An adaptive unlimited high-precision rapid automatic leveling system and method

Abstract

The present invention discloses an adaptive unlimited high-precision fast automatic leveling system and method, which has the ability to quickly and accurately eliminate virtual legs, and can automatically adapt to any load to eliminate virtual legs without adjusting parameters, which is impossible for pressure sensors and current sensors; it supports two leveling modes, general and fast, and can adapt to any platform to be adjusted on a static load-bearing plane; at the same time, only one dual-axis inclination sensor is used to achieve horizontal detection and adjustment, which greatly reduces the complexity and cost of the system, and can eliminate virtual legs without setting a load threshold, which can meet the needs of horizontal adjustment under various load conditions. In addition, the use of sensors to measure the bearing capacity of the outriggers is abandoned, and the binary search method is used to infinitely approximate, so that the system has the ability to adapt to any load, and the self-adaptation of the four direction parameters breaks the limitation of the platform size, and can not only be deployed on platforms of any size, but also adapt to platforms of variable size.

Description

Technical Field

[0001] The invention relates to the technical field of automatic leveling, and in particular to an adaptive unlimited high-precision rapid automatic leveling system and method. Background Art

[0002] The automatic leveling system can realize the rapid horizontal adjustment of the load-bearing platform and is widely used in the fields of radar antenna, laser guidance, etc. The automatic leveling system not only requires high leveling accuracy and efficiency, but also needs to be able to adapt to different support conditions and workload requirements.

[0003] There are two types of driving methods for automatic leveling systems: hydraulic and electromechanical. Among them, the hydraulic leveling system has shortcomings such as large size, low precision, and poor environmental adaptability; the electromechanical system has the characteristics of simple structure, high precision, simple maintenance, and strong environmental adaptability. The automatic leveling system support forms mainly include three-point support, four-point support, and six-point support. Among them, three-point support is relatively easy to level, but the disadvantage is that the anti-overturning ability is poor, which is not suitable for vehicle-mounted systems; six-point support has strong anti-overturning ability, but it is easy to produce multiple virtual legs; four-point support has strong anti-overturning ability, and at most one virtual leg is produced, which is easier to eliminate. Therefore, electromechanical four-point support is the most commonly used solution for application scenarios requiring high-precision leveling.

[0004] The main disadvantages and shortcomings of the current electromechanical four-point support are: the electromechanical four-point support system generally detects and eliminates virtual legs by adding force sensors, which increases the complexity and cost of the system, and cannot be leveled when the load is less than the set threshold; secondly, the existing leveling system generally only supports the situation where the position of each support point is fixed, and cannot be applied to the use scenario where the relative position of each support point is not fixed during use (for example, the legs need to be extended and retracted horizontally to increase the ground area).

[0005] In view of this, the present invention is proposed. Summary of the invention

[0006] The purpose of the present invention is to provide an adaptive, unlimited, high-precision, rapid automatic leveling system and method, which has the advantages of fast leveling speed and high leveling accuracy, and can be adapted to all-terrain, full-load, and full-size electromechanical leveling.

[0007] The objective of the present invention is achieved through the following technical solutions:

[0008] An adaptive unlimited high-precision fast automatic leveling system includes: a control module, an execution module, and a feedback module; the execution module includes an electric leveling leg; the feedback module includes a dual-axis inclination sensor and positive and negative limiters of the electric leveling leg;

[0009] The control module is combined with the feedback module to control the execution module to achieve automatic leveling. The steps are as follows:

[0010] Step S1, system configuration: install the electric leveling legs in the execution module below the device to be leveled, and place the dual-axis inclination sensor in the feedback module on the reference plane of the device to be leveled;

[0011] Step S2, initializing the system state: the control module controls all electric leveling legs to withdraw to the negative limiter, and detects the XY axis direction through the dual-axis inclination sensor;

[0012] Step S3, adaptive calibration of system internal parameters: controlling the electric leveling legs through the control module, and calibrating the initial height H, the leveling parameters in the positive direction of the XY axis and the leveling parameters in the negative direction of the XY axis, and controlling the electric leveling legs to move to the initial height H;

[0013] Step S4, the control module determines whether one electric leveling leg is currently designated as a virtual leg. If the determination result is yes, then any electric leveling leg is randomly designated and withdrawn to make it a virtual leg and then the process proceeds to step S5; if the determination result is no, then the process proceeds directly to step S5;

[0014] Step S5, the control module performs level adjustment of the device to be leveled by combining the calibrated XY axis positive direction leveling parameters and the XY axis negative direction leveling parameters, as well as the set level adjustment target;

[0015] Step S6, the control module determines whether there is a designated virtual leg currently, if so, it proceeds to step S8, if not, it proceeds to step S7;

[0016] Step S7, detecting and recording the virtual leg: the control module adjusts each electric leveling leg one by one by setting the height H_find, and detects the change in the XY axis direction through the dual-axis tilt sensor, based on which a certain electric leveling leg is detected as a virtual leg, and proceeds to step S8; if no virtual leg is detected, it means that the leveling is completed;

[0017] Step S8: Use the binary search method to eliminate the virtual leg and complete the leveling.

[0018] An adaptive, unlimited, high-precision, fast, automatic leveling method is implemented based on the aforementioned system, and the method includes:

[0019] Step S1, system configuration: install the electric leveling legs in the execution module below the device to be leveled, and place the dual-axis inclination sensor in the feedback module on the reference plane of the device to be leveled;

[0020] Step S2, initializing the system state: the control module controls all electric leveling legs to withdraw to the negative limiter, and detects the XY axis direction through the dual-axis inclination sensor;

[0021] Step S3, adaptive calibration of system internal parameters: controlling the electric leveling legs through the control module, and calibrating the initial height H, the leveling parameters in the positive direction of the XY axis and the leveling parameters in the negative direction of the XY axis, and controlling the electric leveling legs to move to the initial height H;

[0022] Step S4, the control module determines whether one electric leveling leg is currently designated as a virtual leg. If the determination result is yes, then any electric leveling leg is randomly designated and withdrawn to make it a virtual leg and then the process proceeds to step S5; if the determination result is no, then the process proceeds directly to step S5;

[0023] Step S5, the control module performs level adjustment of the device to be leveled by combining the calibrated XY axis positive direction leveling parameters and the XY axis negative direction leveling parameters, as well as the set level adjustment target;

[0024] Step S6, the control module determines whether there is a designated virtual leg currently, if so, it proceeds to step S8, if not, it proceeds to step S7;

[0025] Step S7, detecting and recording the virtual leg: the control module adjusts each electric leveling leg one by one by setting the height H_find, and detects the change in the XY axis direction through the dual-axis tilt sensor, based on which a certain electric leveling leg is detected as a virtual leg, and proceeds to step S8; if no virtual leg is detected, it means that the leveling is completed;

[0026] Step S8: Use the binary search method to eliminate the virtual leg and complete the leveling.

[0027] It can be seen from the technical solution provided by the present invention that it has the ability to quickly and accurately eliminate virtual legs, and can automatically adapt to any load to eliminate virtual legs without adjusting parameters, which is something that pressure sensors and current sensors cannot do; and an electric push rod can be added to expand it to any size, greatly improving the adaptability to the shape, weight, center of gravity, etc. of the equipment. It also supports button control and touch screen control, greatly reducing the difficulty of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0029] Figure 1 A workflow diagram of an adaptive, unlimited, high-precision, fast, automatic leveling system provided by an embodiment of the present invention;

[0030] Figure 2A schematic diagram of the mechanical structure of an adaptive, unlimited, high-precision, fast and automatic leveling system provided by an embodiment of the present invention;

[0031] Figure 3 A schematic diagram of the structure of an adaptive, unlimited, high-precision, fast and automatic leveling system provided by an embodiment of the present invention;

[0032] In the figure: 1. U-shaped limit mounting bracket; 2. Electric leveling legs; 3. Drive motor; 4. Spring wire telescopic guide square steel; 5. Electric push rod; 6. Dual-axis inclination sensor; 7. Equipment to be leveled (carrying platform); 8. Reference plane; 9. Positive limiter; 10. Negative limiter (origin limiter). DETAILED DESCRIPTION

[0033] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the present invention.

[0034] First, the terms that may be used in this article are explained as follows:

[0035] The term “and / or” means that either or both of them can be realized at the same time. For example, X and / or Y means both “X” or “Y” and “X and Y”.

[0036] The terms "include", "comprises", "contains", "has" or other descriptions with similar semantics should be interpreted as non-exclusive inclusion. For example, including certain technical feature elements (such as raw materials, components, ingredients, carriers, dosage forms, materials, dimensions, parts, components, mechanisms, devices, steps, procedures, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products or products, etc.) should be interpreted as including not only certain technical feature elements explicitly listed, but also other technical feature elements known in the art that are not explicitly listed.

[0037] The term "consisting of..." means excluding any technical feature elements not explicitly listed. If this term is used in a claim, it will make the claim closed, so that it does not contain technical feature elements other than the technical feature elements explicitly listed, except for the conventional impurities related to them. If this term only appears in a clause of a claim, it only limits the elements explicitly listed in the clause, and the elements recorded in other clauses are not excluded from the overall claim.

[0038] Unless otherwise specified or limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this article can be understood according to specific circumstances.

[0039] The orientation or position relationship indicated by terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientation or position relationship shown in the drawings and are only for the convenience and simplification of description, and do not explicitly or implicitly indicate that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation of this document.

[0040] The following is a detailed description of an adaptive, unlimited, high-precision, fast, automatic leveling system and method provided by the present invention. The contents not described in detail in the embodiments of the present invention belong to the prior art known to professionals in the field. If no specific conditions are specified in the embodiments of the present invention, the conventional conditions in the field or the conditions recommended by the manufacturer are followed. If the manufacturer of the instruments used in the embodiments of the present invention is not specified, they are all conventional products that can be purchased commercially.

[0041] Embodiment 1

[0042] The embodiment of the present invention provides an adaptive, unlimited, high-precision, fast, automatic leveling system, which mainly includes: a control module, an execution module, and a feedback module; the execution module includes an electric leveling leg; the feedback module includes a dual-axis inclination sensor and a positive and negative limiter; the control module is combined with the feedback module to control the execution module to achieve automatic leveling, such as Figure 1 As shown, it mainly includes the following steps:

[0043] Step S1, system configuration: install the electric leveling legs in the execution module below the device to be leveled, and place the dual-axis inclination sensor in the feedback module on the reference plane of the device to be leveled.

[0044] Step S2, initializing the system state: the control module controls all the electric leveling legs to withdraw to the negative limiter, and detects the XY axis direction through the dual-axis inclination sensor.

[0045] Step S3, adaptive calibration of system internal parameters: control the electric leveling legs through the control module, and calibrate the initial height H, the positive direction leveling parameters of the XY axis and the negative direction leveling parameters of the XY axis, and control the electric leveling legs to move to the initial height H.

[0046] Step S4, the control module determines whether one electric leveling leg is currently designated as a virtual leg, and designates the virtual leg: as an optional implementation, if the judgment result is yes, then arbitrarily designate one electric leveling leg and withdraw it to make it a virtual leg and then proceed to step S5; if the judgment result is no, directly proceed to step S5.

[0047] Step S5: The control module adjusts the level of the device to be leveled based on the calibrated XY axis positive direction leveling parameters and XY axis negative direction leveling parameters, as well as the set leveling target.

[0048] In step S6, the control module determines whether there is a designated virtual leg currently, if so, it proceeds to step S8, if not, it proceeds to step S7.

[0049] Step S7, detecting and recording the virtual leg: the control module adjusts each electric leveling leg one by one by setting the height H_find, and detects the change in the XY axis direction through the dual-axis tilt sensor, based on which a certain electric leveling leg is detected as a virtual leg, and proceeds to step S8; if no virtual leg is detected, it means that the leveling is completed;

[0050] Step S8: Use the binary search method to eliminate the virtual leg and complete the leveling.

[0051] Compared with the prior art, the above solution provided by the present invention has the ability to quickly and accurately eliminate virtual legs, and can automatically adapt to any load to eliminate virtual legs without adjusting parameters, which is something that pressure sensors and current sensors cannot do; and an electric push rod can be added to expand it to any size, greatly improving the adaptability to the shape, weight, center of gravity, etc. of the equipment. It also supports button control and touch screen control, greatly reducing the difficulty of use.

[0052] In order to more clearly demonstrate the technical solution and technical effects provided by the present invention, the solution provided by the embodiment of the present invention is described in detail with specific embodiments below.

[0053] 1. The overall composition structure of the system.

[0054] like Figure 2 and Figure 3 As shown, the system mainly includes: a control module, an execution module, and a feedback module. The control module includes a touch screen, a motion controller, and a driver for human-computer interaction; the execution module includes electric leveling legs and an electric push rod; the feedback module includes a dual-axis inclination sensor and positive and negative limiters of the electric leveling legs.

[0055] The electric leveling legs include a fixed frame, a screw lifter, a drive motor, and a ball-head foot arranged on the fixed frame.

[0056] The electric push rod is an optional part, which is connected between the fixed frame and the bearing platform of the electric leveling legs and is used to extend and retract the legs outward.

[0057] The positive and negative limiters are used to limit the extension and retraction limit positions of the electric leveling legs.

[0058] In the embodiment of the present invention, the number of electric leveling legs can be set according to actual conditions. Figure 2 and Figure 3 An example is provided in which the number of electric leveling legs is four.

[0059] 2. Automatic leveling solution.

[0060] See also Figure 1 , mainly includes the following steps:

[0061] Step S1, system configuration: install the electric leveling legs in the execution module below the device to be leveled, and place the dual-axis inclination sensor in the feedback module on the reference plane of the device to be leveled.

[0062] Optionally, an electric push rod can be installed to adapt to different support conditions and load center of gravity requirements.

[0063] Step S2, initializing the system state: the control module controls all electric leveling legs to withdraw to the negative limiter 10 (origin), and detects the XY axis direction through the dual-axis inclination sensor, wherein the X axis direction is recorded as X_prefvalue and the Y axis direction is recorded as Y_prefvalue.

[0064] Step S3, adaptive calibration of system internal parameters: control the electric leveling legs through the control module, and calibrate the initial height H, the positive direction leveling parameters of the XY axis and the negative direction leveling parameters of the XY axis, and control the electric leveling legs to move to the initial height H.

[0065] The preferred implementation of this step is as follows:

[0066] (1) Based on the initialization system state, the control module controls each electric leveling leg to rise in turn, records the XY axis direction through the dual-axis tilt sensor, and compares it with the XY axis direction recorded in step S2, until the angle change of the X axis or Y axis meets the set requirements, records the initial height of the corresponding electric leveling leg, and then calibrates the initial height H based on the initial heights of all electric leveling legs, and drives all electric leveling legs to move to the initial height H. Specifically:

[0067] Set the electric leveling legs to be numbered 1, 2, ... num. When the first electric leveling leg is driven to rise in the order of numbers, continuously detect and record the XY axis directions, and set X_curvalue as the horizontality value in the X axis direction and Y_curvalue as the horizontality value in the Y axis direction; where num is the number of electric leveling legs; for example, num = 4.

[0068] Calculate the angle changes Δx1=|X_curvalue-X_prefvalue| and Δy1=|Y_curvalue-Y_prefvalue|, where X_prefvalue and Y_prefvalue are the XY axis values ​​detected in step S2, respectively.

[0069] After determining that Δx1>>Δnorm or Δy1>>Δnorm is established, stop its movement, record the initial height H1 of the first electric leveling leg, and then withdraw and restore to the position of step S2, wherein Δnorm is the measurement error of the dual-axis inclination sensor, and >> is the much greater than symbol; for example, it can be set to be N times greater than Δnorm, then it satisfies the much greater than Δnorm, illustratively, when Δx or Δy≥5Δnorm (for example, 0.1), it is considered that Δx>>Δnorm or Δy>>Δnorm.

[0070] The same method is adopted to obtain the initial height H2, ..., Hnum of each of the remaining electric leveling legs.

[0071] Calculate the initial height H:

[0072]

[0073] Wherein, ΔH is the initial height compensation value.

[0074] After that, drive all electric leveling legs to move to the initial height.

[0075] (2) After the position adjustment of the initial height H is completed, the X-axis direction value is detected and recorded as HX_prefvalue and the Y-axis direction value is recorded as HY_prefvalue, and then the control module controls the positive direction electric leveling leg and the negative direction electric leveling leg to rise to different set heights in turn, and combines the change in the XY axis direction detected by the dual-axis inclination sensor to calibrate the corresponding XY axis positive direction leveling parameters and XY axis negative direction leveling parameters.

[0076] X-axis positive direction leveling parameter X_positive calibration: After driving the two electric leveling legs in the positive direction of the X-axis to rise to a set height ΔH_x, the dual-axis inclination sensor detects and records the horizontal value X_curvalue in the X-axis direction. + , calculate the positive angle change Δx of the X axis+ =|X_curvalue + -HX_prefvalue|,calculate The rear electric leveling legs are withdrawn and restored to the position after the initial height is calibrated.

[0077] X-axis negative direction leveling parameter X_negative calibration: drive the two electric leveling legs in the negative direction of the X-axis to rise to a set height ΔH_x, then detect and record the horizontality value X_curvalue in the X-axis direction - And calculate the negative angle change Δx of the X axis - =|X_curvalue - -HX_prefvalue|, then calculate The rear electric leveling legs are withdrawn and restored to the position after the initial height is calibrated.

[0078] Y-axis positive direction leveling parameter Y_positive calibration: After driving the two electric leveling legs in the positive direction of the Y-axis to rise to a set height ΔH_y, the dual-axis inclination sensor detects and records the Y-axis horizontality value Y_curvalue + , calculate the positive angle change Δy of the Y axis + =|Y_curvalue + -HY_prefvalue|, calculate The rear electric leveling legs are withdrawn and restored to the position after the initial height is calibrated.

[0079] Y-axis negative direction leveling parameter Y_negative calibration: drive the two electric leveling legs in the negative direction of the Y-axis to rise to a set height ΔH_y, then detect and record the Y-axis horizontality value Y_curvalue - And calculate the negative angle change Δy of the Y axis - =|Y_curvalue - -HY_prefvalue|, then calculate The rear electric leveling legs are withdrawn and restored to the position after the initial height is calibrated.

[0080] In the embodiment of the present invention, the units of the above-mentioned set heights ΔH_x and ΔH_y are mm (millimeter), and the same is true for other set heights involved below; illustratively, ΔH_x=ΔH_y=30 mm can be set.

[0081] Step S4, the control module determines whether one electric leveling leg is currently designated as a virtual leg, and designates the virtual leg: as an optional implementation, if the judgment result is yes, then arbitrarily designate one electric leveling leg and withdraw it to make it a virtual leg and record it as Snum, and then proceed to step S5; if the judgment result is no, directly proceed to step S5.

[0082] Step S5: The control module combines the calibrated XY-axis positive direction leveling parameters and XY-axis negative direction leveling parameters, as well as the set horizontal adjustment target, to perform the horizontal adjustment of the equipment to be leveled.

[0083] The preferred implementation of this step is as follows:

[0084] (1) X-axis direction horizontal adjustment: The control module detects the current horizontal degree value in the X-axis direction through a dual-axis inclination sensor and records it as HX_prefvalue_. When |HX_prefvalue_| > pΔst, it combines the X-axis positive direction leveling parameters to pull down the side at a high position and combines the X-axis negative direction leveling parameters to raise the side at a low position until |HX_prefvalue_| ≤ pΔst. Here, pΔst is the set horizontal adjustment target, p is the horizontal accuracy coefficient, and Δst is the horizontal adjustment target accuracy value. For example, 0 < p ≤ 1 is set.

[0085] Exemplarily, it can be set that: p = 0.5, Δst = 0.05.

[0086] Exemplarily, the side at a high position can be pulled down by 50%, and at the same time, the low side can be raised by 50%. For example, if the X-axis positive direction is high and the negative direction is low, the positive direction is lowered and the negative direction is raised until |X_curvalue| < pΔst.

[0087] (2) Y-axis direction horizontal adjustment: Detect the current horizontal degree value in the Y-axis direction and record it as HY_prefvalue_. When |HY_prefvalue_| > pΔst, it combines the Y-axis positive direction leveling parameters to pull down the side at a high position and combines the Y-axis negative direction leveling parameters to raise the side at a low position until |HY_prefvalue_| ≤ pΔst.

[0088] Exemplarily, the side at a high position can be pulled down by 50%, and at the same time, the low side can be raised by 50%. For example, if the Y-axis positive direction is high and the negative direction is low, the positive direction is lowered and the negative direction is raised until |Y_curvalue| < pΔst.

[0089] During the above adjustment process, if no virtual leg is specified in step S4, the HX_prefvalue_ and HY_prefvalue_ detected in (1) and (2) of step S5 are equivalent to the HX_prefvalue and HY_prefvalue detected after the position adjustment of the initial height H is completed.

[0090] (3) The horizontality values ​​in the XY axis direction after horizontal adjustment are recorded as X_prefvalue' and Y_prefvalue'.

[0091] In step S6, the control module determines whether one electric leveling leg is currently designated as a virtual leg. If so, the process proceeds to step S8; if not, the process proceeds to step S7.

[0092] In the embodiment of the present invention, the system can support two leveling modes, the general mode and the fast mode. The general mode has strong adaptability, but the leveling time is relatively longer. The fast mode leveling time is reduced to half of the general mode, but for some equipment to be adjusted with serious overload, it is necessary to manually specify the virtual leg; that is, if it is the general mode, go to step S7, otherwise go to step S8 after specifying the virtual leg.

[0093] Step S7, detect and record the virtual leg: the control module adjusts each electric leveling leg one by one by setting the height H_find, and detects the change in the XY axis direction through the dual-axis inclination sensor, based on which a certain electric leveling leg is detected as a virtual leg, and proceeds to step S7; if no virtual leg is detected, it means that the leveling is completed.

[0094] The preferred implementation method of this step is as follows: for the current electric leveling leg, on the basis of step S5, the control module controls it to withdraw to the set height H_find (for example, 30mm), detects the XY axis direction through the dual-axis inclination sensor and calculates the change Δx2 and Δy2 in the XY axis direction in combination with the XY axis direction after horizontal adjustment in step S5; judges whether the condition Δx2>>Δnorm or Δy2>>Δnorm is met, wherein Δnorm is the measurement error of the dual-axis inclination sensor, and >> is the far greater than symbol; if so, it indicates that the current electric leveling leg is not a virtual leg, and it returns to the state in step S5, and continues to detect the next electric leveling leg; after the detection is completed, if no virtual leg is found, it indicates that the leveling is completed; if the above conditions are not met during the detection of a certain electric leveling leg (that is, Δx2>>Δnorm is not satisfied, and Δy2>>Δnorm is not satisfied), it indicates that the corresponding electric leveling leg is a virtual leg, recorded as Snum, and proceeds to step S8.

[0095] Step S8: Use the binary search method to eliminate the virtual leg and complete the leveling.

[0096] Since using sensors to feedback the outrigger capacity will inevitably encounter various problems in actual applications, especially when the load is light, virtual legs may appear due to the load threshold setting problem or the insufficient sensitivity of the sensor itself, and damage such as pressure sensors may occur when the load is heavy. Therefore, we give up using sensors to measure the outrigger capacity, and use the binary search method to infinitely approximate the system to enable it to adapt to any load. The self-adaptation of the parameters in the four directions breaks the limitation of the platform size. It can not only be deployed on platforms of any size, but also adapt to platforms of variable size.

[0097] The preferred implementation of this step is as follows:

[0098] (1) Determine the interval [lower, upper] where the virtual leg distance L_distance is located: After the control module controls the virtual leg to extend downward to a set height H_cor (for example, 50 mm), the dual-axis inclination sensor is used to detect and record the current XY axis horizontality value, and the change amounts Δx3 and Δy3 in the XY axis direction are calculated in combination with the XY axis direction after the horizontal adjustment in step S5; when Δx3>>Δnorm or Δy3>>Δnorm is established, H_cor is withdrawn, and upper=H_cor, lower=0 is obtained, for example, the interval [0,50] where L_distance is located; if not established, H_cor is increased to 2H_cor mm, and n cycles are repeated until it is established, and then nH_cor is withdrawn, and upper=(n+1)H_cor, lower=nH_cor, n≥0, for example, the interval [50n,50(n+1)] where L_distance is located.

[0099] (2) Set the precision range Δrange (e.g., 0.01) for solving the virtual leg ground distance L_distance, and solve the approximate value of L_distance:

[0100] The control module controls the virtual leg to extend downward to temp = α × (upper + lower), where α is a set coefficient (for example, α can be set to = 0.5); detects and records the current XY axis horizontality value, and calculates the change in the XY axis direction Δx4 and Δy4 in combination with the XY axis direction after horizontal adjustment in step S5. When Δx4>>kΔnorm or Δy4>>kΔnorm is established, upper = temp is set, otherwise lower = temp is set, wherein k is a measurement error coefficient, k>1; the control module uses the newly obtained temp to control the virtual leg, and repeats this cycle until upper-lower<Δrange, and uses the temp obtained at this time as an approximate value of L_distance.

[0101] In the embodiment of the present invention, the measurement error coefficient k and the horizontal accuracy coefficient p satisfy pΔst±kΔnorm≤Δst, for example, Δst≤0.5Δst±2Δnorm=0.025±0.02<0.05.

[0102] (3) Eliminate the virtual leg and complete leveling: the control module controls the virtual leg to extend downward to the L distance.

[0103] The above system provided by the embodiment of the present invention not only supports two control modes, button and touch screen, but also supports two leveling modes, general and fast. The general mode can be leveled in about 5 minutes, while the fast mode can be leveled in about 2 and a half minutes. The system can adapt to any platform to be adjusted on a stationary load-bearing plane, but the fast mode requires manual specification of virtual legs in certain specific scenarios; at the same time, only one dual-axis inclination sensor is needed to achieve horizontal detection and adjustment, which greatly reduces the complexity and cost of the system. At the same time, the virtual legs can be eliminated without setting a load threshold, and the horizontal adjustment under various load conditions can be met. In addition, the use of sensors to measure the bearing capacity of the legs is abandoned, and the binary search method is used to infinitely approximate, so that the system has the ability to adapt to any load, and the self-adaptation of the four direction parameters breaks the limitation of the platform size. It can not only be deployed on platforms of any size, but also adapt to platforms of variable size.

[0104] Embodiment 2

[0105] The embodiment of the present invention further provides an adaptive, unlimited, high-precision, fast and automatic leveling method, which is mainly implemented based on the system provided in the above embodiment, and the method includes:

[0106] Step S1, system configuration: install the electric leveling legs in the execution module below the device to be leveled, and place the dual-axis inclination sensor in the feedback module on the reference plane of the device to be leveled;

[0107] Step S2, initializing the system state: the control module controls all electric leveling legs to withdraw to the negative limiter, and detects the XY axis direction through the dual-axis inclination sensor;

[0108] Step S3, adaptive calibration of system internal parameters: controlling the electric leveling legs through the control module, and calibrating the initial height H, the leveling parameters in the positive direction of the XY axis and the leveling parameters in the negative direction of the XY axis, and controlling the electric leveling legs to move to the initial height H;

[0109] Step S4, the control module determines whether one electric leveling leg is currently designated as a virtual leg. If the determination result is yes, then any electric leveling leg is randomly designated and withdrawn to make it a virtual leg and then the process proceeds to step S5; if the determination result is no, then the process proceeds directly to step S5;

[0110] Step S5, the control module performs level adjustment of the device to be leveled by combining the calibrated XY axis positive direction leveling parameters and the XY axis negative direction leveling parameters, as well as the set level adjustment target;

[0111] Step S6, the control module determines whether there is a designated virtual leg currently, if so, it proceeds to step S8, if not, it proceeds to step S7;

[0112] Step S7, detecting and recording the virtual leg: the control module adjusts each electric leveling leg one by one by setting the height H_find, and detects the change in the XY axis direction through the dual-axis tilt sensor, based on which a certain electric leveling leg is detected as a virtual leg, and proceeds to step S8; if no virtual leg is detected, it means that the leveling is completed;

[0113] Step S8: Use the binary search method to eliminate the virtual leg and complete the leveling.

[0114] Since the specific principles involved in the method and the specific implementation methods involved in each step have been introduced in detail in the previous embodiments, they will not be repeated here.

[0115] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An adaptive, unlimited, high-precision, fast, automatic leveling system, characterized in that: include: A control module, an execution module, and a feedback module; the execution module includes an electric leveling leg; the feedback module includes a dual-axis inclination sensor and positive and negative limiters of the electric leveling leg; The control module is combined with the feedback module to control the execution module to achieve automatic leveling. The steps are as follows: Step S1, system configuration: install the electric leveling legs in the execution module below the device to be leveled, and place the dual-axis inclination sensor in the feedback module on the reference plane of the device to be leveled; Step S2, initializing the system state: the control module controls all electric leveling legs to withdraw to the negative limiter, and detects the XY axis direction through the dual-axis inclination sensor; Step S3, adaptive calibration of system internal parameters: controlling the electric leveling legs through the control module, and calibrating the initial height H, the leveling parameters in the positive direction of the XY axis and the leveling parameters in the negative direction of the XY axis, and controlling the electric leveling legs to move to the initial height H; Step S4, the control module determines whether one electric leveling leg is currently designated as a virtual leg. If the determination result is yes, then any electric leveling leg is randomly designated and withdrawn to make it a virtual leg and then the process proceeds to step S5; if the determination result is no, then the process proceeds directly to step S5; Step S5, the control module performs level adjustment of the device to be leveled by combining the calibrated XY axis positive direction leveling parameters and the XY axis negative direction leveling parameters, as well as the set level adjustment target; Step S6, the control module determines whether there is a designated virtual leg currently, if so, it proceeds to step S8, if not, it proceeds to step S7; Step S7, detecting and recording the virtual leg: the control module adjusts each electric leveling leg one by one by setting the height H_find, and detects the change in the XY axis direction through the dual-axis tilt sensor, based on which a certain electric leveling leg is detected as a virtual leg, and then proceeds to step S8; If no virtual leg is detected, it means that the leveling is complete; Step S8, using the binary search method to eliminate the virtual leg and complete the leveling, including: Determine the interval [lower, upper] where the virtual leg distance L_distance is located: After the control module controls the virtual leg to extend downward to a set height H_cor, the current XY axis horizontality value is detected and recorded by the dual-axis inclination sensor, and the change in the XY axis direction Δx3 and Δy3 is calculated in combination with the XY axis direction after the horizontal adjustment in step S5; when Δx3>>Δnorm or Δy3>>Δnorm is established, nH_cor is withdrawn, and upper=H_cor, lower=0 is obtained; if not established, H_cor is increased to 2H_cor, and after n cycles until it is established and H_cor is withdrawn, upper=(n+1)H_cor, lower=nH_cor is obtained; wherein Δnorm is the measurement error of the dual-axis inclination sensor, >> is the much greater than symbol, and n≥0; Set the precision range Δrange for solving the virtual leg distance L_distance, and solve the approximate value of L_distance: The control module controls the virtual leg to extend downward to temp = α × (upper + lower), where α is a set coefficient; detects and records the current XY axis horizontality value, and calculates the change in the XY axis direction Δx4 and Δy4 in combination with the XY axis direction after the horizontal adjustment in step S5. When Δx4>>kΔnorm or Δy4>>kΔnorm is established, upper = temp is set, otherwise lower = temp is set, where k is the measurement error coefficient, k>1; the control module uses the newly obtained temp to control the virtual leg, and repeats this cycle until upper-lower<Δrange, and uses the temp obtained at this time as the approximate value of L_distance; Eliminate the virtual leg and complete leveling: the control module controls the virtual leg to extend downward to L_distance.

2. The adaptive unlimited high-precision rapid automatic leveling system according to claim 1, characterized in that: The control module is used to control the electric leveling legs, and the initial height H, the positive direction leveling parameters of the XY axis, and the negative direction leveling parameters of the XY axis are calibrated, including: On the basis of initializing the system state, the control module controls each electric leveling leg to rise in turn, records the XY axis direction through the dual-axis inclination sensor, and compares it with the XY axis direction recorded in step S2, until the angle change of the X axis or the Y axis meets the set requirements, records the initial height of the corresponding electric leveling leg, and then calibrates the initial height H in combination with the initial heights of all the electric leveling legs, and drives all the electric leveling legs to move to the initial height H; After the position adjustment of the initial height H is completed, the X-axis direction value is detected and recorded as HX_prefvalue and the Y-axis direction value is recorded as HY_prefvalue. Then the control module controls the positive direction electric leveling legs and the negative direction electric leveling legs to rise to different set heights in turn, and combines the change in the XY axis direction detected by the dual-axis inclination sensor to calibrate the corresponding XY axis positive direction leveling parameters and XY axis negative direction leveling parameters.

3. An adaptive, unlimited, high-precision, fast and automatic leveling system according to claim 1 or 2, characterized in that: The step of calibrating the initial height H comprises: Set the electric leveling legs to be numbered 1, 2, ..., num. When the first electric leveling leg is driven to rise in the order of numbers, continuously detect and record the XY axis directions, and set X_curvalue as the horizontality value in the X axis direction and Y_curvalue as the horizontality value in the Y axis direction; num is the number of electric leveling legs; Calculate the angle changes Δx1 = |X_curvalue-X_prefvalue| and Δy1 = |Y_curvalue-Y_prefvalue|, where X_prefvalue and Y_prefvalue are the XY axis directions detected in step S2, respectively; After judging that Δx1>>Δnorm or Δy1>>Δnorm is established, stop its movement, record the initial height H1 of the first electric leveling leg, and then withdraw and restore to the position of step S2, where Δnorm is the measurement error of the dual-axis inclination sensor, and >> is the much greater than symbol; The same method is used to obtain the initial heights H2, ..., Hnum of each of the remaining electric leveling legs; Calculate the initial height H: Wherein, ΔH is the initial height compensation value.

4. The adaptive unlimited high-precision rapid automatic leveling system according to claim 2, characterized in that: The steps of calibrating the leveling parameters in the positive direction of the XY axis and the leveling parameters in the negative direction of the XY axis include: X-axis positive direction leveling parameter X_positive calibration: After driving the two electric leveling legs in the positive direction of the X-axis to rise to a set height ΔH_x, the dual-axis inclination sensor detects and records the horizontal value X_curvalue in the X-axis direction. + , calculate the positive angle change Δx of the X axis + =|X_curvalue + -HX_prefvalue|,calculate The rear electric leveling legs are withdrawn and restored to the position after the initial height is calibrated; X-axis negative direction leveling parameter X_negative calibration: drive the two electric leveling legs in the negative direction of the X-axis to rise to a set height ΔH_x, then detect and record the horizontality value X_curvalue in the X-axis direction - And calculate the negative angle change Δx of the X axis - =|X_curvalue - -HX_prefvalue|, then calculate The rear electric leveling legs are withdrawn and restored to the position after the initial height is calibrated; Y-axis positive direction leveling parameter Y_positive calibration: After driving the two electric leveling legs in the positive direction of the Y-axis to rise to a set height ΔH_y, the dual-axis inclination sensor detects and records the Y-axis horizontality value Y_curvalue + , calculate the positive angle change Δy of the Y axis + =|Y_curvalue + -HY_prefvalue|, calculate The rear electric leveling legs are withdrawn and restored to the position after the initial height is calibrated; Y-axis negative direction leveling parameter Y_negative calibration: drive the two electric leveling legs in the negative direction of the Y-axis to rise to a set height ΔH_y, then detect and record the Y-axis horizontality value Y_curvalue - And calculate the negative angle change Δy of the Y axis - =|Y_curvalue - -HY_prefvalue|, then calculate The rear electric leveling legs are withdrawn and restored to the position after the initial height is calibrated.

5. The adaptive unlimited high-precision rapid automatic leveling system according to claim 1, characterized in that: The control module combines the calibrated XY axis positive direction leveling parameters and the XY axis negative direction leveling parameters, and the set leveling target to perform leveling of the device to be leveled, including: X-axis horizontal adjustment: The control module detects the horizontal value in the current X-axis direction through the dual-axis inclination sensor and records it as HX_prefvalue_. - When |>pΔst, the positive X-axis leveling parameter will pull down the high side, and the negative X-axis leveling parameter will raise the low side until |HX_prefvalue - |≤pΔst, where pΔst is the set horizontal adjustment target, p is the horizontal accuracy coefficient, and Δst is the horizontal adjustment target accuracy value; Y-axis horizontal adjustment: detect the current Y-axis horizontal value and record it as HY_prefvalue_. - When |>pΔst, the positive Y-axis leveling parameter will pull down the high side, and the negative Y-axis leveling parameter will raise the low side until |HY_prefvalue - |≤pΔst; where, Record the adjusted level value into X_prefvalue' and Y_prefvalue'.

6. The adaptive unlimited high-precision rapid automatic leveling system according to claim 1, characterized in that: The step S7 includes: for the current electric leveling leg, on the basis of step S5, the control module controls it to withdraw to the set height H_find, detects the XY axis direction through the dual-axis inclination sensor and calculates the change amount Δx2 and Δy2 in the XY axis direction in combination with the XY axis direction after the horizontal adjustment in step S5; judges whether the condition Δx2>>Δnorm or Δy2>>Δnorm is established, wherein Δnorm is the measurement error of the dual-axis inclination sensor, and >> is the far greater than symbol; if established, it indicates that the current electric leveling leg is not a virtual leg, and it returns to the state in step S5, and continues to detect the next electric leveling leg; after the detection is completed, if no virtual leg is found, it indicates that the leveling is completed; if the above conditions are not established during the detection of a certain electric leveling leg, it indicates that the corresponding electric leveling leg is a virtual leg, and proceeds to step S8.

7. The adaptive unlimited high-precision rapid automatic leveling system according to claim 1, characterized in that: The electric leveling legs include a fixed frame, a screw lifter, a drive motor, and a ball-head foot arranged on the fixed frame.

8. The adaptive unlimited high-precision rapid automatic leveling system according to claim 7, characterized in that: The execution module also includes: an electric push rod connected between a fixed frame of the electric leveling legs and the equipment to be leveled, and used for extending and retracting the legs outward.

9. An adaptive, unlimited, high-precision, fast, automatic leveling method, characterized in that: Based on the system implementation according to any one of claims 1 to 8, the method comprises: Step S1, system configuration: install the electric leveling legs in the execution module below the device to be leveled, and place the dual-axis inclination sensor in the feedback module on the reference plane of the device to be leveled; Step S2, initializing the system state: the control module controls all electric leveling legs to withdraw to the negative limiter, and detects the XY axis direction through the dual-axis inclination sensor; Step S3, adaptive calibration of system internal parameters: controlling the electric leveling legs through the control module, and calibrating the initial height H, the leveling parameters in the positive direction of the XY axis and the leveling parameters in the negative direction of the XY axis, and controlling the electric leveling legs to move to the initial height H; Step S4, the control module determines whether one electric leveling leg is currently designated as a virtual leg. If the determination result is yes, then any electric leveling leg is randomly designated and withdrawn to make it a virtual leg and then the process proceeds to step S5; if the determination result is no, then the process proceeds directly to step S5; Step S5, the control module performs level adjustment of the device to be leveled by combining the calibrated XY axis positive direction leveling parameters and the XY axis negative direction leveling parameters, as well as the set level adjustment target; Step S6, the control module determines whether there is a designated virtual leg currently, if so, it proceeds to step S8, if not, it proceeds to step S7; Step S7, detecting and recording the virtual leg: the control module adjusts each electric leveling leg one by one by setting the height H_find, and detects the change in the XY axis direction through the dual-axis tilt sensor, based on which a certain electric leveling leg is detected as a virtual leg, and proceeds to step S8; if no virtual leg is detected, it means that the leveling is completed; Step S8: Use the binary search method to eliminate the virtual leg and complete the leveling.

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