Control method of hydraulic balance supporting leg structure of modularized whole vehicle logistics loading and unloading platform

Abstract

The invention discloses a control method of a hydraulic balance supporting leg structure of a modularized whole vehicle logistics loading and unloading platform. The method comprises the steps that target parameters of the loading and unloading platform are obtained, and the target parameters comprise pressure sensor parameters, accelerometer parameters and tilt angle sensor parameters of all hydraulic supporting leg units of the loading and unloading platform; environment parameters of the loading and unloading platform are obtained, wherein the environment parameters are used for representing parameters of the environment where the loading and unloading platform is located; determining a platform inclination angle of the loading and unloading platform based on the target parameters; based on the environmental parameters and the platform inclination angle of the loading and unloading platform, determining the target expansion amount of each hydraulic supporting leg unit; and adjusting each hydraulic support leg unit based on the target expansion and contraction amount of each hydraulic support leg unit. The technical problems that in the prior art, the adjusting process of a loading and unloading platform is complex, and the adjusting precision is low are solved.

Description

Technical Field

[0001] The present application relates to the field of logistics loading and unloading technology, and in particular to a method for controlling a hydraulic balancing leg structure of a modular vehicle logistics loading and unloading platform. Background Art

[0002] With the development of the logistics industry, the transportation of large equipment has become more frequent, and the demand for loading and unloading platforms is increasing. By installing hydraulic outriggers at the four corners of the loading and unloading platform, the loading and unloading platform can adapt to different ground conditions (such as the angle of the ground and the degree of unevenness). The height of the loading and unloading platform can also be adjusted to accommodate the different sizes of transportation equipment such as railway vehicles and automobiles.

[0003] However, due to the limited stability of the loading and unloading platform and the complex mechanical structure of the loading and unloading platform, if the working state of the hydraulic support legs is unstable during the adjustment process, it is easy to cause damage to the hydraulic support legs and the loading and unloading platform to fall, thereby causing damage to equipment and goods, and even casualties.

[0004] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0005] An embodiment of the present application provides a method for controlling the hydraulic balancing leg structure of a modular vehicle logistics loading and unloading platform, so as to at least solve the technical problems of the complicated adjustment process and low adjustment accuracy of the loading and unloading platform in the prior art.

[0006] According to one aspect of an embodiment of the present application, a method for controlling a hydraulically balanced outrigger structure of a modular vehicle logistics loading and unloading platform is provided, comprising:

[0007] Acquiring target parameters of the loading and unloading platform, wherein the target parameters include: pressure sensor parameters, accelerometer parameters, and inclination sensor parameters of each hydraulic leg unit of the loading and unloading platform;

[0008] Acquire environmental parameters of the loading and unloading platform, where the environmental parameters are used to characterize the parameters of the environment in which the loading and unloading platform is located;

[0009] Determine the platform inclination angle of the loading and unloading platform based on the target parameters;

[0010] Determine the target extension and retraction of each hydraulic outrigger unit based on the environmental parameters and inclination angle of the loading and unloading platform;

[0011] Based on the target extension and contraction amount of each hydraulic leg unit, each hydraulic leg unit is adjusted.

[0012] Optionally, the target extension and retraction amount of each hydraulic leg unit is determined based on the environmental parameters of the loading and unloading platform and the platform inclination angle, including: the environmental parameters include at least one of the following: wind speed parameters and wind direction parameters; based on the pressure sensor parameters of each hydraulic leg unit, the ground state is determined, wherein the ground state is the flatness of the ground where the loading and unloading platform is located; based on the wind speed parameters, wind direction parameters, ground state and platform inclination angle, the target extension and retraction amount of each hydraulic leg unit is determined.

[0013] Optionally, the ground state is determined based on the pressure sensor parameters of each hydraulic leg unit, including: determining the pressure difference value between each hydraulic leg unit based on the pressure sensor parameters of each hydraulic leg unit; in response to the pressure difference value being greater than or equal to a difference threshold, determining that the ground state is uneven; in response to the pressure difference value being less than the difference threshold, determining that the ground state is flat.

[0014] Optionally, the target extension and retraction amount of each hydraulic leg unit is determined based on wind speed parameters, wind direction parameters, ground conditions and platform inclination, including: determining the windward side hydraulic leg unit and the leeward side hydraulic leg unit of the loading and unloading platform based on wind speed parameters and wind direction parameters; determining the target extension and retraction amount of each hydraulic leg unit based on the windward side hydraulic leg unit, the leeward side hydraulic leg unit, ground conditions and platform inclination.

[0015] Optionally, before determining the target extension and retraction amount of each hydraulic leg unit based on wind speed parameters, wind direction parameters, ground conditions and platform inclination, it also includes: determining the stability state of the loading and unloading platform based on oil pressure parameters; in response to the stability state of the loading and unloading platform being a shaking state, determining the target opening of the buffer valve of the loading and unloading platform based on oil pressure parameters, ground conditions and platform inclination; and adjusting the buffer valve to the target opening.

[0016] Optionally, the platform inclination angle of the loading and unloading platform is determined based on the target parameters, including: determining the acceleration of the loading and unloading platform based on the accelerometer parameters of each hydraulic support leg unit; determining the instantaneous inclination angle of the loading and unloading platform based on the inclination sensor parameters of each hydraulic support leg unit; determining the platform inclination angle based on the acceleration and instantaneous inclination angle of the loading and unloading platform.

[0017] Optionally, after adjusting each hydraulic leg unit based on the target extension and extension amount of each hydraulic leg unit, the following steps are included: determining the historical platform inclination angle of the loading and unloading platform based on the platform inclination angle of the loading and unloading platform; obtaining the current target parameters of the loading and unloading platform; determining the current platform inclination angle of the loading and unloading platform based on the current target parameters; determining the leveling accuracy based on the current platform inclination angle and the historical platform inclination angle of the loading and unloading platform; in response to the leveling accuracy satisfying the first preset condition, obtaining the current environmental parameters of the loading and unloading platform; determining the current target extension and extension amount of each hydraulic leg unit based on the current environmental parameters and the current platform inclination angle of the loading and unloading platform; adjusting each hydraulic leg unit based on the current target extension and extension amount of each hydraulic leg unit until the leveling accuracy meets the second preset condition.

[0018] Optionally, the method also includes: obtaining the working status of each hydraulic leg unit, the working status including: fault status and non-fault status; in response to the working status being a fault status, generating early warning information, the early warning information is used to prompt the operator of the fault information of the hydraulic leg unit and prompt the operator to replace the hydraulic leg unit.

[0019] According to another aspect of an embodiment of the present application, a control device for a hydraulic balancing leg structure of a modular whole vehicle logistics loading and unloading platform is also provided, including: a first acquisition module for acquiring target parameters of the loading and unloading platform, wherein the target parameters include: pressure sensor parameters, accelerometer parameters and inclination sensor parameters of each hydraulic leg unit of the loading and unloading platform; a second acquisition module for acquiring environmental parameters of the loading and unloading platform; a first determination module for determining the platform inclination of the loading and unloading platform based on the target parameters; a second determination module for determining the target extension and extension amount of each hydraulic leg unit based on the environmental parameters and platform inclination of the loading and unloading platform; and an adjustment module for adjusting each hydraulic leg unit based on the target extension and extension amount of each hydraulic leg unit.

[0020] According to another aspect of the embodiments of the present application, a computer program product is further provided, including a computer program, which implements the control method of the loading and unloading platform in the embodiments of the present application when the computer program is executed by a processor.

[0021] In the embodiment of the present application, by integrating the pressure, acceleration and inclination sensor parameters and combining environmental factors, the extension and retraction of the hydraulic legs are intelligently adjusted to achieve dynamic balance and precise leveling of the modular vehicle logistics loading and unloading platform, thereby achieving the technical effect of effectively responding to challenges such as wind and ground vibration, and improving operational safety and efficiency, thereby solving the technical problems of complex adjustment process and low adjustment accuracy of the loading and unloading platform in the existing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0023] Figure 1 This is a flow chart of a method for controlling a hydraulic balancing leg structure of a modular vehicle logistics loading and unloading platform according to one embodiment of the present invention;

[0024] Figure 2 It is a structural block diagram of a control device for a hydraulic balancing leg structure of a modular vehicle logistics loading and unloading platform according to one embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] According to an embodiment of the present invention, an embodiment of a control method for a hydraulically balanced support leg structure of a modular vehicle logistics loading and unloading platform is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0028] The method embodiment can be executed in an electronic device or a similar computing device including a memory and a processor. Taking running on an electronic device as an example, the electronic device may include one or more processors (the processor may include but is not limited to a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a programmable logic device (Field Programmable Gate Array, FPGA), a neural network processor (Neural-network Processor Unit, NPU), a tensor processor (Tensor Processing Unit, TPU), an artificial intelligence (AI) type processor, etc.) and a memory for storing data. Optionally, the above-mentioned electronic device may also include a transmission device, an input and output device, and a display device for communication functions. It will be understood by those skilled in the art that the above-mentioned structural description is only illustrative and does not limit the structure of the above-mentioned electronic device. For example, the electronic device may also include more or fewer components than the above-mentioned structural description, or have a configuration different from the above-mentioned structural description.

[0029] The memory can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the control method of the hydraulically balanced support leg structure of the modular vehicle logistics loading and unloading platform in the embodiment of the present invention. The processor executes the computer program stored in the memory to perform various functional applications and data processing, thereby implementing the control method of the hydraulically balanced support leg structure of the modular vehicle logistics loading and unloading platform. The memory can include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, corporate intranet, local area network, mobile communication network, and combinations thereof.

[0030] The transmission device is used to receive or send data via a network. Specific examples of the aforementioned network may include a wireless network provided by a communications provider of the mobile terminal. In one embodiment, the transmission device includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one embodiment, the transmission device can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0031] The display device can be, for example, a touch-screen liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display"). The liquid crystal display enables the user to interact with the user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), and the user can interact with the GUI by finger contacts and / or gestures on the touch-sensitive surface. The human-computer interaction functions here optionally include the following interactions: creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music and / or web browsing, etc. The executable instructions for performing the above-mentioned human-computer interaction functions are configured / stored in a computer program product or readable storage medium executable by one or more processors.

[0032] Figure 1 is a method according to an embodiment of the present invention, such as Figure 1 As shown, the method includes the following steps:

[0033] Step S102, obtaining target parameters of the loading and unloading platform, wherein the target parameters include: pressure sensor parameters, accelerometer parameters, and inclination sensor parameters of each hydraulic leg unit of the loading and unloading platform;

[0034] Step S104, obtaining environmental parameters of the loading and unloading platform, where the environmental parameters are used to characterize the environment in which the loading and unloading platform is located;

[0035] Step S106, determining the platform inclination angle of the loading and unloading platform based on the target parameters;

[0036] Step S108, determining the target extension and retraction amount of each hydraulic leg unit based on the environmental parameters of the loading and unloading platform and the platform inclination angle;

[0037] Step S110: adjusting each hydraulic leg unit based on the target extension and contraction amount of each hydraulic leg unit.

[0038] In step S102, before loading and unloading operations begin, the control system (typically a PLC controller) collects data from the pressure sensors of each hydraulic outrigger unit. This data reflects the pressure applied at the outrigger's contact point with the ground. It also collects the outputs of the accelerometer, which measures the platform's acceleration in three-dimensional space, and the inclination sensor, which measures the platform's tilt relative to the horizontal plane. These parameters together constitute the target parameters, providing the data foundation for subsequent calculations and adjustments.

[0039] In step S104, environmental parameters are collected, including but not limited to ground hardness, wind speed, and temperature. These parameters reflect the external conditions during the operation of the loading platform and are crucial for adjusting the response strategy of the hydraulic outriggers. For example, ground hardness can affect the stability and support efficiency of the outriggers, while wind speed and temperature can affect the overall performance and control accuracy of the loading platform.

[0040] In step S106, the tilt sensor readings, combined with the accelerometer data, are analyzed to accurately calculate the loading platform's current tilt angle relative to the horizontal plane. This calculation is the basis for automatic leveling, ensuring the platform remains stable while loading cargo.

[0041] In step S108, the collected target parameters and environmental parameters are used to calculate the target extension and retraction of each hydraulic leg unit through a pre-set algorithm or model to balance the platform's inclination and adapt to environmental changes. This process considers the direct impact of the external environment on platform stability, ensuring rapid adjustment to the ideal state under various conditions.

[0042] In step S110, based on the target extension and retraction calculated in step S108, the PLC in the hydraulic system sends instructions to the hydraulic cylinders to adjust the length of each leg until the desired platform inclination angle is achieved. This adjustment process is dynamic and responds to changes in the platform's state in real time, ensuring stability and safety during loading and unloading.

[0043] Based on steps S102-S108, this modular vehicle logistics loading and unloading platform can monitor platform status and environmental conditions in real time and dynamically adjust the extension and retraction of the hydraulic outriggers to precisely control the platform's leveling and improve its seismic resistance. The platform automatically adjusts to a level position when carrying cargo of varying weights, without manual intervention, improving loading and unloading efficiency and safety. The control system adjusts operating strategies based on real-time environmental parameters, ensuring stable operation under various external conditions and expanding its application range. By dynamically adjusting oil pressure and outrigger extension and retraction, the platform's shock absorption capacity is significantly enhanced, reducing the risk of cargo damage during loading and unloading.

[0044] As an optional implementation, optionally, step S108 determines the target extension and retraction amount of each hydraulic leg unit based on the environmental parameters of the loading and unloading platform and the platform inclination, including:

[0045] Step S201, the environmental parameters include at least one of the following: a wind speed parameter and a wind direction parameter;

[0046] Step S202: determining the ground condition based on the pressure sensor parameters of each hydraulic leg unit, wherein the ground condition refers to the flatness of the ground where the loading and unloading platform is located;

[0047] Step S203: determining the target extension and retraction amount of each hydraulic leg unit based on the wind speed parameter, wind direction parameter, ground condition and platform inclination.

[0048] In step S201, the environmental parameters are embodied as wind speed parameters and wind direction parameters. These parameters can provide information about the wind conditions around the loading and unloading platform, which is crucial for evaluating the impact of wind on the stability of the platform.

[0049] Specifically, if the wind speed parameter indicates strong winds, the outrigger extension and retraction of the windward-facing legs are adjusted based on the wind direction parameter to prevent the platform from tilting due to the wind. For example, when the wind is blowing from one side of the platform, the outriggers on the windward side may need to be shortened to reduce wind resistance, while the outriggers on the leeward side may need to be extended to increase stability.

[0050] In step S202, the flatness of the ground surface can be determined by analyzing the output of the pressure sensors under each hydraulic leg unit. If the pressure distribution is uneven, it means that the ground surface is uneven, which will directly affect the stability and leveling effect of the platform.

[0051] Specifically, if the ground condition assessment indicates the ground is uneven, the system adjusts the outrigger extension and retraction to compensate for the height difference, ensuring the platform remains level even on uneven ground. For example, if an outrigger is located on sunken ground, the system will command it to extend to compensate for the height difference and prevent the platform from tilting.

[0052] In step S203, a comprehensive analysis of wind speed, wind direction, ground flatness, and the current platform inclination is performed, and the target extension and retraction of each hydraulic outrigger unit is calculated using a pre-set mathematical model or algorithm. This calculation considers the impact of multiple variables on platform stability, ensuring that the platform maintains an optimal level position even in complex environmental conditions.

[0053] Based on steps S201-S203, the target extension and retraction amount of each hydraulic leg unit can be accurately calculated and adjusted dynamically based on environmental parameters (wind speed, wind direction) and ground conditions, combined with the platform inclination angle, to adapt to the complex and changeable working environment and improve the stability and safety of the loading and unloading platform.

[0054] Optionally, step S202 determines the ground state based on the pressure sensor parameters of each hydraulic leg unit, including:

[0055] Step S211, determining the pressure difference value between the hydraulic leg units based on the pressure sensor parameters of the hydraulic leg units;

[0056] Step S212: in response to the pressure difference value being greater than or equal to the difference threshold, determining that the ground state is uneven;

[0057] Step S213 : In response to the pressure difference value being less than the difference threshold, determining that the ground state is flat.

[0058] In step S211, the pressure sensor data from each hydraulic outrigger unit is collected. By comparing the pressures experienced by each outrigger unit, the pressure differential between them is calculated. This differential reflects the impact of different ground positions on the outrigger support force and is a key indicator for evaluating ground flatness.

[0059] In step S212, a difference threshold is preset. When the calculated pressure difference reaches or exceeds this threshold, the control system determines that the ground is uneven. The difference threshold is set based on the stability and safety requirements of the platform. It represents the critical point at which ground flatness affects platform operation without leveling measures.

[0060] In step S213, if the calculated pressure difference is less than the difference threshold, the current ground condition is considered to be flat and no additional leveling operation is required. This judgment is based on the direct impact of ground flatness on the safety and efficiency of platform operation.

[0061] Based on steps S211-S213, the platform can quickly and accurately assess the ground surface under any conditions and take appropriate leveling measures, improving the safety and efficiency of loading and unloading operations. Intelligently determining ground flatness enables more efficient resource allocation, avoids unnecessary telescoping movements, reduces energy consumption, and extends the service life of the hydraulic system.

[0062] Optionally, step S203 determines the target extension and retraction amount of each hydraulic leg unit based on wind speed parameters, wind direction parameters, ground conditions, and platform inclination, including:

[0063] Step S221, determining the windward side hydraulic outrigger unit and the leeward side hydraulic outrigger unit of the loading and unloading platform based on the wind speed parameter and the wind direction parameter;

[0064] Step S222: determining the target extension and retraction amount of each hydraulic leg unit based on the windward side hydraulic leg unit, the leeward side hydraulic leg unit, the ground state and the platform inclination angle.

[0065] In step S221, wind direction parameters are analyzed to identify the windward and leeward sides of the platform, where wind speed most directly affects platform stability. Based on the wind speed parameters and the identified wind direction, the hydraulic outrigger units are divided into two groups: the windward side and the leeward side, laying the foundation for subsequent differentiated adjustments to the extension and retraction distances.

[0066] In step S222, the legs on the windward side may be subjected to greater wind impact, and the control system will calculate to extend these legs to increase stability against wind, and adjust the specific extension amount according to the ground conditions to ensure the stability of the platform. The legs on the leeward side are relatively stable when facing wind, but in order to maintain the balance of the entire platform, they may need to be appropriately shortened or kept unchanged to cooperate with the adjustment of the windward side to form a stable support. Combined with the current platform inclination angle and the target inclination angle, the extension amount adjustment value of each leg unit is calculated to ensure that the platform can be accurately leveled even in a windy environment. Finally, the control system comprehensively considers the status of the legs on the windward and leeward sides, the flatness of the ground and the inclination of the platform, and quickly calculates and sends the target extension amount to each hydraulic leg unit to achieve automatic balance adjustment.

[0067] Based on steps S221-S222, the system intelligently adjusts the extension and retraction of the various outriggers using information about wind speed, direction, ground conditions, and platform inclination to adapt to the wind conditions and maintain the platform's balance and stability. This dynamic adjustment mechanism improves the platform's ability to cope with wind challenges and enhances the safety and efficiency of loading and unloading operations, especially outdoors or in high-wind conditions.

[0068] Optionally, before determining the target extension and retraction amount of each hydraulic leg unit based on the wind speed parameter, wind direction parameter, ground condition, and platform inclination angle in step S222, the method further includes:

[0069] Step S231, determining the stability state of the loading and unloading platform based on the oil pressure parameter;

[0070] Step S232 , in response to the stability state of the loading and unloading platform being a swaying state, determining a target opening of the buffer valve of the loading and unloading platform based on the oil pressure parameter, the ground state, and the platform inclination;

[0071] Step S233: Adjust the buffer valve to the target opening.

[0072] In step S231, the control system continuously monitors the hydraulic system's oil pressure parameters, which reflect the hydraulic outrigger's internal operating status and external load. By analyzing these oil pressure parameters, the control system can determine whether the platform is experiencing wobbling, which is typically caused by external environmental factors (such as wind or ground vibration) or internal system failures (such as unstable oil pressure).

[0073] Specifically, the control system continuously collects and analyzes oil pressure data to identify any abnormal fluctuations. Abnormal oil pressure fluctuations can be a precursor to platform wobbling and require prompt action. By comparing historical oil pressure data with current measurements, if the fluctuation amplitude of the oil pressure parameter exceeds a preset threshold, the loading and unloading platform is deemed to be in a wobbling state. The preset threshold should be appropriately set based on the platform's design specifications and safety requirements to ensure that the correct response is triggered in the event of a genuine stability threat.

[0074] In step S232, based on a comprehensive analysis of oil pressure parameters, ground conditions, and platform inclination, the control system calculates the optimal opening of the buffer valve. This adjusts the oil pressure in the oil circuit to absorb external shock and vibration, enhancing the platform's seismic performance. Buffer valve adjustment is a dynamic process, and the control system continuously optimizes the buffer valve opening based on real-time changes in the platform's stability to ensure the platform remains stable even in wobbling conditions.

[0075] Specifically, once the platform is determined to be wobbling, the control system immediately calculates the optimal opening of the buffer valve based on current oil pressure parameters, ground conditions, and platform inclination. This calculation takes into account factors such as the platform's weight distribution, wind direction and intensity, and ground flatness to maximize platform stability.

[0076] In step S233, the control system issues a command to the cushion valve, adjusting its opening to the calculated optimal target value. The cushion valve's response speed and accuracy are crucial to platform stability. After adjusting the cushion valve to the target opening, the system continues to monitor the platform's stability and oil pressure parameters, adjusting the cushion valve opening again if necessary to address ongoing or changing sway conditions.

[0077] Based on steps S231-S233, the platform's earthquake and wind resistance are enhanced through oil pressure parameter monitoring and buffer valve adjustment. Wind-induced expansion and contraction are then calculated. This series of steps ensures that the platform can quickly regain stability even in the event of sudden shaking, reducing the risk of cargo tilting or sliding. Ultimately, the platform achieves automatic leveling, improving the safety and efficiency of the entire loading and unloading process. This hierarchical control strategy not only enhances the platform's adaptability to environmental changes but also demonstrates the potential of intelligent control systems to improve the performance of mechanical equipment.

[0078] Optionally, step S106 determines the platform inclination angle of the loading and unloading platform based on the target parameter, including:

[0079] Step S241, determining the acceleration of the loading and unloading platform based on the accelerometer parameters of each hydraulic leg unit;

[0080] Step S242, determining the instantaneous inclination angle of the loading and unloading platform based on the inclination sensor parameters of each hydraulic leg unit;

[0081] Step S243: determining the platform inclination angle based on the acceleration and instantaneous inclination angle of the loading and unloading platform.

[0082] In step S241, acceleration data is periodically or continuously acquired from the accelerometers on each hydraulic leg unit. Accelerometers can measure changes in the platform's acceleration during operation, including vertical and horizontal acceleration or deceleration. The overall acceleration of the loading and unloading platform is calculated by averaging all acceleration data or applying a specific algorithm. Acceleration changes can indicate whether the platform is moving or experiencing a momentary impact from an external force.

[0083] In step S242, the tilt sensors on each hydraulic outrigger unit measure its tilt angle relative to the horizontal in real time. The control system collects this sensor data and calculates the instantaneous tilt angle of each part of the platform, thereby determining the overall tilt state of the platform. This instantaneous tilt angle provides information on the platform's inclination at a specific moment and is crucial for real-time leveling.

[0084] In step S243, the control system combines the platform's acceleration and instantaneous inclination angle for analysis to determine the platform's true inclination angle. Acceleration information can reveal whether the platform is experiencing rapidly changing environmental conditions, such as a sudden increase in wind speed or ground vibration. Advanced algorithms, such as Kalman filtering and least squares methods, are used to fuse acceleration and instantaneous inclination data, eliminating measurement errors and external interference, resulting in a more accurate platform inclination angle value.

[0085] Based on the comprehensive analysis of acceleration and inclination sensor data in steps S241-S243, the platform's inclination angle is determined more accurately, better adapting to complex and changing environmental conditions such as wind speed fluctuations and ground impact. Ultimately, this precise platform inclination angle data serves as an important basis for calculating the target extension and retraction of each hydraulic outrigger unit, enabling automatic platform leveling and improving the safety and efficiency of loading and unloading operations. This also demonstrates the intelligent and precise control system's ability to improve the performance of mechanical equipment.

[0086] Optionally, after adjusting each hydraulic leg unit based on the target extension and contraction amount of each hydraulic leg unit in step S110, the following steps may be performed:

[0087] Step S251, determining a historical platform inclination angle of the loading and unloading platform based on the platform inclination angle of the loading and unloading platform;

[0088] Step S252, obtaining the current target parameters of the loading and unloading platform;

[0089] Step S253, determining the current platform inclination angle of the loading and unloading platform based on the current target parameters;

[0090] Step S254, determining the leveling accuracy based on the current platform inclination angle and the historical platform inclination angle of the loading and unloading platform;

[0091] Step S255: in response to the leveling accuracy meeting the first preset condition, obtaining current environmental parameters of the loading and unloading platform;

[0092] Step S256, determining the current target extension and retraction amount of each hydraulic leg unit based on the current environmental parameters of the loading and unloading platform and the current platform inclination angle;

[0093] Step S257: Based on the current target extension and contraction amount of each hydraulic leg unit, adjust each hydraulic leg unit until the leveling accuracy meets the second preset condition.

[0094] In step S251, the control system records the currently adjusted platform inclination angle as part of the historical platform inclination angle for subsequent comparison and analysis. The accumulation of historical platform inclination angle data helps analyze the trend and stability of platform leveling and provides a reference for continuous optimization of leveling accuracy.

[0095] In step S252, the target parameters may include target tilt angle, wind speed parameters, wind direction parameters, etc. According to the changes in the current working environment, the control system updates these parameters in real time to adapt to the new leveling requirements.

[0096] In step S253 , based on the updated target parameters, the control system re-evaluates the instantaneous inclination angle of the platform to check whether the platform has reached the new leveling requirement.

[0097] In step S254, the accuracy of platform leveling, ie, the variation range or deviation value of the platform tilt angle, is calculated by comparing the current platform tilt angle with the most recently recorded historical platform tilt angle.

[0098] In step S255, if the leveling accuracy has reached or exceeded the preset first condition (such as the inclination angle change is greater than or equal to ±0.5°), the control system pays attention to the update of environmental parameters, such as wind speed changes, ground conditions, etc., to prepare for possible further adjustments.

[0099] In step S256, the control system recalculates the target extension and retraction amount of each hydraulic leg unit according to the latest environmental parameters and platform inclination state to cope with the impact of environmental changes on platform stability.

[0100] In step S257, the control system adjusts the hydraulic leg unit according to the calculated new target extension and retraction amount until the leveling accuracy of the platform reaches a more stringent second preset condition (the inclination angle change is less than ±0.5° or lower), which indicates that the platform has achieved the ideal stable state and leveling accuracy.

[0101] Based on steps S251-S257, the historical platform inclination angles are recorded, and then the immediate platform inclination angles are evaluated based on the current target parameters. The leveling accuracy is then determined by comparing the historical and immediate inclination angles. When the accuracy meets the requirements, the system switches to monitoring the current environmental parameters, calculates the new target expansion and contraction amount based on environmental changes, and adjusts again until more stringent leveling accuracy conditions are met. This cyclic process ensures continuous leveling and stability optimization of the platform in complex environments, improving the accuracy and reliability of the overall operation. Through the implementation of the above detailed steps, the control system can continuously monitor and optimize the leveling accuracy of the loading and unloading platform, ensuring the stability and safety of the platform under various environmental conditions, reflecting the rigor of the control logic and the efficiency of the technical solution.

[0102] Optionally, the method further comprises the following steps:

[0103] Step S261, obtaining the working status of each hydraulic leg unit, the working status including: fault state and non-fault state;

[0104] Step S262: In response to the working state being a fault state, generating an early warning message, the early warning message is used to remind the operator of the fault information of the hydraulic leg unit and prompt the operator to replace the hydraulic leg unit.

[0105] In step S261, the control system periodically or in real time collects operating parameters of each hydraulic outrigger unit, including but not limited to oil pressure, extension and retraction speed, temperature, and sensor data. By analyzing these operating parameters, it determines whether the hydraulic outrigger unit is operating normally (non-faulty) or faulty (faulty). Faults can be caused by a variety of factors, such as abnormal oil pressure, sensor failure, and mechanical wear. The control system is capable of identifying these fault modes.

[0106] In step S262, when the hydraulic outrigger unit is detected to be in a faulty state, the control system automatically triggers an early warning signal. The early warning information is quickly transmitted to the operator through the platform's human-machine interface or other communication mechanisms. The information should include a detailed description of the fault and possible causes, as well as recommended treatment steps. The early warning information may also prompt the operator on how to safely replace the faulty outrigger, including steps for using the quick interface and safe operating procedures. The control system should record the fault information, including the time, location, type, etc., to facilitate subsequent maintenance and fault statistics. At the same time, the maintenance department should be informed of the fault situation through email or message notification to arrange timely repair or replacement.

[0107] Based on steps S261-S262, the health of the hydraulic outrigger units can be continuously monitored. Once a fault is detected, an early warning message is immediately generated, not only providing operators with immediate awareness of system status but also facilitating rapid fault response and resolution, avoiding potential safety risks and extended downtime. This mechanism demonstrates the control system's intelligent diagnostic and fault management capabilities, enhancing the reliability and maintenance efficiency of the entire loading platform, and is crucial for extending equipment life and improving operational safety.

[0108] Figure 2 This is a structural block diagram of a control device for a hydraulically balanced outrigger structure of a modular vehicle logistics loading and unloading platform according to one embodiment of the present invention. Figure 2 As shown, the device includes:

[0109] The first acquisition module 301 is used to acquire target parameters of the loading and unloading platform, wherein the target parameters include: pressure sensor parameters, accelerometer parameters, and inclination sensor parameters of each hydraulic leg unit of the loading and unloading platform;

[0110] The second acquisition module 302 is used to obtain environmental parameters of the loading and unloading platform;

[0111] A first determining module 303 is configured to determine a platform inclination angle of the loading and unloading platform based on the target parameters;

[0112] The second determining module 304 is configured to determine a target extension and retraction amount of each hydraulic leg unit based on environmental parameters of the loading and unloading platform and the platform inclination angle;

[0113] The adjustment module 305 is used to adjust each hydraulic leg unit based on the target extension and contraction amount of each hydraulic leg unit.

[0114] Optionally, the second determination module 304 is also used to determine the target extension and extension amount of each hydraulic leg unit based on the environmental parameters of the loading and unloading platform and the platform inclination angle, including: the environmental parameters include at least one of the following: wind speed parameters and wind direction parameters; based on the pressure sensor parameters of each hydraulic leg unit, the ground state is determined, wherein the ground state is the flatness of the ground where the loading and unloading platform is located; based on the wind speed parameters, wind direction parameters, ground state and platform inclination angle, the target extension and extension amount of each hydraulic leg unit is determined.

[0115] Optionally, the second determination module 304 is also used to determine the ground state based on the pressure sensor parameters of each hydraulic leg unit, including: determining the pressure difference value between each hydraulic leg unit based on the pressure sensor parameters of each hydraulic leg unit; in response to the pressure difference value being greater than or equal to the difference threshold, determining that the ground state is uneven; in response to the pressure difference value being less than the difference threshold, determining that the ground state is flat.

[0116] Optionally, the second determination module 304 is also used to determine the target extension and extension amount of each hydraulic leg unit based on wind speed parameters, wind direction parameters, ground conditions and platform inclination, including: determining the windward side hydraulic leg unit and the leeward side hydraulic leg unit of the loading and unloading platform based on wind speed parameters and wind direction parameters; determining the target extension and extension amount of each hydraulic leg unit based on the windward side hydraulic leg unit, the leeward side hydraulic leg unit, ground conditions and platform inclination.

[0117] Optionally, the adjustment module 305 is also used to determine the target extension and retraction amount of each hydraulic leg unit based on wind speed parameters, wind direction parameters, ground conditions and platform inclination, and also includes: determining the stability state of the loading and unloading platform based on the oil pressure parameters; in response to the stability state of the loading and unloading platform being a shaking state, determining the target opening of the buffer valve of the loading and unloading platform based on the oil pressure parameters, ground conditions and platform inclination; and adjusting the buffer valve to the target opening.

[0118] Optionally, the first determination module 303 is also used to determine the platform inclination angle of the loading and unloading platform based on the target parameters, including: determining the acceleration of the loading and unloading platform based on the accelerometer parameters of each hydraulic support leg unit; determining the instantaneous inclination angle of the loading and unloading platform based on the inclination sensor parameters of each hydraulic support leg unit; determining the platform inclination angle based on the acceleration and instantaneous inclination angle of the loading and unloading platform.

[0119] Optionally, the device also includes an early warning module 306, which is used to adjust each hydraulic leg unit based on the target extension and extension amount of each hydraulic leg unit, including: determining the historical platform inclination angle of the loading and unloading platform based on the platform inclination angle of the loading and unloading platform; obtaining the current target parameters of the loading and unloading platform; determining the current platform inclination angle of the loading and unloading platform based on the current target parameters; determining the leveling accuracy based on the current platform inclination angle and the historical platform inclination angle of the loading and unloading platform; in response to the leveling accuracy meeting the first preset condition, obtaining the current environmental parameters of the loading and unloading platform; determining the current target extension and extension amount of each hydraulic leg unit based on the current environmental parameters and the current platform inclination angle of the loading and unloading platform; adjusting each hydraulic leg unit based on the current target extension and extension amount of each hydraulic leg unit until the leveling accuracy meets the second preset condition.

[0120] It should be noted that the above modules can be implemented through software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0121] According to one embodiment of the present invention, an electronic device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the control method of the hydraulic balancing leg structure of the modular vehicle logistics loading and unloading platform is executed when the program is running.

[0122] Optionally, in this embodiment, the processor may be configured to execute the following steps through a computer program:

[0123] Step S102, obtaining target parameters of the loading and unloading platform, wherein the target parameters include: pressure sensor parameters, accelerometer parameters, and inclination sensor parameters of each hydraulic leg unit of the loading and unloading platform;

[0124] Step S104, obtaining environmental parameters of the loading and unloading platform, where the environmental parameters are used to characterize the environment in which the loading and unloading platform is located;

[0125] Step S106, determining the platform inclination angle of the loading and unloading platform based on the target parameters;

[0126] Step S108, determining the target extension and retraction amount of each hydraulic leg unit based on the environmental parameters of the loading and unloading platform and the platform inclination angle;

[0127] Step S110: adjusting each hydraulic leg unit based on the target extension and contraction amount of each hydraulic leg unit.

[0128] According to one embodiment of the present invention, a computer-readable storage medium is also provided, which includes a stored executable program, wherein when the executable program is running, the device where the storage medium is located is controlled to execute the control method of the hydraulic balancing leg structure of the above-mentioned modular vehicle logistics loading and unloading platform.

[0129] Step S102, obtaining target parameters of the loading and unloading platform, wherein the target parameters include: pressure sensor parameters, accelerometer parameters, and inclination sensor parameters of each hydraulic leg unit of the loading and unloading platform;

[0130] Step S104, obtaining environmental parameters of the loading and unloading platform, where the environmental parameters are used to characterize the environment in which the loading and unloading platform is located;

[0131] Step S106, determining the platform inclination angle of the loading and unloading platform based on the target parameters;

[0132] Step S108, determining the target extension and retraction amount of each hydraulic leg unit based on the environmental parameters of the loading and unloading platform and the platform inclination angle;

[0133] Step S110: adjusting each hydraulic leg unit based on the target extension and contraction amount of each hydraulic leg unit.

[0134] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0135] According to one embodiment of the present invention, a computer program product is also provided, including a computer program, which, when executed by a processor, implements the control method of the hydraulic balancing leg structure of the above-mentioned modular vehicle logistics loading and unloading platform.

[0136] Optionally, in this embodiment, the computer program product may be configured as a computer program for executing the following steps:

[0137] Step S102, obtaining target parameters of the loading and unloading platform, wherein the target parameters include: pressure sensor parameters, accelerometer parameters, and inclination sensor parameters of each hydraulic leg unit of the loading and unloading platform;

[0138] Step S104, obtaining environmental parameters of the loading and unloading platform, where the environmental parameters are used to characterize the environment in which the loading and unloading platform is located;

[0139] Step S106, determining the platform inclination angle of the loading and unloading platform based on the target parameters;

[0140] Step S108, determining the target extension and retraction amount of each hydraulic leg unit based on the environmental parameters of the loading and unloading platform and the platform inclination angle;

[0141] Step S110: adjusting each hydraulic leg unit based on the target extension and contraction amount of each hydraulic leg unit.

[0142] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0143] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0144] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0145] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0146] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code.

[0147] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A control method for the hydraulic balancing leg structure of a modular vehicle logistics loading and unloading platform, characterized in that: include: Acquiring target parameters of the loading and unloading platform, wherein the target parameters include: pressure sensor parameters, accelerometer parameters, and inclination sensor parameters of each hydraulic leg unit of the loading and unloading platform; Acquiring environmental parameters of the loading and unloading platform, where the environmental parameters are used to characterize parameters of the environment in which the loading and unloading platform is located; determining a platform inclination angle of the loading and unloading platform based on the target parameter; Determining a target extension and retraction amount of each hydraulic leg unit based on the environmental parameters of the loading and unloading platform and the platform inclination angle; Based on the target extension and contraction amount of each hydraulic leg unit, each hydraulic leg unit is adjusted.

2. The method according to claim 1, characterized in that Determining the target extension and retraction amount of each hydraulic leg unit based on the environmental parameters of the loading and unloading platform and the platform inclination angle includes: The environmental parameters include at least one of the following: a wind speed parameter and a wind direction parameter; Determining a ground condition based on the pressure sensor parameters of each hydraulic leg unit, wherein the ground condition is a flat condition of the ground where the loading and unloading platform is located; The target extension and retraction amount of each hydraulic leg unit is determined based on the wind speed parameter, the wind direction parameter, the ground state and the platform inclination angle.

3. The method according to claim 2, characterized in that Determining the ground state based on the pressure sensor parameters of each hydraulic leg unit includes: determining a pressure difference value between the hydraulic leg units based on the pressure sensor parameters of the hydraulic leg units; In response to the pressure difference being greater than or equal to a difference threshold, determining that the ground condition is uneven; In response to the pressure difference value being less than the difference threshold, it is determined that the ground state is flat.

4. The method according to claim 2, characterized in that Determining the target extension and retraction amount of each hydraulic leg unit based on the wind speed parameter, the wind direction parameter, the ground state, and the platform inclination angle includes: Determining a windward-side hydraulic outrigger unit and a leeward-side hydraulic outrigger unit of the loading and unloading platform based on the wind speed parameter and the wind direction parameter; The target extension and retraction amount of each hydraulic leg unit is determined based on the windward-side hydraulic leg unit, the leeward-side hydraulic leg unit, the ground state, and the platform inclination angle.

5. The method according to any one of claims 2 to 4, characterized in that Before determining the target extension and retraction amount of each hydraulic leg unit based on the wind speed parameter, the wind direction parameter, the ground condition, and the platform inclination angle, the method further includes: Obtaining the oil pressure parameters of each hydraulic leg unit; determining a stability state of the loading and unloading platform based on the oil pressure parameter; In response to the stability state of the loading and unloading platform being a swaying state, determining a target opening of a buffer valve of the loading and unloading platform based on the oil pressure parameter, the ground state, and the platform inclination angle; The buffer valve is adjusted to the target opening.

6. The method according to claim 5, characterized in that Determining the platform inclination angle of the loading and unloading platform based on the target parameter includes: determining an acceleration of the loading platform based on the accelerometer parameters of each of the hydraulic leg units; determining the instantaneous inclination of the loading and unloading platform based on the inclination sensor parameters of each of the hydraulic leg units; The platform inclination angle is determined based on the acceleration and the instantaneous inclination angle of the loading dock.

7. The method according to any one of claims 1 to 4 and 6, characterized in that After adjusting each hydraulic leg unit based on the target extension and contraction amount of each hydraulic leg unit, the method includes: determining a historical platform inclination angle of the loading and unloading platform based on the platform inclination angle of the loading and unloading platform; Acquire the current target parameters of the loading and unloading platform; Determining the current platform inclination angle of the loading and unloading platform based on the current target parameters; determining a leveling accuracy based on the current platform inclination angle and the historical platform inclination angle of the loading and unloading platform; In response to the leveling accuracy meeting a first preset condition, acquiring the current environmental parameters of the loading and unloading platform; Determining the current target extension and retraction amount of each hydraulic leg unit based on the current environmental parameters of the loading and unloading platform and the current platform inclination angle; Based on the current target extension and contraction amount of each hydraulic leg unit, each hydraulic leg unit is adjusted until the leveling accuracy meets a second preset condition.

8. The method according to any one of claims 1 to 4 and 6, characterized in that: The method further comprises: Acquire the working status of each hydraulic leg unit, where the working status includes: a fault state and a non-fault state; In response to the working state being the fault state, an early warning message is generated, wherein the early warning message is used to prompt an operator of the fault information of the hydraulic leg unit and to prompt the operator to replace the hydraulic leg unit.

9. A control device for the hydraulic balancing leg structure of a modular vehicle logistics loading and unloading platform, characterized in that: include: A first acquisition module is configured to acquire target parameters of the loading and unloading platform, wherein the target parameters include: pressure sensor parameters, accelerometer parameters, and inclination sensor parameters of each hydraulic leg unit of the loading and unloading platform; A second acquisition module is used to obtain environmental parameters of the loading and unloading platform; A first determining module is configured to determine a platform inclination angle of the loading and unloading platform based on the target parameter; A second determining module is configured to determine a target extension and retraction amount of each hydraulic leg unit based on the environmental parameters of the loading and unloading platform and the platform inclination angle; The adjustment module is used to adjust each hydraulic leg unit based on the target extension and contraction amount of each hydraulic leg unit.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the control method of the hydraulic balancing leg structure of the modular vehicle logistics loading and unloading platform according to any one of claims 1 to 8 is implemented.

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