An automatic leveling system of a hoisting mechanism for a drainage vehicle and a leveling method thereof

Abstract

The application discloses a kind of automatic leveling system and leveling method of hoisting mechanism of drainage vehicle, including relatively arranged centricity adjustment pendulum and oscillation type pendulum, pendulum lever is hingedly installed on installation platform, pendulum end is towards opposite two directions, the present application utilizes electric push rod to control the movement of pendulum, automatically adjusts the gravity center of heavy load hanger, wind force, frequency information is collected by wind sensor, electromagnetic force generated by electromagnetic oscillator makes oscillation type pendulum produce lateral oscillation force opposite to wind direction, wind force is equal, and wind resistance effect is achieved;By setting double-shaft inclination sensor, the gravity center deviation signal of heavy load is automatically collected, acceleration, dynamic force information is collected by dynamic force (acceleration) sensor, electromagnetic force generated by electromagnetic oscillator makes oscillation type pendulum produce lateral oscillation force opposite to the direction of motion load, acceleration is identical, to offset the swing and vibration of hanger caused by lateral acceleration, reach the effect of anti-lateral swing and relieve vibration deviation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of special vehicles, in particular to an automatic leveling system of a hoisting mechanism of a drainage vehicle and a leveling method thereof. BACKGROUND

[0002] The drainage vehicle is an engineering vehicle used in flood fighting and drainage rescue. Due to the needs of different rescue occasions, the drainage vehicle sometimes needs to use a hoisting mechanism to hoist the drainage pump and drainage tools to the rescue point. The hoisting mechanism of the existing drainage vehicle has a simple structure, and the drainage equipment is usually placed on the hoisting platform. If uneven road surface or slope area is encountered, the hoisting platform is easy to tilt, which causes the drainage equipment to be unable to maintain balance and has the risk of falling. Moreover, when outdoor drainage operation is performed, if strong wind weather is encountered, the hoisting platform is also difficult to maintain balance. In the prior art, the crane or aerial work vehicle generally adjusts the balance of the vehicle body by manually or automatically controlling the stroke of the outrigger. The working platform is balanced by a parallelogram mechanism or a hydraulic cylinder. These are adjustments of fixed structural parts of the vehicle, and cannot offset the lateral deviation. The on-site judgment by the operator relies on experience, lacks quantifiable parameters for reference, and has no intelligent hoist automatic leveling and lateral deviation prevention function. SUMMARY

[0003] The purpose of the present application is to provide an automatic leveling system of a hoisting mechanism of a drainage vehicle and a leveling method thereof, so as to solve the problem that the hoisting mechanism of the existing drainage vehicle cannot automatically level the hoisted heavy object in real time.

[0004] The technical problem solved by the present application can be realized by the following technical scheme:

[0005] An automatic leveling system of a hoisting mechanism of a drainage vehicle, comprising

[0006] a hoist, provided with a mounting platform;

[0007] a center of mass adjusting pendulum, installed on the mounting platform, comprising a first pendulum rod and a first pendulum, one end of the first pendulum rod is hingedly installed in the middle of the mounting platform, the first pendulum is suspendedly installed on the other end of the first pendulum rod towards the outside, a limit sliding block is arranged in the middle of the first pendulum rod, an electric push rod is arranged on one side of the center of mass adjusting pendulum, the cylinder body of the electric push rod is installed on the mounting platform on one side of the center of mass adjusting pendulum, and the end of the push rod is hingedly connected with the first pendulum rod;

[0008] An oscillation type pendulum is arranged on the mounting platform opposite to the center of mass adjusting pendulum, comprising a second pendulum rod and a second pendulum, one end of the second pendulum rod is hingedly mounted in the middle of the mounting platform, the other end is connected to the second pendulum, the second pendulum is suspended towards the outside; the second pendulum rod passes through an electromagnetic oscillator, the electromagnetic oscillator is provided with an electromagnetic oscillator support, the electromagnetic oscillator support is fixedly mounted on the mounting platform, both sides of the inside of the electromagnetic oscillator support are provided with excitation coils, a permanent magnet is sleeved on the second pendulum rod, the permanent magnet is arranged between the two excitation coils;

[0009] A detection module is arranged on the mounting platform, comprising a three-axis vibration sensor, a wind sensor, a two-axis inclination sensor and a dynamic force acceleration sensor;

[0010] A control module is arranged on the mounting platform, and a dynamic signal analyzer is built-in, and each sensor of the detection module is connected through a signal connection line, used for receiving the signals detected by the detection module 6, and issuing corresponding leveling control instructions through logical analysis.

[0011] Further, an arc-shaped limiting sliding groove is arranged on the mounting platform, the limiting sliding block is embedded and mounted in the arc-shaped limiting sliding groove, and moves along the arc-shaped limiting sliding groove under the action of external thrust; an arc-shaped induction groove is arranged at the middle bottom of the electromagnetic oscillator support, and the permanent magnet is arranged above the arc-shaped induction groove.

[0012] Further, the two-axis inclination sensor is arranged outside below the electromagnetic oscillator support, the three-axis vibration sensor is arranged on the side of the two-axis inclination sensor, the wind sensor is arranged above the outer end of the hanger, and the dynamic force acceleration sensor is arranged in the middle of the mounting platform and between the hinged seats of the two pendulums.

[0013] A horizontal leveling method of a hanger of an automatic leveling system of a hoisting mechanism of a drainage vehicle, after the data sampled by the two-axis inclination sensor is sent to the control module, the dynamic signal analyzer judges whether the hanger is deviated, if not, the original position is maintained, if yes, the three-axis vibration sensor is compared with the model to make a tipping prediction, and the emergency plan is started and a warning is issued when tipping is possible, if it is positive deviation, a negative voltage is given, the push rod motor of the electric push rod is reversed, the push rod is extended, the first pendulum is pushed to move reversely, and the two-axis inclination sensor collects the moving data in real time; if it is negative deviation, a positive voltage is given, the push rod motor of the electric push rod is forward rotated, the push rod is retracted, the first pendulum is pushed to move forward, and the two-axis inclination sensor collects the moving data in real time; the dynamic signal analyzer issues an adjustment instruction according to the real-time data until the hanger is kept horizontal.

[0014] Further, the double-axis tilt sensor first determines the angle a between the A-axis and the horizontal plane. If a is not zero, the first pendulum of the mass center adjustment pendulum is driven by the electric push rod to rotate forward or backward around the hinged end of the first pendulum rod. During the rotation, the changing angle a is continuously detected and compared until the angle a is 0° (±1°), at which point the electric push rod stops moving and the initial adjustment of the A-axis is discontinued. This process is repeated several times to adjust the A-axis until the angle between the A-axis and the horizontal plane satisfies a = 0° (±1°), at which point the leveling is complete. The automatic leveling control logic based on the PID algorithm includes control logic using the tilt angle value a as the automatic leveling judgment signal and control logic using the relative position value S of the mass center adjustment pendulum as the automatic leveling judgment signal. The relative position value S of the mass center adjustment pendulum is a redundant signal.

[0015] Further, when the tilt angle value a is valid, the tilt angle value a is prioritized as the judgment signal for automatic leveling. According to the platform tilt angle value a, the direction in which the mass center adjustment pendulum needs to swing is first determined. The forward direction of the vehicle is the positive direction of the X-axis, and a x is the X-axis tilt angle value. Under the platform rising working condition, if a x > 0.05°, the mass center adjustment pendulum swings forward; if a x <-0.05°, the mass center adjustment pendulum swings backward. Under the platform descending working condition, the relative position of the mass center adjustment pendulum is consistent with the platform tilt condition.

[0016] Further, when the tilt angle value a is invalid, the relative position value S of the mass center adjustment pendulum is automatically switched to be used as the judgment signal for automatic leveling. When the platform tilt angle value a belongs to the tilt angle limit value Q, Q = [-0.05°, 0.05°], it is determined to be invalid, that is, when the platform tilt angle is within ±0.05°, it is considered to be nearly balanced. After the platform tilt angle a is determined, the current or voltage control signal output by the PID algorithm logic is transmitted to the electric push rod, which in turn controls the action of the mass center adjustment pendulum. The PID algorithm formula for adjusting the angle of the mass center adjustment pendulum is as follows:

[0017]

[0018] e k = a 实 - a 目 Formula 2

[0019] In the formula: U K is the current or voltage control signal output at the kth sampling time, k is the sampling signal in the PID algorithm, k = 1, 2, 3,...; j is the sampling signal in the PID algorithm, j = 1, 2, 3,..., k; e kThe actual inclination value α of the kth sampling moment 实 The algebraic difference between the target inclination value α 目 e j The actual inclination value α of the jth sampling moment 实 The algebraic difference between the target inclination value α 目 K P The proportional coefficient in the PID algorithm, the initial value K P = 1; k i The integral coefficient in the PID algorithm, the initial value k i = 1; k d The differential coefficient in the PID algorithm, the initial value k d = 1; the biaxial inclination sensor calculates the k times of the platform inclination value α 实 , the target inclination value α 目 , to obtain e k and e j values, substitute into equation 1 to obtain the real-time output current or voltage control signal U K , then the electric signal is processed by the control module, and an execution command is sent to the electric push rod 4 to control the center of mass adjustment pendulum to swing a certain angle in the specified direction to adjust the inclination of the platform; when the platform inclination angle α is less than the leveling stop setting value [-0.05°, 0.05°] range, the control system exits the automatic leveling mode, and the platform is in a relative balance state.

[0020] An oscillation leveling method of a drainage vehicle hoisting mechanism automatic leveling system, the dynamic signal analyzer receives information of wind direction, wind speed, and wind frequency from a wind sensor, the dynamic force acceleration sensor collects acceleration and dynamic force information which is calculated by a computer to form an instruction signal and is returned to the dynamic signal analyzer, and the control module sends an instruction to an electromagnetic oscillator; the electromagnetic oscillator converts electric energy into magnetic field force, generates vibration thrust through the interaction of a permanent magnet installed on the oscillation pendulum and an excitation coil, and transmits the vibration thrust to the second pendulum to pull the second pendulum to make left and right high-frequency oscillation accordingly, thereby offsetting the influence of lateral deviation of the weight caused by wind or vibration; at the same time, the dynamic signal analyzer monitors and adjusts the oscillation frequency of the electromagnetic oscillator to make it inconsistent with the frequency of the wind to prevent resonance; the oscillation leveling method includes an anti-wind system and a lateral vibration deviation offsetting system.

[0021] Further, the anti-wind system sends the wind direction, wind speed and wind frequency information collected by the wind sensor to the control module, the dynamic signal analyzer judges whether the wind direction, size and frequency are deviated, and if not, the original position is maintained, if deviated, the three-axis vibration sensor is compared with the model to make a pre-judgment of tilting, and the emergency plan is started and a warning is issued when tilting, if it is positive deviation, a certain size of reverse current is given, the electromagnetic oscillator oscillates reversely, drives the second pendulum to oscillate reversely, and the wind sensor collects data in real time; if it is negative deviation, a certain size of forward current is given, the electromagnetic oscillator oscillates forwardly, drives the second pendulum to oscillate forwardly, and the wind sensor collects data in real time; the dynamic signal analyzer issues an adjustment instruction according to real-time data to control the hanging frame to remain horizontal.

[0022] Further, the lateral vibration offsetting system sends the acceleration and dynamic force information collected by the dynamic force acceleration sensor 64 to the control module, the dynamic signal analyzer judges whether the acceleration size and direction and the gravity center position are deviated, if not, the original position is maintained, if positively deviated, the electromagnetic oscillator oscillates reversely, drives the second pendulum to oscillate reversely, and the dynamic force acceleration sensor collects data in real time; if negatively deviated, a certain size of forward current is given, the electromagnetic oscillator oscillates forwardly, drives the second pendulum to oscillate forwardly, and the dynamic force acceleration sensor collects data in real time; the dynamic signal analyzer issues an adjustment instruction according to real-time data to control the hanging frame to remain horizontal.

[0023] Compared with the prior art, the present application has the following beneficial effects:

[0024] 1. The present application uses an electric push rod to control the movement of the pendulum, automatically adjusts the gravity center of the hanging frame carrying heavy objects, uses the electric push rod to control the movement of the pendulum, changes the pendulum arm, and thereby automatically adjusts the gravity center of the hanging frame carrying heavy objects; no additional weight is added except the pendulum block, the total mass of the entire hanging frame system is a constant value, and the weight of the lifted heavy object is easy to calculate;

[0025] 2. The wind force and frequency information are collected by the wind sensor and transmitted to the dynamic signal analyzer through a signal line, the dynamic signal analyzer outputs corresponding signals to the electromagnetic oscillator, the electromagnetic force generated by the electromagnetic oscillator makes the oscillating pendulum generate a lateral oscillation force opposite to the wind direction and equal to the wind force, thereby achieving the effect of resisting wind; data comparison can also be used for pre-judgment, the degree of dangerous working condition that may occur due to wind speed change, and the alarm function of stopping operation construction or improving operation safety protection level, thereby increasing the safety of the hoisting mechanism;

[0026] 3、The present application automatically collects the gravity center offset signal of the heavy object by setting the double-axis inclination sensor, issues corresponding control instructions through logical judgment by the dynamic signal analyzer, realizes the adjustment of the gravity center through the automatic leveling system, ensures that the hanging frame carrying the heavy object maintains a horizontal state in real time; the double-axis inclination sensor can feed back the gravity center offset data in real time, quantitatively and accurately level, has low energy consumption and high work efficiency; and after comparing the data with the benchmark model data, a prediction can be made before a dangerous state occurs, so that corresponding control actions are made in advance, thereby avoiding and minimizing the damage and influence caused by the dangerous state;

[0027] 4、The present application collects acceleration and dynamic force information through the dynamic force (acceleration) sensor, transmits the information to the dynamic signal analyzer through the signal line, transmits the data screened by the dynamic signal analyzer to the computer, outputs corresponding signals to the electromagnetic oscillator through the computer after operation, the electromagnetic force generated by the electromagnetic oscillator generates a lateral oscillation force opposite to the direction of the moving load and having the same acceleration as the lateral oscillation force, to offset the swing and vibration of the hanging frame caused by the lateral acceleration, to achieve the effect of resisting lateral swing and relieving vibration offset; in addition to resisting lateral vibration offset, the resonance generated by the hanging frame carrying the heavy object due to vibration (up and down, vibration caused by uneven speed and lateral load such as wind) can also be eliminated, thereby increasing the safety of the hoisting mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is the overall three-dimensional structure schematic diagram of the present application.

[0029] Figure 2 It is Figure 1 the enlarged schematic view of A in

[0030] Figure 3 It is the top view structure schematic diagram of the present application.

[0031] Figure 4 It is Figure 3 the enlarged schematic view of B in

[0032] Figure 5 It is the schematic diagram of electromagnetic oscillation principle.

[0033] Figure 6 It is the logical connection diagram of horizontal leveling.

[0034] Figure 7 It is the adjustment action schematic diagram of the center of mass adjustment pendulum.

[0035] Figure 8 It is the working logical connection diagram of the wind resistance system.

[0036] Figure 9 It is the logical connection diagram of the lateral vibration offset cancellation system.

[0037] In the figure, the hanger 1, the mounting platform 11, the hanger rod 12, the hanger ring 13;

[0038] The center-of-mass adjustment pendulum 2, the first pendulum rod 21, the first pendulum 22, the limit sliding block 23, the arc-shaped limit sliding groove 24;

[0039] The oscillation type pendulum 3, the second pendulum rod 31, the second pendulum 32, the permanent magnet 33;

[0040] The electric push rod 4, the electromagnetic oscillator 5, the electromagnetic oscillator support 51, the excitation coil 52, the arc-shaped induction groove 53;

[0041] The detection module 6, the three-axis vibration sensor 61, the wind sensor 62, the two-axis inclination sensor 63, the dynamic force acceleration sensor 64;

[0042] The control module 7. DETAILED DESCRIPTION

[0043] The application will be described in detail below in conjunction with the drawings and specific embodiments, but the embodiments of the application are not limited thereto.

[0044] In the description of the application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0045] Figures 1-9 The application is a preferred scheme, an automatic leveling system of a hoisting mechanism for a drainage vehicle, comprising a hanger 1, the hanger 1 is provided with a mounting platform 11 of the leveling system, four corners of the hanger 1 are each provided with a hanger rod 12 below for hanging a heavy object (not shown in the figure), the mounting platform 11 is provided with a hanger ring 13 above for hanging a lifting hook.

[0046] The mounting platform 11 is provided with a horizontally arranged center-of-mass adjustment pendulum 2 and an oscillation type pendulum 3, the center-of-mass adjustment pendulum 2 and the oscillation type pendulum 3 are oppositely arranged, the pendulum rods are hingedly mounted on the mounting platform 11, and the pendulum ends are directed towards opposite directions.

[0047] The barycentric adjustment pendulum 2 comprises a first pendulum rod 21 and a first pendulum 22. One end of the first pendulum rod 21 is hingedly mounted in the middle of the mounting platform 11, and the other end is connected to the first pendulum 22, which is suspended towards the outside and can swing around the hinged point. The middle of the first pendulum rod 21 is provided with a limiting sliding block 23. The mounting platform 11 is provided with an arc-shaped limiting sliding groove 24, and the limiting sliding block 23 is embedded in the arc-shaped limiting sliding groove 24 and can move along the arc-shaped limiting sliding groove 24 under the action of an external thrust force, thereby limiting the swing range of the first pendulum 22. In this embodiment, the external thrust force is provided by an electric push rod 4, the cylinder of which is mounted on one side of the barycentric adjustment pendulum 2 on the mounting platform 11, and the push rod end is hingedly connected to the first pendulum rod 21. In order to shorten the push rod torque, the hinged point of the electric push rod 4 is arranged between the limiting sliding block 23 and the hinged mounting point of the first pendulum rod 21.

[0048] The oscillating pendulum 3 comprises a second pendulum rod 31 and a second pendulum 32. One end of the second pendulum rod 31 is hingedly mounted in the middle of the mounting platform 11, and the other end is connected to the second pendulum 32, which is suspended towards the outside (in the opposite direction to the first pendulum 22). The second pendulum rod 31 passes through an electromagnetic oscillator 5 and swings under the action of the electromagnetic oscillator 5. The electromagnetic oscillator 5 is mounted on the mounting platform 11 through an electromagnetic oscillator support 51, both sides of the electromagnetic oscillator support 51 are provided with exciting coils 52, the middle bottom is provided with an arc-shaped induction groove 53, a permanent magnet 33 is sleeved on the second pendulum rod 31, and the middle of the electromagnetic oscillator support 51 is provided with a recess. The permanent magnet 33 is arranged between the two exciting coils 52 and above the arc-shaped induction groove 53. When the electromagnetic force in the electromagnetic oscillator 5 acts, the exciting coils 52 drive the second pendulum rod 31 to make reciprocating unequal speed motion to generate the required acceleration, and then the second pendulum 32 swings left and right at a high frequency under the action of the second pendulum rod 31 within the range of the arc-shaped induction groove 53. The oscillation principle is shown in Figure 5 .

[0049] The arc-shaped induction groove 53 arranged at the lower end of the corresponding position of the middle segment of the second pendulum rod 31 ensures the free rotation of the second pendulum rod 31 around the hinged shaft of the second pendulum rod 31, and at the same time can provide support for the oscillating pendulum 3. The exciting coils 52 generate a magnetic field when energized, causing the permanent magnet 33 to move. The two exciting coils 52 pull the second pendulum rod 31 where the permanent magnet 33 is located to move. When the size and direction of the current input to the two exciting coils 52 are adjusted, the exciting coils 52 output unequal electromagnetic field forces, thereby causing the second pendulum rod 31 in the middle of the exciting coils 52 to produce asynchronous motion (vibration), thereby driving the oscillating pendulum 3 to vibrate to obtain the required direction and size of acceleration; to offset the swing and vibration of the suspension caused by the lateral acceleration, and to achieve the effect of resisting lateral swing and relieving vibration deviation.

[0050] The installation platform 11 is further provided with a detection module 6, which comprises a three-axis vibration sensor 61, a wind sensor 62, a two-axis tilt sensor 63 and a dynamic force acceleration sensor 64. The two-axis tilt sensor 63 is arranged outside below the electromagnetic oscillator support 51, and is a posture detection unit. The sensor can measure the α angle of the hanger platform in real time, thereby providing a basis for real-time adjustment of the system. The three-axis vibration sensor 61 is arranged on the side of the two-axis tilt sensor 63, and is used to obtain the tilt signal of the hoisted load. The wind sensor 62 is arranged above the outer end of the hanger 1, and is used to detect the wind force, wind direction, wind frequency and other information. The dynamic force acceleration sensor 64 is arranged in the middle of the installation platform 11, and in this embodiment, is arranged between the hinged seats of the two pendulums, and is used to collect acceleration and dynamic force information.

[0051] The hanger 1 is further provided with a control module 7, which is internally provided with a dynamic signal analyzer. The control module 7 is connected to each sensor of the detection module 6 through a signal connection line, and is used to receive the signals detected by the detection module 6, and through logical analysis, to judge the cause of the tilt of the hanger and the angle of the tilt, and to issue corresponding leveling control instructions. The leveling control method comprises: ① controlling the electric push rod 4 to adjust the pendulum 2 to level, i.e. the horizontal leveling method of the hanger; and ② controlling the electromagnetic oscillator 5 to level the oscillation type pendulum 3, i.e. the oscillation leveling method. The two methods are separately controlled to level according to the actual situation on site, or are combined to control leveling.

[0052] Embodiment 1: Horizontal leveling method of the hanger

[0053] When the control module 7 receives the tilt signal sensed by the two-axis tilt sensor 63, an action instruction is sent to the electric push rod 4. After receiving the instruction of the control module 7, the electric push rod 4 is extended or retracted, and pushes or pulls the center-of-mass adjustment pendulum 2 to move in the opposite direction of the deviation of the center of gravity of the load from the center of the hanger 1, so as to balance the eccentric mass of the load, and to keep the hanger 1 balanced.

[0054] The logic diagram of the horizontal leveling of the hanger is as shown in Figure 6 After the data sampled by the two-axis tilt sensor 63 is sent to the control module 7, the dynamic signal analyzer judges whether the hanger is deviated. If not, the original position is maintained. If yes, the three-axis vibration sensor 61 is compared with the model to make a tilt prediction. When the hanger is tilted, an emergency plan is started and a warning is issued. If it is positive deviation, a negative voltage is given, the push rod motor of the electric push rod 4 is reversed, the push rod is extended, the first pendulum 22 is pushed to move in the opposite direction, and the two-axis tilt sensor 63 collects the moving data in real time. If it is negative deviation, a positive voltage is given, the push rod motor of the electric push rod 4 is forward, the push rod is retracted, the first pendulum 22 is pushed to move in the positive direction, and the two-axis tilt sensor 63 collects the moving data in real time. The dynamic signal analyzer issues an adjustment instruction according to the real-time data, until the hanger is kept horizontal.

[0055] Leveling method such as Figure 7 As shown, the control module 7 controls the electric push rod 4 to achieve leveling of the hanger 1 by adjusting the angle between the plane along the vehicle's forward direction (set as axis A) and the horizontal plane. During leveling, the dual-axis tilt sensor 63 first measures the angle α between axis A and the horizontal plane. If α is not zero, the electric push rod 4 must pull the first pendulum 22 of the center of mass adjustment pendulum 2 around the hinge end of the first pendulum rod 21 to rotate in the forward or reverse direction (depending on whether the angle α is positive or negative). During operation, the changing angle α is continuously detected and compared until the angle α is 0° (±1°). The electric push rod 4 stops moving and the initial adjustment of axis A is terminated. This adjustment of axis A is repeated several times until the angle between axis A and the horizontal plane satisfies α = 0° (±1°). The leveling is completed.

[0056] The PID algorithm-based automatic leveling control logic includes control logic that uses the tilt angle value α as the automatic leveling judgment signal and control logic that uses the relative position value S of the center of mass adjustment pendulum 2 as the automatic leveling judgment signal. The relative position value S of the center of mass adjustment pendulum 2 is a redundant signal. When the tilt angle value α is valid, the tilt angle value α is prioritized as the automatic leveling judgment signal; if the tilt angle value α is invalid, the relative position value S of the center of mass adjustment pendulum 2 is automatically used as the automatic leveling judgment signal. When the platform tilt angle value α falls within the tilt angle limit value Q, Q = [-0.05°, 0.05°], it is judged as invalid. In other words, when the platform tilt angle is within ±0.05°, it is considered to be nearly balanced.

[0057] Automatic leveling logic control based on tilt angle signal: According to the platform tilt angle value α, first determine the direction in which the center of mass adjustment pendulum 2 needs to swing; the relationship between the tilt angle and the relative position of the center of mass adjustment pendulum 2 is shown in the figure below: Figure 6 As shown, the vehicle's forward direction is the positive direction of the X axis, α x is the X-axis tilt angle value, according to the relationship diagram of the center of mass adjustment pendulum 2 and the tilt angle, under the platform rising condition, if α x >0.05°, indicating that the platform is tilted upward, and the center of mass adjustment pendulum 2 needs to swing forward; if α x <-0.05°, indicating that the rear of the platform is tilted upward, and the center of mass adjustment pendulum 2 needs to swing in the opposite direction; when the platform is descending, the relative position of the center of mass adjustment pendulum 2 is consistent with the platform tilt.

[0058] Automatic adjustment of the angle of the barycentric adjustment pendulum 2: The controlled variable of the motion control system is usually a simulation variable such as speed or angle. The error value between the controlled variable and the set value is processed discretely, and then the control algorithm of the digital PID control module is used for calculation, and finally the simulation variable is fed back to the controlled object. After the inclination angle a of the platform is determined, the current or voltage control signal output by the PID algorithm logic adjustment is transmitted to the electric push rod 4, and then the pendulum action is controlled. The PID algorithm formula for adjusting the angle of the pendulum is as follows:

[0059]

[0060] e k = a 实 - a 目 (Formula 2)

[0061] In the formula: U K is the output current or voltage control signal at the kth sampling time, which is used to control the swing angle and direction of the barycentric adjustment pendulum 2 to adjust the inclination angle of the installation platform 11; k is the sampling signal in the PID algorithm, k = 1, 2, 3,...; j is the sampling signal in the PID algorithm, j = 1, 2, 3,..., k; e k is the algebraic difference between the actual inclination value a 实 at the kth sampling time and the target inclination value a 目 ; e j is the algebraic difference between the actual inclination value a 实 at the jth sampling time and the target inclination value a 目 ; K P is the proportional coefficient in the PID algorithm, which is set according to the actual working condition, and the initial value K P = 1; k i is the integral coefficient in the PID algorithm, which is set according to the actual working condition, and the initial value k i = 1; k d is the differential coefficient in the PID algorithm, which can be set according to the actual working condition, and the initial value k d = 1.

[0062] In actual work, the double-axis inclination sensor 63 calculates the k times of the platform inclination value a 实 and the target inclination value a 目 to obtain the e k and e j values, which are substituted into formula 1 to obtain the real-time output current or voltage control signal U K, then the electric signal is processed by the control module, and an execution command is sent to the electric push rod 4 to control the center of mass adjustment pendulum 2 to swing a certain angle in the specified direction to adjust the inclination angle of the platform; when the inclination angle a of the platform is less than the leveling stop setting value [-0.05°, 0.05°] range, the control system exits the automatic leveling mode, and the platform is in a relative balance state.

[0063] Example 2: Oscillation leveling method of electromagnetic oscillator 5

[0064] When the load-bearing hanger receives relevant information in the air, the dynamic signal analyzer receives information of wind direction, wind speed, and wind frequency from the wind sensor 62, and the dynamic force acceleration sensor 64 collects acceleration and dynamic force information which is calculated by the computer to form an instruction signal and is returned to the dynamic signal analyzer. The control module 7 sends an instruction to the electromagnetic oscillator 5. The electromagnetic oscillator 5 converts electric energy into magnetic field force, which acts on the permanent magnet 33 and the excitation coil 52 installed on the oscillating pendulum 3 to generate a vibration thrust, which is transmitted to the second pendulum 32 to pull the second pendulum 32 to oscillate left and right at a high frequency, thereby offsetting the influence of lateral deviation of the load caused by wind or vibration; at the same time, the dynamic signal analyzer monitors and adjusts the oscillation frequency of the electromagnetic oscillator 5 to make it inconsistent with the frequency of the wind, thereby preventing resonance.

[0065] The leveling method of the electromagnetic oscillator 5 includes an anti-wind system and a lateral vibration deviation offset system.

[0066] The logic diagram of the anti-wind system is shown in Figure 8 The wind sensor 62 collects information such as wind direction, wind speed, and wind frequency and sends it to the control module 7. The dynamic signal analyzer judges whether there is deviation in wind direction, size, and frequency. If there is no deviation, the original position is maintained. If there is a deviation, the three-axis vibration sensor 61 compares with the model to make a tipping prediction. If the hanger is about to tip over, the emergency plan is started and a warning is issued. If it is a positive deviation, a certain size of reverse current is given, the electromagnetic oscillator 5 oscillates in the reverse direction, the second pendulum 32 oscillates in the reverse direction, and the wind sensor 62 collects data in real time. If it is a negative deviation, a certain size of positive current is given, the electromagnetic oscillator 5 oscillates in the positive direction, the second pendulum 32 oscillates in the positive direction, and the wind sensor 62 collects data in real time. The dynamic signal analyzer issues an adjustment instruction according to the real-time data to control the hanger to remain horizontal.

[0067] The logic diagram of the lateral vibration deviation offset system is shown in Figure 9As shown, the dynamic force acceleration sensor 64 collects acceleration, dynamic force and other information and sends it to the control module 7. The dynamic signal analyzer determines the acceleration size and direction and whether the center of gravity position is deviated. If there is no deviation, the original position is maintained. If there is a positive deviation, the electromagnetic oscillator 5 oscillates reversely, driving the second pendulum 32 to oscillate reversely, and the dynamic force acceleration sensor 64 collects data in real time. If there is a negative deviation, a positive current of a certain size is given, the electromagnetic oscillator 5 oscillates forwardly, driving the second pendulum 32 to oscillate forwardly, and the dynamic force acceleration sensor 64 collects data in real time. The dynamic signal analyzer issues adjustment instructions according to real-time data to control the hanger to remain horizontal.

[0068] The above is only a preferred embodiment of the present application, and does not limit the technical scope of the present application in any way. Any slight modification, equivalent change and modification made to the above embodiment according to the technical essence of the present application still falls within the protection scope of the present application.

Claims

1. An automatic leveling system for a lifting mechanism of a drainage vehicle, characterized in that: include: Hanger with mounting platform; A center of mass adjustment pendulum is mounted on the mounting platform and includes a first pendulum rod and a first pendulum, one end of the first pendulum rod is hingedly mounted in the middle of the mounting platform, the first pendulum is mounted in the air outwardly on the other end of the first pendulum rod, a limiting slider is provided in the middle of the first pendulum rod, an electric push rod is provided on one side of the center of mass adjustment pendulum, a cylinder of the electric push rod is mounted on the mounting platform and on one side of the center of mass adjustment pendulum, and an end of the push rod is hingedly connected to the first pendulum rod; An oscillating pendulum is mounted on the mounting platform and is arranged opposite to the center of mass adjustment pendulum, comprising a second pendulum rod and a second pendulum, one end of the second pendulum rod being hingedly mounted in the middle of the mounting platform and the other end being connected to the second pendulum, the second pendulum being mounted in the air facing outward; the second pendulum rod passes through an electromagnetic oscillator, the electromagnetic oscillator being provided with an electromagnetic oscillator support, the electromagnetic oscillator support being fixedly mounted on the mounting platform, excitation coils being provided on both sides of the electromagnetic oscillator support, the second pendulum rod being sleeved with a permanent magnet, the permanent magnet being disposed between the two excitation coils; A detection module is provided on the mounting platform and includes a three-axis vibration sensor, a wind sensor, a two-axis tilt sensor, and a dynamic force acceleration sensor; the three-axis vibration sensor is used to obtain a tilt signal of the hoisted object; The control module is arranged on the mounting platform and has a built-in dynamic signal analyzer. It is connected to the sensors of the detection module through signal connection lines, and is used to receive the signals detected by the detection module and issue corresponding leveling control instructions through logical analysis.

2. The automatic leveling system for a lifting mechanism of a drainage vehicle according to claim 1, characterized in that: An arc-shaped limit slot is provided on the mounting platform, and the limit slider is embedded in the arc-shaped limit slot and moves along the arc-shaped limit slot under the action of external thrust; an arc-shaped induction slot is provided at the middle bottom of the electromagnetic oscillator support, and the permanent magnet is arranged above the arc-shaped induction slot.

3. The automatic leveling system for a lifting mechanism of a drainage vehicle according to claim 1, characterized in that: The dual-axis tilt sensor is arranged on the outside below the electromagnetic oscillator support, the three-axis vibration sensor is arranged on the side of the dual-axis tilt sensor, the wind sensor is arranged above the outer end of the hanger, and the dynamic force acceleration sensor is arranged in the middle of the mounting platform. The dynamic force acceleration sensor is arranged in the middle of the mounting platform and between the hinged seats of the two pendulums.

4. A method for leveling the automatic leveling system of the lifting mechanism of a drainage vehicle according to claim 1, characterized in that: After the data sampled by the dual-axis inclination sensor is sent to the control module, the dynamic signal analyzer determines whether the hanger is offset. If not, it maintains the original position. If offset, the three-axis vibration sensor is compared with the model to predict the overturning. When a overturning is likely to occur, the emergency plan is activated and a warning is issued. If the offset is positive, a negative voltage is given, the push rod motor of the electric push rod is reversed, the push rod is extended, and the first pendulum is pushed in the opposite direction. The dual-axis inclination sensor collects movement data in real time; If it is a negative offset, a positive voltage is given, the push rod motor of the electric push rod rotates forward, the push rod retracts, and the first pendulum moves forward. The dual-axis inclination sensor collects movement data in real time; the dynamic signal analyzer issues adjustment instructions based on the real-time data until the hanger remains horizontal.

5. The horizontal leveling method of the automatic leveling system of the lifting mechanism of a drainage vehicle according to claim 4, characterized in that: The dual-axis inclination sensor first measures the angle α between the A axis and the horizontal plane. If α is not zero, the electric push rod drives the first pendulum of the center of mass adjustment pendulum to rotate forward or reverse around the hinged end of the first pendulum rod. During the operation, the changing angle α is continuously detected and compared until the angle α is 0°±1°, at which time the electric push rod stops moving and the initial adjustment of the A axis is terminated. The A axis is adjusted repeatedly in this way until the angle between the A axis and the horizontal plane satisfies α=0°±1°, and the leveling is completed. The automatic leveling control logic based on the PID algorithm includes a control logic that uses the tilt angle value α as an automatic leveling judgment signal and a control logic that uses the relative position value S of the center of mass adjustment pendulum as an automatic leveling judgment signal. The relative position value S of the center of mass adjustment pendulum is a redundant signal.

6. The horizontal leveling method of the automatic leveling system of the lifting mechanism of a drainage vehicle according to claim 5, characterized in that: When the tilt angle value α is valid, the tilt angle value α is prioritized as the judgment signal for automatic leveling; according to the platform tilt angle value α, the direction in which the center of mass adjustment pendulum needs to swing is first determined; along the vehicle forward direction as the positive direction of the X axis, α x is the X-axis tilt angle value. When the platform is rising, if α x >0.05°, the center of mass adjustment pendulum swings forward; if α x <-0.05°, the center of mass adjustment pendulum swings in the opposite direction; when the platform is descending, the relative position of the center of mass adjustment pendulum is consistent with the inclination of the platform.

7. The method for leveling an automatic leveling system of a lifting mechanism for a drainage vehicle according to claim 5, characterized in that: If the tilt angle value α fails, the relative position value S of the center of mass adjustment pendulum is automatically switched to be used as the judgment signal for automatic leveling. When the platform tilt angle value α falls within the tilt angle limit value Q, Q=[-0.05°, 0.05°], it is judged to be invalid. That is, when the platform tilt angle is within ±0.05°, it is considered to be nearly balanced. After determining the platform tilt angle α, the output current or voltage control signal is adjusted by the PID algorithm logic and transmitted to the electric push rod, thereby controlling the movement of the center of mass adjustment pendulum. The PID algorithm formula for adjusting the angle by the center of mass adjustment pendulum is as follows: Formula 1 Formula 2 Where: U K is the current or voltage control signal output at the kth sampling moment, k is the sampling signal in the PID algorithm, k=1, 2, 3, ...; j is the sampling signal in the PID algorithm, j=1, 2, 3, ..., k; e k is the actual tilt angle value α at the kth sampling moment 实 and the target inclination angle α 目 The algebraic difference of j is the actual tilt angle value α at the jth sampling moment 实 and the target inclination angle α 目 The algebraic difference of K P Is the proportional coefficient in the PID algorithm, the initial value K P =1;k i is the integral coefficient in the PID algorithm, the initial value k i =1;k d is the differential coefficient in the PID algorithm, the initial value k d =1; the dual-axis inclination sensor collects the k-th platform inclination value α 实 , and the target inclination value α 目 Calculate e k and e j Substitute the value into formula 1 to obtain the real-time output current or voltage control signal U K , then the electrical signal is processed by the control module and an execution command is sent to the electric push rod to control the center of mass adjustment pendulum to swing a certain angle in the specified direction to adjust the inclination angle of the platform; when the platform inclination angle α is less than the leveling stop setting value [-0.05°, 0.05°], the control module exits the automatic leveling mode and the platform is in a relatively balanced state.

8. An oscillation leveling method for the automatic leveling system of the lifting mechanism of a drainage vehicle according to claim 1, characterized in that: The dynamic signal analyzer receives information on wind direction, wind speed, and wind frequency from the wind sensor; the dynamic force acceleration sensor collects information on acceleration and dynamic force, generates a command signal after computer calculation, and transmits it back to the dynamic signal analyzer; the control module sends a command to the electromagnetic oscillator; the electromagnetic oscillator converts electrical energy into magnetic field force, and generates a vibration thrust through the action of the permanent magnet installed on the oscillating pendulum and the excitation coil, which is transmitted to the second pendulum, pulling the second pendulum to oscillate left and right at high frequency accordingly, thereby offsetting the impact of lateral deviation caused by wind or vibration on the heavy object; at the same time, the dynamic signal analyzer monitors and adjusts the oscillation frequency of the electromagnetic oscillator to make it inconsistent with the wind frequency to prevent resonance; the oscillation leveling method includes two situations: a wind-resistant system and a lateral vibration deviation offset system.

9. The oscillation leveling method of the automatic leveling system of the lifting mechanism of a drainage vehicle according to claim 8, characterized in that: The wind-resistant system collects wind direction, wind speed, and wind frequency information through a wind sensor and sends it to the control module. The dynamic signal analyzer determines whether there is any deviation in wind direction, wind speed, and wind frequency. If there is no deviation, the original position is maintained. If there is a deviation, the three-axis vibration sensor is compared with the model to predict tipping. When tipping is likely to occur, the emergency plan is activated and a warning is issued. If there is a positive deviation, a certain reverse current is given, and the electromagnetic oscillator oscillates in the reverse direction, driving the second pendulum to oscillate in the reverse direction. The wind sensor collects data in real time. If it is a negative offset, a certain positive current is given, the electromagnetic oscillator oscillates in the positive direction, driving the second pendulum to oscillate in the positive direction, and the wind sensor collects data in real time; the dynamic signal analyzer issues adjustment instructions based on the real-time data to control the hanger to remain horizontal.

10. The oscillation leveling method of the automatic leveling system of the lifting mechanism of a drainage vehicle according to claim 8, characterized in that: The lateral vibration offset cancellation system collects acceleration and dynamic force information through the dynamic force acceleration sensor and sends it to the control module. The dynamic signal analyzer determines whether there is any deviation in the magnitude and direction of acceleration and the position of the center of gravity. If there is no deviation, the original position is maintained. If there is a positive deviation, the electromagnetic oscillator oscillates in the reverse direction, driving the second pendulum to oscillate in the reverse direction, and the dynamic force acceleration sensor collects data in real time; if there is a negative offset, a certain positive current is given, the electromagnetic oscillator oscillates in the forward direction, driving the second pendulum to oscillate in the forward direction, and the dynamic force acceleration sensor collects data in real time; the dynamic signal analyzer issues adjustment instructions based on real-time data to control the hanger to remain horizontal.

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