Shelter leveling control method and control system and emergency drainage shelter

Abstract

The invention discloses a shelter leveling control method and system and an emergency drainage shelter, and the shelter leveling control method comprises the steps: obtaining an X-axis inclination angle and a Y-axis inclination angle detected by an inclination angle sensor on a shelter equipment main body under the condition of receiving a signal that four shelter supporting legs are all in contact with the ground, the detected X-axis inclination angle and the detected Y-axis inclination angle are compared with a preset leveling starting range, a target adjusting supporting leg is determined according to the comparison result, the target adjusting supporting leg is controlled to stretch out till the X-axis inclination angle and the Y-axis inclination angle are both within the preset leveling target range, and the preset leveling target range is set to be within the preset leveling starting range. Compared with a manual leveling mode in the prior art, the automatic leveling device has the advantages that the requirement for an operator is low, and the leveling efficiency and the leveling effect are greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of shelter leveling, and in particular relates to a shelter leveling control method, a control system and an emergency drainage shelter. Background Art

[0002] The emergency drainage shelter is a mobile device specially designed to deal with urban waterlogging, poor drainage and other problems. The emergency drainage shelter is equipped with four retractable legs, which are mainly used to support the shelter body to ensure the stability of the shelter during operation and facilitate loading and unloading of the shelter.

[0003] In order to improve the supporting stability of the outriggers of the box cabin and prevent the box cabin from shaking or even tipping over, it is necessary to ensure that the box cabin does not tilt when the outriggers are extended or retracted. Especially when the road surface is uneven or there is a slope, it is necessary to level the box cabin body when the outriggers are extended. The existing technology mainly uses manual leveling, where people adjust the extension and retraction of the four outriggers of the box cabin in turn by observing the level gauge or the level of the vehicle body with the naked eye. However, this operation has high requirements on the operator, and the operation process is long, and the leveling effect is difficult to guarantee. Summary of the invention

[0004] In view of the above-mentioned defects or shortcomings, the present invention provides a cabin leveling control method, a control system and an emergency drainage cabin, aiming to solve the technical problems that manual leveling of the cabin has high requirements for the operator, a long operation process, and it is difficult to ensure the leveling effect.

[0005] To achieve the above-mentioned object, the first aspect of the present invention provides a shelter leveling control method, wherein the shelter leveling control method comprises:

[0006] When receiving a signal that all four shelter legs have touched the ground, obtaining the X-axis inclination angle and the Y-axis inclination angle detected by the inclination angle sensor on the shelter equipment body;

[0007] Compare the detected X-axis inclination angle and Y-axis inclination angle with the preset leveling start range respectively;

[0008] Determine the target and adjust the outriggers according to the comparison result;

[0009] The control target is to adjust the legs to be extended until the X-axis inclination angle and the Y-axis inclination angle are both within a preset leveling target range, wherein the preset leveling target range is set within a preset leveling start range.

[0010] In an embodiment of the present invention, determining the target adjustment leg according to the comparison result includes:

[0011] When one of the detected X-axis inclination angle and the Y-axis inclination angle exceeds the preset leveling start range, it is determined to be the first-level target adjustment leg in the first-level adjustment mode;

[0012] When the detected X-axis inclination angle and Y-axis inclination angle both exceed the preset leveling start range, it is determined as the secondary target adjustment leg in the secondary adjustment mode; and when the secondary target adjustment leg is extended to one of the inclination angles within the preset leveling target range, it is determined as the primary target adjustment leg in the primary adjustment mode.

[0013] In the embodiment of the present invention, when one of the detected X-axis inclination angle and the Y-axis inclination angle exceeds the preset leveling start range, determining the first-level target adjustment leg in the first-level adjustment mode includes:

[0014] In the case of ΔX>a1, -a1≤ΔY≤a1, the first-level target adjustment legs in the first-level adjustment mode are determined to be the first leg and the second leg in the negative half-axis region of the X-axis, wherein the preset leveling start range is set to (-a1~a1), ΔX is set to the inclination angle of the X-axis, and ΔY is set to the inclination angle of the Y-axis;

[0015] In the case of ΔX<-a1, -a1≤ΔY≤a1, determining the first-level target adjustment legs in the first-level adjustment mode to be the third leg and the fourth leg in the positive half axis region of the X axis;

[0016] In the case of ΔY>a1, -a1≤ΔX≤a1, the first-level target adjustment legs in the first-level adjustment mode are determined to be the first leg and the fourth leg in the negative half axis region of the Y axis;

[0017] When ΔY<-a1, -a1≤ΔX≤a1, the first-level target adjustment legs in the first-level adjustment mode are determined to be the second leg and the third leg within the positive half axis region of the Y axis.

[0018] In the embodiment of the present invention, when the detected X-axis inclination angle and the Y-axis inclination angle are both beyond the preset leveling start range, determining that the secondary target adjustment leg is in the secondary adjustment mode includes:

[0019] In the case of ΔX>a1, ΔY>a1, the secondary target adjustment leg in the secondary adjustment mode is determined to be the first leg in the negative semi-axis region belonging to both the X-axis and the Y-axis, wherein the preset leveling start range is set to (-a1 to a1), ΔX is set to the inclination angle of the X-axis, and ΔY is set to the inclination angle of the Y-axis;

[0020] In the case of ΔX<-a1, ΔY>a1, the secondary target adjustment leg in the secondary adjustment mode is determined to be the fourth leg in the positive semi-axis region of the X axis and the negative semi-axis region of the Y axis;

[0021] When ΔX < -a1 and ΔY < -a1, determine that the secondary target adjustment leg in the secondary adjustment mode is the third leg within the regions of the positive half-axis of the X-axis and the positive half-axis of the Y-axis;

[0022] When ΔX > a1 and ΔY < -a1, determine that the secondary target adjustment leg in the secondary adjustment mode is the second leg within the regions of the negative half-axis of the X-axis and the positive half-axis of the Y-axis.

[0023] In the embodiment of the present invention, when ΔX > a1 and ΔY > a1, after determining that the secondary target adjustment leg in the secondary adjustment mode is the first leg within the regions of the negative half-axis of the X-axis and the negative half-axis of the Y-axis, it includes:

[0024] When the first leg is first adjusted to extend until ΔX < a0, determine that the primary target adjustment legs in the primary adjustment mode are the first leg and the fourth leg within the region of the negative half-axis of the Y-axis, where the preset leveling target range is set to (-a0 to a0);

[0025] When the first leg is first adjusted to extend until ΔY < a0, determine that the primary target adjustment legs in the primary adjustment mode are the first leg and the second leg within the region of the negative half-axis of the X-axis.

[0026] When ΔX < -a1 and ΔY > a1, after determining that the secondary target adjustment leg in the secondary adjustment mode is the fourth leg within the regions of the positive half-axis of the X-axis and the negative half-axis of the Y-axis, it includes:

[0027] When the fourth leg is first adjusted to extend until ΔX > -a0, determine that the primary target adjustment legs in the primary adjustment mode are the first leg and the fourth leg within the region of the negative half-axis of the Y-axis;

[0028] When the fourth leg is first adjusted to extend until ΔY < a0, determine that the primary target adjustment legs in the primary adjustment mode are the third leg and the fourth leg within the region of the positive half-axis of the X-axis.

[0029] When ΔX < -a1 and ΔY < -a1, after determining that the secondary target adjustment leg in the secondary adjustment mode is the third leg within the regions of the positive half-axis of the X-axis and the positive half-axis of the Y-axis, it includes:

[0030] When the third leg is first adjusted to extend until ΔX > -a0, determine that the primary target adjustment legs in the primary adjustment mode are the second leg and the third leg within the region of the positive half-axis of the Y-axis;

[0031] When the third leg is first adjusted to extend until ΔY > -a0, determine that the primary target adjustment legs in the primary adjustment mode are the third leg and the fourth leg within the region of the positive half-axis of the X-axis.

[0032] When ΔX > a1 and ΔY < -a1, after determining that the secondary target adjustment leg in the secondary adjustment mode is the second leg within the region of the negative half-axis of the X-axis and the positive half-axis of the Y-axis, the following steps are further included:

[0033] When the second leg is first adjusted to extend until ΔX < a0, determine that the primary target adjustment legs in the primary adjustment mode are the second leg and the third leg within the region of the positive half-axis of the Y-axis;

[0034] When the second leg is first adjusted to extend until ΔY > -a0, determine that the primary target adjustment legs in the primary adjustment mode are the first leg and the second leg within the region of the negative half-axis of the X-axis.

[0035] In the embodiment of the present invention, after controlling the target adjustment leg to extend until the inclination angles of both the X-axis and the Y-axis are within the preset leveling target range, the following steps are further included:

[0036] Control all the shelter legs to extend synchronously. During the synchronous extension process, continue to obtain the inclination angles of the X-axis and the Y-axis detected by the inclination sensors on the shelter equipment main body, and return to the execution step: compare the detected inclination angles of the X-axis and the Y-axis with the preset leveling start range respectively.

[0037] In the embodiment of the present invention, the shelter leveling control method further includes:

[0038] When it is detected that the lifting height of the shelter equipment main body reaches the set maximum threshold, control all the shelter legs to stop moving.

[0039] To achieve the above object, the second aspect of the present invention provides a shelter leveling control system. The shelter leveling control system includes a leg hydraulic control system, a ground contact detector, an inclination sensor, and a controller. The leg hydraulic control system can control all the shelter legs to perform individual actions and synchronous actions. A ground contact detector for detecting the ground contact state of each shelter leg is provided on each shelter leg. The inclination sensor is provided on the shelter equipment main body. The controller is communicatively connected to the ground contact detector, the inclination sensor, and the leg hydraulic control system respectively, and is configured to execute the shelter leveling control method described above.

[0040] In the embodiment of the present invention, the leg hydraulic control system includes:

[0041] An oil pumping device for pumping the hydraulic oil in the fuel tank;

[0042] A leg cylinder assembly including four leg cylinders that drive different shelter legs to expand and contract in a one-to-one correspondence;

[0043] An outrigger reversing valve, wherein a first oil inlet of the outrigger reversing valve is communicated with the oil pumping device, a first working oil port of the outrigger reversing valve is communicated with a rodless chamber of each outrigger oil cylinder through a first oil control oil passage, and a second working oil port is communicated with a rod chamber of each outrigger oil cylinder through a second oil control oil passage, and the outrigger reversing valve is used to select one of the two working oil ports to be communicated with the first oil inlet;

[0044] A synchronous motor, a synchronous motor is arranged on the first oil control oil circuit, a motor inlet of the synchronous motor is connected with a corresponding working oil port through an oil control main circuit of the first oil control oil circuit, a motor outlet of the synchronous motor, an oil control branch in the first oil control oil circuit and an outrigger oil cylinder are set to be consistent in number, and the oil control branch is connected with the motor outlet and a corresponding oil chamber of the outrigger oil cylinder in a one-to-one correspondence, and each oil control branch is also connected with an on-off control valve connected to the oil tank;

[0045] The controller is respectively connected to the oil pump device, the outrigger reversing valve, the synchronous motor and the opening and closing control valve for communication.

[0046] To achieve the above-mentioned object, a third aspect of the present invention provides an emergency drainage shelter, wherein the emergency drainage shelter comprises the shelter leveling control system described above.

[0047] Through the above technical solution, the cabin leveling control method provided by the present invention has the following beneficial effects:

[0048] When the above-mentioned cabin leveling control method is used, during the cabin lifting process, after receiving the signal that all four cabin legs have touched the ground, the inclination sensor on the cabin equipment body is used to detect the X-axis inclination and Y-axis inclination that characterize the horizontality of the cabin. By comparing the detected X-axis inclination and Y-axis inclination with the preset leveling start range, the target adjustment legs to be adjusted can be determined, and the target adjustment legs are controlled to be extended separately until the X-axis inclination and Y-axis inclination of the cabin are both within the preset leveling target range, thereby realizing the automatic leveling operation of the cabin. Compared with the manual leveling method used in the prior art, the requirements for the operator are low, and the leveling efficiency and leveling effect are greatly improved.

[0049] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative work. In the accompanying drawings:

[0051] Figure 1 is a control logic diagram of a cabin leveling control method according to an embodiment of the present invention;

[0052] Figure 2 is a control schematic diagram of a shelter leveling control system according to an embodiment of the present invention;

[0053] Figure 3 is a schematic diagram of the positions of four shelter legs according to an embodiment of the present invention;

[0054] Figure 4 is a structural schematic diagram of a rocker arm connecting rod in an emergency drainage shelter in an embodiment of the present invention in a retracted state;

[0055] Figure 5 It is a structural schematic diagram of an emergency drainage shelter in which a rocker arm connecting rod is in an extended state and the shelter legs are in an extended state according to an embodiment of the present invention;

[0056] Figure 6 1 is a schematic diagram of the structure of an outrigger hydraulic control system according to an embodiment of the present invention.

[0057] Description of reference numerals:

[0058] 100 Oil pump 101 Filter

[0059] 102 Gear Oil Pump 103 Motor

[0060] 104 overflow valve 200 outrigger cylinder

[0061] 201 First hydraulic lock 210 Shelter support leg

[0062] 211 first leg 212 second leg

[0063] 213 Third leg 214 Fourth leg

[0064] 215 Touchdown Detector 300 Outrigger Reversing Valve

[0065] 310 First oil control circuit 320 Second oil control circuit

[0066] 330 Oil control main road 331 Oil control branch road

[0067] 332 First oil connection line 333 Second oil connection line

[0068] 400 Synchronous motor 401 On / off control valve

[0069] 500 Fuel tank 501 Fuel supply line

[0070] 502 oil return line 600 swing arm cylinder

[0071] 601 Second hydraulic lock 610 Swing arm connecting rod

[0072] 700 Swing arm reversing valve 800 Shelter equipment body

[0073] 801 Tilt Sensor DETAILED DESCRIPTION

[0074] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0075] The following describes the shelter leveling control method, control system and emergency drainage shelter of the present invention with reference to the accompanying drawings.

[0076] like Figures 1 to 5 As shown, the present invention provides a shelter leveling control method, wherein the shelter leveling control method comprises:

[0077] Step S100 , when receiving the information that all four shelter legs 210 are touching the ground, obtaining the X-axis inclination angle and the Y-axis inclination angle detected by the inclination sensor 801 on the shelter equipment body 800 .

[0078] Specifically, all the cabin legs 210 are provided with a ground contact detector 215, which is used to send a ground contact detection signal when the corresponding cabin leg 210 touches the ground. The step of obtaining the detection result of the tilt sensor 801 is not performed until the ground contact detectors 215 on all the cabin legs 210 send a ground contact detection signal, so as to reduce useless detection of the tilt sensor 801. More specifically, the tilt sensor 801 uses two accelerometers to measure the tilt angle of the object in the horizontal plane and the vertical plane. Among them, one accelerometer is installed in the X-axis direction and the other accelerometer is installed in the Y-axis direction. When the object tilts, the two accelerometers will detect different gravity components and convert them into electrical signals for output.

[0079] Step S200: comparing the detected X-axis inclination angle and Y-axis inclination angle with the preset leveling start range respectively.

[0080] Specifically, a preset leveling start range (-a1 to a1) is pre-stored in the controller, and the X-axis inclination angle and the Y-axis inclination angle are respectively compared with the preset leveling start range to determine whether there is an inclination angle exceeding this range.

[0081] Step S300: determining the target adjustment leg according to the comparison result.

[0082] It can be understood that the controller may pre-store target adjustment legs corresponding to different comparison results, thereby reducing subsequent calculations.

[0083] Step S400: Control the target adjustment legs to extend until the X-axis inclination angle and the Y-axis inclination angle are both within a preset leveling target range, wherein the preset leveling target range is set within a preset leveling start range.

[0084] When the above-mentioned cabin leveling control method is used, during the cabin lifting process, after receiving a signal that all four cabin legs 210 have touched the ground, the inclination sensor 801 on the cabin equipment body 800 can be used to detect the X-axis inclination and Y-axis inclination that characterize the horizontality of the cabin. By comparing the detected X-axis inclination and Y-axis inclination with the preset leveling start range, the target adjustment legs to be adjusted can be determined, and after controlling the target adjustment legs to be extended separately, the X-axis inclination and Y-axis inclination of the cabin can be made within the preset leveling target range, thereby realizing the automatic leveling operation of the cabin. Compared with the manual leveling method used in the prior art, the requirements for the operator are low, and the leveling efficiency and leveling effect are greatly improved.

[0085] Furthermore, after step S200: comparing the detected X-axis inclination angle and Y-axis inclination angle with the preset leveling start range respectively, the method further includes:

[0086] In the case of -a1≤ΔX≤a1, -a1≤ΔY≤a1, all the shelter legs 210 are controlled to extend synchronously, wherein the preset leveling start range is set to (-a1~a1).

[0087] It can be understood that when both the X-axis inclination angle and the Y-axis inclination angle are within the preset leveling start range, no leveling is required, and all the shelter legs 210 are controlled to extend synchronously. That is, the leveling strategy for comparison result 1: -a1≤ΔX≤a1, -a1≤ΔY≤a1 is: no leveling is required.

[0088] In the embodiment of the present invention, step S300: determining the target adjustment leg according to the comparison result includes:

[0089] When one of the detected X-axis inclination angle and the Y-axis inclination angle exceeds the preset leveling start range, it is determined to be the first-level target adjustment leg in the first-level adjustment mode;

[0090] When the detected X-axis inclination angle and Y-axis inclination angle both exceed the preset leveling start range, it is determined as the secondary target adjustment leg in the secondary adjustment mode; and when the secondary target adjustment leg is extended to one of the inclination angles within the preset leveling target range, it is determined as the primary target adjustment leg in the primary adjustment mode.

[0091] Further, when only one inclination angle exceeds the preset leveling start range in the comparison result, since only one inclination angle needs to be adjusted, this adjustment can be determined as the first-level adjustment mode, and the corresponding target adjustment leg is set as the first-level target adjustment leg, and leveling can be achieved by performing a separate extension control on the first-level target adjustment leg; when both inclination angles exceed the preset leveling start range in the comparison result, since both inclination angles need to be adjusted, this adjustment can be determined as a combination of the second-level adjustment mode and the first-level adjustment mode, firstly perform the second-level adjustment mode, and set the target adjustment leg in the second-level adjustment mode as the second-level target adjustment leg, and after performing a separate extension control on the second-level target adjustment leg so that one of the inclination angles is within the preset leveling start range, then enter the first-level adjustment mode, and leveling can be achieved by performing a separate extension control on the first-level target adjustment leg. Therefore, by determining different adjustment modes according to the number of inclination angles to be adjusted, and when both inclination angles need to be adjusted, the adjustment mode is a combination of the second-level adjustment mode and the first-level adjustment mode, the entire control logic is reasonable and orderly, which is conducive to further improving the leveling efficiency and leveling effect.

[0092] In the embodiment of the present invention, when one of the detected X-axis inclination angle and the Y-axis inclination angle exceeds the preset leveling start range, determining the first-level target adjustment leg in the first-level adjustment mode includes:

[0093] In the case of ΔX>a1, -a1≤ΔY≤a1, the first-level target adjustment legs in the first-level adjustment mode are determined to be the first leg 211 and the second leg 212 in the negative half-axis region of the X-axis, wherein the preset leveling start range is set to (-a1~a1), ΔX is set to the inclination angle of the X-axis, and ΔY is set to the inclination angle of the Y-axis;

[0094] In the case of ΔX<-a1, -a1≤ΔY≤a1, the first-level target adjustment legs in the first-level adjustment mode are determined to be the third leg 213 and the fourth leg 214 in the positive half axis region of the X axis;

[0095] In the case of ΔY>a1, -a1≤ΔX≤a1, the first-level target adjustment legs in the first-level adjustment mode are determined to be the first leg 211 and the fourth leg 214 in the negative half axis region of the Y axis;

[0096] In the case of ΔY<-a1, -a1≤ΔX≤a1, the first-level target adjustment legs in the first-level adjustment mode are determined to be the second leg 212 and the third leg 213 in the positive half axis region of the Y axis.

[0097] Specifically, the X-axis inclination angle and the Y-axis inclination angle need to be compared with the minimum value -a1 and the maximum value a1 of the preset leveling start range respectively. And the comparison results where one of the X-axis inclination angle and the Y-axis inclination angle exceeds the preset leveling start range can be divided into four types. Two of them are that the corresponding inclination angle is greater than the maximum value a1. To perform leveling, two方舱支腿210 within the negative half-axis region of the corresponding axis system need to be determined as the first-level target adjustment legs. The other two are that the corresponding inclination angle is less than the minimum value -a1. To perform leveling, two方舱支腿210 within the positive half-axis region of the corresponding axis system need to be determined as the first-level target adjustment legs. Thus, the leveling in the first-level adjustment mode can be made more targeted and the leveling efficiency is higher.

[0098] Further, in the case of ΔX > a1 and -a1 ≤ ΔY ≤ a1, that is, the positive X-axis inclination angle exceeds the preset leveling start range. To level the X-axis inclination angle, the first-level target adjustment legs can be determined as the first leg 211 and the second leg 212 within the negative half-axis region of the X-axis, and by controlling the first leg 211 and the second leg 212 to extend for negative adjustment, and complete the leveling when the X-axis inclination angle reaches within the preset leveling target range, specifically when ΔX < a0.

[0099] Correspondingly, the leveling strategy for the comparison result 2: ΔX > a1 and -a1 ≤ ΔY ≤ a1 is: control the first leg 211 and the second leg 212 to extend simultaneously until the X-axis inclination angle reaches within the preset leveling target range, specifically when it reaches ΔX < a0.

[0100] Further, in the case of ΔX < -a1 and -a1 ≤ ΔY ≤ a1, that is, the negative X-axis inclination angle exceeds the preset leveling start range. To level the X-axis inclination angle, the first-level target adjustment legs can be determined as the third leg 213 and the fourth leg 214 within the positive half-axis region of the X-axis, and by controlling the third leg 213 and the fourth leg 214 to extend for positive adjustment, and complete the leveling when the X-axis inclination angle reaches within the preset leveling target range, specifically when ΔX > -a0.

[0101] Correspondingly, the leveling strategy for the comparison result 3: ΔX < -a1 and -a1 ≤ ΔY ≤ a1 is: control the third leg 213 and the fourth leg 214 to extend simultaneously until the X-axis inclination angle reaches within the preset leveling target range, specifically when it reaches ΔX < a0.

[0102] Further, in the case where ΔY > a1 and -a1 ≤ ΔX ≤ a1, that is, the positive inclination angle of the Y-axis exceeds the preset leveling start range. To level the inclination angle of the Y-axis, the first-level target adjustment legs can be determined as the first leg 211 and the fourth leg 214 within the negative half-axis region of the Y-axis. And by controlling the first leg 211 and the fourth leg 214 to extend for negative adjustment, and when the inclination angle of the Y-axis reaches within the preset leveling target range, specifically when ΔY < a0, the leveling is completed.

[0103] Correspondingly, comparison result 4: The leveling strategy for ΔY > a1 and -a1 ≤ ΔX ≤ a1 is to control the first leg 211 and the fourth leg 214 to extend simultaneously until the inclination angle of the Y-axis reaches within the preset leveling target range, specifically until ΔY < a0.

[0104] Further, in the case where ΔY < -a1 and -a1 ≤ ΔX ≤ a1, that is, the negative inclination angle of the Y-axis exceeds the preset leveling start range. To level the inclination angle of the Y-axis, the first-level target adjustment legs can be determined as the second leg 212 and the third leg 213 within the positive half-axis region of the Y-axis. And by controlling the second leg 212 and the third leg 213 to extend for positive adjustment, and when the inclination angle of the Y-axis reaches within the preset leveling target range, specifically when ΔY > -a0, the leveling is completed.

[0105] Correspondingly, comparison result 5: The leveling strategy for ΔY < -a1 and -a1 ≤ ΔX ≤ a1 is to control the second leg 212 and the third leg 213 to extend simultaneously until the inclination angle of the Y-axis reaches within the preset leveling target range, specifically until ΔY > -a0.

[0106] In the embodiment of the present invention, in the case where both the detected inclination angle of the X-axis and the inclination angle of the Y-axis exceed the preset leveling start range, the second-level target adjustment legs determined in the second-level adjustment mode include:

[0107] In the case where ΔX > a1 and ΔY > a1, the second-level target adjustment leg in the second-level adjustment mode is determined as the first leg 211 that belongs to both the negative half-axis regions of the X-axis and the Y-axis, where the preset leveling start range is set as (-a1 to a1), ΔX is set as the inclination angle of the X-axis, and ΔY is set as the inclination angle of the Y-axis;

[0108] In the case where ΔX < -a1 and ΔY > a1, the second-level target adjustment leg in the second-level adjustment mode is determined as the fourth leg 214 that belongs to both the positive half-axis of the X-axis and the negative half-axis of the Y-axis;

[0109] In the case where ΔX < -a1 and ΔY < -a1, the second-level target adjustment leg in the second-level adjustment mode is determined as the third leg 213 that belongs to both the positive half-axis regions of the X-axis and the Y-axis;

[0110] When ΔX > a1 and ΔY < -a1, determine that the secondary target adjustment leg in the secondary adjustment mode is the second leg 212 within the regions of the negative half-axis of the X-axis and the positive half-axis of the Y-axis that belong to the same.

[0111] Specifically, the comparison results where both the X-axis inclination angle and the Y-axis inclination angle exceed the preset leveling start range can be divided into four types. The secondary target adjustment legs for these four comparison results are all single cabin legs 210 and are all different. The determination principle of the secondary target adjustment leg is to be able to simultaneously and reversely adjust the X-axis inclination angle and the Y-axis inclination angle so that subsequent leveling can be carried out more quickly in the primary adjustment mode. Of course, the present invention is not limited to this. It is also possible for the secondary target adjustment leg to only reversely adjust one of the inclination angles.

[0112] In the embodiment of the present invention, when ΔX > a1 and ΔY > a1, after determining that the secondary target adjustment leg in the secondary adjustment mode is the first leg 211 within the regions of the negative half-axes of the X-axis and the Y-axis that belong to the same, it includes:

[0113] When the first leg 211 is first adjusted to extend until ΔX < a0, determine that the primary target adjustment legs in the primary adjustment mode are the first leg 211 and the fourth leg 214 within the region of the negative half-axis of the Y-axis, where the preset leveling target range is set to (-a0 to a0);

[0114] When the first leg 211 is first adjusted to extend until ΔY < a0, determine that the primary target adjustment legs in the primary adjustment mode are the first leg 211 and the second leg 212 within the region of the negative half-axis of the X-axis.

[0115] Specifically, the leveling strategy for comparison result 6: ΔX > a1 and ΔY > a1 is: the secondary adjustment mode is to control the first leg 211 to extend, and when it extends until ΔX < a0 or ΔY < a0, enter the primary adjustment mode. If it is first adjusted to extend until ΔX < a0, it corresponds to executing the leveling strategy of comparison result 4; if it is first adjusted to extend until ΔY < a0, it corresponds to executing the leveling strategy of comparison result 2.

[0116] When ΔX < -a1 and ΔY > a1, after determining that the secondary target adjustment leg in the secondary adjustment mode is the fourth leg 214 within the regions of the positive half-axis of the X-axis and the negative half-axis of the Y-axis that belong to the same, it includes:

[0117] When the fourth leg 214 is first adjusted to extend until ΔX > -a0, determine that the primary target adjustment legs in the primary adjustment mode are the first leg 211 and the fourth leg 214 within the region of the negative half-axis of the Y-axis;

[0118] When the fourth leg 214 is first adjusted to extend to ΔY < a0, the primary target adjustment legs in the primary adjustment mode are determined to be the third leg 213 and the fourth leg 214 within the positive half-axis region of the X-axis.

[0119] Specifically, the leveling strategy for comparison result 7: ΔX < -a1, ΔY > a1 is as follows: The secondary adjustment mode is to control the fourth leg 214 to extend, and when it extends to ΔX > -a0 or ΔY < a0, it enters the primary adjustment mode. If it is first adjusted to extend to ΔX > -a0, it corresponds to implementing the leveling strategy of comparison result 4; if it is first adjusted to extend to ΔY < a0, it corresponds to implementing the leveling strategy of comparison result 3.

[0120] In the case of ΔX < -a1, ΔY < -a1, after determining that the secondary target adjustment legs in the secondary adjustment mode are the third leg 213 within the positive half-axis regions of both the X-axis and the Y-axis, it includes:

[0121] When the third leg 213 is first adjusted to extend to ΔX > -a0, the primary target adjustment legs in the primary adjustment mode are determined to be the second leg 212 and the third leg 213 within the positive half-axis region of the Y-axis;

[0122] When the third leg 213 is first adjusted to extend to ΔY > -a0, the primary target adjustment legs in the primary adjustment mode are determined to be the third leg 213 and the fourth leg 214 within the positive half-axis region of the X-axis.

[0123] Specifically, the leveling strategy for comparison result 8: ΔX < -a1, ΔY < -a1 is as follows: The secondary adjustment mode is to control the third leg 213 to extend, and when it extends to ΔX > -a0 or ΔY > -a0, it enters the primary adjustment mode. If it is first adjusted to extend to ΔX > -a0, it corresponds to implementing the leveling strategy of comparison result 5; if it is first adjusted to extend to ΔY > -a0, it corresponds to implementing the leveling strategy of comparison result 3.

[0124] In the case of ΔX > a1, ΔY < -a1, after determining that the secondary target adjustment legs in the secondary adjustment mode are the second leg 212 within the negative half-axis region of the X-axis and the positive half-axis region of the Y-axis, it further includes:

[0125] When the second leg 212 is first adjusted to extend to ΔX < a0, the primary target adjustment legs in the primary adjustment mode are determined to be the second leg 212 and the third leg 213 within the positive half-axis region of the Y-axis;

[0126] When the second leg 212 is first adjusted to extend to ΔY > -a0, the primary target adjustment legs in the primary adjustment mode are determined to be the first leg 211 and the second leg 212 within the negative half-axis region of the X-axis.

[0127] Specifically, for the leveling strategy of comparison result 9: ΔX > a1, ΔY < -a1: the secondary adjustment mode is to control the second leg 212 to extend, and when it extends to ΔX < a0 or ΔY > -a0, it enters the primary adjustment mode. If it first adjusts and extends to ΔX < a0, it corresponds to executing the leveling strategy of comparison result 5; if it first adjusts and extends to ΔY > -a0, it corresponds to executing the leveling strategy of comparison result 2.

[0128] As above, by detecting the changes in the X-axis inclination angle and Y-axis inclination angle in the secondary adjustment mode, and when it is detected that one of the inclination angles is first adjusted to within the preset leveling target range, the primary adjustment mode corresponding to the other inclination angle is used to determine the subsequent primary target adjustment leg.

[0129] In the embodiment of the present invention, after step S400: controlling the target adjustment leg to extend until both the X-axis inclination angle and Y-axis inclination angle are within the preset leveling target range, it further includes:

[0130] Controlling all the cabin legs 210 to extend synchronously. During the synchronous extension process, continue to obtain the X-axis inclination angle and Y-axis inclination angle detected by the inclination angle sensor 801 on the main body 800 of the cabin equipment, and return to execute step S200: comparing the detected X-axis inclination angle and Y-axis inclination angle with the preset leveling start range respectively.

[0131] It can be understood that during the whole process of all the cabin legs 210 touching the ground and synchronously extending to lift the main body 800 of the cabin equipment, the detection and leveling operations are always executed. As long as it is detected that there is a situation where the inclination angle exceeds the preset leveling start range, the synchronous extension of all the cabin legs 210 is adjusted to the leveling operation of the target adjustment leg extending, so as to ensure that the equipment does not tilt or overturn during the whole process.

[0132] In the embodiment of the present invention, the cabin leveling control method further includes:

[0133] When it is detected that the lifting height of the main body 800 of the cabin equipment reaches the set maximum threshold, control all the cabin legs 210 to stop moving.

[0134] Specifically, a distance measuring sensor is provided on the main body 800 of the cabin equipment. The distance measuring sensor is used to determine the lifting height of the main body 800 of the cabin equipment by detecting the distance from the ground. By limiting the maximum lifting height of the main body 800 of the cabin equipment, the stability of the support can be ensured. More specifically, the distance measuring sensor can be set as an ultrasonic sensor.

[0135] In the embodiment of the present invention, the preset leveling start range can be set as (-0.8° to 0.8°), and the preset leveling target range can be set as (-0.5° to 0.5°). Of course, the present invention is not limited to this, and other reasonable preset leveling start ranges and preset leveling target ranges are also possible.

[0136] It can be seen that the cabin leveling control method provided in the present invention includes:

[0137] (1) The ground contact detector 215 detects whether the box leg 210 touches the ground. If the box leg 210 touches the ground, it stops extending. After it is detected that all four box legs 210 touch the ground, the next step is executed.

[0138] (2) After all the cabin legs 210 touch the ground, all the cabin legs 210 are controlled to extend synchronously. When the inclination sensor 801 detects that the cabin is uneven, that is, the X-axis inclination and / or the Y-axis inclination exceeds the preset leveling start range, the controller analyzes and corresponds to one of the nine comparison results, and adopts the corresponding leveling control strategy.

[0139] (3) During the extension of the shelter legs 210, when the distance measuring sensor detects that the height of the equipment has reached the set maximum threshold, all actions are stopped.

[0140] Compared with the prior art, the cabin leveling control method provided by the present invention does not require manual leveling. During the whole process, the cabin legs 210 automatically touch the ground and automatically level according to various parameters. The action is continuous and stable with high efficiency, which can effectively prevent the equipment from tipping over and avoid dangerous accidents.

[0141] In addition, if Figure 2 As shown, the present invention also provides a cabin leveling control system, wherein the cabin leveling control system includes an outrigger hydraulic control system, a ground contact detector 215, an inclination sensor 801 and a controller. The outrigger hydraulic control system can control all cabin outriggers 210 to perform individual and synchronous actions. Each cabin outrigger 210 is provided with a ground contact detector 215 for detecting the ground contact state of the cabin outrigger 210. The inclination sensor 801 is arranged on the cabin equipment body 800. The controller is respectively communicated with the ground contact detector 215, the inclination sensor 801 and the outrigger hydraulic control system, and is configured to execute the cabin leveling control method described above.

[0142] Since the cabin leveling control system adopts all the technical solutions of the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0143] See also Figure 6 In an embodiment of the present invention, the outrigger hydraulic control system includes:

[0144] The oil pumping device 100 is used to pump the hydraulic oil in the oil tank 500;

[0145] The outrigger oil cylinder assembly includes four outrigger oil cylinders 200 that drive different cabin outriggers 210 to extend and retract in a one-to-one correspondence;

[0146] The outrigger reversing valve 300, the first oil inlet of the outrigger reversing valve 300 is communicated with the oil pump device 100, the first working oil port of the outrigger reversing valve 300 is respectively communicated with the rodless chamber of each outrigger oil cylinder 200 through the first oil control oil circuit 310, and the second working oil port is respectively communicated with the rod chamber of each outrigger oil cylinder 200 through the second oil control oil circuit 320, and the outrigger reversing valve 300 is used to select one of the two working oil ports to be communicated with the first oil inlet;

[0147] Synchronous motor 400, a synchronous motor 400 is provided on the first oil control oil circuit 310, a motor inlet of the synchronous motor 400 is connected with a corresponding working oil port through an oil control main circuit 330 of the first oil control oil circuit 310, a motor outlet of the synchronous motor 400, an oil control branch circuit 331 in the first oil control oil circuit 310 and an outrigger cylinder 200 are set to be consistent in number, and the oil control branch circuit 331 is connected to the motor outlet and a corresponding oil chamber of the outrigger cylinder 200 in a one-to-one correspondence, and each oil control branch circuit 331 is also connected to an on-off control valve 401 connected to the oil tank 500;

[0148] The controller is respectively connected to the oil pump device 100 , the leg reversing valve 300 , the synchronous motor 400 and the opening and closing control valve 401 for communication.

[0149] Through the setting of the above-mentioned outrigger hydraulic control system, when the controller needs to control the synchronous extension of the four cabin outriggers 210, the outrigger reversing valve 300 is controlled to switch to the first working oil port and the first oil inlet to communicate, and the opening and closing control valves 401 on all the oil control branches 331 of the first oil control oil circuit 310 are controlled to be closed. The addition of the synchronous motor 400 can make the hydraulic oil flow evenly distributed to the rodless cavity of each outrigger cylinder 200, thereby ensuring the reliability of synchronous extension; when it is necessary to control the target adjustment outrigger to extend separately, the outrigger reversing valve 300 is controlled to switch to the first working oil port and the first oil inlet to communicate, and the opening and closing control valve 401 corresponding to the target adjustment outrigger is controlled to be closed, while the other remaining opening and closing control valves 401 are opened, so that the hydraulic oil flowing out of the first working oil port of the outrigger reversing valve 300 will only flow into the rodless cavity of the corresponding outrigger cylinder 200, and will not flow into the rodless cavity of the other remaining outrigger cylinders 200, thereby achieving the purpose of controlling the extension of the target adjustment outrigger separately.

[0150] In the embodiment of the present invention, both the first oil control oil circuit 310 and the second oil control oil circuit 320 may be provided with a synchronous motor 400. The synchronous motor 400 on the first oil control oil circuit 310 is used to evenly distribute the oil flowing into the rodless chamber of each leg oil cylinder 200, and the synchronous motor 400 on the second oil control oil circuit 320 is used to evenly distribute the oil flowing into the rod chamber of each leg oil cylinder 200. The addition of the synchronous motor 400 enables the oil flowing into each leg oil cylinder 200 to be evenly distributed when the size of each leg oil cylinder 200 is exactly the same, thereby driving all the cabin legs 210 to be synchronously extended and retracted, thereby preventing the equipment from being skewed or even tipping over. In addition, it can also avoid the phenomenon that the system needs to be frequently leveled due to the asynchronous extension and retraction of the leg oil cylinder 200, which causes the whole machine to impact and shake. Due to the addition of the synchronous motor 400, the support legs 210 of the shelter are synchronously retracted during the descent of the shelter, so that the shelter is always kept in a relatively good horizontal state without the need for automatic leveling.

[0151] In the embodiment of the present invention, the first oil control oil circuit 310 and the second oil control oil circuit 320 both include an oil control main circuit 330 and an oil control branch circuit 331. The motor inlet of the synchronous motor 400 is connected to the corresponding working oil port through the oil control main circuit 330. The motor outlet of the synchronous motor 400, the oil control branch circuit 331 in each oil control oil circuit and the number of the outrigger cylinder 200 are set to be consistent, and the oil control branch circuit 331 connects the motor outlet and the corresponding oil chamber of the outrigger cylinder 200 one by one. Each oil control branch circuit 331 is also connected to an opening and closing control valve 401 connected back to the oil tank 500. The use of a synchronous motor 400 for uniform flow distribution instead of a flow distribution valve group will obviously make the oil circuit structure and oil circuit control simpler. At the same time, the addition of an opening and closing control valve 401 can overcome the problem that the corresponding oil chamber cannot return oil from the synchronous motor 400, so that the oil return of the corresponding oil chamber can be smoothly achieved. In addition, the individual extension or retraction control of the cabin legs 210 can also be achieved.

[0152] Furthermore, when all the cabin legs 210 are synchronously extended and driven, the leg reversing valve 300 is controlled to switch to select the first working oil port to be connected with the first oil inlet, the opening and closing control valves 401 on all the oil control branches 331 of the first oil control oil circuit 310 are controlled to be closed, and the opening and closing control valves 401 on all the oil control branches 331 of the second oil control oil circuit 320 are controlled to be opened, and the flow direction of the hydraulic oil is: oil tank 500-oil pump device 100-first oil inlet-first working oil port-synchronous motor 400 on the first oil control oil circuit 310-rodless chamber of each leg cylinder 200-rod chamber of each leg cylinder 200-opening and closing control valves 401 on all the oil control branches 331 of the second oil control oil circuit 320-oil tank 500.

[0153] At the same time, when all the cabin legs 210 are synchronously retracted and driven, the leg reversing valve 300 is controlled to switch to select the second working oil port to be connected to the first oil inlet, the opening and closing control valves 401 on all the oil control branches 331 of the first oil control oil circuit 310 are controlled to be opened, and the opening and closing control valves 401 on all the oil control branches 331 of the second oil control oil circuit 320 are controlled to be closed, and the flow direction of the hydraulic oil is: oil tank 500-oil pumping device 100-first oil inlet-second working oil port-synchronous motor 400 on the second oil control oil circuit 320-rod chamber of each leg cylinder 200-rodless chamber of each leg cylinder 200-opening and closing control valves 401 on all the oil control branches 331 of the first oil control oil circuit 310-oil tank 500.

[0154] In the embodiment of the present invention, the opening and closing control valve 401 is set as a two-position two-way normally open unloading valve, so that when the opening and closing control valve 401 needs to be kept in an open state, there is no need to control it, so that the control logic is simpler. Specifically, when all the cabin legs 210 are synchronously extended and driven, the control logic can be simplified as follows: the control leg reversing valve 300 is switched to select the first working oil port to be connected with the first oil inlet, and the control of the opening and closing control valve 401 on all the oil control branches 331 of the first oil control oil circuit 310 is powered on and closed; when all the cabin legs 210 are synchronously retracted and driven, the control logic can be simplified as follows: the control leg reversing valve 300 is switched to select the second working oil port to be connected with the first oil inlet, and the control of the opening and closing control valve 401 on all the oil control branches 331 of the second oil control oil circuit 320 is powered on and closed. In addition, it is also possible to set the opening and closing control valve 401 as a two-position two-way normally closed solenoid valve, and only relevant changes need to be made to the control logic.

[0155] In the embodiment of the present invention, the oil tank 500 is connected to the oil return oil circuit 502, the on-off control valves 401 on all the oil control branches 331 of the first oil control oil circuit 310 are connected through the first connecting oil circuit 332, the on-off control valves 401 on all the oil control branches 331 of the second oil control oil circuit 320 are connected through the second connecting oil circuit 333, and the first connecting oil circuit 332 and the second connecting oil circuit 333 are connected to the oil return oil circuit 502. By adding the first connecting oil circuit 332 and the second connecting oil circuit 333, the use of oil pipes can be reduced, and the space occupied by the oil pipe layout can be reduced, and the orderliness of the oil pipe layout can be improved.

[0156] In the embodiment of the present invention, the outrigger hydraulic control system further includes a button device, which is configured to manually control each on-off control valve 401. By adding the button device, when an electrical sensor fails, a certain outrigger oil cylinder 200 can be manually adjusted to extend or retract.

[0157] Specifically, when it is necessary to manually adjust the extension of a certain outrigger cylinder 200, the corresponding opening and closing control valve 401 on the first oil control circuit 310 can be closed by pressing a button, and the remaining opening and closing control valves 401 on the first oil control circuit 310 can be opened, so that the hydraulic oil flowing out of the first working oil port of the outrigger reversing valve 300 will only flow into the rodless cavity of the corresponding outrigger cylinder 200, and will not flow into the rodless cavity of the other remaining outrigger cylinders 200, thereby achieving the purpose of manually adjusting the extension of a certain outrigger cylinder 200. When it is necessary to manually adjust the retraction of a certain outrigger cylinder 200, the corresponding opening and closing control valve 401 on the second oil control circuit 320 can be closed by pressing a button, and the remaining opening and closing control valves 401 on the second oil control circuit 320 can be opened, so that the hydraulic oil flowing out of the second working oil port of the outrigger reversing valve 300 will only flow into the rod chamber of the corresponding outrigger cylinder 200, and will not flow into the rod chambers of the other remaining outrigger cylinders 200, thereby achieving the purpose of manually adjusting the retraction of a certain outrigger cylinder 200.

[0158] In an embodiment of the present invention, the support leg hydraulic control system also includes a swing arm cylinder assembly and a swing arm reversing valve 700. The swing arm cylinder assembly includes four swing arm cylinders 600 that correspond one-to-one to drive different swing arm connecting rods 610 to be deployed or retracted in the cabin equipment body 800. Each cabin support leg 210 is correspondingly arranged on a different swing arm connecting rod 610. The second oil inlet and the second oil return port of the swing arm reversing valve 700 are respectively connected to the oil pump device 100 and the oil tank 500 in a one-to-one manner. The third working oil port of the swing arm reversing valve 700 is respectively connected to the rodless chamber of each swing arm cylinder 600, and the fourth working oil port is respectively connected to the rod chamber of each swing arm cylinder 600. The swing arm reversing valve 700 is used to select one of the third working oil port and the fourth working oil port to be connected to the second oil inlet, and the other to be connected to the second oil return port. That is, the drive of the swing arm connecting rod 610 is also selected to be hydraulically driven, and shares the same pumping device 100 with the drive of the cabin legs 210, so that the entire hydraulic control system can be fully utilized. At the same time, since the swinging action of the swing arm connecting rod 610 has no synchronization requirement, the hydraulic oil can freely enter the oil chamber of each swing arm oil cylinder 600 without forced flow distribution.

[0159] In an embodiment of the present invention, the oil tank 500 is connected to an oil supply oil circuit 501 and an oil return oil circuit 502. The oil pumping device 100 includes a filter 101 and an oil pumping assembly which are sequentially arranged on the oil supply oil circuit 501. The oil pumping assembly is used to pump the hydraulic oil in the oil tank 500 to the first oil inlet. By adding the filter 101, the hydraulic components of the system can be protected from damage by contaminated particles. At the same time, a relief valve 104 is connected between the oil supply oil circuit 501 and the oil return oil circuit 502, and the relief valve 104 is located between the oil pumping assembly and the first oil inlet. The upper limit of the working pressure of the system can be set by the relief valve 104. Once the system pressure exceeds the set value, the relief valve 104 will automatically open to discharge the excess hydraulic oil from the system, thereby keeping the system pressure stable.

[0160] In the embodiment of the present invention, each outrigger oil cylinder 200 is provided with a first hydraulic lock 201. The first hydraulic lock 201 can prevent the flow of oil by locking the circuit, thereby ensuring that the oil cylinder can maintain its position when subjected to a certain external load. In addition, each swing arm oil cylinder 600 can also be provided with a second hydraulic lock 601.

[0161] In the embodiment of the present invention, the oil pump assembly includes a motor 103 and a gear oil pump 102 . The motor 103 is used to drive the gear oil pump 102 to rotate so as to pump the hydraulic oil in the oil tank 500 into the oil supply circuit 501 .

[0162] In addition, the present invention provides an emergency drainage shelter, wherein the emergency drainage shelter includes the shelter leveling control system described above. Since the emergency drainage shelter adopts all the technical solutions of the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0163] Specifically, Figure 4 and Figure 5 As shown, the number of the swing arm connecting rods 610 and the cabin legs 210 in the emergency drainage cabin is set to four. The four swing arm connecting rods 610 are arranged one by one at the four corners of the cabin equipment body 800 and can be extended or retracted. The four swing arm cylinders 600 are used to drive the four swing arm connecting rods 610 to be extended or retracted one by one. The four cabin legs 210 are arranged one by one on the four swing arm connecting rods 610, and the four leg cylinders 200 are used to drive the four cabin legs 210 to be extended and retracted one by one.

[0164] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0165] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0166] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0167] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for controlling the leveling of a shelter, characterized in that: The shelter leveling control method comprises: When receiving a signal that all four shelter legs have touched the ground, obtaining the X-axis inclination angle and the Y-axis inclination angle detected by the inclination angle sensor on the shelter equipment body; Compare the detected X-axis inclination angle and Y-axis inclination angle with the preset leveling start range respectively; Determine the target and adjust the outriggers according to the comparison result; The control target is to adjust the legs to be extended until the X-axis inclination angle and the Y-axis inclination angle are both within a preset leveling target range, wherein the preset leveling target range is set within the preset leveling start range.

2. The shelter leveling control method according to claim 1, characterized in that: Determining the target adjustment leg according to the comparison result comprises: When one of the detected X-axis inclination angle and the Y-axis inclination angle exceeds the preset leveling start range, determining the first-level target adjustment leg in the first-level adjustment mode; When the detected X-axis inclination angle and Y-axis inclination angle both exceed the preset leveling start range, it is determined as the secondary target adjustment leg in the secondary adjustment mode; and when the secondary target adjustment leg is extended to one of the inclination angles within the preset leveling target range, it is determined as the primary target adjustment leg in the primary adjustment mode.

3. The shelter leveling control method according to claim 2, characterized in that: In the case where one of the detected X-axis inclination angle and the Y-axis inclination angle exceeds the preset leveling start range, determining the first-level target adjustment leg in the first-level adjustment mode includes: In the case of ΔX>a1, -a1≤ΔY≤a1, determining the first-level target adjustment legs in the first-level adjustment mode to be the first leg and the second leg in the negative half-axis region of the X-axis, wherein the preset leveling start range is set to (-a1~a1), ΔX is set to the inclination angle of the X-axis, and ΔY is set to the inclination angle of the Y-axis; In the case of ΔX<-a1, -a1≤ΔY≤a1, determining the first-level target adjustment legs in the first-level adjustment mode to be the third leg and the fourth leg in the positive half axis region of the X axis; In the case of ΔY>a1, -a1≤ΔX≤a1, the first-level target adjustment legs in the first-level adjustment mode are determined to be the first leg and the fourth leg in the negative half axis region of the Y axis; When ΔY<-a1, -a1≤ΔX≤a1, the first-level target adjustment legs in the first-level adjustment mode are determined to be the second leg and the third leg within the positive half axis region of the Y axis.

4. The shelter leveling control method according to claim 2, characterized in that: When the detected X-axis inclination angle and the Y-axis inclination angle both exceed the preset leveling start range, determining the secondary target adjustment leg in the secondary adjustment mode includes: In the case of ΔX>a1, ΔY>a1, the secondary target adjustment leg in the secondary adjustment mode is determined to be the first leg in the negative semi-axis region belonging to both the X-axis and the Y-axis, wherein the preset leveling start range is set to (-a1 to a1), ΔX is set to the inclination angle of the X-axis, and ΔY is set to the inclination angle of the Y-axis; In the case of ΔX<-a1, ΔY>a1, the secondary target adjustment leg in the secondary adjustment mode is determined to be the fourth leg in the positive semi-axis region of the X axis and the negative semi-axis region of the Y axis; In the case of ΔX<-a1, ΔY<-a1, the secondary target adjustment leg in the secondary adjustment mode is determined to be the third leg in the positive semi-axis region of the X-axis and the positive semi-axis region of the Y-axis; When ΔX > a1 and ΔY < -a1, determine that the secondary target adjustment leg in the secondary adjustment mode is the second leg within the regions of the negative half-axis of the X-axis and the positive half-axis of the Y-axis that belong to the same.

5. The shelter leveling control method according to claim 4, characterized in that: After determining that the primary target adjustment leg in the secondary adjustment mode is the first leg within the regions of the negative half-axes of both the X-axis and the Y-axis when ΔX > a1 and ΔY > a1, it includes: When the first leg is first adjusted to extend until ΔX < a0, determine that the primary target adjustment legs in the primary adjustment mode are the first leg and the fourth leg within the region of the negative half-axis of the Y-axis, where the preset leveling target range is set to (-a0 to a0); When the first leg is first adjusted to extend until ΔY < a0, determine that the primary target adjustment legs in the primary adjustment mode are the first leg and the second leg within the region of the negative half-axis of the X-axis; After determining that the secondary target adjustment leg in the secondary adjustment mode is the fourth leg within the regions of the positive half-axis of the X-axis and the negative half-axis of the Y-axis when ΔX < -a1 and ΔY > a1, it includes: When the fourth leg is first adjusted to extend until ΔX > -a0, determine that the primary target adjustment legs in the primary adjustment mode are the first leg and the fourth leg within the region of the negative half-axis of the Y-axis; When the fourth leg is first adjusted to extend until ΔY < a0, determine that the primary target adjustment legs in the primary adjustment mode are the third leg and the fourth leg within the region of the positive half-axis of the X-axis; After determining that the secondary target adjustment leg in the secondary adjustment mode is the third leg within the regions of the positive half-axes of both the X-axis and the Y-axis when ΔX < -a1 and ΔY < -a1, it includes: When the third leg is first adjusted to extend until ΔX > -a0, determine that the primary target adjustment legs in the primary adjustment mode are the second leg and the third leg within the region of the positive half-axis of the Y-axis; When the third leg is first adjusted to extend until ΔY > -a0, determine that the primary target adjustment legs in the primary adjustment mode are the third leg and the fourth leg within the region of the positive half-axis of the X-axis; After determining that the secondary target adjustment leg in the secondary adjustment mode is the second leg within the regions of the negative half-axis of the X-axis and the positive half-axis of the Y-axis when ΔX > a1 and ΔY < -a1, it further includes: When the second leg is first adjusted to extend until ΔX < a0, determine that the primary target adjustment legs in the primary adjustment mode are the second leg and the third leg within the region of the positive half-axis of the Y-axis; When the second leg is first adjusted to extend until ΔY > -a0, determine that the primary target adjustment legs in the primary adjustment mode are the first leg and the second leg within the region of the negative half-axis of the X-axis.

6. The shelter leveling control method according to claim 4, characterized in that: After controlling the target adjustment leg to extend until both the X-axis inclination angle and the Y-axis inclination angle are within the preset leveling target range, it further includes: Control all the shelter legs to extend synchronously. During the synchronous extension process, continue to obtain the X-axis inclination angle and the Y-axis inclination angle detected by the inclination sensors on the shelter equipment main body, and return to the execution step: Compare the detected X-axis inclination angle and Y-axis inclination angle with the preset leveling start range respectively.

7. The shelter leveling control method according to claim 1, characterized in that: The shelter leveling control method further includes: When it is detected that the lifting height of the shelter equipment body reaches the set maximum threshold, all the shelter legs are controlled to stop moving.

8. A shelter leveling control system, characterized in that: The shelter leveling control system includes an outrigger hydraulic control system, a ground contact detector, an inclination sensor and a controller. The outrigger hydraulic control system can control all the shelter outriggers to perform individual and synchronous actions. Each shelter outrigger is provided with a ground contact detector for detecting the ground contact state of the shelter outrigger. The inclination sensor is provided on the shelter equipment body. The controller is respectively connected to the ground contact detector, the inclination sensor and the outrigger hydraulic control system for communication, and is configured to execute the shelter leveling control method according to any one of claims 1 to 7.

9. The shelter leveling control system according to claim 8, characterized in that: The outrigger hydraulic control system comprises: An oil pumping device, used for pumping the hydraulic oil in the oil tank; The outrigger oil cylinder assembly includes four outrigger oil cylinders that drive different cabin outriggers to extend and retract in a one-to-one correspondence; An outrigger reversing valve, wherein the first oil inlet of the outrigger reversing valve is communicated with the oil pumping device, the first working oil port of the outrigger reversing valve is communicated with the rodless chamber of each outrigger oil cylinder through a first oil control oil circuit, and the second working oil port is communicated with the rod chamber of each outrigger oil cylinder through a second oil control oil circuit, and the outrigger reversing valve is used to select one of the two working oil ports to be communicated with the first oil inlet; A synchronous motor, wherein the first oil control oil circuit is provided with the synchronous motor, the motor inlet of the synchronous motor is connected with the corresponding working oil port through the oil control main circuit of the first oil control oil circuit, the motor outlet of the synchronous motor, the oil control branch in the first oil control oil circuit and the number of the outrigger oil cylinders are set to be consistent, and the oil control branch connects the motor outlet and the corresponding oil chamber of the outrigger oil cylinder one by one, and each of the oil control branch is also connected with an on-off control valve connected to the oil tank; Wherein, the controller is communicatively connected with the oil pumping device, the outrigger reversing valve, the synchronous motor and the opening and closing control valve respectively.

10. An emergency drainage shelter, characterized in that: The emergency drainage shelter comprises a shelter leveling control system according to claim 8 or 9.

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