Multi-leg automatic leveling control system and method

Abstract

The application provides a multi-leg automatic leveling control system and method, the system comprises: a sensing system for collecting data of a platform to be measured; a control system for receiving the data of the platform to be measured, and sending instructions to a driving device according to a leveling control algorithm; the driving device for receiving the instructions of the control system and operating an executing mechanism; and the executing mechanism for completing a specified action. The leveling control algorithm provided by the application can design the number and position of the legs according to the load distribution, and select main leveling legs and main supporting legs, which can solve the over-constraint problem caused by redundant legs in the multi-leg leveling process, and can also avoid the generation of virtual leg problems in the leveling process.

Description

Technical Field

[0001] This invention relates to the fields of mechanical engineering and automation control technology, specifically to a multi-leg automatic leveling control system and method. Background Technology

[0002] For equipment requiring high precision, ensuring the levelness of its work platform is crucial, as even the slightest tilt can affect the equipment's performance and the quality of the final product. However, in practice, the work platform often deforms under external forces due to insufficient structural rigidity or uneven mass distribution, leading to changes in levelness. In such cases, traditional manual leveling methods are not only time-consuming and labor-intensive but also fail to achieve the required accuracy.

[0003] Chinese patent document CN107472210B discloses a hydraulic automatic leveling control system based on electromechanical-hydraulic integration. This system employs a hydraulically driven eight-leg support mechanism, using ball screw-type outriggers to achieve cyclic leveling of the vehicle-mounted work platform in the X and Y directions. However, this leveling method lacks pressure sensors to detect whether the auxiliary support legs are "loose" during the leveling process, resulting in instability and unsuitability for leveling applications requiring strict control of loose legs.

[0004] Therefore, there is a need to provide a novel multi-leg automatic leveling system that ensures the leveling speed and stability through multi-dimensional perception of the system status. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a multi-leg automatic leveling control system and method.

[0006] The present invention provides a multi-leg automatic leveling control system, comprising:

[0007] A sensing system is used to collect data from the platform under test.

[0008] The control system is used to receive data from the platform under test and send instructions to the drive device according to the leveling control algorithm.

[0009] A drive unit is used to receive instructions from the control system and operate the actuators;

[0010] An actuator is used to perform a specified action.

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

[0012] Preferably, the actuator includes hydraulic outriggers and various hydraulic control valves; the number of hydraulic outriggers 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 regulate the output power of the power system, and then the hydraulic control multi-way valve regulates the power output to the leveling outriggers to drive the outriggers to move.

[0013] Preferably, the sensing system includes a horizontal tilt sensor, a displacement sensor, an acceleration sensor, and a pressure sensor; the horizontal tilt sensor is used to detect the levelness of the platform under test; 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 in contact with the ground.

[0014] Preferably, the drive device includes an AC servo motor and a hydraulic pump; the AC servo motor drives the hydraulic pump, and together with the hydraulic pump, they form the power source of the hydraulic system.

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

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

[0017] Step S1: Instruct the sensing system to collect and transmit data from the platform under test;

[0018] Step S2: The control system receives data from the platform under test and sends instructions to the drive device according to the leveling control algorithm.

[0019] Step S3: Instruct the drive device to receive instructions from the control system and operate the actuator;

[0020] The actuator is used to perform the specified action.

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

[0022] Preferably, the actuator includes hydraulic outriggers and various hydraulic control valves; the number of hydraulic outriggers 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 regulate the output power of the power system, and then the hydraulic control multi-way valve regulates the power output to the leveling outriggers to drive the outriggers to move.

[0023] Preferably, the sensing system includes a horizontal tilt sensor, a displacement sensor, an acceleration sensor, and a pressure sensor; the horizontal tilt sensor is used to detect the levelness of the platform under test; 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 in contact with the ground.

[0024] Preferably, the drive device includes an AC servo motor and a hydraulic pump; the AC servo motor drives the hydraulic pump, and together with the hydraulic pump, they form the power source of the hydraulic system.

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

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

[0027] 1. The leveling control algorithm provided by this invention can design the number and position of the outriggers according to the load distribution, and select the main leveling outriggers and the main support outriggers. This not only solves the over-constraint problem caused by redundant outriggers during multi-leg leveling, but also avoids the generation of virtual outriggers during the leveling process.

[0028] 2. This invention can be applied to hydraulic automatic leveling systems, and has the advantages of high leveling accuracy, fewer leveling cycles, high 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 detail through the introduction of specific technical features and technical solutions in specific embodiments. Those skilled in the art should be able to understand the beneficial technical effects brought about by these technical features and technical solutions through the introduction of these technical features and technical solutions. Attached Figure Description

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

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

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

[0033] Figure 3 This is a flowchart of the process of the present invention.

[0034] Figure 4 This is a flowchart of the method of the present invention.

[0035] Explanation of reference numerals in the attached figures

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

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

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

[0039] Fourth main leveling leg 6; Fourth main support leveling leg 8 Detailed Implementation

[0040] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

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

[0042] Control system, sensing system, drive device and actuator.

[0043] The control system receives feedback from the sensing system and, according to the leveling control algorithm, issues commands to the drive device to drive the actuator to complete the specified action.

[0044] The control system includes a central processing unit (CPU), digital input / output (DIO) modules, analog input / output (AIO) modules, and a communication module. The CPU is used to analyze the inputs from the DIO, AIO, and communication modules and to output to them.

[0045] The sensing system includes various sensors, such as tilt sensors, displacement sensors, acceleration sensors, and pressure sensors. The tilt sensor detects the platform's levelness to determine the completion of leveling; the displacement sensor detects the actual extension distance of the hydraulic outriggers; the acceleration sensor observes the movement trend of the hydraulic outriggers; and the pressure sensor detects whether the hydraulic outriggers are touching the ground.

[0046] The drive unit includes an AC servo motor and a hydraulic pump. The AC servo motor drives the hydraulic pump, and together they form the power source of the hydraulic system.

[0047] The actuators include 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 no less than three, which is redundant. The main pump flow control valve and main pump pressure control valve jointly regulate the output power of the power system, and then the hydraulic control multi-way valve regulates the power output to the leveling outriggers to drive their movement.

[0048] The leveling control algorithm designs the number and position of outriggers based on the load distribution, and selects the main leveling outriggers and main support outriggers.

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

[0050] Example 1

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

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

[0053] like Figure 2 As shown, O, A, B, and C are the support points of the platform's four legs. A coordinate system is established with point O as the origin. Plane X0Y0 is the horizontal plane, and planes X and Y are the platform planes. α represents the angle between the platform and the horizontal plane along the X-axis, β represents the angle between the platform and the horizontal plane along the Y0-axis, 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 / output module, an analog input / output module, and a communication module. The sensing system includes various types of sensors, such as tilt sensors, displacement sensors, acceleration sensors, and pressure sensors.

[0055] Specifically, such as Figure 1As shown, a dual-axis tilt sensor is installed at the center position to detect the levelness of the platform; a displacement sensor is installed inside the hydraulic outrigger cylinder to detect the actual extension distance of the hydraulic outrigger; an acceleration sensor is installed inside the hydraulic outrigger cylinder to observe the movement trend of the hydraulic outrigger; and a pressure sensor is installed inside the hydraulic outrigger cylinder to detect whether the hydraulic outrigger is touching the ground.

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

[0057] In this embodiment, the drive unit includes an AC servo motor and a hydraulic pump; the AC servo motor drives the hydraulic pump, and together they form the power source of the hydraulic system. 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.

[0058] Specifically, such as Figure 1 As shown, the layout design is based on the load distribution of the platform in this embodiment. The hydraulic outriggers are symmetrically distributed on both sides of the platform to provide support for the platform and complete the leveling control.

[0059] An AC servo motor is used to drive a hydraulic pump, and together with the hydraulic pump, they form the power source of the hydraulic system. When the multi-way valve is open, the oil is pushed into the outrigger cylinder under the drive of the power source, causing the outrigger to perform the extension / retraction action. When the multi-way valve is closed, the oil is locked in the outrigger cylinder, keeping the pressure in the cylinder balanced, which can achieve long-term self-locking.

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

[0061] Step S1: Open all the multi-way valves to extend the 8 leveling outriggers downwards under hydraulic pressure until the outrigger cylinder pressure sensor detects that the pressure value inside the cylinder reaches the ground contact pressure. Close the multi-way valve that has touched the ground. After all 8 leveling outriggers have touched the ground, proceed to step S2.

[0062] Step S2: Open the multi-way valve again to raise the leveling outriggers by 50mm to ensure that the platform is above the ground. Use the outrigger displacement sensor to detect whether the outriggers are raised to the correct position. Once all 8 leveling outriggers are raised to the correct position, proceed to step S3.

[0063] Step S3: Detect the current α and β angles of the platform, and calculate the positions of the first main leveling support leg 1, the second main leveling support leg 2, the third main leveling support leg 5, and the fourth main leveling support leg 6 as the main leveling support legs according to the formula. Control their lifting. During the lifting process of the main leveling support legs, the first main support leveling support leg 3, the second main support leveling support leg 4, the third main support leveling support leg 7, and the fourth main support leveling support leg 8 adopt pressure control to keep their ground contact pressure within a certain range. After the first main leveling support leg 1, the second main leveling support leg 2, the third main leveling support leg 5, and the fourth main leveling support leg 6 are lifted, all support legs stop moving. Determine again whether the platform angle has reached the leveling angle. If not, repeat this step; otherwise, proceed to step S4.

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

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

[0066] This invention is mainly applied to multi-leg automatic leveling systems with redundant outriggers, and has the advantages of flexible structure, good stability, fast leveling speed, good leveling stability, fewer leveling cycles, and easy maintenance.

[0067] Example 2

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

[0069] Step S1: Instruct the sensing system to collect and transmit data from the platform under test;

[0070] Step S2: The control system receives data from the platform under test and sends instructions to the drive device according to the leveling control algorithm.

[0071] Step S3: Instruct the drive device to receive instructions from the control system and operate the actuator;

[0072] The actuator is used to perform the specified action.

[0073] The control system includes a central processing unit, digital input / output modules, analog input / output modules, and a communication module. The central processing unit is used to analyze the inputs from the digital input / output modules, analog input / output modules, and communication modules, and to output to the digital input / output modules, analog input / output modules, and communication modules.

[0074] The actuator includes hydraulic outriggers and various hydraulic control valves; the number of hydraulic outriggers 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 regulate the output power of the power system, and then the hydraulic control multi-way valve regulates the power output to the leveling outriggers to drive the outriggers to move.

[0075] The sensing system includes a horizontal tilt sensor, a displacement sensor, an acceleration sensor, and a pressure sensor; the horizontal tilt sensor is used to detect the levelness of the platform under test; 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 in contact with the ground.

[0076] The drive unit includes an AC servo motor and a hydraulic pump; the AC servo motor drives the hydraulic pump, and together they form the power source of the hydraulic system.

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

[0078] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0079] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A multi-leg automatic leveling control method, characterized in that, include: Step S1: Instruct the sensing system to collect and transmit data from the platform under test; All multi-way valves are opened, allowing the eight leveling outriggers to extend downwards under hydraulic pressure until the outrigger cylinder pressure sensor detects that the pressure value inside the cylinder reaches the ground contact pressure. Then, the multi-way valves that have reached the ground are closed. Once all eight leveling outriggers have reached the ground, step S2 is executed. Step S2: The control system receives data from the platform under test and sends instructions to the drive device according to the leveling control algorithm; the multi-way valve is opened again to raise the leveling outriggers to ensure that the platform is above the ground. The outrigger displacement sensor detects whether the outriggers are raised in place. When all 8 leveling outriggers are raised in place, step S3 is executed. Step S3: Instruct the drive device to receive instructions from the control system and operate the actuator; The actuator is used to complete the specified action; detect the current α and β angles of the platform, and calculate the first main leveling support leg (1), the second main leveling support leg (2), the third main leveling support leg (5), and the fourth main leveling support leg (6) as the main leveling support legs: at the position where the platform is leveled, and control its lifting. The first main support leveling support leg (3), the second main support leveling support leg (4), the third main support leveling support leg (7), and the fourth main support leveling support leg (8) adopt pressure control during the lifting of the main leveling support legs to keep their ground contact pressure within a certain range. After the first main leveling support leg (1), the second main leveling support leg (2), the third main leveling support leg (5), and the fourth main leveling support leg (6) are lifted, all the support legs stop moving, and it is judged again whether the platform angle has reached the leveling angle. If it has not reached the leveling angle, this step is repeated again; otherwise, step S4 is executed. Step S4: Open all multi-way valves to make all outriggers touch the ground and complete the leveling.

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

3. The multi-leg automatic leveling control method according to claim 1, characterized in that, The actuator includes hydraulic outriggers and various hydraulic control valves; the number of hydraulic outriggers 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 regulate the output power of the power system, and then the hydraulic control multi-way valve regulates the power output to the leveling outriggers to drive the outriggers to move.

4. The multi-leg automatic leveling control method according to claim 3, characterized in that, The sensing system includes a horizontal tilt sensor, a displacement sensor, an acceleration sensor, and a pressure sensor; the horizontal tilt sensor is used to detect the levelness of the platform under test; 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.

5. A multi-leg automatic leveling control system, characterized in that, The multi-leg automatic leveling control method according to any one of claims 1 to 4 includes: A sensing system is used to collect data from the platform under test. The control system is used to receive data from the platform under test and send instructions to the drive device according to the leveling control algorithm. A drive unit is used to receive instructions from the control system and operate the actuators; An actuator is used to perform a specified action.

6. The multi-leg automatic leveling control system according to claim 5, characterized in that, The control system includes a central processing unit, a digital input / output module, an analog input / output module, and a communication module; the central processing unit is used to analyze the inputs from the digital input / output module, the analog input / output module, and the communication module, and to complete the outputs from the digital input / output module, the analog input / output module, and the communication module.

7. The multi-leg automatic leveling control system according to claim 5, characterized in that, The actuator includes hydraulic outriggers and various hydraulic control valves; the number of hydraulic outriggers 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 regulate the output power of the power system, and then the hydraulic control multi-way valve regulates the power output to the leveling outriggers to drive the outriggers to move.

8. The multi-leg automatic leveling control system according to claim 7, characterized in that, The sensing system includes a horizontal tilt sensor, a displacement sensor, an acceleration sensor, and a pressure sensor; the horizontal tilt sensor is used to detect the levelness of the platform under test; 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.

9. The multi-leg automatic leveling control system according to claim 5, characterized in that, The drive unit includes an AC servo motor and a hydraulic pump; the AC servo motor drives the hydraulic pump, and together they form the power source of the hydraulic system.

10. The multi-leg automatic leveling control system according to claim 5, characterized in that, The leveling control algorithm sets the number and position of hydraulic outriggers according to the load distribution, and selects the main leveling outrigger and the main support outrigger.

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