A leveling method, apparatus, equipment, and storage medium for a telescopic boom forklift.

Abstract

The present invention discloses a leveling method, device, equipment and storage medium for a telescopic forklift. The method includes determining the height information of a first virtual point according to the positional relationship between the boom, chassis and auxiliary tool. According to the first height, the height information of the first virtual point and the preset leveling function relationship, the first adjustment angle of the variable-length cylinder and the second adjustment angle of the leveling cylinder are determined when the auxiliary tool is adjusted from the initial height to the first height. The first actual angle information of the boom and the second actual angle information of the auxiliary tool are obtained, and the variable-length cylinder is controlled to adjust the angle of the boom according to the first adjustment angle and the first actual angle information, and the leveling cylinder is controlled to adjust the angle of the auxiliary tool according to the second adjustment angle and the second actual angle information. In this way, the automatic leveling of the auxiliary tool is achieved by setting the first height, the operational difficulty of the leveling of the auxiliary tool is reduced, the problem of serious wear of the auxiliary tool due to improper operation and violent operation of the operator is avoided, and the service life of the auxiliary tool is increased.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technology of forklift field, and in particular to a leveling method, device, equipment and storage medium of a telescopic arm forklift. Background Art

[0002] Telescopic forklifts belong to a sub-field of construction machinery. They can be used for earthwork handling, material loading and unloading, structural lifting, etc. with a variety of attachments. Therefore, telescopic forklifts have a wide range of applicability and complex working conditions, which puts higher requirements on the convenient control performance of the vehicle. The leveling of various auxiliary tools is extremely important for vehicle loading and unloading, transportation, shoveling, bulldozing and other operations. For bulldozing and other working conditions, if the angle of the bucket auxiliary tool is too large, it is easy to damage the ground and also cause wear to the auxiliary tool itself. If the angle is too small, it will not be able to push the soil. For the fork, if it is not level, it is easy to cause damage to the items during fork loading, and if the angle is too small, the items will fall.

[0003] The existing operators’ visual leveling of the auxiliary tools is difficult and not conducive to the operation of novice drivers. In addition, the operability is poor during the work process, and the constant manual leveling wastes working time and affects work efficiency. At the same time, due to the complexity of the working conditions and the harsh environment, improper operation or violent operation can easily cause wear of the auxiliary tools, thereby increasing the cost of using the vehicle and reducing the service life of the vehicle. From the above, it can be seen that the leveling of the auxiliary tools seriously affects the safety and usability of the vehicle, so how to conveniently achieve the leveling of the auxiliary tools should be considered and solved. Summary of the invention

[0004] The present invention provides a leveling method, device, equipment and storage medium for a telescopic arm forklift, which realizes automatic leveling of an auxiliary tool by setting a first height, reduces the operational difficulty of leveling the auxiliary tool, avoids the problem of serious wear of the auxiliary tool due to improper operation and violent operation of the operator, and increases the service life of the auxiliary tool.

[0005] In a first aspect, an embodiment of the present invention provides a method for leveling a telescopic forklift, wherein the telescopic forklift comprises a boom, a chassis and an auxiliary tool. The boom is provided with a luffing cylinder and a leveling cylinder, wherein the luffing cylinder is used to adjust the angle of the boom, and the leveling cylinder is used to adjust the angle of the auxiliary tool. The leveling method comprises:

[0006] Determining height information of a first virtual point according to the positional relationship among the boom, the chassis and the auxiliary tool;

[0007] Obtaining a first height of the upper surface of the auxiliary tool in a horizontal state;

[0008] Determine, according to the first height, the height information of the first virtual point and a preset leveling function relationship, a first adjustment angle of the luffing cylinder and a second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from an initial height to the first height;

[0009] The first actual angle information of the boom and the second actual angle information of the auxiliary tool are obtained, and the boom cylinder is controlled to adjust the angle of the boom according to the first adjustment angle and the first actual angle information, and the leveling cylinder is controlled to adjust the angle of the auxiliary tool according to the second adjustment angle and the second actual angle information.

[0010] Optionally, determining the height information of the first virtual point according to the positional relationship between the boom, the chassis and the auxiliary tool includes:

[0011] Establishing a coordinate system of the telescopic forklift;

[0012] Determine a first position point of a hinge point between the boom and the chassis, a second position point of a hinge point between the boom and the auxiliary tool, and a third position point of a projection of the center of gravity of the cargo on the surface of the auxiliary tool;

[0013] The height information of the first virtual point is determined according to the first position point, the second position point and the third position point; the lines connecting two adjacent points among the first position point, the second position point, the third position point and the first virtual point form a parallelogram.

[0014] Optionally, determining, according to the first height, the height information of the first virtual point, and a preset leveling function relationship, a first adjustment angle of the luffing cylinder and a second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from an initial height to the first height includes:

[0015] When the first height is less than or equal to the height information of the first virtual point, determining that the preset leveling function relationship includes a first leveling function relationship;

[0016] Determine the fixed length information according to the height information of the first virtual point and the position information of the third position point projected by the center of gravity of the cargo on the surface of the auxiliary tool;

[0017] Acquire first initial angle information of the boom at an initial height;

[0018] The first adjustment angle and the second adjustment angle are determined according to the first height, the height information of the first virtual point, the first leveling function relationship, the fixed length information and the first initial angle information.

[0019] Optionally, the first virtual point is A1, the first position point of the hinge between the boom and the chassis is A2, the second position point of the hinge between the boom and the auxiliary tool is A3, the third position point of the center of gravity of the cargo projected on the surface of the auxiliary tool is A4, and the hinge point between the leveling cylinder and the boom is B1;

[0020] The first leveling function relationship includes:

[0021] Y1-H=L A1A4 ×sin(∠B1A2A3-(α+Δα))

[0022] Wherein, Y1 is the height information of the first virtual point, H is the height information of the first height, L A1A4 is the fixed length information, ∠B1A2A3 is the fixed angle information, α is the first initial angle information of the boom at the initial height, α+Δα is the first adjustment angle, and Δα is the second adjustment angle.

[0023] Optionally, determining, according to the first height, the height information of the first virtual point, and a preset leveling function relationship, a first adjustment angle of the luffing cylinder and a second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from an initial height to the first height includes:

[0024] When the first height is greater than the height information of the first virtual point, determining that the preset leveling function relationship includes a second leveling function relationship;

[0025] Determine the fixed length information according to the height information of the first virtual point and the position information of the third position point projected by the center of gravity of the cargo on the surface of the auxiliary tool;

[0026] Acquire first initial angle information of the boom at an initial height;

[0027] The first adjustment angle and the second adjustment angle are determined according to the first height, the height information of the first virtual point, the second leveling function relationship, the fixed length information and the first initial angle information.

[0028] Optionally, the first virtual point is A1, the first position point of the hinge between the boom and the chassis is A2, the second position point of the hinge between the boom and the auxiliary tool is A3, the third position point of the projection of the center of gravity of the cargo on the surface of the auxiliary tool is A4, and the hinge point between the leveling cylinder and the boom is B1;

[0029] The second leveling function relationship includes:

[0030] H-Y1=L A1A4 ×sin(α+Δα-∠B1A2A3)

[0031] Wherein, Y1 is the height information of the first virtual point, H is the height information of the first height, L A1A4 is the fixed length information, ∠B1A2A3 is the fixed angle information, α is the first initial angle information of the boom at the initial height, α+Δα is the first adjustment angle, and Δα is the second adjustment angle.

[0032] Optionally, the acquiring first actual angle information of the boom and second actual angle information of the auxiliary tool, and controlling the luffing cylinder to adjust the angle of the boom according to the first adjustment angle and the first actual angle information, and controlling the leveling cylinder to adjust the angle of the auxiliary tool according to the second adjustment angle and the second actual angle information, comprises:

[0033] Acquire first actual angle information of the boom, and control the luffing cylinder to adjust the angle of the boom according to a comparison between the first adjustment angle and the first actual angle information, so that the first actual angle information is equal to the first adjustment angle;

[0034] Acquire second initial angle information of the assistive device at an initial height, and determine adjustment angle information of the assistive device according to the second initial angle information and the second adjustment angle;

[0035] The second actual angle information of the auxiliary tool is obtained, and the leveling cylinder is controlled to adjust the angle of the auxiliary tool according to the comparison between the adjustment angle information of the auxiliary tool and the second actual angle information, so that the second actual angle information is equal to the adjustment angle information of the auxiliary tool.

[0036] In a second aspect, an embodiment of the present invention further provides a leveling device for a telescopic forklift. The leveling device comprises:

[0037] A determination module, used to determine the height information of the first virtual point according to the positional relationship between the boom, the chassis and the auxiliary tool;

[0038] A first height acquisition module, used to acquire a first height of the upper surface of the auxiliary tool in a horizontal state;

[0039] an angle determination module, which determines, according to the first height, the height information of the first virtual point and a preset leveling function relationship, a first adjustment angle of the luffing cylinder and a second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from an initial height to the first height;

[0040] An adjustment module is used to obtain the first actual angle information of the boom and the second actual angle information of the auxiliary tool, and control the boom cylinder to adjust the angle of the boom according to the first adjustment angle and the first actual angle information, and control the leveling cylinder to adjust the angle of the auxiliary tool according to the second adjustment angle and the second actual angle information.

[0041] In a third aspect, an embodiment of the present invention further provides a leveling device, the leveling device comprising one or more processors and a storage device, the storage device being used to store one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the leveling method described in any embodiment of the present invention.

[0042] In a fourth aspect, an embodiment of the present invention further provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, any leveling method described in the present invention is implemented.

[0043] The embodiment of the present invention determines the height information of the first virtual point and obtains the first height of the upper surface of the auxiliary tool in a horizontal state according to the positional relationship between the boom, chassis and auxiliary tool. Then, according to the first height, the height information of the first virtual point and the preset leveling function relationship, the first adjustment angle of the variable-length cylinder and the second adjustment angle of the leveling cylinder are determined when the auxiliary tool is adjusted from the initial height to the first height. The first actual angle information of the boom and the second actual angle information of the auxiliary tool are obtained, and the variable-length cylinder is controlled to adjust the angle of the boom according to the first adjustment angle and the first actual angle information, and the leveling cylinder is controlled to adjust the angle of the auxiliary tool according to the second adjustment angle and the second actual angle information. In this way, the operator can realize automatic leveling of the auxiliary tool by setting the first height, thereby reducing the difficulty of leveling the auxiliary tool, avoiding the problem of serious wear of the auxiliary tool due to improper operation and violent operation of the operator, and increasing the service life of the auxiliary tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a structural schematic diagram of a telescopic arm forklift provided in Embodiment 1 of the present invention;

[0045] Figure 2 is a flow chart of a method for leveling a telescopic forklift provided in Embodiment 1 of the present invention;

[0046] Figure 3 is a schematic diagram of a coordinate system of a telescopic arm forklift provided in the second embodiment of the present invention;

[0047] Figure 4 is a flow chart of another method for leveling a telescopic forklift provided in Embodiment 2 of the present invention;

[0048] Figure 5is a schematic diagram of a coordinate system of another telescopic arm forklift provided in Embodiment 3 of the present invention;

[0049] Figure 6 is a flow chart of another method for leveling a telescopic forklift provided in Embodiment 3 of the present invention;

[0050] Figure 7 It is a structural schematic diagram of a leveling device for a telescopic forklift provided in a fourth embodiment of the present invention; Figure 8 This is a structural schematic diagram of a leveling device provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below 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 should fall within the scope of protection of the present invention.

[0052] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0053] Embodiment 1

[0054] Figure 1 is a structural schematic diagram of a telescopic arm forklift provided in Embodiment 1 of the present invention, Figure 2 This is a flow chart of a method for leveling a telescopic forklift provided in the first embodiment of the present invention. This embodiment is applicable to situations where it is difficult to level the auxiliary equipment by visual means, which is not convenient for novice drivers to operate, and the operability is poor during the work process, and constant manual leveling wastes working time and affects work efficiency. The method can be executed by the leveling device provided in the embodiment of the present invention, and the device can be implemented in software and / or hardware. The device can be configured in the leveling equipment provided in the embodiment of the present invention.

[0055] See also Figure 1The telescopic forklift includes a boom 1, a chassis 2 and an auxiliary tool 3. The boom 1 is provided with a luffing cylinder 110 and a leveling cylinder 120. The luffing cylinder 110 is used to adjust the angle of the boom 1, which can be understood as the angle between the boom 1 and the chassis 2. The leveling cylinder 120 is used to adjust the angle of the auxiliary tool 3, which can be understood as the angle between the auxiliary tool 3 and the leveling cylinder 120, i.e., the leveling angle. Figure 1 In the embodiment shown, the auxiliary tool 3 includes a fork and a bucket. Figure 1 In order to indicate the positions of different booms 1 and different auxiliary tools 3, a telescopic forklift is shown to include two booms 1 and two auxiliary tools 3. It can be understood by those skilled in the art that a telescopic forklift usually includes one boom 1 and one auxiliary tool 3. In addition, the telescopic forklift also includes a leveling angle detection unit, a boom length detection unit, a boom amplitude angle detection unit, a control unit and a front tire. Specifically, the leveling angle detection unit is used to measure the angle between the auxiliary tool 3 and the leveling cylinder 120 in real time. The boom length detection unit is used to detect the length information of the boom 1. The boom amplitude angle detection unit is used to detect the angle between the boom 1 and the chassis 2. The control unit is used to receive information collected by the leveling angle detection unit, the boom length detection unit and the boom amplitude angle detection unit, and process the collected information according to a preset leveling function relationship therein.

[0056] See also Figure 2 , the leveling method of the telescopic forklift includes:

[0057] S110, determining height information of the first virtual point according to the positional relationship among the boom, the chassis and the auxiliary tool.

[0058] Specifically, in the process of leveling the auxiliary tool, it usually includes the adjustment of the angle between the boom and the chassis, and the adjustment of the position between the auxiliary tool and the boom, so that when the auxiliary tool is adjusted to the required height, the auxiliary tool can still remain horizontal. Among them, the height information of the first virtual point can be understood as the critical information of the required height. For example, when the height information of the required height is less than the height information of the first virtual point, the position relationship between the boom, chassis and auxiliary tool corresponds to a functional relationship, and when the height information of the required height is greater than the height information of the first virtual point, the position relationship between the boom, chassis and auxiliary tool corresponds to another functional relationship. Then, a coordinate system of the boom, chassis and auxiliary tool can be established, so as to determine the height information of the first virtual point according to the position relationship between the boom, chassis and auxiliary tool. It should be noted that the position of the first virtual point is fixed, while the position relationship between the boom, chassis and auxiliary tool is changing.

[0059] S120: Obtain a first height of the upper surface of the auxiliary tool in a horizontal state.

[0060] Specifically, the first height of the upper surface of the auxiliary tool in a horizontal state is the required height of the auxiliary tool adjustment. During the leveling process, the first height can be set by input by an operator.

[0061] S130, determining a first adjustment angle of the luffing cylinder and a second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from the initial height to the first height according to the first height, the height information of the first virtual point and a preset leveling function relationship.

[0062] Specifically, after obtaining the set first height and the height information of the first virtual point, the first height is compared with the height information of the first virtual point, and the corresponding preset leveling function relationship is determined according to the comparison of the first height and the height information of the first virtual point. After that, the first height set by the operator and the height information of the first virtual point are substituted into the preset leveling function relationship, and the first adjustment angle of the boom cylinder and the change in the adjustment angle of the boom cylinder when the auxiliary tool is adjusted from the initial height to the first height can be obtained. Among them, the initial height can be the angle when the first height is 0, that is, the initial angle of the boom and the initial angle of the auxiliary tool when the first height is 0, and the first adjustment angle of the boom cylinder can be understood as the actual angle of the boom after adjustment by the boom cylinder, that is, the sum of the initial angle of the boom and the change in the adjustment angle. During the leveling process of the auxiliary tool, in order to ensure that the auxiliary tool can still remain horizontal when it is adjusted to the first height, the adjustment angle change of the luffing cylinder needs to be the same as the adjustment angle change of the leveling cylinder, that is, the angle increase of the boom is the same as the angle decrease of the auxiliary tool, and then the adjustment angle change of the luffing cylinder is the second adjustment angle of the leveling cylinder.

[0063] S140, obtaining first actual angle information of the boom and second actual angle information of the auxiliary tool, and controlling the boom-changing cylinder to adjust the angle of the boom according to the first adjustment angle and the first actual angle information, and controlling the leveling cylinder to adjust the angle of the auxiliary tool according to the second adjustment angle and the second actual angle information.

[0064] Specifically, the leveling angle detection unit and the boom amplitude change angle detection unit both include at least one of an angle sensor or a long angle sensor. The boom amplitude change angle detection unit can then detect the actual angle between the boom and the chassis, i.e., the first actual angle information of the boom, and the leveling angle detection unit can detect the actual angle between the auxiliary tool and the leveling cylinder, i.e., the second actual angle information of the auxiliary tool. Afterwards, the first actual angle information is compared with the first adjustment angle of the amplitude change cylinder, and the amplitude change cylinder is controlled to adjust the angle of the boom according to the comparison between the first actual angle information and the first adjustment angle of the amplitude change cylinder, until the first actual angle information of the boom is the first adjustment angle. Similarly, the second actual angle information is compared with the second adjustment angle of the leveling cylinder, and the leveling cylinder is controlled to adjust the angle of the auxiliary tool according to the comparison between the second actual angle information and the second adjustment angle of the leveling cylinder, so that the adjusted auxiliary tool remains horizontal, thereby completing the automatic leveling of the auxiliary tool. In this way, during the entire leveling process, the operator can achieve automatic leveling of the auxiliary tool by inputting the first height, reducing the difficulty of leveling the auxiliary tool, improving the operational convenience, and improving work efficiency. It also avoids the problem of serious wear of the auxiliary tool due to improper operation and violent operation by the operator, and improves the service life of the auxiliary tool.

[0065] In summary, the embodiment of the present invention determines the height information of the first virtual point and obtains the first height of the upper surface of the auxiliary tool in a horizontal state according to the positional relationship between the boom, chassis and auxiliary tool. Then, according to the first height, the height information of the first virtual point and the preset leveling function relationship, the first adjustment angle of the boom cylinder and the second adjustment angle of the leveling cylinder are determined when the auxiliary tool is adjusted from the initial height to the first height. The first actual angle information of the boom and the second actual angle information of the auxiliary tool are obtained, and the boom cylinder is controlled to adjust the angle of the boom according to the first adjustment angle and the first actual angle information, and the leveling cylinder is controlled to adjust the angle of the auxiliary tool according to the second adjustment angle and the second actual angle information. In this way, the operator can realize automatic leveling of the auxiliary tool by setting the first height, thereby reducing the difficulty of leveling the auxiliary tool, avoiding the problem of serious wear of the auxiliary tool due to improper operation and violent operation of the operator, and increasing the service life of the auxiliary tool.

[0066] Embodiment 2

[0067] Figure 3 is a schematic diagram of a coordinate system of a telescopic forklift provided in the second embodiment of the present invention, Figure 4 1 is a flow chart of another method for leveling a telescopic forklift provided in the second embodiment of the present invention. Figure 3 and Figure 4 , the leveling method includes:

[0068] S210. Establish a coordinate system of the telescopic forklift, determine a first position point of a hinge point between the boom and the chassis, a second position point of a hinge point between the boom and the auxiliary tool, and a third position point of a projection of the center of gravity of the cargo on the surface of the auxiliary tool, and determine height information of the first virtual point based on the first position point, the second position point, and the third position point.

[0069] Specifically, Figure 3 As shown, the coordinate system of the telescopic forklift is established with the front vertical tangent of the front tire as the Y-axis and the plane of the ground as the X-axis. The positional relationship between the boom, chassis and auxiliary equipment can then be clarified in the coordinate system. Exemplarily, the hinge point between the boom and the chassis is assumed to be the first position point, and the first position point is recorded as A2; the hinge point between the boom and the auxiliary equipment is assumed to be the second position point, and the second position point is recorded as A3; and the center of gravity of the cargo is projected on the surface of the auxiliary equipment as the third position point, and the third position point is recorded as A4. In this way, after determining the first position point A2, the second position point A3 and the third position point A4, the position of the first virtual point A1 can be determined according to the parallelogram rule. In other words, the lines connecting two adjacent points among the first virtual point A1, the first position point A2, the second position point A3 and the third position point A4 form a parallelogram. As shown Figure 3 In the described embodiment, A1A4 is parallel and equal to A2A3.

[0070] S220: Obtain a first height of the upper surface of the auxiliary tool in a horizontal state.

[0071] S230. When the first height is less than or equal to the height information of the first virtual point, determine that the preset leveling function relationship includes the first leveling function relationship, determine the fixed length information according to the height information of the first virtual point and the position information of the third position point where the center of gravity of the cargo is projected on the surface of the auxiliary tool, and obtain the first initial angle information of the boom at the initial height; determine the first adjustment angle and the second adjustment angle according to the first height, the height information of the first virtual point, the first leveling function relationship, the fixed length information and the first initial angle information.

[0072] For details, see Figure 3, let the hinge point between the leveling cylinder and the boom be B1, and the hinge point between the leveling cylinder and the auxiliary tool be B2. In the process of leveling the auxiliary tool, what is adjusted is the angle of the boom and the angle of the auxiliary tool, wherein the angle of the auxiliary tool is adjusted as the rotation process of the hinge point B2 between the leveling cylinder and the auxiliary tool around the second position point A3, that is, the angle of the auxiliary tool is adjusted by adjusting the angle ∠B1A3B2. The overall shape of the boom will not change during the adjustment process, and thus the first position point A2 of the hinge point between the boom and the chassis, the second position point A3 of the hinge point between the boom and the auxiliary tool, and the hinge point B1 between the leveling cylinder and the boom do not move relative to each other. In other words, the triangle B1A2A3 is fixed, that is, the angle of ∠B1A2A3 is fixed, and the length of A2A3 is also fixed. Since the length of A2A3 is equal to the length of A1A4, the length of A1A4 can be set as fixed length information. In this way, the fixed length information can be determined according to the height information of the first virtual point A1 and the position information of the third position point A4 projected on the surface of the auxiliary tool by the center of gravity of the cargo.

[0073] In addition, when the first height H is less than or equal to the height information Y1 of the first virtual point A1, it indicates that the height of the first height H is small, and thus the angle adjustment of the auxiliary tool is small. At this time, the preset leveling function relationship is determined to be the first leveling function relationship. Figure 3 As shown, a horizontal line parallel to the X-axis is drawn along the third position point A4, and intersects with the height information Y1 of the first virtual point A1 at point C1. A horizontal line parallel to the X-axis is drawn along the first position point A2, and intersects with the Y-axis at point D1. It can be concluded from the coordinate system that ∠D1A2A3 is the sum of ∠D1A2B1 and ∠B1A2A3, where ∠B1A2A3 is the fixed angle information, A2 is the hinge point between the boom and the chassis, and B1 is the hinge point between the leveling cylinder and the boom, that is, ∠D1A2B1 is the actual angle (first adjustment angle) of the boom when the auxiliary tool is adjusted from the initial height to the first height. In other words, ∠D1A2B1 is the sum of the first initial angle of the boom and the change in the adjustment angle. Since A2D1 is parallel to A4C1, and A2A3 is parallel to A1A4, according to the principle of similar triangles, we can get that the angles ∠D1A2A3 and ∠A1A4C1 are equal. In addition, according to the sine theorem of triangles, we can get that Y1-H=L A1A4 × sin∠A1A4C1, since∠A1A4C1=∠D1A2A3=∠B1A2A3+∠D1A2B1, and when the first height H is less than or equal to the height information Y1 of the first virtual point A1, the angle of the boom is below the horizontal plane, that is,∠D1A2B1 is a negative value, and then we can get Y1-H=L A1A4 ×sin(∠B1A2A3-∠D1A2B1). Among them, ∠D1A2B1 is the sum of the first initial angle of the boom and the adjustment angle change α+Δα, that is, the first leveling function relationship can be obtained as Y1-H=L A1A4× sin(∠B1A2A3-(α+Δα)), and then the first height H, the height information Y1 of the first virtual point A1, the first initial angle information α of the boom at the initial height, the fixed angle information ∠B1A2A3 and the fixed length information L A1A4 Substituting into the first leveling function relationship, the first adjustment angle α+Δα and the second adjustment angle (adjustment angle change) Δα can be obtained. For example, assuming that the height information Y1 of the first virtual point A1 is 1m, the first height H is 0.5m, the fixed angle information ∠B1A2A3 is 10°, and the fixed length information L A1A4 In the initial state (H=0), the first initial angle information α of the boom is -5°, and after substituting it into the first leveling function relationship, it can be obtained that the first adjustment angle α+Δα is 4.27, and the second adjustment angle Δα is 9.27°.

[0074] S240, obtaining first actual angle information of the boom, and controlling the boom cylinder to adjust the angle of the boom according to a comparison between the first adjustment angle and the first actual angle information, so that the first actual angle information is equal to the first adjustment angle.

[0075] Specifically, the actual angle between the boom and the chassis, that is, the first actual angle information of the boom, can be detected by the boom angle detection unit, and the first actual angle information can be compared with the first adjustment angle α+Δα of the boom cylinder. Specifically, if the first actual angle information is greater than the first adjustment angle α+Δα, the boom cylinder contracts to reduce the first actual angle information of the boom until the first actual angle information of the boom is equal to the first adjustment angle α+Δα, and the boom cylinder stops working. If the first actual angle information is equal to the first adjustment angle α+Δα, the boom cylinder does not work. If the first actual angle information is less than the first adjustment angle α+Δα, the boom cylinder extends to increase the first actual angle information of the boom until the first actual angle information of the boom is equal to the first adjustment angle α+Δα, and the boom cylinder stops working. Exemplarily, if the first adjustment angle α+Δα is 4.27°, the first actual angle information of the boom is 10°. The luffing cylinder contracts until the first actual angle information of the boom is reduced to 4.27°, and then the luffing cylinder stops working.

[0076] S250, obtaining the second initial angle information of the auxiliary tool at the initial height, and determining the adjustment angle information of the auxiliary tool based on the second initial angle information and the second adjustment angle, obtaining the second actual angle information of the auxiliary tool, and controlling the leveling cylinder to adjust the angle of the auxiliary tool based on the comparison between the adjustment angle information of the auxiliary tool and the second actual angle information, so that the second actual angle information is equal to the adjustment angle information of the auxiliary tool.

[0077] Specifically, the second adjustment angle Δα of the leveling cylinder is the change in the adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from the initial height to the first height. Since the initial height is H=0, when the auxiliary tool is adjusted from the initial height to the first height, the angle of the boom increases, while the angle of the auxiliary tool decreases, and the increased angle of the boom is the same as the decreased angle of the auxiliary tool. In this way, by subtracting the second adjustment angle Δα from the second initial angle information β of the auxiliary tool at the initial height, the required angle information of the auxiliary tool when the auxiliary tool is adjusted from the initial height to the first height, that is, the adjustment angle information (β-Δα) of the auxiliary tool, is obtained. And the second actual angle information β1 is compared with the adjustment angle information (β-Δα) of the auxiliary tool. Exemplarily, if the second actual angle information β1 is greater than the adjustment angle information (β-Δα), the leveling cylinder contracts to reduce the second actual angle information of the auxiliary tool until the second actual angle information β1 of the auxiliary tool is equal to the adjustment angle information (β-Δα), and the leveling cylinder stops working. If the second actual angle information β1 is equal to the adjustment angle information (β-Δα), the leveling does not work. If the second actual angle information β1 is less than the adjustment angle information (β-Δα), the leveling cylinder is extended to increase the second actual angle information of the auxiliary tool until the second actual angle information of the auxiliary tool is equal to the adjustment angle information (β-Δα), and the leveling cylinder stops working. For example, assuming that the second actual angle information β1 is 100°, the second adjustment angle Δα is 9.27°, and the second initial angle information β of the auxiliary tool at the initial height is 120°, the adjustment angle information (β-Δα) is 110.73°, and then the leveling cylinder is extended until the second actual angle information of the auxiliary tool increases to 110.73°, and the leveling cylinder stops working.

[0078] In summary, when the first height is less than or equal to the height information of the first virtual point, the embodiment of the present invention determines that the preset leveling function relationship includes the first leveling function relationship, and substitutes the first height, the height information of the first virtual point, the fixed length information and the first initial angle information into the first leveling function relationship to determine the first adjustment angle and the second adjustment angle, and controls the variable amplitude cylinder to adjust the angle of the boom according to the comparison between the first adjustment angle and the first actual angle information, and controls the leveling cylinder to adjust the angle of the auxiliary tool according to the comparison between the adjustment angle information of the auxiliary tool and the second actual angle information. In this way, when the first height is less than or equal to the height information of the first virtual point, the corresponding first leveling function relationship is used to determine the first adjustment angle and the second adjustment angle to adjust the boom and the auxiliary tool, realize automatic leveling of the auxiliary tool, reduce the difficulty of leveling the auxiliary tool, improve the convenience of operation, improve work efficiency, avoid the problem of serious wear of the auxiliary tool due to improper operation and violent operation of the operator, and improve the service life of the auxiliary tool.

[0079] Embodiment 3

[0080] Figure 5 is a schematic diagram of a coordinate system of another telescopic forklift provided in the third embodiment of the present invention, Figure 6 Flow chart of another method for leveling a telescopic forklift provided in the third embodiment of the present invention. Figure 5 and Figure 6 , the leveling method includes:

[0081] S310. Establish a coordinate system of the telescopic forklift, determine a first position point of a hinge point between the boom and the chassis, a second position point of a hinge point between the boom and the auxiliary tool, and a third position point of a projection of the center of gravity of the cargo on the surface of the auxiliary tool, and determine height information of the first virtual point based on the first position point, the second position point, and the third position point.

[0082] S320: Obtain a first height of the upper surface of the auxiliary tool in a horizontal state.

[0083] S330. When the first height is greater than the height information of the first virtual point, determine that the preset leveling function relationship includes the second leveling function relationship, determine the fixed length information according to the height information of the first virtual point and the position information of the third position point where the center of gravity of the cargo is projected on the surface of the auxiliary tool, and obtain the first initial angle information of the boom at the initial height; determine the first adjustment angle and the second adjustment angle according to the first height, the height information of the first virtual point, the second leveling function relationship, the fixed length information and the first initial angle information.

[0084] For details, see Figure 5 , let the first virtual point be A1, the first position point of the hinge between the boom and the chassis be A2, the second position point of the hinge between the boom and the auxiliary tool be A3, the third position point of the projection of the center of gravity of the cargo on the surface of the auxiliary tool be A4, the hinge point between the leveling cylinder and the boom be B1, and the hinge point between the leveling cylinder and the auxiliary tool be B2. In the process of leveling the auxiliary tool, the angle of the boom and the angle of the auxiliary tool are adjusted, wherein the angle of the auxiliary tool is adjusted so that the hinge point B2 between the leveling cylinder and the auxiliary tool rotates around the second position point A3, that is, the angle of the auxiliary tool is adjusted by adjusting the angle of ∠B1A3B2. The overall shape of the boom will not change during the adjustment process, and thus the first position point A2 of the hinge point between the boom and the chassis, the second position point A3 of the hinge point between the boom and the auxiliary tool, and the hinge point B1 between the leveling cylinder and the boom do not move relative to each other. In other words, the triangle B1A2A3 is fixed, that is, the angle of ∠B1A2A3 is fixed, and the length of A2A3 is also fixed. Since the length of A2A3 is equal to the length of A1A4, the length of A1A4 can be set as fixed length information. In this way, the fixed length information can be determined according to the height information of the first virtual point A1 and the position information of the third position point A4 projected on the surface of the auxiliary tool by the center of gravity of the cargo.

[0085] In addition, when the first height H is greater than the height information Y1 of the first virtual point A1, it indicates that the first height H is larger, and thus the angle adjustment of the auxiliary tool is larger. At this time, the preset leveling function relationship is determined to be the second leveling function relationship. Figure 5 As shown, a horizontal line parallel to the X-axis is drawn along the first virtual point A1, and intersects with the first height H at point E1. A horizontal line parallel to the X-axis is drawn along the first position point A2, and intersects with the Y-axis at point F1. Since A2 is the hinge point between the boom and the chassis, and B1 is the hinge point between the leveling cylinder and the boom, that is, ∠B1A2F1 is the actual angle (first adjustment angle) of the boom when the auxiliary tool is adjusted from the initial height to the first height. In other words, ∠B1A2F1 is the sum of the first initial angle of the boom and the change in the adjustment angle (α+Δα). In addition, it can be concluded from the coordinate system that ∠B1A2F1 is the sum of ∠F1A2A3 and ∠B1A2A3, where ∠B1A2A3 is fixed angle information. Since A2F1 is parallel to A1E1, and A2A3 is parallel to A1A4, according to the principle of similar triangles, we can get that the angles ∠A3A2F1 and ∠A4A1E1 are equal. In addition, according to the sine theorem of triangles, we can get that H-Y1=L A1A4 ×sin∠A4A1E1=L A1A4 ×∠A3A2F1, since∠A3A2F1=∠B1A2F1-∠B1A2A3, we can get H-Y1=L A1A4 ×sin(∠B1A2F1-∠B1A2A3). Among them, ∠B1A2F1 is the sum of the first initial angle of the boom and the change in the adjustment angle (α+Δα), that is, the second leveling function relationship can be obtained as H-Y1=L A1A4 × sin (α + Δα - ∠B1A2A3), and then the first height H, the height information Y1 of the first virtual point A1, the first initial angle information α of the boom at the initial height, the fixed angle information ∠B1A2A3 and the fixed length information L A1A4 Substituting into the second leveling function relationship, the first adjustment angle α+Δα and the second adjustment angle Δα can be obtained. For example, assuming that the height information Y1 of the first virtual point A1 is 1m, the first height H is 2m, the fixed angle information ∠B1A2A3 is 10°, and the fixed length information L A1A4 In the initial state (H=0), the first initial angle information α of the boom is -5°, and after substituting it into the second leveling function relationship, it can be obtained that the first adjustment angle α+Δα is 21.53°, and the second adjustment angle Δα is 26.53°.

[0086] S340, obtaining first actual angle information of the boom, and controlling the boom cylinder to adjust the angle of the boom according to a comparison between the first adjustment angle and the first actual angle information, so that the first actual angle information is equal to the first adjustment angle.

[0087] Specifically, the actual angle between the boom and the chassis, that is, the first actual angle information of the boom, can be detected by the boom angle detection unit, and the first actual angle information can be compared with the first adjustment angle α+Δα of the boom cylinder. Specifically, if the first actual angle information is greater than the first adjustment angle α+Δα, the boom cylinder contracts to reduce the first actual angle information of the boom until the first actual angle information of the boom is equal to the first adjustment angle α+Δα, and the boom cylinder stops working. If the first actual angle information is equal to the first adjustment angle α+Δα, the boom cylinder does not work. If the first actual angle information is less than the first adjustment angle α+Δα, the boom cylinder extends to increase the first actual angle information of the boom until the first actual angle information of the boom is equal to the first adjustment angle α+Δα, and the boom cylinder stops working. Exemplarily, if the first adjustment angle α+Δα is 21.53°, the first actual angle information of the boom is 10°. The luffing cylinder extends until the first actual angle information of the boom increases to 21.53°, and then the luffing cylinder stops working.

[0088] S350, obtaining the second initial angle information of the auxiliary tool at the initial height, and determining the adjustment angle information of the auxiliary tool based on the second initial angle information and the second adjustment angle, obtaining the second actual angle information of the auxiliary tool, and controlling the leveling cylinder to adjust the angle of the auxiliary tool based on the comparison between the adjustment angle information of the auxiliary tool and the second actual angle information, so that the second actual angle information is equal to the adjustment angle information of the auxiliary tool.

[0089] Specifically, the second adjustment angle Δα of the leveling cylinder is the change in the adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from the initial height to the first height. Since the initial height is H=0, when the auxiliary tool is adjusted from the initial height to the first height, the angle of the boom increases, while the angle of the auxiliary tool decreases, and the increased angle of the boom is the same as the decreased angle of the auxiliary tool. In this way, by subtracting the second adjustment angle Δα from the second initial angle information β of the auxiliary tool at the initial height, the required angle information of the auxiliary tool when the auxiliary tool is adjusted from the initial height to the first height, that is, the adjustment angle information (β-Δα) of the auxiliary tool, is obtained. And the second actual angle information β1 is compared with the adjustment angle information (β-Δα) of the auxiliary tool. Exemplarily, if the second actual angle information β1 is greater than the adjustment angle information (β-Δα), the leveling cylinder contracts to reduce the second actual angle information of the auxiliary tool until the second actual angle information β1 of the auxiliary tool is equal to the adjustment angle information (β-Δα), and the leveling cylinder stops working. If the second actual angle information β1 is equal to the adjustment angle information (β-Δα), the leveling does not work. If the second actual angle information β1 is less than the adjustment angle information (β-Δα), the leveling cylinder is extended to increase the second actual angle information of the auxiliary tool until the second actual angle information of the auxiliary tool is equal to the adjustment angle information (β-Δα), and the leveling cylinder stops working. Exemplarily, assuming that the second actual angle information β1 is 100°, the second adjustment angle Δα is 26.53°, and the second initial angle information β of the auxiliary tool at the initial height is 120°, then the adjustment angle information (β-Δα) is 93.47°, and then the leveling cylinder contracts until the second actual angle information of the auxiliary tool is reduced to 93.47°, and the leveling cylinder stops working.

[0090] In summary, when the first height is greater than the height information of the first virtual point, the embodiment of the present invention determines that the preset leveling function relationship includes the second leveling function relationship, and substitutes the first height, the height information of the first virtual point, the fixed length information and the first initial angle information into the second leveling function relationship to determine the first adjustment angle and the second adjustment angle, and controls the variable amplitude cylinder to adjust the angle of the boom according to the comparison between the first adjustment angle and the first actual angle information, and controls the leveling cylinder to adjust the angle of the auxiliary tool according to the comparison between the adjustment angle information of the auxiliary tool and the second actual angle information. In this way, when the first height is greater than the height information of the first virtual point, the corresponding second leveling function relationship is used to determine the first adjustment angle and the second adjustment angle to adjust the boom and the auxiliary tool, so as to realize automatic leveling of the auxiliary tool, reduce the difficulty of leveling the auxiliary tool, improve the convenience of operation, improve work efficiency, avoid the problem of serious wear of the auxiliary tool due to improper operation and violent operation of the operator, and improve the service life of the auxiliary tool.

[0091] Embodiment 4

[0092] Figure 7This is a schematic diagram of the structure of a telescopic forklift leveling device provided by the fourth embodiment of the present invention. This embodiment is applicable to situations where it is difficult to level the auxiliary tool by visual means, which is not conducive to the operation of novice drivers. In addition, the operability is poor during the work process, and the constant manual leveling wastes working time and affects the work efficiency. The specific structure of the leveling device is as follows:

[0093] The determination module 100 is used to determine the height information of the first virtual point according to the positional relationship among the boom, the chassis and the auxiliary tool.

[0094] The first height acquisition module 200 is used to acquire a first height of the upper surface of the auxiliary tool in a horizontal state.

[0095] The angle determination module 300 is used to determine the first adjustment angle of the luffing cylinder and the second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from the initial height to the first height according to the first height, the height information of the first virtual point and the preset leveling function relationship.

[0096] The adjustment module 400 is used to obtain the first actual angle information of the boom and the second actual angle information of the auxiliary tool, and control the boom cylinder to adjust the angle of the boom according to the first adjustment angle and the first actual angle information, and control the leveling cylinder to adjust the angle of the auxiliary tool according to the second adjustment angle and the second actual angle information.

[0097] The determination module 100 is also used to establish a coordinate system of the telescopic forklift, determine the first position point of the hinge between the arm and the chassis, the second position point of the hinge between the arm and the auxiliary tool, and the third position point of the projection of the center of gravity of the cargo on the surface of the auxiliary tool. And determine the height information of the first virtual point according to the first position point, the second position point and the third position point. Among them, the lines connecting the first position point, the second position point, the third position point and the adjacent two points of the first virtual point form a parallelogram.

[0098] The angle determination module 300 is also used to determine that the preset leveling function relationship includes the first leveling function relationship when the first height is less than or equal to the height information of the first virtual point, and determine the fixed length information according to the height information of the first virtual point and the position information of the third position point projected on the auxiliary surface by the center of gravity of the cargo. And obtain the first initial angle information of the boom at the initial height, and determine the first adjustment angle and the second adjustment angle according to the first height, the height information of the first virtual point, the first leveling function relationship, the fixed length information and the first initial angle information.

[0099] The first leveling function relationship includes:

[0100] Y1-H=L A1A4 ×sin(∠B1A2A3-(α+Δα))

[0101] Among them, Y1 is the height information of the first virtual point, H is the height information of the first height, L A1A4 is the fixed length information, ∠B1A2A3 is the fixed angle information, α is the first initial angle information of the boom at the initial height, α+Δα is the first adjustment angle, and Δα is the second adjustment angle.

[0102] The angle determination module 300 is also used to determine that the preset leveling function relationship includes a second leveling function relationship when the first height is greater than the height information of the first virtual point, and determine the fixed length information according to the height information of the first virtual point and the position information of the third position point projected by the center of gravity of the cargo on the surface of the auxiliary tool. And obtain the first initial angle information of the boom at the initial height, and determine the first adjustment angle and the second adjustment angle according to the first height, the height information of the first virtual point, the second leveling function relationship, the fixed length information and the first initial angle information.

[0103] The second leveling function relationship includes:

[0104] H-Y1=LA1A4×sin(α+Δα-∠B1A2A3)

[0105] Among them, Y1 is the height information of the first virtual point, H is the height information of the first height, L A1A4 is the fixed length information, ∠B1A2A3 is the fixed angle information, α is the first initial angle information of the boom at the initial height, α+Δα is the first adjustment angle, and Δα is the second adjustment angle.

[0106] The adjustment module 400 is also used to obtain the first actual angle information of the boom, and control the boom cylinder to adjust the angle of the boom according to the comparison between the first adjustment angle and the first actual angle information, so that the first actual angle information is equal to the first adjustment angle. And obtain the second initial angle information of the auxiliary tool at the initial height, and determine the adjustment angle information of the auxiliary tool according to the second initial angle information and the second adjustment angle. Then, obtain the second actual angle information of the auxiliary tool, and control the leveling cylinder to adjust the angle of the auxiliary tool according to the comparison between the adjustment angle information of the auxiliary tool and the second actual angle information, so that the second actual angle information is equal to the adjustment angle information of the auxiliary tool.

[0107] In summary, the angle determination module in the embodiment of the present invention determines the first adjustment angle of the boom cylinder and the second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from the initial height to the first height based on the first height, the height information of the first virtual point and the preset leveling function relationship. The adjustment module obtains the first actual angle information of the boom and the second actual angle information of the auxiliary tool, and controls the boom cylinder to adjust the angle of the boom based on the first adjustment angle and the first actual angle information, and controls the leveling cylinder to adjust the angle of the auxiliary tool based on the second adjustment angle and the second actual angle information. In this way, during the entire leveling process, the operator can realize automatic leveling of the auxiliary tool by inputting the first height, which reduces the operational difficulty of leveling the auxiliary tool, improves operational convenience, improves work efficiency, and avoids the problem of serious wear of the auxiliary tool due to improper operation and violent operation of the operator, thereby improving the service life of the auxiliary tool.

[0108] Embodiment 5

[0109] Figure 8 This is a schematic diagram of the structure of a leveling device provided in Embodiment 5 of the present invention. The leveling device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The leveling device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0110] like Figure 8 As shown, the leveling device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the leveling device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0111] A number of components in the leveling device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the leveling device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0112] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above.

[0113] In some embodiments, the leveling method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the leveling device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the compensation method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the leveling method in any other suitable manner (e.g., by means of firmware).

[0114] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0115] Embodiment 6

[0116] Embodiment 6 of the present invention further provides a storage medium comprising computer executable instructions, wherein the computer executable instructions are used to execute a leveling method for a telescopic forklift when executed by a computer processor, the leveling method comprising:

[0117] Determining height information of a first virtual point according to the positional relationship among the boom, the chassis and the auxiliary tool;

[0118] Obtaining a first height of the upper surface of the auxiliary tool in a horizontal state;

[0119] Determine, according to the first height, the height information of the first virtual point and a preset leveling function relationship, a first adjustment angle of the luffing cylinder and a second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from an initial height to the first height;

[0120] The first actual angle information of the boom and the second actual angle information of the auxiliary tool are obtained, and the boom cylinder is controlled to adjust the angle of the boom according to the first adjustment angle and the first actual angle information, and the leveling cylinder is controlled to adjust the angle of the auxiliary tool according to the second adjustment angle and the second actual angle information.

[0121] Of course, the computer executable instructions of a storage medium including computer executable instructions provided by an embodiment of the present invention are not limited to the operations of the method described above, and can also execute related operations in the leveling method provided by any embodiment of the present invention.

[0122] Through the above description of the implementation methods, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (FLASH), a hard disk or an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0123] It is worth noting that in the embodiment of the above-mentioned search device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0124] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for leveling a telescopic forklift, the telescopic forklift comprising a boom, a chassis and an auxiliary tool; the boom is provided with a luffing cylinder and a leveling cylinder, the luffing cylinder is used to adjust the angle of the boom, and the leveling cylinder is used to adjust the angle of the auxiliary tool, characterized in that: The leveling method comprises: Determining height information of a first virtual point according to the positional relationship among the boom, the chassis and the auxiliary tool; Obtaining a first height of the upper surface of the auxiliary tool in a horizontal state; Determine, according to the first height, the height information of the first virtual point and a preset leveling function relationship, a first adjustment angle of the luffing cylinder and a second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from an initial height to the first height; Acquire first actual angle information of the boom and second actual angle information of the auxiliary tool, and control the luffing cylinder to adjust the angle of the boom according to the first adjustment angle and the first actual angle information, and control the leveling cylinder to adjust the angle of the auxiliary tool according to the second adjustment angle and the second actual angle information; Determining the height information of the first virtual point according to the positional relationship between the boom, the chassis and the auxiliary tool comprises: Establishing a coordinate system of the telescopic forklift; Determine a first position point of a hinge point between the boom and the chassis, a second position point of a hinge point between the boom and the auxiliary tool, and a third position point of a projection of the center of gravity of the cargo on the surface of the auxiliary tool; The height information of the first virtual point is determined according to the first position point, the second position point and the third position point; the lines connecting two adjacent points among the first position point, the second position point, the third position point and the first virtual point form a parallelogram.

2. The leveling method according to claim 1, characterized in that: The determining, according to the first height, the height information of the first virtual point and a preset leveling function relationship, a first adjustment angle of the luffing cylinder and a second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from an initial height to the first height comprises: When the first height is less than or equal to the height information of the first virtual point, determining that the preset leveling function relationship includes a first leveling function relationship; Determine the fixed length information according to the height information of the first virtual point and the position information of the third position point projected by the center of gravity of the cargo on the surface of the auxiliary tool; Acquire first initial angle information of the boom at an initial height; The first adjustment angle and the second adjustment angle are determined according to the first height, the height information of the first virtual point, the first leveling function relationship, the fixed length information, and the first initial angle information.

3. The leveling method according to claim 2, characterized in that: The first virtual point is A1, the first position point of the hinge between the boom and the chassis is A2, the second position point of the hinge between the boom and the auxiliary tool is A3, the third position point of the center of gravity of the cargo projected on the surface of the auxiliary tool is A4, and the hinge point between the leveling cylinder and the boom is B1; The first leveling function relationship includes: Y1-H=L A1A4 ×sin(∠B1A2A3-(α+Δα)); Wherein, Y1 is the height information of the first virtual point, H is the height information of the first height, L A1A4 is the fixed length information, ∠B1A2A3 is the fixed angle information, α is the first initial angle information of the boom at the initial height, α+Δα is the first adjustment angle, and Δα is the second adjustment angle.

4. The leveling method according to claim 1, characterized in that: The determining, according to the first height, the height information of the first virtual point and a preset leveling function relationship, a first adjustment angle of the luffing cylinder and a second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from an initial height to the first height comprises: When the first height is greater than the height information of the first virtual point, determining that the preset leveling function relationship includes a second leveling function relationship; Determine the fixed length information according to the height information of the first virtual point and the position information of the third position point projected by the center of gravity of the cargo on the surface of the auxiliary tool; Acquire first initial angle information of the boom at an initial height; The first adjustment angle and the second adjustment angle are determined according to the first height, the height information of the first virtual point, the second leveling function relationship, the fixed length information and the first initial angle information.

5. The leveling method according to claim 4, characterized in that: The first virtual point is A1, the first position point of the hinge between the boom and the chassis is A2, the second position point of the hinge between the boom and the auxiliary tool is A3, the third position point of the projection of the center of gravity of the cargo on the surface of the auxiliary tool is A4, and the hinge point between the leveling cylinder and the boom is B1; The second leveling function relationship includes: H-Y1=L A1A4 ×sin(α+Δα-∠B1A2A3); Wherein, Y1 is the height information of the first virtual point, H is the height information of the first height, L A1A4 is the fixed length information, ∠B1A2A3 is the fixed angle information, α is the first initial angle information of the boom at the initial height, α+Δα is the first adjustment angle, and Δα is the second adjustment angle.

6. The leveling method according to claim 1, characterized in that: The acquiring the first actual angle information of the boom and the second actual angle information of the auxiliary tool, and controlling the luffing cylinder to adjust the angle of the boom according to the first adjustment angle and the first actual angle information, and controlling the leveling cylinder to adjust the angle of the auxiliary tool according to the second adjustment angle and the second actual angle information, comprises: Acquire first actual angle information of the boom, and control the luffing cylinder to adjust the angle of the boom according to a comparison between the first adjustment angle and the first actual angle information, so that the first actual angle information is equal to the first adjustment angle; Acquire second initial angle information of the assistive device at an initial height, and determine adjustment angle information of the assistive device according to the second initial angle information and the second adjustment angle; The second actual angle information of the auxiliary tool is obtained, and the leveling cylinder is controlled to adjust the angle of the auxiliary tool according to the comparison between the adjustment angle information of the auxiliary tool and the second actual angle information, so that the second actual angle information is equal to the adjustment angle information of the auxiliary tool.

7. A leveling device for a telescopic forklift, the telescopic forklift comprising a boom, a chassis and an auxiliary tool; the boom is provided with a luffing cylinder and a leveling cylinder, the luffing cylinder is used to adjust the angle of the boom, and the leveling cylinder is used to adjust the angle of the auxiliary tool, characterized in that: The leveling device comprises: A determination module, used to determine the height information of the first virtual point according to the positional relationship between the boom, the chassis and the auxiliary tool; A first height acquisition module, used to acquire a first height of the upper surface of the auxiliary tool in a horizontal state; an angle determination module, configured to determine, according to the first height, the height information of the first virtual point and a preset leveling function relationship, a first adjustment angle of the luffing cylinder and a second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from an initial height to the first height; an adjusting module, configured to obtain first actual angle information of the boom and second actual angle information of the auxiliary tool, and control the luffing cylinder to adjust the angle of the boom according to the first adjustment angle and the first actual angle information, and control the leveling cylinder to adjust the angle of the auxiliary tool according to the second adjustment angle and the second actual angle information; The determination module is also used to establish a coordinate system of the telescopic forklift, determine a first position point of the hinge point between the arm and the chassis, a second position point of the hinge point between the arm and the auxiliary device, and a third position point of the projection of the center of gravity of the cargo on the surface of the auxiliary device; and determine the height information of the first virtual point based on the first position point, the second position point and the third position point; wherein the lines connecting two adjacent points among the first position point, the second position point, the third position point and the first virtual point form a parallelogram.

8. A leveling device, characterized in that: The leveling device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the leveling method according to any one of claims 1 to 6.

9. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the leveling method as claimed in any one of claims 1 to 6 is implemented.

Images