Method for automatically keeping chassis of mobile intelligent equipment horizontal on slope

Abstract

The invention discloses a method for automatically keeping a chassis of mobile intelligent equipment horizontal on a slope, and relates to the technical field of mobile intelligent equipment.The method comprises the following specific steps that terrain detection is conducted, specifically, the current terrain condition is detected in real time through a sensor system installed on the mobile intelligent equipment, and the terrain condition is determined; comprising slope angles, soil types and rock distribution information; by integrating the sensor system and the central processing unit, real-time monitoring and intelligent analysis of slope topography and road surface conditions are achieved, mobile intelligent equipment can rapidly sense and adapt to various complex topographies including soft soil slopes, rugged rock slopes and the like, and by automatically adjusting the level of the chassis, the slope topography and the road surface conditions can be monitored and analyzed in real time. And the stability and the operation performance of the equipment on different terrains are ensured, so that the terrain adaptability of the equipment is remarkably improved, the mobile intelligent equipment can play a role in a wider environment, and the application range and the practicability of the equipment are improved.

Description

Technical Field

[0001] The invention relates to the technical field of mobile intelligent equipment, and in particular to a method for automatically keeping a chassis of a mobile intelligent equipment level on a slope. Background Art

[0002] As an important achievement of modern science and technology, mobile intelligent equipment plays an important role in various fields, especially in complex terrain environments, where its stability and performance directly determine the success or failure of the mission. Slope terrain is one of the common working environments for mobile intelligent equipment. How to maintain the horizontal state of the equipment chassis on such terrain has become a key factor affecting equipment performance and operational safety.

[0003] However, the performance of mobile intelligent equipment currently on the market on sloping terrain is not satisfactory. These equipment often lack the ability to automatically adjust the chassis level and can only rely on preset fixed programs or manual operations to cope with sloping terrain. This not only limits the flexibility and adaptability of the equipment in complex terrain, but also increases the difficulty of operation and safety risks. Especially when encountering complex terrain such as soft soil or rugged rocks, the equipment is more likely to tilt or sink, resulting in mission failure or even equipment damage.

[0004] In terms of terrain adaptation, traditional technologies also have obvious shortcomings. Due to the lack of real-time perception and processing capabilities of terrain information, traditional equipment is difficult to accurately adjust the chassis level according to parameters such as the specific angle of the slope, soil type, and rock distribution. This limitation not only affects the stability and safety of the equipment on slope terrain, but also limits its application and development in a wider range of fields. Therefore, there is an urgent need for a method that can automatically perceive slope terrain and adjust the chassis level in real time to improve the comprehensive performance of mobile intelligent equipment on slope terrain. Summary of the invention

[0005] The purpose of the present invention is to make up for the shortcomings of the prior art and provide a method for automatically maintaining the chassis level of mobile intelligent equipment on a slope. It can detect the terrain conditions in real time by installing a sensor system, and combined with the intelligent analysis of the central processor, it can formulate corresponding chassis level adjustment strategies for different slope terrains and road conditions. At the same time, a reasonable hydraulic cylinder adjustment strategy is adopted to ensure the accuracy and stability of the chassis adjustment. This method not only improves the terrain adaptability of mobile intelligent equipment, but also realizes the automatic adjustment of the chassis level without manual intervention, thereby greatly improving the operational convenience and safety of the equipment.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a method for automatically keeping the chassis of a mobile intelligent equipment level on a slope, the method comprising the following specific steps:

[0007] Terrain detection: Through the sensor system installed on the mobile smart equipment, the current terrain conditions, including slope angle, soil type and rock distribution information, are detected in real time;

[0008] CPU analysis: The CPU receives the terrain information detected by the sensor and performs preprocessing. It determines the softness of the soil based on the data from the pressure sensor. The pressure value detected by the pressure sensor is small and changes significantly, indicating that the soil is relatively soft. At the same time, combined with the slope angle obtained by the tilt sensor, the algorithm is used to calculate the appropriate hydraulic cylinder pressure and piston rod extension speed. The hydraulic cylinder pressure calculation formula is: The calculation formula of piston rod extension speed is: Among them, P represents the pressure of the hydraulic cylinder, v represents the extension speed of the piston rod, W represents the weight of the mobile intelligent equipment, α represents the slope angle, A represents the effective area of ​​the hydraulic cylinder piston, k1 and k2 are adjustment coefficients, and S represents the soil softness coefficient. For softer soil and larger slope angles, the pressure of the hydraulic cylinder is reduced to avoid excessive sinking into the soil, and the extension speed of the piston rod is slowed down to ensure the smooth adjustment of the chassis. When a rugged rock slope is detected, the central processor uses the three-dimensional terrain model constructed by the lidar to analyze the distribution and height differences of the rocks, and determines the adjustment range and sequence of each hydraulic cylinder according to the position and height of the rocks. For the laser radar detecting that there are higher rocks on one side, the central processor will first calculate the height of the chassis on that side that needs to be lifted, and then determine the length of the hydraulic cylinder close to that side that needs to be extended. First, the hydraulic cylinder is controlled to extend an appropriate length to increase the height of the chassis on that side, and then according to the distribution of rocks at other positions and the overall horizontal state, other hydraulic cylinders are adjusted to ensure that the chassis can adapt to different terrain changes. The calculation formula is: Among them, L i represents the adjustment length of the i-th hydraulic cylinder, H i represents the rock height at the position corresponding to the i-th hydraulic cylinder, k3 and k4 are adjustment coefficients, n represents the number of other rock positions related to the i-th hydraulic cylinder, D ij represents the distance influence coefficient between the i-th hydraulic cylinder and the j-th rock position;

[0009] Chassis level adjustment: According to the adjustment strategy formulated by the central processor, the chassis level of the mobile intelligent equipment is automatically adjusted by controlling the pressure of the hydraulic cylinder and the extension length of the piston rod, and the horizontal state of the chassis is monitored in real time during the adjustment process;

[0010] Dynamic adjustment: When the mobile intelligent equipment is driving on a slope, it continuously monitors terrain changes and the level status of the chassis. If the terrain changes, the central processor will promptly adjust the chassis level adjustment strategy and make dynamic adjustments.

[0011] Furthermore, in the terrain detection step, multiple sensors are installed at different positions of the mobile intelligent equipment, including but not limited to tilt sensors, pressure sensors and lidars. The tilt sensor is used to detect the tilt angle of the equipment relative to the horizontal plane. The pressure sensor is installed at the contact point between the wheel or chassis and the ground to sense the ground reaction force under different terrains, thereby inferring the softness of the soil. The lidar constructs a three-dimensional model of the surrounding terrain by emitting laser beams and receiving reflected signals to obtain terrain information such as slope angles and rock distribution.

[0012] Furthermore, in the central processing unit analysis step, the central processing unit receives terrain information detected by the sensor and performs preprocessing. The terrain information analysis and processing includes filtering the tilt sensor data to remove noise, detecting and removing outliers on the pressure sensor data, and performing point cloud processing on the three-dimensional data scanned by the lidar to remove outliers and noise points.

[0013] Furthermore, in the CPU analysis step, different types of mobile intelligent equipment prototypes are prepared for the adjustment coefficient, covering different weights, sizes and uses, and a variety of representative slope terrains are selected, including soft soil slopes of different slopes and rugged rock slopes. High-precision sensors, including tilt sensors, pressure sensors and lidars, are installed on the prototypes. On different slope terrains, the prototypes are driven at different speeds and loads, and the data collected by the sensors are recorded, including slope angle, soil softness coefficient, rock height, distance influence coefficient, equipment weight and chassis tilt angle. According to the actual situation under the terrain, manually adjust the pressure of the hydraulic cylinder and the extension length of the piston rod, observe the horizontal state of the chassis, record the parameter values ​​that can keep the chassis horizontal, set the adjustment coefficient to the initial value, and substitute the recorded experimental data into the hydraulic cylinder pressure calculation formula to calculate the theoretical hydraulic cylinder pressure value. Compare the theoretical pressure value with the actual pressure value obtained by manual adjustment. If the theoretical value is too large, reduce the adjustment coefficient; if the theoretical value is too small, increase the adjustment coefficient. Repeat the above steps and keep adjusting until the hydraulic cylinder pressure value obtained by theoretical calculation is close to the actual manually adjusted pressure value, and the error is within an acceptable range.

[0014] Furthermore, in the chassis level adjustment step, an electronic oil pump, a hydraulic cylinder, a central processing unit and a posture sensor are added to one end of the vehicle chassis.

[0015] Furthermore, in the chassis level adjustment step, when the attitude sensor detects that the left side of the equipment is higher than the right side and the angle is greater than the specified angle, the central processing unit controls the electronic oil pump to extend the piston rod of the hydraulic cylinder until the attitude sensor detects that the chassis of the vehicle is basically horizontal. When the sensor detects that the right side is higher than the left side and the angle is greater than the specified angle, the central processing unit will instruct the equipment to rotate 180 degrees first, thereby ensuring that the vehicle is always level by extending the piston rod.

[0016] Furthermore, in the chassis horizontal adjustment step, the specified angle is 5°.

[0017] Furthermore, in the chassis leveling step, when the attitude sensor detects that the left side of the equipment is higher than the right side and the angle is greater than the specified angle, the central processor controls the electronic oil pump to extend the piston rod of the hydraulic cylinder until the attitude sensor detects that the chassis of the vehicle is basically horizontal. The calculation formula for the extended length of the piston rod is L left_right =k5×θ, where L left_right It indicates the extended length of the piston rod when the left side is higher than the right side, θ indicates the angle at which the left side is higher than the right side, and k5 is the adjustment coefficient.

[0018] Compared with the prior art, the method for automatically keeping the chassis of mobile intelligent equipment level on a slope has the following beneficial effects:

[0019] 1. The present invention realizes real-time monitoring and intelligent analysis of slope terrain and road conditions by integrating the sensor system and the central processor, so that the mobile intelligent equipment can quickly sense and adapt to various complex terrains, including soft soil slopes, rugged rock slopes, etc., and automatically adjust the chassis level to ensure the stability and operational performance of the equipment on different terrains, thereby significantly improving its terrain adaptability, enabling the mobile intelligent equipment to play a role in a wider range of environments, and improving its application scope and practicality.

[0020] 2. The present invention automatically adjusts the chassis level through the central processor without manual intervention, which greatly simplifies the operation process and improves the convenience of operation. At the same time, since the chassis level is accurately and stably adjusted, the stability and safety of the equipment on sloping terrain are also significantly improved, which not only reduces the labor intensity of operators, but also improves the overall performance and reliability of the equipment, providing a strong guarantee for the safe and efficient operation of mobile intelligent equipment in various complex environments.

[0021] Other advantages, objectives and features of the present invention will be set forth in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A flow chart of a method for automatically keeping the chassis of a mobile intelligent equipment level on a slope;

[0024] Figure 2 The present invention is a schematic diagram of adjusting a method for automatically keeping the chassis of a mobile intelligent equipment level on a slope. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Embodiment 1

[0027] This embodiment describes in detail a specific application of a method for automatically maintaining the levelness of the chassis of a mobile intelligent equipment on a slope in the field of field geological exploration. In field geological exploration work, we are faced with complex and changeable terrain environments, which puts extremely high demands on the performance and stability of exploration vehicles. Geological explorers need to go deep into various remote areas, including mountainous areas, hills, deserts, etc., which often have slopes of different slopes and diverse soil and rock conditions.

[0028] During the terrain detection stage, tilt sensors are installed at key parts of the geological exploration vehicle, such as the middle and four corners of the vehicle body. These sensors can measure the vehicle's tilt angle relative to the horizontal plane in real time at a high frequency. When the vehicle is traveling on a slope, the data of multiple tilt sensors can be verified with each other to improve the accuracy of the measurement. For example, on a soft soil slope with a certain slope, tilt sensors at different positions can detect the overall tilt trend of the vehicle and possible local tilt differences, providing more comprehensive angle information for subsequent chassis adjustments. Pressure sensors are not only installed at the parts where the wheels or chassis contact the ground, but multiple pressure sensors can also be arranged in the vehicle's suspension system. By sensing the ground reaction force under different terrains, these sensors can infer the softness of the soil. For example, when the vehicle is traveling on relatively soft soil, the pressure sensors at the wheels will detect a small pressure value with a relatively large change. Obviously, the pressure sensor in the suspension system can feel the degree of sinking of the vehicle. The combination of the two can more accurately judge the softness of the soil. At the same time, the pressure sensor can also monitor the load changes of the vehicle under different terrains, and provide a reference for the central processor to adjust the pressure of the hydraulic cylinder. The lidar adopts a high-resolution lidar system, which can scan a large area of ​​the surrounding terrain in a short time. In the field environment, the lidar can accurately construct the distribution of rocks on the slope, including the size, shape, position and height of the rocks. For example, when the vehicle is driving on a rugged rock slope, the lidar can detect the scattered distribution of rocks of different sizes, providing detailed data support for the central processor to analyze the terrain. In addition, the lidar can also be combined with the vehicle's positioning system to record the terrain information of the vehicle in different terrain positions in real time for reference and analysis in subsequent exploration.

[0029] In the CPU analysis phase, the CPU uses the formula based on the soil softness detected by the pressure sensor and the slope angle obtained by the tilt sensor. Calculate the appropriate hydraulic cylinder pressure and piston rod extension speed, where W represents the weight of the geological exploration vehicle. In addition to the weight of the vehicle itself and the weight of the exploration equipment and samples it carries, it also takes into account the possible load changes of the vehicle under different working conditions, such as the increase in weight after collecting a large number of samples. α is the slope angle, expressed in radians, measured by the tilt sensor. The data of multiple tilt sensors are averaged and error corrected to obtain a more accurate slope angle value. A is the effective area of ​​the hydraulic cylinder piston. This parameter is determined during vehicle design, but in actual use, due to wear and performance changes of the hydraulic system, the central processor will regularly calibrate it. k1 and k2 are adjustment coefficients that can be adjusted according to actual conditions. Under different soil softness and slope angle combinations, different k1 and k2 values ​​are determined through a large amount of experimental data and simulation analysis to achieve the best hydraulic cylinder pressure adjustment effect. S is the soil softness coefficient, which is set through pressure sensor data and experience. The larger the value, the softer the soil. In order to more accurately determine the soil softness coefficient, the central processor can combine historical data and current environmental factors for dynamic adjustment. For example, if there is rainfall in the current area recently, the soil may become softer, and the central processor will increase the value of the soil softness coefficient accordingly. According to the calculated hydraulic cylinder pressure, the central processor also needs to determine the extension speed of the piston rod. The calculation formula for the piston rod extension speed is: The adjustment of the extension speed must not only consider preventing the vehicle from sinking into the soil, but also the stability of the chassis adjustment. If the extension speed is too fast, the vehicle may be unevenly stressed and shaken. If the extension speed is too slow, the chassis level may not be adjusted in time, affecting the stability of the vehicle. The central processing unit can dynamically adjust the extension speed of the piston rod according to factors such as the vehicle's current speed, load conditions, and the rate of change of terrain. For example, when the vehicle is traveling at a fast speed on a slope with soft soil, in order to ensure that the chassis can respond quickly to terrain changes, the central processing unit can appropriately increase the extension speed of the piston rod, but at the same time it will increase the monitoring frequency of the hydraulic cylinder pressure to prevent the vehicle from sinking into the soil due to excessive pressure. For rugged rock slopes, the central processing unit uses the three-dimensional terrain model constructed by lidar to analyze the distribution and height differences of rocks, and uses the formula Determine the adjustment range and sequence of each hydraulic cylinder, where L i represents the adjustment length of the i-th hydraulic cylinder, H i represents the rock height (relative to the reference surface) at the position corresponding to the i-th hydraulic cylinder, k3 and k4 are adjustment coefficients, n represents the number of other rock positions related to the i-th hydraulic cylinder, and D ijrepresents the distance influence coefficient between the i-th hydraulic cylinder and the j-th rock position. When analyzing the rock distribution, the CPU not only considers the height of a single rock, but also the relative position relationship and combination form between the rocks. For example, if multiple rocks form a continuous ups and downs area, the CPU will comprehensively consider the overall impact of these rocks and determine the adjustment strategy of each hydraulic cylinder to ensure that the chassis can smoothly adapt to this complex terrain. The adjustment coefficients of k3 and k4 can be optimized according to different rock types and terrain complexity. For example, for sharper rocks, a larger adjustment coefficient may be required to ensure that the chassis can avoid the sharp parts of the rocks to avoid damage to the vehicle. At the same time, the distance influence coefficient D ij It can also be adjusted according to the size and shape of the rock. For larger rocks, the range of influence on the surrounding hydraulic cylinders may be larger, and the distance influence coefficient will increase accordingly. In order to ensure the efficiency and stability of the chassis adjustment, the central processor needs to determine the adjustment order of each hydraulic cylinder. Under normal conditions, the hydraulic cylinder close to the higher rock side is first adjusted to extend it to an appropriate length to increase the height of the chassis on that side. Then, according to the distribution of rocks in other positions and the overall horizontal state, other hydraulic cylinders are adjusted. For example, if there is a higher rock on the right side of the vehicle, the central processor will first calculate the height of the right chassis that needs to be raised and determine the length of the hydraulic cylinder close to the right side that needs to be extended. In the process of adjusting the right hydraulic cylinder, the central processor will monitor the vehicle's tilt angle and the pressure changes of other hydraulic cylinders in real time to ensure the stability of the vehicle during the adjustment process. When the right hydraulic cylinder is adjusted to the appropriate position, the other hydraulic cylinders are adjusted in turn according to the distribution of rocks on the left and rear, so that the chassis can adapt to different terrain changes.

[0030] During the chassis level adjustment stage, an electronic oil pump, hydraulic cylinder, central processing unit and attitude sensor are added to one end of the chassis of the geological exploration vehicle. When the attitude sensor detects that the left side of the vehicle is higher than the right side and the angle is greater than 5°, the central processing unit controls the electronic oil pump to start and supply hydraulic oil to the hydraulic cylinder to extend the piston rod of the hydraulic cylinder. left_right = k5 × θ to calculate the extension length of the piston rod, where L left_rightIndicates the extended length of the piston rod when the left side is higher than the right side, θ indicates the angle at which the left side is higher than the right side, k5 is the adjustment coefficient, and the extended length of the piston rod is adjusted according to the angle information fed back by the attitude sensor in real time until the attitude sensor detects that the chassis of the vehicle is basically level. In the process of controlling the electronic oil pump and the hydraulic cylinder, the central processing unit will use advanced feedback control algorithms to ensure the response speed and stability of the hydraulic system. For example, when the attitude sensor detects a large angle change, the central processing unit will quickly increase the output power of the electronic oil pump and speed up the extension speed of the hydraulic cylinder. When the angle approaches the target level, the central processing unit will gradually reduce the output power of the electronic oil pump to slow down the extension speed of the hydraulic cylinder to achieve smooth chassis adjustment. If the sensor detects that the right side is higher than the left side and the angle is greater than 5°, the CPU will instruct the vehicle to rotate 180 degrees first, and then adjust according to the situation that the left side is higher than the right side. When executing the vehicle rotation operation, the CPU will first ensure the safety of the environment around the vehicle to avoid collision with obstacles during the rotation. At the same time, the CPU will control the vehicle's power system and steering system to rotate at a steady speed. During the rotation, the sensor will continuously monitor the vehicle's position and posture changes to ensure that the rotation angle is accurate. After the vehicle rotates 180 degrees, the CPU will start the chassis level adjustment program again, and extend the piston rod of the hydraulic cylinder by controlling the electronic oil pump to ensure the level of the vehicle. This can ensure that the vehicle can adjust the chassis level by extending the piston rod under any circumstances, thereby improving the stability and adaptability of the vehicle.

[0031] During the dynamic adjustment stage, during field geological exploration, the vehicle may constantly encounter different terrain changes. The sensors continuously monitor terrain changes and the horizontal status of the chassis. Once the terrain changes, such as entering a rock slope from a soft soil slope, or the slope angle changes, the sensor will immediately transmit the new terrain information to the central processor. In order to achieve more accurate terrain monitoring, the sensor system can use multi-sensor fusion technology to fuse the data of the tilt sensor, pressure sensor and lidar. For example, when the lidar detects a large rock slope ahead, the tilt sensor and pressure sensor can simultaneously monitor the angle changes and ground reaction force changes of the vehicle as it approaches the slope, providing the central processor with more comprehensive terrain information. In addition, the sensor system can also be combined with the vehicle's navigation system to obtain the vehicle's position information in real time, so that the vehicle's position and the surrounding terrain can be quickly determined when the terrain changes. Terrain conditions. During field geological exploration, vehicles may constantly encounter different terrain changes. Sensors continuously monitor terrain changes and chassis horizontal status. Once the terrain changes, such as entering a rock slope from a soft soil slope, or the slope angle changes, the sensor will immediately transmit the new terrain information to the central processor. In order to achieve more accurate terrain monitoring, the sensor system can use multi-sensor fusion technology to fuse the data of the tilt sensor, pressure sensor and lidar. For example, when the lidar detects a large rock slope ahead, the tilt sensor and pressure sensor can simultaneously monitor the angle changes and ground reaction force changes of the vehicle as it approaches the slope, providing the central processor with more comprehensive terrain information. In addition, the sensor system can also be combined with the vehicle's navigation system to obtain the vehicle's position information in real time, so that the vehicle's position and surrounding terrain conditions can be quickly determined when the terrain changes.

[0032] In summary, by applying the method of the present invention to a field geological exploration vehicle, the stability of the vehicle in complex terrain is improved, the adaptability and reliability of the vehicle are enhanced, and the work efficiency is improved.

[0033] Embodiment 2

[0034] This embodiment describes in detail a specific application of a method for automatically keeping the chassis of mobile intelligent equipment level on a slope in the field of firefighting and rescue. In firefighting and rescue operations, time is life, and fire trucks need to reach the scene of the accident in the shortest time and carry out rescue work. However, the fire scene is often complex and may have various slopes, which poses a great challenge to the driving and operation of fire trucks. In order to ensure the stability and operating performance of fire trucks on slopes and improve rescue efficiency, it is of great significance to apply a method for automatically keeping the chassis of mobile intelligent equipment level on slopes.

[0035] During the terrain detection stage, the fire truck is equipped with multiple high-precision tilt sensors installed in key positions of the vehicle body, such as the front, rear, and both sides of the vehicle body. These sensors can detect the tilt angle of the fire truck in real time during driving, whether it is climbing, going downhill or turning on a slope, and can accurately measure the angle between the fire truck and the horizontal plane. For example, when the fire truck is driving on a slope with a certain slope, the tilt sensor can quickly detect the angle of the slope and transmit the data to the central processor. At the same time, pressure sensors are installed on the tires and chassis of the fire truck to infer the terrain conditions by sensing the pressure changes between the tires and the ground. When the fire truck is driving on a soft soil slope, the pressure sensor will detect a decrease in the pressure of the tire on the ground, which indicates that the soil is relatively soft and may be It will affect the stability of the fire truck. When driving on a hard rock slope, the pressure sensor will detect a larger pressure value, indicating that the terrain is relatively hard. In addition, the pressure sensor can also monitor the load changes of the fire truck. When the fire truck is loaded with a large amount of firefighting equipment and water, the pressure sensor will detect the increase in vehicle weight, which will also affect the chassis adjustment strategy. A high-resolution lidar is installed on the top of the fire truck, which can quickly scan the surrounding terrain. Before arriving at the fire scene, the lidar can detect the slope terrain, rock distribution, obstacles and other information ahead in advance. For example, when the fire truck approaches a fire scene with a rock slope, the lidar can accurately measure the size, position and height of the rock, and provide detailed data for the central processor to formulate a chassis adjustment strategy.

[0036] In the CPU analysis phase, for soft soil slopes:, the CPU uses the formula based on the soil softness detected by the pressure sensor and the slope angle obtained by the tilt sensor. Calculate the appropriate hydraulic cylinder pressure and piston rod extension speed, where W represents the weight of the fire truck, including the weight of the vehicle itself, the weight of the fire equipment, and the weight of the water in the water tank. α is the slope angle, and A is the effective area of ​​the hydraulic cylinder piston. This parameter is determined when the fire truck is designed, but in actual use, the central processing unit will make real-time adjustments based on the wear of the hydraulic cylinder and the performance changes of the hydraulic system. k1 and k2 are adjustment coefficients that can be adjusted according to actual conditions. For soft soil slopes, the central processing unit will increase the value of k1 according to the softness of the soil to increase the pressure of the hydraulic cylinder to prevent the fire truck from sinking into the soil. At the same time, the value of k2 is adjusted according to the slope angle to ensure that the pressure of the hydraulic cylinder can provide sufficient support to keep the fire truck stable on the slope. Based on the calculated hydraulic cylinder pressure, the central processing unit The central processor determines the extension speed of the piston rod. On a soft soil slope, in order to prevent the fire truck from sinking into the soil, the extension speed of the piston rod needs to be moderate, neither too fast nor too slow. If the extension speed is too fast, the fire truck may rise suddenly, affecting the stability of the vehicle. If the extension speed is too slow, the chassis level may not be adjusted in time, causing the fire truck to tilt on the slope. The central processor will dynamically adjust the extension speed of the piston rod according to factors such as the driving speed, load condition and softness of the soil of the fire truck. For example, when the fire truck is driving slowly and has a heavy load on a soft soil slope, the central processor will reduce the extension speed of the piston rod to ensure the stability of the fire truck. For soft soil slopes, the central processor uses the formula based on the softness of the soil detected by the pressure sensor and the slope angle obtained by the tilt sensor. Determine the adjustment range and sequence of each hydraulic cylinder, where L i represents the adjustment length of the i-th hydraulic cylinder, H i represents the rock height at the position corresponding to the i-th hydraulic cylinder, k3 and k4 are adjustment coefficients, n represents the number of other rock positions related to the i-th hydraulic cylinder, D ij It represents the distance influence coefficient between the i-th hydraulic cylinder and the j-th rock position. On a rugged rocky slope, the central processor will give priority to adjusting the hydraulic cylinders close to larger rocks according to the distribution of rocks to increase the chassis height of the fire truck and avoid collision between the vehicle and the rocks. At the same time, considering the distance and mutual influence between the rocks, the central processor will adjust the adjustment length of other hydraulic cylinders so that the chassis of the fire truck can smoothly adapt to changes in terrain.

[0037] During the chassis leveling stage, an electronic oil pump, hydraulic cylinder, central processing unit and attitude sensor are installed at one end of the fire truck chassis. When the attitude sensor detects that the left side of the fire truck is higher than the right side and the angle is greater than 5°, the central processing unit controls the electronic oil pump to start and supply hydraulic oil to the hydraulic cylinder to extend the piston rod of the hydraulic cylinder. left_right= k5 × θ to calculate the extension length of the piston rod, where L left_right Indicates the extended length of the piston rod when the left side is higher than the right side, θ indicates the angle at which the left side is higher than the right side, k5 is the adjustment coefficient, and the extended length of the piston rod is adjusted according to the angle information fed back by the attitude sensor in real time until the attitude sensor detects that the chassis of the vehicle is basically level. In the process of controlling the electronic oil pump and the hydraulic cylinder, the central processing unit will use advanced feedback control algorithms to ensure the response speed and stability of the hydraulic system. For example, when the attitude sensor detects a large angle change, the central processing unit will quickly increase the output power of the electronic oil pump and speed up the extension speed of the hydraulic cylinder. When the angle approaches the target level, the central processing unit will gradually reduce the output power of the electronic oil pump to slow down the extension speed of the hydraulic cylinder to achieve smooth chassis adjustment. If the sensor detects that the right side is higher than the left side and the angle is greater than 5°, The central processing unit will instruct the fire truck to rotate 180 degrees first, and then adjust it according to the situation that the left side is higher than the right side. When performing the vehicle rotation operation, the central processing unit will first ensure the safety of the environment around the fire truck to avoid collision with obstacles during the rotation. At the same time, the central processing unit will control the power system and steering system of the fire truck to rotate at a steady speed. During the rotation process, the sensor will continuously monitor the position and posture changes of the fire truck to ensure that the rotation angle is accurate. After the fire truck rotates 180 degrees, the central processing unit will start the chassis level adjustment program again, and extend the piston rod of the hydraulic cylinder by controlling the electronic oil pump to ensure that the fire truck is level. This ensures that the fire truck can adjust the chassis level by extending the piston rod under any circumstances, thereby improving the stability and adaptability of the vehicle.

[0038] During the dynamic adjustment stage, during the firefighting and rescue process, the terrain may change at any time. The sensors continuously monitor the terrain changes and the horizontal status of the chassis. Once the terrain changes, such as entering a rock slope from a soft soil slope, or the slope angle changes, the sensor will immediately transmit the new terrain information to the central processor. In order to achieve more accurate terrain monitoring, the sensor system can use multi-sensor fusion technology to fuse the data of the tilt sensor, pressure sensor and lidar. For example, when the lidar detects that the terrain ahead has changed, the tilt sensor and pressure sensor can simultaneously monitor the angle changes and ground reaction force changes of the fire truck during driving, providing the central processor with more comprehensive terrain information. In addition, the sensor system can also be combined with the fire truck's navigation system to obtain the fire truck's location information in real time so that when the terrain changes, It can quickly determine the location of the fire truck and the surrounding terrain conditions. The central processor re-analyzes the new terrain information and adjusts the chassis level adjustment strategy. For example, if the fire truck enters a rock slope from a soft soil slope, the central processor will switch from the adjustment strategy for soft soil to the adjustment strategy for rock slopes. When switching the adjustment strategy, the central processor will consider the transition area between the two terrains to avoid sudden adjustments that may cause instability in the fire truck. For example, when the fire truck gradually enters a rock slope from a soft soil slope, the central processor can first gradually adjust the pressure of the hydraulic cylinder and the extension length of the piston rod based on the comprehensive information of the soil softness and the rock height, so that the fire truck can smoothly adapt to changes in the terrain. At the same time, the pressure of the hydraulic cylinder and the extension length of the piston rod are controlled according to the new strategy, and dynamic adjustments are made to ensure that the fire truck always maintains a level chassis.

[0039] In summary, by applying the method of the present invention to a fire rescue vehicle, the stability of the fire truck in complex terrain is improved, the adaptability and reliability of the fire truck are enhanced, and the rescue efficiency is improved.

[0040] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A method for automatically keeping the chassis of a mobile intelligent equipment level on a slope, characterized in that: The method comprises the following specific steps: Terrain detection: Through the sensor system installed on the mobile smart equipment, the current terrain conditions, including slope angle, soil type and rock distribution information, are detected in real time; CPU analysis: The CPU receives the terrain information detected by the sensor and performs preprocessing. It determines the softness of the soil based on the data from the pressure sensor. The pressure value detected by the pressure sensor is small and changes significantly, indicating that the soil is relatively soft. At the same time, combined with the slope angle obtained by the tilt sensor, the algorithm is used to calculate the appropriate hydraulic cylinder pressure and piston rod extension speed. The hydraulic cylinder pressure calculation formula is: The calculation formula of piston rod extension speed is: Among them, P represents the pressure of the hydraulic cylinder, v represents the extension speed of the piston rod, W represents the weight of the mobile intelligent equipment, α represents the slope angle, A represents the effective area of ​​the hydraulic cylinder piston, k1 and k2 are adjustment coefficients, and S represents the soil softness coefficient. For softer soil and larger slope angles, the pressure of the hydraulic cylinder is reduced to avoid excessive sinking into the soil, and the extension speed of the piston rod is slowed down to ensure the smooth adjustment of the chassis. When a rugged rock slope is detected, the central processor uses the three-dimensional terrain model constructed by the lidar to analyze the distribution and height differences of the rocks, and determines the adjustment range and sequence of each hydraulic cylinder according to the position and height of the rocks. For the laser radar detecting that there are higher rocks on one side, the central processor will first calculate the height of the chassis on that side that needs to be lifted, and then determine the length of the hydraulic cylinder close to that side that needs to be extended. First, the hydraulic cylinder is controlled to extend an appropriate length to increase the height of the chassis on that side, and then according to the distribution of rocks at other positions and the overall horizontal state, other hydraulic cylinders are adjusted to ensure that the chassis can adapt to different terrain changes. The calculation formula is: Among them, L i represents the adjustment length of the i-th hydraulic cylinder, H i represents the rock height at the position corresponding to the i-th hydraulic cylinder, k3 and k4 are adjustment coefficients, n represents the number of other rock positions related to the i-th hydraulic cylinder, D ij represents the distance influence coefficient between the i-th hydraulic cylinder and the j-th rock position; Chassis level adjustment: According to the adjustment strategy formulated by the central processor, the chassis level of the mobile intelligent equipment is automatically adjusted by controlling the pressure of the hydraulic cylinder and the extension length of the piston rod, and the horizontal state of the chassis is monitored in real time during the adjustment process; Dynamic adjustment: When the mobile intelligent equipment is driving on a slope, it continuously monitors terrain changes and the level status of the chassis. If the terrain changes, the central processor will promptly adjust the chassis level adjustment strategy and make dynamic adjustments.

2. A method for automatically keeping the chassis of a mobile intelligent device level on a slope according to claim 1, characterized in that: In the terrain detection step, multiple sensors are installed at different positions of the mobile intelligent equipment, including but not limited to tilt sensors, pressure sensors and laser radars. The tilt sensor is used to detect the tilt angle of the equipment relative to the horizontal plane. The pressure sensor is installed at the contact point between the wheel or chassis and the ground to sense the ground reaction force under different terrains, thereby inferring the softness of the soil. The laser radar constructs a three-dimensional model of the surrounding terrain by emitting laser beams and receiving reflected signals to obtain terrain information such as slope angles and rock distribution.

3. The method for automatically keeping the chassis of a mobile intelligent device level on a slope according to claim 1, characterized in that: In the central processing unit analysis step, the central processing unit receives the terrain information detected by the sensor and performs preprocessing. The terrain information analysis and processing includes filtering the tilt sensor data to remove noise, detecting and removing outliers on the pressure sensor data, and performing point cloud processing on the three-dimensional data scanned by the lidar to remove outliers and noise points.

4. The method for automatically keeping the chassis of a mobile intelligent device level on a slope according to claim 1, characterized in that: In the CPU analysis step, different types of mobile intelligent equipment prototypes are prepared for the adjustment coefficient, covering different weights, sizes and uses, and a variety of representative slope terrains are selected, including soft soil slopes with different slopes and rugged rock slopes. High-precision sensors, including tilt sensors, pressure sensors and lidars, are installed on the prototypes. On different slope terrains, the prototypes are driven at different speeds and loads, and the data collected by the sensors are recorded, including slope angle, soil softness coefficient, rock height, distance influence coefficient, equipment weight and chassis tilt angle. According to the actual situation, manually adjust the pressure of the hydraulic cylinder and the extension length of the piston rod, observe the horizontal state of the chassis, record the parameter values ​​that can keep the chassis horizontal, set the adjustment coefficient to the initial value, substitute the recorded experimental data into the hydraulic cylinder pressure calculation formula, calculate the theoretical hydraulic cylinder pressure value, and compare the theoretical pressure value with the actual pressure value obtained by manual adjustment. If the theoretical value is too large, reduce the adjustment coefficient; if the theoretical value is too small, increase the adjustment coefficient. Repeat the above steps and keep adjusting until the hydraulic cylinder pressure value obtained by theoretical calculation is close to the actual manually adjusted pressure value, and the error is within an acceptable range.

5. The method for automatically keeping the chassis of a mobile intelligent device level on a slope according to claim 1, characterized in that: In the chassis level adjustment step, an electronic oil pump, a hydraulic cylinder, a central processing unit and a posture sensor are added to one end of the vehicle chassis.

6. The method for automatically keeping the chassis of a mobile intelligent device level on a slope according to claim 1, characterized in that: In the chassis level adjustment step, when the attitude sensor detects that the left side of the equipment is higher than the right side and the angle is greater than the specified angle, the central processing unit controls the electronic oil pump to extend the piston rod of the hydraulic cylinder until the attitude sensor detects that the chassis of the vehicle is basically horizontal. When the sensor detects that the right side is higher than the left side and the angle is greater than the specified angle, the central processing unit will instruct the equipment to rotate 180 degrees first, thereby ensuring that the vehicle is always level by extending the piston rod.

7. A method for automatically keeping the chassis of a mobile intelligent device level on a slope according to claim 6, characterized in that: In the chassis level adjustment step, the specified angle is 5°.

8. The method for automatically keeping the chassis of a mobile intelligent device level on a slope according to claim 1, characterized in that: In the chassis level adjustment step, when the attitude sensor detects that the left side of the equipment is higher than the right side and the angle is greater than the specified angle, the central processor controls the electronic oil pump to extend the piston rod of the hydraulic cylinder until the attitude sensor detects that the chassis of the vehicle is basically horizontal. The calculation formula for the extended length of the piston rod is L left_right =k5×θ, where L left_right It indicates the extended length of the piston rod when the left side is higher than the right side, θ indicates the angle at which the left side is higher than the right side, and k5 is the adjustment coefficient.

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