Leveling method, device, equipment and readable storage medium

Abstract

The present invention provides a leveling method, apparatus, device, and readable storage medium. The leveling method includes: obtaining the inclination angle of the device to be leveled, the inclination angle of the device to be leveled including the angle values of the front leveling sensor in the X and Y directions, and the angle values of the rear leveling sensor in the X and Y directions; if any of the inclination angles of the device to be leveled is greater than a first preset angle, calculating the first stroke length of each leveling leg; and controlling the lowering of each leveling leg so that the length of each leveling leg reaches its respective first stroke length. Through the present invention, the stroke length of each leveling leg is calculated in advance, and the lowering of each leveling leg is then controlled, thereby achieving rapid leveling, which can solve the problem of slow hydraulic system response and easily out-of-tolerance leveling time.

Description

Technical Field

[0001] The present invention relates to the field of leveling technology, and in particular to a leveling method, device, equipment and readable storage medium. Background Art

[0002] Special vehicles are generally composed of a chassis and special equipment on the upper body, which are connected by a flexible or rigid connection. In order to ensure that the special equipment on the upper body can work normally, it needs to be leveled to ensure that it is in a stable and horizontal reference plane. Usually, a hydraulic system is used to level the special equipment on the upper body. Based on the front and rear leveling angle sensors installed on the chassis suspension, the proportional valve of the hydraulic system is used to control the extension of multiple leveling legs to achieve horizontal adjustment of the suspension. However, in the actual leveling process, the slow response of the hydraulic system leads to an error in the leveling time. Summary of the Invention

[0003] The main purpose of the present invention is to provide a leveling method, device, equipment and readable storage medium, aiming to solve the technical problem that in the process of using a hydraulic system to level special upper equipment, the leveling time is prone to deviation due to the slow response of the hydraulic system.

[0004] In a first aspect, the present invention provides a leveling method, the leveling method comprising:

[0005] Obtaining the inclination angle of the device to be leveled, wherein the inclination angle of the device to be leveled includes the angle values of the front leveling sensor in the X direction and the Y direction, and the angle values of the rear leveling sensor in the X direction and the Y direction;

[0006] If any of the inclination angles of the device to be leveled is greater than a first preset angle, a first stroke length of each leveling leg is calculated;

[0007] Control each leveling leg to lower so that the length of each leveling leg reaches its respective first stroke length.

[0008] Optionally, the calculating the first stroke length of each leveling leg includes:

[0009] Each leveling leg includes four leveling legs. According to the real-time posture of the equipment to be leveled and the angle judgment theory, the leveling leg with the shortest expected extension stroke among the four leveling legs is used as the reference leveling leg;

[0010] Taking the reference leveling leg as a reference, the first stroke length of each leveling leg is calculated by formula 1, which is:

[0011] L1=L0,

[0012] L2=L1+D LR ×α,

[0013]

[0014]

[0015] Among them, L0 is the distance from the ground of the reference leveling leg, L1, L2, L3 and L4 are the first stroke lengths of the four leveling legs respectively, and D LR When all outriggers have the shortest travel, the distance between the front and left outriggers is equal to the distance between the front and left outriggers and the distance between the rear and left outriggers. FB is the distance between the centers of the line connecting the front left and right legs and the center of the line connecting the rear left and right legs when the travel of all legs is the shortest. α is the angle value of the front leveling sensor in the X direction. β is the average angle value of the front and rear leveling sensors in the Y direction. γ is the angle value of the rear leveling sensor in the X direction.

[0016] Optionally, controlling the lowering of each leveling leg so that the length of each leveling leg reaches the first stroke length includes:

[0017] Detect the distance of each leveling leg from the ground;

[0018] If the distance between the leveling legs and the ground is greater than a preset distance, the leveling legs are controlled to be lowered at a first preset speed; otherwise, the leveling legs are controlled to be lowered at a second preset speed, which is less than the first preset speed;

[0019] When the lengths of the leveling legs reach their respective first stroke lengths, the lowering of the leveling legs is stopped.

[0020] Optionally, after controlling the lowering of each leveling leg so that the length of each leveling leg reaches the first stroke length, the method further includes:

[0021] If any angle value of the inclination angle of the device to be leveled is greater than the second preset angle and less than the first preset angle, then the second stroke length of each leveling leg is calculated;

[0022] Each leveling leg is controlled to be lowered at a third preset speed so that the length of each leveling leg reaches its respective second stroke length, and the third preset speed is less than the second preset speed.

[0023] Optionally, after controlling the lowering of each leveling leg so that the length of each leveling leg reaches the first stroke length, the method further includes:

[0024] The compaction criterion of each leveling leg is calculated by formula 2, which is:

[0025] in,

[0026]

[0027] Applying compaction criteria to each leveling leg so that each leveling leg compacts the road surface;

[0028] Among them, P represents the compaction criterion of each leg, F represents the compaction pressure of each leg, R is the radius of the circular footplate formed when the four leveling legs touch the ground, and F LF is the compaction pressure of the left front outrigger, F RF is the compaction pressure of the right front outrigger, F LB is the compaction pressure of the left rear outrigger, F RB is the compaction pressure of the right rear outrigger, m is the mass of the special vehicle, k1 is the correction coefficient of the front outrigger for leveling, k2 is the correction coefficient of the rear outrigger for leveling, k3 is the center of mass correction coefficient of the front outrigger for leveling, k4 is the center of mass correction coefficient of the rear outrigger for leveling, D GB D is the distance between the center of the line connecting the two rear legs when their travel is shortest and their center of mass. GF D is the distance between the center of the line connecting the two front legs when the travel is the shortest and the center of mass. FB D is the distance from the center of the line connecting the front left and right legs to the center of the line connecting the rear left and right legs when all legs have the shortest travel. F D is the distance between the two front legs when the travel is the shortest. B is the distance between the two rear legs when the travel is the shortest, h is the distance between the center of mass and the ground, α is the angle value of the front leveling sensor in the X direction, β is the average angle value of the front and rear leveling sensors in the Y direction, and γ is the angle value of the rear leveling sensor in the X direction.

[0029] In a second aspect, the present invention further provides a leveling device, comprising:

[0030] An acquisition module is used to acquire the inclination angle of the device to be leveled, wherein the inclination angle of the device to be leveled includes the angle values of the front leveling sensor in the X direction and the Y direction, and the angle values of the rear leveling sensor in the X direction and the Y direction;

[0031] a calculation module, configured to calculate a first stroke length of each leveling leg if any of the inclination angles of the device to be leveled is greater than a first preset angle;

[0032] The control module is used to control the lowering of each leveling leg so that the length of each leveling leg reaches its respective first stroke length.

[0033] Optionally, the computing module is configured to:

[0034] Each leveling leg includes four leveling legs. According to the real-time posture of the equipment to be leveled and the angle judgment theory, the leveling leg with the shortest expected extension stroke among the four leveling legs is used as the reference leveling leg;

[0035] Taking the reference leveling leg as a reference, the first stroke length of each leveling leg is calculated by formula 1, which is:

[0036] L1=L0,

[0037] L2=L1+D LR ×α,

[0038]

[0039]

[0040] Among them, L0 is the distance from the ground of the reference leveling leg, L1, L2, L3 and L4 are the first stroke lengths of the four leveling legs respectively, and D LR When all outriggers have the shortest travel, the distance between the front and left outriggers is equal to the distance between the front and left outriggers and the distance between the rear and left outriggers. FB is the distance between the centers of the line connecting the front left and right legs and the center of the line connecting the rear left and right legs when the travel of all legs is the shortest. α is the angle value of the front leveling sensor in the X direction. β is the average angle value of the front and rear leveling sensors in the Y direction. γ is the angle value of the rear leveling sensor in the X direction.

[0041] Optionally, the control module is used to:

[0042] Detect the distance of each leveling leg from the ground;

[0043] If the distance between the leveling legs and the ground is greater than a preset distance, the leveling legs are controlled to be lowered at a first preset speed; otherwise, the leveling legs are controlled to be lowered at a second preset speed, which is less than the first preset speed;

[0044] When the lengths of the leveling legs reach their respective first stroke lengths, the lowering of the leveling legs is stopped.

[0045] In a third aspect, the present invention further provides a leveling device, comprising a processor, a memory, and a leveling program stored in the memory and executable by the processor, wherein when the leveling program is executed by the processor, the steps of the leveling method described above are implemented.

[0046] In a fourth aspect, the present invention further provides a readable storage medium, on which a leveling program is stored, wherein when the leveling program is executed by a processor, the steps of the leveling method described above are implemented.

[0047] In the present invention, the inclination angle of the equipment to be leveled is obtained, and the inclination angle of the equipment to be leveled includes the angle values of the front leveling sensor in the X and Y directions, and the angle values of the rear leveling sensor in the X and Y directions. If any of the inclination angles of the equipment to be leveled is greater than a first preset angle, the first stroke length of each leveling leg is calculated, and the leveling legs are controlled to be lowered so that the length of each leveling leg reaches its respective first stroke length. The present invention calculates the stroke length of each leveling leg in advance and then controls the lowering of each leveling leg, thereby achieving rapid leveling and resolving the problem of slow hydraulic system response and easily out-of-tolerance leveling time. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a schematic flow chart of an embodiment of a leveling method of the present invention;

[0049] Figure 2 A schematic diagram of the leveling system architecture of an embodiment of the leveling method of the present invention;

[0050] Figure 3 A schematic diagram of four leveling legs in accordance with an embodiment of a leveling method of the present invention;

[0051] Figure 4 A schematic diagram of reference leveling legs in accordance with an embodiment of a leveling method of the present invention;

[0052] Figure 5 This is a schematic diagram of the functional modules of an embodiment of a leveling device of the present invention;

[0053] Figure 6 Schematic diagram of the hardware structure of a leveling device according to an embodiment of the present invention.

[0054] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0056] In a first aspect, an embodiment of the present invention provides a leveling method.

[0057] In order to more clearly demonstrate the leveling method provided in the embodiment of the present application, the application scenario of the leveling method provided in the embodiment of the present application is first introduced.

[0058] The leveling method provided in the embodiment of the present application is used to ensure that special upper-mounted equipment on special vehicles can work normally. It needs to be leveled to ensure that it is in a stable and horizontal reference plane. Usually, a hydraulic system is used to level the special upper-mounted equipment. Based on the front and rear leveling angle sensors installed on the chassis suspension, the proportional valve of the hydraulic system is used to control the extension of multiple leveling legs to achieve horizontal adjustment of the suspension.

[0059] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of an embodiment of the leveling method of the present invention. Figure 1 As shown, the leveling method includes:

[0060] Step S10: Acquire the inclination angle of the device to be leveled, wherein the inclination angle of the device to be leveled includes the angle values of the front leveling sensor in the X direction and the Y direction, and the angle values of the rear leveling sensor in the X direction and the Y direction.

[0061] In this embodiment, the device to be leveled may be a special upper-mounted device on a special vehicle. The special upper-mounted device is equipped with two front and rear leveling sensors for collecting respective inclination angles in the X and Y directions.

[0062] Step S20: If any angle value of the inclination angle of the device to be leveled is greater than a first preset angle, a first stroke length of each leveling leg is calculated.

[0063] In this embodiment, if any of the inclination angles of the device to be leveled is greater than a first preset angle, such as 50′ (50′ is approximately 0.83 degrees, where 1 degree = 60′), it indicates that the device to be leveled needs to be leveled, and the first stroke length of each leveling leg is calculated for controlling the lowering of the leveling leg.

[0064] Step S30: Control each leveling leg to be lowered so that the length of each leveling leg reaches its respective first stroke length.

[0065] In this embodiment, each leveling leg is extended and lowered until the length of each leveling leg reaches its respective first stroke length. Each leveling leg supports the device to be leveled, with the purpose of adjusting the device to be leveled to a horizontal state to ensure that the device to be leveled can work normally.

[0066] In this embodiment, the front and rear leveling sensors of the special upper equipment are used to collect the respective inclination angles in the X and Y directions. If the inclination angle value in any direction is greater than the first preset angle, it means that the leveling equipment needs to be leveled. By calculating the stroke length of each leveling leg in advance and then controlling the lowering of each leveling leg, rapid leveling of the special upper equipment can be achieved, which can solve the problem of slow response of the hydraulic system and easy deviation of the leveling time.

[0067] Furthermore, in one embodiment, a leveling system corresponding to the leveling method of the present invention is provided, referring to Figure 2 , Figure 2 This is a schematic diagram of the leveling system architecture of an embodiment of the leveling method of the present invention. Figure 2 As shown, the leveling system includes a leveling controller, two front and rear leveling sensors, and leveling legs distributed at the four corners, a hydraulic system and a valve group for controlling the lowering of the leveling legs. Each leveling sensor contains collected values in the X and Y directions. The leveling legs distributed at the four corners contain leg large cavity pressure, small cavity pressure and stroke sensors. The leveling controller communicates with the leveling sensors, leveling leg control valve group, hydraulic system and other sensors through the CAN bus.

[0068] Furthermore, in one embodiment, step S20 includes:

[0069] Each leveling leg includes four leveling legs. According to the real-time posture of the equipment to be leveled and the angle judgment theory, the leveling leg with the shortest expected extension stroke among the four leveling legs is used as the reference leveling leg;

[0070] Taking the reference leveling leg as a reference, the first stroke length of each leveling leg is calculated by formula 1, which is:

[0071] L1=L0,

[0072] L2=L1+D LR ×α,

[0073]

[0074]

[0075] Among them, L0 is the distance from the ground of the reference leveling leg, L1, L2, L3 and L4 are the first stroke lengths of the four leveling legs respectively, and D LR When all outriggers have the shortest travel, the distance between the front and left outriggers is equal to the distance between the front and left outriggers and the distance between the rear and left outriggers. FBis the distance between the centers of the line connecting the front left and right legs and the center of the line connecting the rear left and right legs when the travel of all legs is the shortest. α is the angle value of the front leveling sensor in the X direction. β is the average angle value of the front and rear leveling sensors in the Y direction. γ is the angle value of the rear leveling sensor in the X direction.

[0076] In this embodiment, refer to Figure 3 , Figure 3 Schematic diagram of four leveling legs according to an embodiment of the leveling method of the present invention, as shown in FIG. Figure 3 As shown, the reference leveling leg is the leveling leg with the shortest expected extension stroke among the four leveling legs. According to the real-time posture of the equipment to be leveled, the process of determining the reference leveling leg through angle judgment theory is as follows: according to the real-time posture of the equipment to be leveled, determine whether the equipment to be leveled is currently in an uphill or downhill road condition, as well as the height status of the left and right parts of the equipment to be leveled. When going downhill, the rear leg should be extended less, when going uphill, the front leg should be extended less, when the left is higher and the right is lower, the right leg should be extended less, and when the right is higher and the left is lower, the left leg should be extended less. Based on this, the leveling leg with the shortest expected extension stroke among the four leveling legs is determined and used as the reference leveling leg. Figure 4 , Figure 4 Schematic diagram of the reference leveling legs according to an embodiment of the leveling method of the present invention, as shown in FIG. Figure 4 As shown, with leg No. 1 as the reference leveling leg, the first stroke length of each leveling leg is calculated.

[0077] Furthermore, in one embodiment, step S30 includes:

[0078] Detect the distance of each leveling leg from the ground;

[0079] If the distance between the leveling legs and the ground is greater than a preset distance, the leveling legs are controlled to be lowered at a first preset speed; otherwise, the leveling legs are controlled to be lowered at a second preset speed, which is less than the first preset speed;

[0080] When the lengths of the leveling legs reach their respective first stroke lengths, the lowering of the leveling legs is stopped.

[0081] In this embodiment, in order to speed up the leveling speed, a preset distance can be set to detect the distance of each leveling leg from the ground. If the distance of the leveling leg from the ground is greater than the preset distance, the leveling leg is controlled to be lowered at a faster speed. When the distance of the leveling leg from the ground is short, the speed of lowering the leveling leg is reduced.

[0082] Furthermore, in one embodiment, after step S30, the following steps are included:

[0083] If any angle value of the inclination angle of the device to be leveled is greater than the second preset angle and less than the first preset angle, then the second stroke length of each leveling leg is calculated;

[0084] Each leveling leg is controlled to be lowered at a third preset speed so that the length of each leveling leg reaches its respective second stroke length, and the third preset speed is less than the second preset speed.

[0085] In this embodiment, the second preset angle value is an angle value smaller than the first preset angle value (for example, 50′). When any angle value of the inclination angle of the device to be leveled is greater than the second preset angle and less than the first preset angle, it indicates that the inclination angle of the device to be leveled has entered a smaller inclination state. However, in order to ensure better operation of the device to be leveled, further adjustments are required. If step S30 is equivalent to coarse adjustment of the device to be leveled, this is equivalent to fine adjustment of the device to be leveled. Correspondingly, each leveling leg is controlled to be lowered at a third preset speed that is smaller than the second preset speed. When all angle values of the inclination angle of the device to be leveled are less than the second preset angle, the requirement for ensuring stable operation of the device to be leveled is met, the leveling standard is met, and the leveling is ended.

[0086] Furthermore, in one embodiment, after step S30, the method further includes:

[0087] The compaction criterion of each leveling leg is calculated by formula 2, which is:

[0088] in,

[0089]

[0090] Applying compaction criteria to each leveling leg so that each leveling leg compacts the road surface;

[0091] Among them, P represents the compaction criterion of each leg, F represents the compaction pressure of each leg, R is the radius of the circular footplate formed when the four leveling legs touch the ground, and F LF is the compaction pressure of the left front outrigger, F RF is the compaction pressure of the right front outrigger, F LB is the compaction pressure of the left rear outrigger, F RB is the compaction pressure of the right rear outrigger, m is the mass of the special vehicle, k1 is the correction coefficient of the front outrigger for leveling, k2 is the correction coefficient of the rear outrigger for leveling, k3 is the center of mass correction coefficient of the front outrigger for leveling, k4 is the center of mass correction coefficient of the rear outrigger for leveling, D GB D is the distance between the center of the line connecting the two rear legs when their travel is shortest and their center of mass. GF D is the distance between the center of the line connecting the two front legs when the travel is the shortest and the center of mass. FB D is the distance from the center of the line connecting the front left and right legs to the center of the line connecting the rear left and right legs when all legs have the shortest travel. FD is the distance between the two front legs when the travel is the shortest. B is the distance between the two rear legs when the travel is the shortest, h is the distance between the center of mass and the ground, α is the angle value of the front leveling sensor in the X direction, β is the average angle value of the front and rear leveling sensors in the Y direction, and γ is the angle value of the rear leveling sensor in the X direction.

[0092] In this embodiment, when each leveling leg reaches its own stroke length and contacts the ground, each leg is further lowered and a compaction criterion is applied to each leveling leg. When the large cavity pressure of each leveling leg reaches the compaction criterion, it indicates that each leg has compacted the road surface, thereby enabling the equipment to be leveled to adapt to various soft and hard roads.

[0093] In a second aspect, an embodiment of the present invention further provides a leveling device.

[0094] Reference Figure 5 , Figure 5 Schematic diagram of the functional modules of an embodiment of the leveling device of the present invention.

[0095] In this embodiment, the leveling device includes:

[0096] An acquisition module 10 is configured to acquire the inclination angle of the device to be leveled, wherein the inclination angle of the device to be leveled includes the angle values of the front leveling sensor in the X direction and the Y direction, and the angle values of the rear leveling sensor in the X direction and the Y direction;

[0097] a calculation module 20 configured to calculate a first stroke length of each leveling leg if any of the inclination angles of the device to be leveled is greater than a first preset angle;

[0098] The control module 30 is used to control the lowering of each leveling leg so that the length of each leveling leg reaches its respective first stroke length.

[0099] Furthermore, in one embodiment, the calculation module 20 is configured to:

[0100] Each leveling leg includes four leveling legs. According to the real-time posture of the equipment to be leveled and the angle judgment theory, the leveling leg with the shortest expected extension stroke among the four leveling legs is used as the reference leveling leg;

[0101] Taking the reference leveling leg as a reference, the first stroke length of each leveling leg is calculated by formula 1, which is:

[0102] L1=L0,

[0103] L2=L1+D LR ×α,

[0104]

[0105]

[0106] Among them, L0 is the distance from the ground of the reference leveling leg, L1, L2, L3 and L4 are the first stroke lengths of the four leveling legs respectively, and D LR When all outriggers have the shortest travel, the distance between the front and left outriggers is equal to the distance between the front and left outriggers and the distance between the rear and left outriggers. FB is the distance between the centers of the line connecting the front left and right legs and the center of the line connecting the rear left and right legs when the travel of all legs is the shortest. α is the angle value of the front leveling sensor in the X direction. β is the average angle value of the front and rear leveling sensors in the Y direction. γ is the angle value of the rear leveling sensor in the X direction.

[0107] Furthermore, in one embodiment, the control module 30 is configured to:

[0108] Detect the distance of each leveling leg from the ground;

[0109] If the distance between the leveling legs and the ground is greater than a preset distance, the leveling legs are controlled to be lowered at a first preset speed; otherwise, the leveling legs are controlled to be lowered at a second preset speed, which is less than the first preset speed;

[0110] When the lengths of the leveling legs reach their respective first stroke lengths, the lowering of the leveling legs is stopped.

[0111] Furthermore, in one embodiment, the leveling device further includes a fine adjustment module for:

[0112] If any angle value of the inclination angle of the device to be leveled is greater than the second preset angle and less than the first preset angle, then the second stroke length of each leveling leg is calculated;

[0113] Each leveling leg is controlled to be lowered at a third preset speed so that the length of each leveling leg reaches its respective second stroke length, and the third preset speed is less than the second preset speed.

[0114] Furthermore, in one embodiment, the leveling device further includes a compacting module for:

[0115] The compaction criterion of each leveling leg is calculated by formula 2, which is:

[0116] in,

[0117]

[0118] Applying compaction criteria to each leveling leg so that each leveling leg compacts the road surface;

[0119] Among them, P represents the compaction criterion of each leg, F represents the compaction pressure of each leg, R is the radius of the circular footplate formed when the four leveling legs touch the ground, and F LF is the compaction pressure of the left front outrigger, F RF is the compaction pressure of the right front outrigger, F LB is the compaction pressure of the left rear outrigger, F RB is the compaction pressure of the right rear outrigger, m is the mass of the special vehicle, k1 is the correction coefficient of the front outrigger for leveling, k2 is the correction coefficient of the rear outrigger for leveling, k3 is the center of mass correction coefficient of the front outrigger for leveling, k4 is the center of mass correction coefficient of the rear outrigger for leveling, D GB D is the distance between the center of the line connecting the two rear legs when their travel is shortest and their center of mass. GF D is the distance between the center of the line connecting the two front legs when the travel is the shortest and the center of mass. FB D is the distance from the center of the line connecting the front left and right legs to the center of the line connecting the rear left and right legs when all legs have the shortest travel. F D is the distance between the two front legs when the travel is the shortest. B is the distance between the two rear legs when the travel is the shortest, h is the distance between the center of mass and the ground, α is the angle value of the front leveling sensor in the X direction, β is the average angle value of the front and rear leveling sensors in the Y direction, and γ is the angle value of the rear leveling sensor in the X direction.

[0120] Among them, the functional implementation of each module in the above-mentioned leveling device corresponds to each step in the above-mentioned leveling method embodiment, and its functions and implementation processes are no longer repeated here.

[0121] In a third aspect, an embodiment of the present invention provides a leveling device, which may be a device with a data processing function, such as a personal computer (PC), a notebook computer, or a server.

[0122] Reference Figure 6 , Figure 6This is a hardware structure diagram of an embodiment of the leveling device of the present invention. In an embodiment of the present invention, the leveling device may include a processor 1001 (such as a central processing unit (CPU)), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a wireless interface (such as a wireless fidelity WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (RAM) or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that, Figure 6 The hardware structure shown in the figure does not constitute a limitation of the present invention, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0123] Continue to refer to Figure 6 , Figure 6 The memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a leveling program. The processor 1001 may call the leveling program stored in the memory 1005 and execute the leveling method provided in the embodiment of the present invention.

[0124] In a fourth aspect, an embodiment of the present invention further provides a readable storage medium.

[0125] The readable storage medium of the present invention stores a leveling program, wherein when the leveling program is executed by a processor, the steps of the leveling method described above are implemented.

[0126] The method implemented when the leveling program is executed can refer to the various embodiments of the leveling method of the present invention, and will not be described in detail here.

[0127] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0128] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0129] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, or of course by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device to execute the methods described in various embodiments of the present invention.

[0130] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A leveling method, characterized in that: The leveling method comprises: Obtaining the inclination angle of the device to be leveled, wherein the inclination angle of the device to be leveled includes the angle values of the front leveling sensor in the X direction and the Y direction, and the angle values of the rear leveling sensor in the X direction and the Y direction; If any of the inclination angles of the device to be leveled is greater than a first preset angle, a first stroke length of each leveling leg is calculated; Controlling the lowering of each leveling leg so that the length of each leveling leg reaches the first stroke length of each leg; The calculating of the first stroke length of each leveling leg comprises: Each leveling leg includes four leveling legs. According to the real-time posture of the equipment to be leveled and the angle judgment theory, the leveling leg with the shortest expected extension stroke among the four leveling legs is used as the reference leveling leg; Taking the reference leveling leg as a reference, the first stroke length of each leveling leg is calculated by formula 1, which is: ， ， ， ， in, Use the distance of the outriggers from the ground as a reference. 、 、 and are the first stroke lengths of the four leveling legs, When all outriggers have the shortest travel, the distance between the front and left outriggers, the distance between the front and left outriggers, and the distance between the rear and left outriggers are equal. is the distance between the centers of the line connecting the front left and right legs and the center of the line connecting the rear left and right legs when all legs have the shortest travel. α is the angle value of the front leveling sensor in the X direction. β is the average angle value of the front and rear leveling sensors in the Y direction. γ is the angle value of the rear leveling sensor in the X direction. The controlling of the lowering of each leveling leg so that the length of each leveling leg reaches the first stroke length thereof comprises: Detect the distance of each leveling leg from the ground; If the distance between the leveling legs and the ground is greater than a preset distance, the leveling legs are controlled to be lowered at a first preset speed; otherwise, the leveling legs are controlled to be lowered at a second preset speed, which is less than the first preset speed; When the lengths of the leveling legs reach their respective first stroke lengths, the lowering of the leveling legs is stopped.

2. The leveling method according to claim 1, wherein: After controlling the lowering of each leveling leg so that the length of each leveling leg reaches the first stroke length, the method includes: If any angle value of the inclination angle of the device to be leveled is greater than the second preset angle and less than the first preset angle, then the second stroke length of each leveling leg is calculated; Each leveling leg is controlled to be lowered at a third preset speed so that the length of each leveling leg reaches its respective second stroke length, and the third preset speed is less than the second preset speed.

3. The leveling method according to claim 1, wherein: After controlling the lowering of each leveling leg so that the length of each leveling leg reaches the first stroke length, the method further includes: The compaction criterion of each leveling leg is calculated by formula 2, which is: ,in, ； Applying compaction criteria to each leveling leg so that each leveling leg compacts the road surface; Among them, P represents the compaction criterion of each leg, F represents the compaction pressure of each leg, and R is the radius of the circular footplate formed when the four leveling legs touch the ground. is the compaction pressure of the left front outrigger, is the compaction pressure of the right front outrigger, is the compaction pressure of the left rear outrigger, is the compaction pressure of the right rear outrigger, m is the mass of the special vehicle, is the correction factor for leveling the front outriggers, is the correction factor for the rear outriggers after leveling, is the center of mass correction coefficient for leveling the front outriggers, is the correction coefficient of the center of mass of the outrigger after leveling, is the distance between the center of the line connecting the two rear legs and the center of mass when the travel is the shortest. The distance from the center of the line connecting the front left and right legs to the center of the line connecting the rear left and right legs when all legs have the shortest travel. is the distance between the two front legs when their travel is the shortest. is the distance between the two rear outriggers when their travel is the shortest. is the distance between the center of mass and the ground, α is the angle value of the front leveling sensor in the X direction, β is the average angle value of the front and rear leveling sensors in the Y direction, and γ is the angle value of the rear leveling sensor in the X direction.

4. A leveling device, characterized in that: The leveling device comprises: An acquisition module is used to acquire the inclination angle of the device to be leveled, wherein the inclination angle of the device to be leveled includes the angle values of the front leveling sensor in the X direction and the Y direction, and the angle values of the rear leveling sensor in the X direction and the Y direction; a calculation module, configured to calculate a first stroke length of each leveling leg if any of the inclination angles of the device to be leveled is greater than a first preset angle; A control module, configured to control the lowering of each leveling leg so that the length of each leveling leg reaches the first stroke length of the respective leg; The computing module is used to: Each leveling leg includes four leveling legs. According to the real-time posture of the equipment to be leveled and the angle judgment theory, the leveling leg with the shortest expected extension stroke among the four leveling legs is used as the reference leveling leg; Taking the reference leveling leg as a reference, the first stroke length of each leveling leg is calculated by formula 1, which is: ， ， ， ， in, Use the distance of the outriggers from the ground as a reference. 、 、 and are the first stroke lengths of the four leveling legs, When all outriggers have the shortest travel, the distance between the front and left outriggers, the distance between the front and left outriggers, and the distance between the rear and left outriggers are equal. is the distance between the centers of the line connecting the front left and right legs and the center of the line connecting the rear left and right legs when all legs have the shortest travel. α is the angle value of the front leveling sensor in the X direction. β is the average angle value of the front and rear leveling sensors in the Y direction. γ is the angle value of the rear leveling sensor in the X direction. The control module is used to: Detect the distance of each leveling leg from the ground; If the distance between the leveling legs and the ground is greater than a preset distance, the leveling legs are controlled to be lowered at a first preset speed; otherwise, the leveling legs are controlled to be lowered at a second preset speed, which is less than the first preset speed; When the lengths of the leveling legs reach their respective first stroke lengths, the lowering of the leveling legs is stopped.

5. A leveling device, characterized in that: The leveling device includes a processor, a memory, and a leveling program stored in the memory and executable by the processor, wherein when the leveling program is executed by the processor, the steps of the leveling method according to any one of claims 1 to 3 are implemented.

6. A readable storage medium, characterized in that: The readable storage medium stores a leveling program, wherein when the leveling program is executed by a processor, the steps of the leveling method according to any one of claims 1 to 3 are implemented.

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