Multi-supporting-leg automatic leveling control system and method

Abstract

The invention provides a multi-leg automatic leveling control system and method, and the system comprises a sensing system which is used for collecting the data of a to-be-tested platform; the control system is used for receiving data of the platform to be tested and sending an instruction to the driving device according to a leveling control algorithm; the driving device is used for receiving an instruction of the control system and operating the executing mechanism; and the execution mechanism is used for completing specified actions. According to the leveling control algorithm, the number and the positions of the supporting legs can be designed according to load distribution, the main leveling supporting legs and the main supporting legs are selected, the over-constraint problem caused by redundant supporting legs in the multi-leg leveling process is solved, and the virtual leg problem in the leveling process can be avoided.

Description

Technical Field

[0001] The present invention relates to the field of mechanical engineering and automation control technology, and in particular to a multi-leg automatic leveling control system and method. Background Art

[0002] For equipment with high precision requirements, it is crucial to ensure the levelness of its working platform, because any slight tilt may affect the working performance of the equipment and the quality of the final product. However, in actual operation, the working platform often deforms when subjected to external forces due to factors such as insufficient structural rigidity or uneven mass distribution, which leads to changes in levelness. In this case, the traditional manual leveling method is not only time-consuming and labor-intensive, but also difficult to achieve the required accuracy.

[0003] In the Chinese patent document with publication number CN107472210B, a hydraulic automatic leveling control system based on electromechanical and hydraulic integration design is disclosed, which adopts a hydraulically driven 8-leg support mechanism and uses ball screw legs to achieve cyclic leveling of the vehicle-mounted work platform in the X and Y directions. However, this leveling method lacks a pressure sensor to sense whether the auxiliary support legs are empty during the leveling process, and the leveling process is unstable, which is not suitable for leveling with high requirements for empty leg control.

[0004] Therefore, it is necessary to provide a new type of multi-leg automatic leveling system, which can ensure the leveling speed and stability through multi-dimensional perception of the system status. Summary of the invention

[0005] In view of the defects in the prior art, an object of the present invention is to provide a multi-leg automatic leveling control system and method.

[0006] A multi-leg automatic leveling control system provided by the present invention comprises:

[0007] The perception system is used to collect data from the platform under test;

[0008] A control system, used to receive data from the platform to be tested and send instructions to the drive device according to the leveling control algorithm;

[0009] A drive device, used to receive instructions from the control system and operate the actuator;

[0010] Actuator, used to complete the specified action.

[0011] Preferably, the control system includes a central processing unit, a digital input and output module, an analog input and output module and a communication module; the central processing unit is used to parse the input of the digital input and output module, the analog input and output module and the communication module, and complete the output of the digital input and output module, the analog input and output module and the communication module.

[0012] Preferably, the actuator includes hydraulic legs and various hydraulic control valves; the number of the hydraulic legs is not less than three; the various hydraulic control valves include a hydraulic control multi-way valve, a main pump flow control valve and a main pump pressure control valve; the main pump flow control valve and the main pump pressure control valve jointly adjust the power output of the power system, and the hydraulic control multi-way valve then adjusts the power output to the leveling legs to drive the legs to move.

[0013] Preferably, the sensing system includes a horizontal inclination sensor, a displacement sensor, an acceleration sensor and a pressure sensor; the horizontal inclination sensor is used to detect the horizontality of the platform to be tested; the displacement sensor is used to detect the actual extension distance of the hydraulic legs; the acceleration sensor is used to observe the movement trend of the hydraulic legs; and the pressure sensor is used to detect whether the hydraulic legs are touching the ground.

[0014] Preferably, the driving device includes an AC servo motor and a hydraulic pump; the AC servo motor drives the hydraulic pump, and together with the hydraulic pump, forms a power source for the hydraulic system.

[0015] Preferably, the leveling control algorithm sets the number and position of hydraulic legs according to the load distribution, and selects the main leveling legs and the main supporting legs.

[0016] A multi-leg automatic leveling control method provided by the present invention comprises:

[0017] Step S1: Instruct the perception system to collect and transmit data of the platform to be tested;

[0018] Step S2: enabling the control system to receive data from the platform to be tested and sending instructions to the driving device according to the leveling control algorithm;

[0019] Step S3: the driving device receives the instruction of the control system and operates the actuator;

[0020] The actuator is used to complete a specified action.

[0021] Preferably, the control system includes a central processing unit, a digital input and output module, an analog input and output module and a communication module; the central processing unit is used to parse the input of the digital input and output module, the analog input and output module and the communication module, and complete the output of the digital input and output module, the analog input and output module and the communication module.

[0022] Preferably, the actuator includes hydraulic legs and various hydraulic control valves; the number of the hydraulic legs is not less than three; the various hydraulic control valves include a hydraulic control multi-way valve, a main pump flow control valve and a main pump pressure control valve; the main pump flow control valve and the main pump pressure control valve jointly adjust the power output of the power system, and the hydraulic control multi-way valve then adjusts the power output to the leveling legs to drive the legs to move.

[0023] Preferably, the sensing system includes a horizontal inclination sensor, a displacement sensor, an acceleration sensor and a pressure sensor; the horizontal inclination sensor is used to detect the horizontality of the platform to be tested; the displacement sensor is used to detect the actual extension distance of the hydraulic legs; the acceleration sensor is used to observe the movement trend of the hydraulic legs; and the pressure sensor is used to detect whether the hydraulic legs are touching the ground.

[0024] Preferably, the driving device includes an AC servo motor and a hydraulic pump; the AC servo motor drives the hydraulic pump, and together with the hydraulic pump, forms a power source for the hydraulic system.

[0025] Preferably, the leveling control algorithm sets the number and position of hydraulic legs according to the load distribution, and selects the main leveling legs and the main supporting legs.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The leveling control algorithm provided by the present invention can design the number and position of the legs according to the load distribution, and select the main leveling legs and the main supporting legs, which not only solves the over-constraint problem caused by redundant legs in the multi-leg leveling process, but also avoids the occurrence of virtual leg problems in the leveling process.

[0028] 2. The present invention can be applied to hydraulic automatic leveling systems, and has the advantages of high leveling accuracy, less leveling times, fast speed, strong load-bearing capacity, strong anti-overturning ability, good maneuverability and strong stability; through multi-dimensional perception of the system status, fast and stable leveling is achieved.

[0029] Other beneficial effects of the present invention will be explained in the specific implementation manner through the introduction of specific technical features and technical solutions. Through the introduction of these technical features and technical solutions, those skilled in the art should be able to understand the beneficial technical effects brought about by the technical features and technical solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0031] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0032] Figure 2 Schematic diagram of a coordinate system according to an embodiment of the present invention.

[0033] Figure 3 It is the work flow chart of the present invention.

[0034] Figure 4 The figure is a flow chart of the method of the present invention.

[0035] Description of Reference Numerals

[0036] First main leveling leg 1 First main support leveling leg 3

[0037] Second main leveling leg 2 Second main support leveling leg 4

[0038] Third main leveling leg 5 Third main support leveling leg 7

[0039] Fourth main leveling leg 6 Fourth main support leveling leg 8 DETAILED DESCRIPTION

[0040] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0041] A multi-leg automatic leveling control system, comprising:

[0042] Control systems, sensing systems, drives and actuators.

[0043] The control system receives feedback from the perception system and sends instructions to the drive device according to the leveling control algorithm, driving the actuator to complete the specified action.

[0044] The control system includes a central processing unit, a digital input and output module, an analog input and output module, and a communication module. The central processing unit is used to analyze the input of the digital input and output module, the analog input and output module, and the communication module, and complete the output of the digital input and output module, the analog input and output module, and the communication module.

[0045] The perception system includes various sensors, such as horizontal tilt sensors, displacement sensors, acceleration sensors and pressure sensors. Among them, the horizontal tilt sensor is used to detect the horizontality of the platform and determine whether the leveling is completed; the displacement sensor is used to detect the actual extension distance of the hydraulic outriggers; the acceleration sensor is used to observe the movement trend of the hydraulic outriggers; and the pressure sensor is used to detect whether the hydraulic outriggers are touching the ground.

[0046] The driving device includes an AC servo motor and a hydraulic pump. The AC servo motor drives the hydraulic pump and together with the hydraulic pump forms the power source of the hydraulic system.

[0047] The actuator includes hydraulic outriggers and various hydraulic control valves, such as hydraulic control multi-way valves, main pump flow control valves and main pump pressure control valves. The number of hydraulic outriggers is not less than 3 and is redundant; the main pump flow control valve and the main pump pressure control valve jointly adjust the power output of the power system, and then the hydraulic control multi-way valve adjusts the power output to the leveling outriggers to drive the outriggers to move.

[0048] The leveling control algorithm designs the number and position of the legs according to the load distribution, and selects the main leveling legs and the main supporting legs.

[0049] The above are basic embodiments of the present invention. The technical solution of the present invention is further described below through one or several preferred embodiments.

[0050] Example 1

[0051] This embodiment provides a multi-leg automatic leveling control system, in order to solve the over-constraint problem caused by redundant legs during the multi-leg leveling process, and avoid the generation of the virtual leg problem during the leveling process. It includes: a control system, a sensing system, a driving device and an actuator.

[0052] like Figure 1 As shown, the platform in this example can be divided into two sections, the front and the rear. The front section is where the first main leveling leg 1 and the second main leveling leg 2 are located, and is used to place equipment such as hydraulic pumps and electrical control cabinets; the rear section supported by the first main support leveling leg 3, the second main support leveling leg 4, the third main leveling leg 5, the fourth main leveling leg 6, the third main support leveling leg 7, and the fourth main support leveling leg 8 is used to support the load.

[0053] like Figure 2 As shown in the figure, O, A, B, and C are the support points of the four legs of the platform, and the coordinate system is established with point O as the origin of the coordinate system. Plane X0Y0 is the horizontal plane, planes X and Y are the platform planes, α represents the angle between the platform and the horizontal plane in the X-axis direction, β represents the angle between the platform and the horizontal plane in the Y0-axis direction, and L1 and L2 represent the length and width of the platform respectively.

[0054] In this embodiment, the control system includes a central processing unit, a digital input and output module, an analog input and output module, and a communication module. The sensing system includes various sensors, such as a horizontal tilt sensor, a displacement sensor, an acceleration sensor, and a pressure sensor.

[0055] Specifically, if Figure 1As shown, the dual-axis inclination sensor is installed at the center position to detect the horizontality of the platform; the displacement sensor is installed inside the hydraulic outrigger cylinder to detect the actual extension distance of the hydraulic outrigger; the acceleration sensor is installed inside the hydraulic outrigger cylinder to observe the movement trend of the hydraulic outrigger; the pressure sensor is installed inside the hydraulic outrigger cylinder to detect whether the hydraulic outrigger touches the ground.

[0056] The central processing unit is used to control the movement of the hydraulic legs according to the settings of the leveling control program and the collected physical information to achieve leveling; the digital input and output modules and the analog input and output modules are used for data collection, transmission and signal conversion; the communication module is used to receive feedback information from each sensor and control feedback information from the multi-way valve, and is also used to send control information to the multi-way valve.

[0057] In this embodiment, the driving device includes an AC servo motor and a hydraulic pump; the AC servo motor drives the hydraulic pump and together with the hydraulic pump, forms a power source of the hydraulic system. The actuator includes hydraulic legs and various hydraulic control valves, such as a hydraulic control multi-way valve, a main pump flow control valve, and a main pump pressure control valve.

[0058] Specifically, if Figure 1 As shown, the layout design is carried out according to the load distribution of the platform in this embodiment, and the hydraulic legs are symmetrically distributed on both sides of the platform to provide support force for the platform and complete leveling control;

[0059] The AC servo motor is used to drive the hydraulic pump, and together with the hydraulic pump, it forms the power source of the hydraulic system. When the multi-way valve is opened, the oil is pushed into the outrigger cylinder under the action of the power source, so that the outrigger can perform the extension / retraction action. When the multi-way valve is closed, the oil is locked in the outrigger cylinder, so that the pressure in the cylinder remains in a balanced state, which can achieve long-term self-locking.

[0060] The implementation process of the leveling control algorithm is as follows Figure 3 When the logic control system sends a leveling command to the control execution system, the power system starts to work, the AC servo motor starts, drives the hydraulic pump to move, outputs flow to each leg, and performs leveling control according to the following steps:

[0061] Step S1: All the multi-way valves are opened, so that the eight leveling legs are extended downward under the action of hydraulic pressure, until the pressure sensor of the leg oil cylinder detects that the pressure value in the oil cylinder reaches the ground contact pressure, and the multi-way valve that has touched the ground is closed. When all eight leveling legs touch the ground, step S2 is executed;

[0062] Step S2: Open the multi-way valve again to raise the leveling legs by 50 mm to ensure that the platform is above the ground. Use the leg displacement sensor to detect whether the legs are lifted into place. When all eight leveling legs are lifted into place, execute step S3;

[0063] Step S3: Detect the current α and β angles of the platform, and calculate the positions of the first main leveling leg 1, the second main leveling leg 2, the third main leveling leg 5, and the fourth main leveling leg 6 as the main leveling legs according to the formula: when the platform completes leveling, and control their lifting. The first main support leveling leg 3, the second main support leveling leg 4, the third main support leveling leg 7, and the fourth main support leveling leg 8 as the main support leveling legs adopt a pressure control method during the lifting process of the main leveling legs to keep their ground contact pressure within a certain range; after the first main leveling leg 1, the second main leveling leg 2, the third main leveling leg 5, and the fourth main leveling leg 6 are lifted, all the legs stop moving, and it is judged again whether the platform angle reaches the leveling angle at this time. If not, repeat this step again, otherwise execute step S4;

[0064] Step S4: Open all multi-way valves to make all legs touch the ground and complete leveling.

[0065] This embodiment adopts a leveling structure with four-point main leveling and four-point main support, which has the advantages of high flexibility, strong stability and fast leveling speed.

[0066] The present invention is mainly used in a multi-leg automatic leveling system with redundant legs, and has the advantages of flexible structure, good stability, fast leveling speed, good leveling stability, few leveling times, easy maintenance, etc.

[0067] Example 2

[0068] Reference Figure 4 As shown, a multi-leg automatic leveling control method includes:

[0069] Step S1: Instruct the perception system to collect and transmit data of the platform to be tested;

[0070] Step S2: enabling the control system to receive data from the platform to be tested and sending instructions to the driving device according to the leveling control algorithm;

[0071] Step S3: the driving device receives the instruction of the control system and operates the actuator;

[0072] The actuator is used to complete a specified action.

[0073] Among them, the control system includes a central processing unit, a digital input and output module, an analog input and output module and a communication module; the central processing unit is used to parse the input of the digital input and output module, the analog input and output module and the communication module, and complete the output of the digital input and output module, the analog input and output module and the communication module.

[0074] The actuator includes hydraulic legs and various hydraulic control valves; the number of the hydraulic legs is not less than three; the various hydraulic control valves include a hydraulic control multi-way valve, a main pump flow control valve and a main pump pressure control valve; the main pump flow control valve and the main pump pressure control valve jointly adjust the power output of the power system, and then the hydraulic control multi-way valve adjusts the power output to the leveling legs to drive the legs to move.

[0075] The sensing system includes a horizontal inclination sensor, a displacement sensor, an acceleration sensor and a pressure sensor; the horizontal inclination sensor is used to detect the horizontality of the platform to be tested; the displacement sensor is used to detect the actual extension distance of the hydraulic outrigger; the acceleration sensor is used to observe the movement trend of the hydraulic outrigger; and the pressure sensor is used to detect whether the hydraulic outrigger touches the ground.

[0076] The driving device includes an AC servo motor and a hydraulic pump; the AC servo motor drives the hydraulic pump and together with the hydraulic pump forms a power source for the hydraulic system.

[0077] The leveling control algorithm sets the number and position of hydraulic legs according to the load distribution and selects the main leveling legs and the main supporting legs.

[0078] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0079] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A multi-leg automatic leveling control system, characterized in that: include: The perception system is used to collect data from the platform under test; A control system, used to receive data from the platform to be tested and send instructions to the drive device according to the leveling control algorithm; A drive device, used to receive instructions from the control system and operate the actuator; Actuator, used to complete the specified action.

2. The multi-leg automatic leveling control system according to claim 1, characterized in that: The control system includes a central processing unit, a digital input and output module, an analog input and output module and a communication module; the central processing unit is used to parse the input of the digital input and output module, the analog input and output module and the communication module, and complete the output of the digital input and output module, the analog input and output module and the communication module.

3. The multi-leg automatic leveling control system according to claim 1, characterized in that: The actuator includes hydraulic legs and various hydraulic control valves; the number of the hydraulic legs is not less than three; the various hydraulic control valves include a hydraulic control multi-way valve, a main pump flow control valve and a main pump pressure control valve; the main pump flow control valve and the main pump pressure control valve jointly adjust the power output of the power system, and the hydraulic control multi-way valve then adjusts the power output to the leveling legs to drive the legs to move.

4. The multi-leg automatic leveling control system according to claim 3, characterized in that: The sensing system includes a horizontal inclination sensor, a displacement sensor, an acceleration sensor and a pressure sensor; the horizontal inclination sensor is used to detect the horizontality of the platform to be tested; the displacement sensor is used to detect the actual extension distance of the hydraulic outrigger; the acceleration sensor is used to observe the movement trend of the hydraulic outrigger; and the pressure sensor is used to detect whether the hydraulic outrigger touches the ground.

5. The multi-leg automatic leveling control system according to claim 1, characterized in that: The driving device comprises an AC servo motor and a hydraulic pump; the AC servo motor drives the hydraulic pump and together with the hydraulic pump forms a power source of the hydraulic system.

6. The multi-leg automatic leveling control system according to claim 1, characterized in that: The leveling control algorithm sets the number and position of hydraulic legs according to the load distribution, and selects the main leveling legs and the main supporting legs.

7. A multi-leg automatic leveling control method, characterized in that: include: Step S1: Instruct the perception system to collect and transmit data of the platform to be tested; Step S2: enabling the control system to receive data from the platform to be tested and sending instructions to the driving device according to the leveling control algorithm; Step S3: the driving device receives the instruction of the control system and operates the actuator; The actuator is used to complete a specified action.

8. The multi-leg automatic leveling control method according to claim 7, characterized in that: The control system includes a central processing unit, a digital input and output module, an analog input and output module and a communication module; the central processing unit is used to parse the input of the digital input and output module, the analog input and output module and the communication module, and complete the output of the digital input and output module, the analog input and output module and the communication module.

9. The multi-leg automatic leveling control method according to claim 7, characterized in that: The actuator includes hydraulic legs and various hydraulic control valves; the number of the hydraulic legs is not less than three; the various hydraulic control valves include a hydraulic control multi-way valve, a main pump flow control valve and a main pump pressure control valve; the main pump flow control valve and the main pump pressure control valve jointly adjust the power output of the power system, and the hydraulic control multi-way valve then adjusts the power output to the leveling legs to drive the legs to move.

10. The multi-leg automatic leveling control method according to claim 9, characterized in that: The sensing system includes a horizontal inclination sensor, a displacement sensor, an acceleration sensor and a pressure sensor; the horizontal inclination sensor is used to detect the horizontality of the platform to be tested; the displacement sensor is used to detect the actual extension distance of the hydraulic outrigger; the acceleration sensor is used to observe the movement trend of the hydraulic outrigger; and the pressure sensor is used to detect whether the hydraulic outrigger touches the ground.

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