceed to step 4;

[0010] Step 2: Calculate the vertical displacement of the opposite side of the vertical axis based on the vertical axis error: ± vertical axis leg spacing × Sin(vertical axis error) / 2 (positive represents leg raising, negative represents leg lowering);

[0011] Step 3: Speed ​​control is performed through speed feedback. The legs simultaneously raise and lower at the same speed on the opposite side of the longitudinal axis to complete the vertical displacement on the opposite side of the longitudinal axis. Proceed to Step 1.

[0012] Step 4: If the horizontal axis error meets the requirements, proceed to step 7;

[0013] Step 5: Calculate the lifting and lowering displacement of the horizontal axis opposite side based on the horizontal axis error: ± horizontal axis leg spacing × Sin(horizontal axis error) / 2 (positive represents leg raising, negative represents leg lowering);

[0014] Step 6: Speed ​​control is performed through speed feedback. The legs on opposite sides of the horizontal axis rise and fall at the same speed to complete the horizontal axis lifting and lowering displacement. Proceed to Step 1.

[0015] Step 7: End.

[0016] Beneficial effects

[0017] The present invention provides a leveling method that uses a virtual fixed reference point and simultaneously adjusts opposite sides at a constant speed for elevation, with the following beneficial effects:

[0018] 1. The method is simple, clear, fast, and reliable;

[0019] 2. Simultaneous and uniform speed of ascent and descent on opposite sides facilitates operation;

[0020] 3. The leveling uses a virtual fixed reference point, so the vehicle body does not have fixed deformation, the movement of each outrigger is unrestricted, and the leveling height will not change.

[0021] 4. The method is advanced and achieves a high cost-performance ratio. Attached Figure Description

[0022] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0023] Figure 1 Application diagram of the present invention;

[0024] Figure 2 A specific implementation diagram of leveling with virtual fixed reference points and simultaneous equal speed raising and lowering of opposite sides. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0026] To solve the aforementioned technical problems, all outriggers must move freely without being fixed, and the overall height must not increase. This requires that during leveling along a certain axis, the two opposite sides simultaneously raise and lower the outriggers at the same speed around a virtual fixed reference point located in the middle of the axis. This ensures that the vehicle body does not rise along the axis being adjusted. Furthermore, the virtual fixed reference points for the transverse and longitudinal axes are different, and each axis is leveled sequentially according to its respective virtual fixed reference point, following a transverse-longitudinal order. To achieve constant speed raising and lowering, each outrigger must be equipped with a speed (displacement) sensor to obtain speed information. By implementing these two measures, the requirements of unrestricted outrigger movement and no increase in vehicle body leveling height are simultaneously achieved. The specific method is as follows:

[0027] (1) If the vertical axis error meets the requirements, turn (4);

[0028] (2) Calculate the vertical axis lifting displacement based on the vertical axis error: ± vertical axis leg spacing × Sin(vertical axis error) / 2 (positive represents leg raising, negative represents leg lowering);

[0029] (3) Speed ​​control is achieved through speed feedback. The legs on the opposite side of the longitudinal axis simultaneously raise and lower at the same speed to complete the vertical axis lifting and lowering displacement on the opposite side. (1)

[0030] (4) If the horizontal axis error meets the requirements, turn (7);

[0031] (5) Calculate the lifting and lowering displacement of the horizontal axis based on the horizontal axis error: ± horizontal axis leg spacing × Sin(horizontal axis error) / 2 (positive represents leg raising, negative represents leg lowering);

[0032] (6) Speed ​​control is performed through speed feedback. The horizontal axis opposite side is simultaneously raised and lowered at the same speed to complete the horizontal axis opposite side lifting displacement, turn (1);

[0033] (7) End.

[0034] To enable those skilled in the art to better understand the present invention, the present invention will be described in detail below with reference to specific embodiments.

[0035] Example:

[0036] Schematic diagram of the embodiment of the present invention is shown below. Figure 2 .

[0037] Details are as follows:

[0038] In the initial stage of a vehicle body electromechanical leveling project, the requirement was to fix the front right outrigger while raising and lowering the other three outriggers for leveling, aiming to maintain a constant vehicle body height during leveling. However, in practice, it was found that frequent movement of the other three outriggers caused uneven deformation of the fixed vehicle body. Another project using hydraulic leveling also encountered a problem where one outrigger could not be lowered further. To avoid uneven deformation caused by fixing one outrigger and restricted movement of the other outriggers, the leveling method was changed. When leveling the longitudinal or transverse axis, the two opposite sides involved in the leveling process simultaneously rise and fall at the same speed using a virtual fixed reference point in the middle. The virtual fixed reference points for the longitudinal and transverse axes are different, and leveling is performed sequentially according to the longitudinal and transverse axes. To control the speed and achieve the requirement of constant speed, the lifting and lowering speed is calculated from the motor's feedback rotation speed. These two measures eliminate the restriction of movement while ensuring a constant leveling height for the vehicle body. The specific process is as follows:

[0039] (1) If the vertical axis error reaches within ±1′, turn (4);

[0040] (2) Calculate the vertical axis lifting displacement based on the vertical axis error: ± vertical axis leg spacing × Sin(vertical axis error) / 2 (positive represents leg raising, negative represents leg lowering);

[0041] (3) Speed ​​control is achieved by converting the motor speed feedback into speed. The longitudinal axis opposite sides are simultaneously raised and lowered at the same speed to complete the longitudinal axis opposite side lifting displacement, rotate (1);

[0042] (4) If the horizontal axis error reaches within ±1′, turn (7);

[0043] (5) Calculate the lifting and lowering displacement of the horizontal axis based on the horizontal axis error: ± horizontal axis leg spacing × Sin(horizontal axis error) / 2 (positive represents leg raising, negative represents leg lowering);

[0044] (6) Speed ​​control is achieved by converting the speed of the motor feedback speed into speed. The horizontal axis opposite sides simultaneously raises and lowers the legs at the same speed to complete the horizontal axis opposite side lifting displacement, turning (1);

[0045] (7) End.

[0046] This method ensures stable leveling height while avoiding fixed deformation and restricted movement of the vehicle body, achieving good results.

[0047] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the scope of the technology disclosed in the present invention, and such modifications or substitutions should all be covered within the scope of protection of the present invention.

Claims

1. A leveling method of virtual fixed reference point leveling, aligning and simultaneous constant speed lifting, characterized in that The steps are as follows: Step 1: If the longitudinal axis error reaches within ±1', go to Step 4; Step 2: Calculate the longitudinal axis pair edge lifting displacement according to the longitudinal axis error: ± longitudinal axis leg spacing × Sin (longitudinal axis error) / 2, where positive represents lifting legs and negative represents lowering legs; Step 3: Control the speed through speed feedback, and complete the longitudinal axis pair edge lifting displacement by simultaneously lifting and lowering the legs at equal speed, and go to Step 1; Step 4: If the transverse axis error reaches within ±1', go to Step 7; Step 5: Calculate the transverse axis pair edge lifting displacement according to the transverse axis error: ± transverse axis leg spacing × Sin (transverse axis error) / 2, where positive represents lifting legs and negative represents lowering legs; Step 6: Control the speed through speed feedback, and complete the transverse axis pair edge lifting displacement by simultaneously lifting and lowering the legs at equal speed, and go to Step 1; Step 7: End.

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