Automatic control lifting device and method

Abstract

The invention discloses an automatic control lifting device and method. When the tent is folded, firstly, the hydraulic system is controlled by the electrical control system to slowly extend the left horizontal telescopic end of the left horizontal telescopic arm to the left, and slowly extend the right horizontal telescopic end of the right horizontal telescopic arm to the right, and the position image information directly above the camera is collected by the camera. When the electrical control system determines that the two tent middle frames in the tent are facing the middle of the camera by analyzing the position image information, the electrical control system controls the hydraulic system to stop the extension of the left horizontal telescopic end and the right horizontal telescopic end, and starts the hydraulic system to extend the telescopic column upward according to the preset extension height, so that the cone outside the camera is just inserted into the tent middle frame directly above and the whole tent is supported by the tent middle frame. At this time, due to the action of gravity, the whole tent can be automatically folded.

Description

Technical Field

[0001] The invention relates to the technical field of hydraulic lifting and stretching equipment, and in particular to an automatic control lifting device and method. Background Art

[0002] In outdoor activities, camping and emergency rescue, the rapid erection and stable deployment of tents are crucial. However, existing tent lifting devices usually rely on manual alignment of the middle frame of the tent, which is not only time-consuming and labor-intensive, but also prone to position deviation, resulting in the tent being unable to be stably deployed. In addition, the manual alignment process has certain technical requirements, and the differences in operating levels of different personnel will also affect the efficiency of tent erection. With the increasing demand for convenience and automation, existing technologies are becoming less and less suitable for the requirements of fast and safe tent erection. Therefore, there is an urgent need for a device that can automatically align and lift the middle frame of the tent to improve erection efficiency and accuracy and reduce manpower input. Summary of the invention

[0003] The object of the present invention is to provide an automatic controlled lifting device and method, which can control the extension of a horizontal telescopic arm when the tent is folded. When the cone on the horizontal telescopic arm is aligned with the tent middle frame above the cone, the extension of the horizontal telescopic arm is stopped and the telescopic column is controlled to extend upward to a preset height, thereby lifting the tent and finally quickly folding the tent.

[0004] The present invention provides an automatic control jacking device, comprising a horizontal telescopic arm, a telescopic column, a hydraulic system, a camera and an electrical control system;

[0005] The horizontal telescopic arm is fixed on the telescopic column;

[0006] The horizontal telescopic arm and the telescopic column are in a T-shaped structure;

[0007] The hydraulic system is arranged inside the horizontal telescopic arm and the telescopic column, and is used to horizontally telescope the horizontal telescopic arm and vertically telescope the telescopic column;

[0008] in,

[0009] The horizontal telescopic arm comprises a left horizontal telescopic arm and a right horizontal telescopic arm;

[0010] The left-hand horizontal telescopic arm comprises a left-hand horizontal telescopic end;

[0011] The right-hand horizontal telescopic arm comprises a right-hand horizontal telescopic end;

[0012] wherein the extension direction of the left-direction horizontal telescopic end of the left-direction horizontal telescopic arm is opposite to the extension direction of the right-direction horizontal telescopic end of the right-direction horizontal telescopic arm;

[0013] The left horizontal telescopic end is connected to a left rotating support device;

[0014] The right-hand horizontal telescopic end is connected to a right-hand rotating support device;

[0015] There are two cameras, which are respectively arranged on the left rotating support device and the right rotating support device, and are used to collect position image information;

[0016] The electrical control system is electrically connected to the camera and the hydraulic system, and is used to obtain the position image information collected by the camera, analyze and process the position image information, and send the analysis and processing result information to the hydraulic system so that the hydraulic system can control the extension of the horizontal telescopic arm.

[0017] In one practicable manner, the left rotation support device comprises a left rotational connection member, a slewing bearing and a cone;

[0018] The left connecting piece is connected to the left horizontal telescopic end;

[0019] The slewing bearing is fixedly connected to the left swivel member;

[0020] The cone is fixedly connected to the slewing bearing;

[0021] The right rotation support device comprises a right connecting piece, the slewing bearing and the cone;

[0022] The right transfer member is connected to the right horizontal telescopic end;

[0023] The slewing bearing is fixedly connected to the right connecting member;

[0024] The cone is fixedly connected to the slewing bearing.

[0025] In one implementation, the cone is a hollow structure with an opening at the top, the camera is disposed inside the cone, and collects position image information directly above the cone through the opening at the top of the cone.

[0026] In one implementable method, the left transfer member is rotatably connected to the left horizontal telescopic end; the right transfer member is fixedly connected to the right horizontal telescopic end; when the left horizontal telescopic end and the right horizontal telescopic end are extended, the left transfer member is rotated so that the line connecting the center points of the two cones is parallel to the horizontal axis of the right horizontal telescopic arm.

[0027] In one practicable manner, the horizontal telescopic arm is fixed to the telescopic column via a flange.

[0028] In one practicable manner, the automatic controlled lifting device further comprises a plurality of diagonal braces, and the diagonal braces are detachably connected to the telescopic columns so as to support the telescopic columns.

[0029] The present invention also provides an automatic control jacking method, which is applied to the above-mentioned automatic control jacking device, and the method comprises:

[0030] S1, the hydraulic system controls the left horizontal telescopic arm and the right horizontal telescopic arm to extend to the left and right directions respectively;

[0031] S2, the camera collects position image information and sends the position image information to the electrical control system;

[0032] S3, the electrical control system calculates and processes the position image information to obtain a position deviation value;

[0033] S4, the electrical control system determines whether the position deviation value is less than a preset deviation threshold value, and obtains a position determination result;

[0034] When the position judgment result is yes, the hydraulic system is triggered to stop extending the left horizontal telescopic arm and the right horizontal telescopic arm to the left and right directions respectively, and controls the telescopic column to extend upward to a preset height;

[0035] When the judgment result is no, execute S1.

[0036] In one practicable manner, the electrical control system calculates and processes the position image information to obtain a position deviation value, including:

[0037] S31, preprocessing the position image information to obtain image contour information;

[0038] S32, calculating and processing the position image information and the image contour information to obtain a position deviation value.

[0039] In one practicable manner, the preprocessing of the position image information to obtain image contour information includes:

[0040] S311, performing calculation processing on the position image information to obtain first image information;

[0041] S312, performing denoising processing on the first image information to obtain denoised image information;

[0042] S313: Perform contour detection processing on the denoised image information to obtain image contour information.

[0043] In one practicable manner, the calculating and processing the position image information and the image contour information to obtain the position deviation value includes:

[0044] S321, performing recognition processing on the image contour information to obtain the center coordinate information of the contour to be processed;

[0045] S322, using a first deviation calculation model, calculating and processing the position image information and the center coordinate information of the contour to be processed to obtain position deviation information;

[0046] Wherein, the first deviation calculation model is:

[0047]

[0048] Wherein, ΔX and ΔY are the x-axis deviation value and the y-axis deviation value in the position deviation information, W and H are the image width and the image height in the position image information, and (X1, Y1) is the corresponding coordinate information in the coordinate information of the center of the contour to be processed;

[0049] S323, using a second deviation calculation model, calculating and processing the position deviation information to obtain a position deviation value;

[0050] Wherein, the second deviation calculation model is:

[0051] PCZ=α1·ΔX+α2·ΔY+α3;

[0052] Wherein, PCZ is the position deviation value, α1, α2 and α3 are the first weight parameter, the second weight parameter and the third weight parameter respectively.

[0053] Beneficial effects of the present invention:

[0054] The present invention can control the extension of the horizontal telescopic arm when the tent is folded. When the cone on the horizontal telescopic arm is aligned with the tent middle frame above the cone, the extension of the horizontal telescopic arm is stopped and the telescopic column is controlled to extend upward to a preset height, so that the tent can be lifted up and the tent can be quickly folded up eventually. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1It is a structural schematic diagram of an automatic control jacking device of the present invention;

[0057] Figure 2 It is a schematic diagram of the structure of a hydraulic system of an automatic control jacking device of the present invention;

[0058] Figure 3 This is a schematic diagram of the alignment of an automatic control lifting device and a tent middle frame of the present invention;

[0059] Figure 4 The present invention is a schematic flow chart of an automatic controlled lifting method.

[0060] Description of reference numerals:

[0061] 1. Horizontal telescopic arm; 11. Left horizontal telescopic arm; 111. Left horizontal telescopic end; 12. Right horizontal telescopic arm; 121. Right horizontal telescopic end; 13. Left rotating support device; 14. Right rotating support device; 15. Left transfer member; 16. Right transfer member; 17. Rotary bearing; 18. Cone;

[0062] 2. Telescopic column;

[0063] 3. Hydraulic system;

[0064] 4. Camera;

[0065] 5. Diagonal bracing;

[0066] 6. tent; 61. tent middle frame; 62. tent legs; 63. tent frame. DETAILED DESCRIPTION

[0067] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than 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 scope of protection of the present invention.

[0068] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0069] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected" and "connected" 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 indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0070] Embodiment 1

[0071] See also Figure 1 , Figure 2 and Figure 3 In a first aspect, the present invention provides an automatic control lifting device, which includes a horizontal telescopic arm 1, a telescopic column 2, a hydraulic system 3, a camera 4 and an electrical control system.

[0072] The horizontal telescopic arm 1 is fixed on the telescopic column 2.

[0073] The horizontal telescopic arm 1 and the telescopic column 2 are in a "T"-shaped structure.

[0074] The hydraulic system 3 is arranged inside the horizontal telescopic arm 1 and the telescopic column 2, and is used for horizontally telescoping the horizontal telescopic arm 1 and vertically telescoping the telescopic column 2.

[0075] in,

[0076] The horizontal telescopic arm 1 comprises a left horizontal telescopic arm 11 and a right horizontal telescopic arm 12 .

[0077] The leftward horizontal telescopic arm 11 includes a leftward horizontal telescopic end 111 .

[0078] The rightward horizontal telescopic arm 12 includes a rightward horizontal telescopic end 121 .

[0079] The extending direction of the left-hand horizontal telescopic end 111 of the left-hand horizontal telescopic arm 11 is opposite to the extending direction of the right-hand horizontal telescopic end 121 of the right-hand horizontal telescopic arm 12 .

[0080] The left horizontal telescopic end 111 is connected to a left rotation support device 13 .

[0081] The right horizontal telescopic end 121 is connected to the right rotating support device 14 .

[0082] There are two cameras 4, which are respectively arranged on the left rotating support device 13 and the right rotating support device 14, and are used to collect position image information.

[0083] The electrical control system is electrically connected to the camera 4 and the hydraulic system 3, and is used to obtain the position image information collected by the camera 4, analyze and process the position image information, and send the analysis and processing result information to the hydraulic system 3, so that the hydraulic system 3 can control the extension of the horizontal telescopic arm 1.

[0084] Specifically, when the tent 6 is folded, the hydraulic system 3 is first controlled by the electrical control system to slowly extend the left horizontal telescopic end 111 of the left horizontal telescopic arm 11 to the left, and slowly extend the right horizontal telescopic end 121 of the right horizontal telescopic arm 12 to the right, and the camera 4 is used to collect the position image information directly above the camera 4. When the electrical control system determines that the two tent middle frames 61 in the tent 6 are facing the middle of the camera 4 by analyzing the position image information, the electrical control system controls the hydraulic system 3 to stop the extension of the left horizontal telescopic end 111 and the right horizontal telescopic end 121, and starts the hydraulic system 3 to extend the telescopic column 2 upward according to the preset extension height, so that the cone 18 outside the camera 4 is just inserted into the tent middle frame 61 directly above and the entire tent 6 is supported by the tent middle frame 61. At this time, due to the action of gravity, the entire tent 6 can be automatically folded.

[0085] In one embodiment, the left rotation support device 13 includes a left rotation component 15 , a slew bearing 17 and a cone 18 .

[0086] The left transition piece 15 is connected to the left horizontal telescopic end 111 .

[0087] The slewing bearing 17 is fixedly connected to the left swivel member 15 .

[0088] The cone 18 is fixedly connected to the slewing bearing 17 .

[0089] The right rotation support device 14 includes a right transfer member 16 , a slewing bearing 17 and a cone 18 .

[0090] The right transition piece 16 is connected to the right horizontal telescopic end 121 .

[0091] The slewing bearing 17 is fixedly connected to the right connecting member 16 .

[0092] The cone 18 is fixedly connected to the slewing bearing 17 .

[0093] When the left horizontal telescopic end 111 and the right horizontal telescopic end 121 are extended to the left and right directions respectively and reach the corresponding middle frame position on the tent 6 above the cone 18, when the telescopic column 2 is extended upward, the cone 18 can face the tent middle frame 61 and be inserted into the tent middle frame 61, thereby supporting the tent 6.

[0094] In one embodiment, the cone 18 is a hollow structure with an opening at the top. The camera 4 is disposed inside the cone 18 and collects position image information directly above the cone 18 through the opening at the top of the cone 18 .

[0095] Specifically, the lens of the camera 4 faces upward so as to be able to capture the tent middle frame 61 directly above the camera 4 .

[0096] In one embodiment, the left transition member 15 is rotatably connected to the left horizontal telescopic end 111. The right transition member 16 is fixedly connected to the right horizontal telescopic end 121. When the left horizontal telescopic end 111 and the right horizontal telescopic end 121 are extended, the left transition member 15 is rotated so that the line connecting the center points of the two cones 18 is parallel to the horizontal axis of the right horizontal telescopic arm 12.

[0097] Exemplarily, since there are two tent middle frames 61, when the left horizontal telescopic end 111 and the right horizontal telescopic end 121 are extended, the left connecting piece 15 is rotated so that the line connecting the cone 18 above the left connecting piece 15 and the cone 18 above the right connecting piece 16 is parallel to the line connecting the two tent middle frames 61. At this time, when the telescopic column 2 is extended upward, the two cones 18 can just be inserted into the two tent middle frames 61 without being offset.

[0098] In one embodiment, the horizontal telescopic arm 1 is fixed to the telescopic column 2 via a flange.

[0099] In one of the embodiments, the automatic control lifting device further includes a plurality of diagonal braces 5 , which are detachably connected to the telescopic columns 2 so as to support the telescopic columns 2 .

[0100] In one embodiment, the tent 6 includes a tent middle frame 61, tent legs 62, a tent frame 63 and a tent cloth.

[0101] The tent middle frame 61 is connected to the tent frame 63 , the tent frame 63 is connected to the tent legs 62 , and the tent frame 63 is detachably provided with a tent cloth.

[0102] Embodiment 2

[0103] See also Figure 4 The second aspect of the present invention provides an automatic control jacking method, which is applied to the automatic control jacking device in the first embodiment of the present invention, and the method comprises:

[0104] S1, the hydraulic system controls the left horizontal telescopic arm and the right horizontal telescopic arm to extend to the left and right directions respectively.

[0105] S2, the camera collects position image information and sends the position image information to the electrical control system.

[0106] S3, the electrical control system calculates and processes the position image information to obtain a position deviation value.

[0107] It should be noted that the position deviation value represents the deviation of the position of the tent middle frame directly above the cone.

[0108] S4, the electrical control system determines whether the position deviation value is less than a preset deviation threshold value, and obtains a position determination result.

[0109] When the position judgment result is yes, the hydraulic system is triggered to stop extending the left horizontal telescopic arm and the right horizontal telescopic arm to the left and right directions respectively, and controls the telescopic column to extend upward to a preset height.

[0110] When the judgment result is no, execute S1.

[0111] It should be noted that the preset deviation threshold is the minimum deviation value of the deviation of the position of the tent middle frame directly above the cone. When the position deviation value is less than the preset deviation threshold, the cone can be successfully inserted into the tent middle frame. Otherwise, the deviation is too large and cannot be inserted into the tent middle frame.

[0112] In an optional embodiment, the electrical control system calculates and processes the position image information to obtain the position deviation value, including:

[0113] S31, preprocessing the position image information to obtain image contour information.

[0114] S32, calculating and processing the position image information and the image contour information to obtain a position deviation value.

[0115] In an optional embodiment, preprocessing the position image information to obtain image contour information includes:

[0116] S311, calculating and processing the position image information to obtain first image information.

[0117] It should be noted that the above-mentioned calculation and processing of the position image information to obtain the first image information is obtained through a position image calculation model.

[0118] Among them, the position image calculation model is:

[0119] V i =σ1·R i+σ2·S i +σ3·T i 1≤i≤L;

[0120] σ1+σ2+σ3=1;

[0121] Where V is the first image information, V i is the i-th pixel value in the first image information, R i is the first channel value of the i-th pixel in the position image information, S i is the second channel value of the i-th pixel in the position image information, T i is the third channel value of the i-th pixel in the position image information, L is the total number of pixels in the position image information, σ1, σ2, σ3 are the first weight coefficient, the second weight coefficient, and the third weight coefficient.

[0122] It should be noted that the first channel value, the second channel value and the third channel value represent one of the red channel value, the green channel value and the blue channel value. For example, if the first channel value is the red channel value and the second channel value is the blue channel value, then the third channel value is the green channel value. The specific setting is set by the user and is not specifically limited in the embodiment of the present invention.

[0123] It should be noted that the first weight coefficient, the second weight coefficient, and the third weight coefficient may be set by a user, or may be obtained based on historical data, and the embodiment of the present invention does not specifically limit this.

[0124] S312: Perform denoising processing on the first image information to obtain denoised image information.

[0125] It should be noted that the above denoising process is performed by a Gaussian filter, or other algorithms for denoising the image, which is not specifically limited in the embodiment of the present invention.

[0126] S313, performing contour detection processing on the denoised image information to obtain image contour information.

[0127] It should be noted that the above-mentioned contour detection processing detects the edges in the denoised image information through the Canny edge detection algorithm, and then uses the contour detection algorithm based on connected components to detect the contour. Specifically, the embodiment of the present invention is not limited, and other algorithms capable of contour detection can be used for detection.

[0128] In an optional embodiment, the position image information and the image contour information are calculated and processed to obtain the position deviation value, including:

[0129] S321, performing recognition processing on the image contour information to obtain the center coordinate information of the contour to be processed.

[0130] It should be noted that the above recognition process is processed by polygonal approximation algorithm recognition. For example, if the tent frame is a quadrilateral, the quadrilateral in the image is recognized by polygonal approximation algorithm recognition, and the center coordinate information of the contour to be processed is calculated by the coordinate positions of the four vertices of the quadrilateral.

[0131] It should be noted that the coordinate information in the present application is the coordinate in a two-dimensional plane coordinate system, that is, the vertex of the lower left corner of the position image information is taken as the origin, the direction from the lower left corner to the lower right corner is the positive direction of the X-axis, and the direction from the lower left corner to the upper left corner is the positive direction of the Y-axis. Each pixel point in the image is in the first quadrant of the coordinate system, and each pixel point corresponds to a coordinate point.

[0132] S322, using the first deviation calculation model, calculate and process the position image information and the center coordinate information of the contour to be processed to obtain position deviation information.

[0133] Among them, the first deviation calculation model is:

[0134]

[0135] Wherein, ΔX and ΔY are the X-axis deviation value and the Y-axis deviation value in the position deviation information, W and H are the image width and the image height in the position image information, and (X1, Y1) is the corresponding coordinate information in the coordinate information of the center of the contour to be processed.

[0136] S323, using the second deviation calculation model, calculating and processing the position deviation information to obtain a position deviation value.

[0137] Among them, the second deviation calculation model is:

[0138]

[0139] Wherein, PCZ is the position deviation value, α1, α2 and α3 are the first weight parameter, the second weight parameter and the third weight parameter respectively.

[0140] It should be noted that the first weight parameter, the second weight parameter and the third weight parameter may be set by a user or may be obtained based on historical data, and the embodiment of the present invention does not specifically limit this.

[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic control lifting device, characterized in that: It includes horizontal telescopic arms, telescopic columns, hydraulic systems, cameras and electrical control systems; The horizontal telescopic arm is fixed on the telescopic column; The horizontal telescopic arm and the telescopic column are in a T-shaped structure; The hydraulic system is arranged inside the horizontal telescopic arm and the telescopic column, and is used to horizontally telescope the horizontal telescopic arm and vertically telescope the telescopic column; in, The horizontal telescopic arm comprises a left horizontal telescopic arm and a right horizontal telescopic arm; The left-hand horizontal telescopic arm comprises a left-hand horizontal telescopic end; The right-hand horizontal telescopic arm comprises a right-hand horizontal telescopic end; wherein the extension direction of the left-direction horizontal telescopic end of the left-direction horizontal telescopic arm is opposite to the extension direction of the right-direction horizontal telescopic end of the right-direction horizontal telescopic arm; The left horizontal telescopic end is connected to a left rotating support device; The right-hand horizontal telescopic end is connected to a right-hand rotating support device; There are two cameras, which are respectively arranged on the left rotating support device and the right rotating support device, and are used to collect position image information; The electrical control system is electrically connected to the camera and the hydraulic system, and is used to obtain the position image information collected by the camera, analyze and process the position image information, and send the result information of the analysis and processing to the hydraulic system, so that the hydraulic system can control the extension of the horizontal telescopic arm; The left-hand rotating support device comprises a left-hand rotating member, a slewing bearing and a cone; The left connecting piece is connected to the left horizontal telescopic end; The slewing bearing is fixedly connected to the left swivel member; The cone is fixedly connected to the slewing bearing; The right rotation support device comprises a right connecting piece, the slewing bearing and the cone; The right transfer member is connected to the right horizontal telescopic end; The slewing bearing is fixedly connected to the right connecting member; The cone is fixedly connected to the slewing bearing.

2. The automatic control lifting device according to claim 1 is characterized in that: The cone is a hollow structure with an opening at the top. The camera is arranged inside the cone and collects position image information directly above the cone through the opening at the top of the cone.

3. The automatic control lifting device according to claim 1, characterized in that: The left transfer member is rotatably connected to the left horizontal telescopic end; the right transfer member is fixedly connected to the right horizontal telescopic end; when the left horizontal telescopic end and the right horizontal telescopic end are extended, the left transfer member is rotated so that the line connecting the center points of the two cones is parallel to the horizontal axis of the right horizontal telescopic arm.

4. The automatic control lifting device according to claim 1, characterized in that: The horizontal telescopic arm is fixed on the telescopic column through a flange.

5. The automatic control lifting device according to claim 1, characterized in that: The automatic control lifting device also includes a plurality of diagonal braces, which are detachably connected to the telescopic columns so as to support the telescopic columns.

6. An automatic controlled lifting method, characterized in that: Applied to the automatic control jacking device according to any one of claims 1 to 5, the method comprises: S1, the hydraulic system controls the left horizontal telescopic arm and the right horizontal telescopic arm to extend to the left and right directions respectively; S2, the camera collects position image information and sends the position image information to the electrical control system; S3, the electrical control system calculates and processes the position image information to obtain a position deviation value; S4, the electrical control system determines whether the position deviation value is less than a preset deviation threshold value, and obtains a position determination result; When the position judgment result is yes, the hydraulic system is triggered to stop extending the left horizontal telescopic arm and the right horizontal telescopic arm to the left and right directions respectively, and controls the telescopic column to extend upward to a preset height; When the judgment result is no, execute S1.

7. The automatic controlled lifting method according to claim 6, characterized in that: The electrical control system calculates and processes the position image information to obtain a position deviation value, including: S31, preprocessing the position image information to obtain image contour information; S32, calculating and processing the position image information and the image contour information to obtain a position deviation value.

8. The automatic controlled lifting method according to claim 7, characterized in that: The preprocessing of the position image information to obtain image contour information includes: S311, performing calculation processing on the position image information to obtain first image information; S312, performing denoising processing on the first image information to obtain denoised image information; S313: Perform contour detection processing on the denoised image information to obtain image contour information.

9. The automatic controlled lifting method according to claim 7, characterized in that: The calculating and processing the position image information and the image contour information to obtain the position deviation value includes: S321, performing recognition processing on the image contour information to obtain the center coordinate information of the contour to be processed; S322, using a first deviation calculation model, calculating and processing the position image information and the center coordinate information of the contour to be processed to obtain position deviation information; Wherein, the first deviation calculation model is: Wherein, ΔX and ΔY are the x-axis deviation value and the y-axis deviation value in the position deviation information, W and H are the image width and the image height in the position image information, and (X1, Y1) is the corresponding coordinate information in the coordinate information of the center of the contour to be processed; S323, using a second deviation calculation model, calculating and processing the position deviation information to obtain a position deviation value; Wherein, the second deviation calculation model is: PCZ=α1·ΔX+α2·ΔY+α3; Wherein, PCZ is the position deviation value, α1, α2 and α3 are the first weight parameter, the second weight parameter and the third weight parameter respectively.

Images