A four-legged AGV chassis ground support and leveling method and system

Abstract

The present invention provides a four-legged AGV chassis ground support and leveling method and system, which relate to the technical field of automatic guided vehicles. The method comprises the following steps: the AGV chassis controller sends a first mode switching instruction to four groups of leg drivers, configures the legs to a torque mode, and sends a target torque to the drivers to control the legs to extend; obtains the leg extension length and speed fed back by the drivers, and if both the length and the speed meet preset conditions, determines that the legs are stably supporting the ground, and records the extended length of the legs; obtains the pitch angle and roll angle fed back by a dynamic inclinometer, and calculates the adjustment amount of the legs; the controller sends a second mode switching instruction to the drivers, configures the legs to a position mode, calculates the target extension length and sends it to the drivers, and controls the legs to extend until the pitch angle and roll angle errors meet preset conditions, thereby achieving stable support of the AGV chassis legs and the leveling of the AGV body with the ground.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic guided vehicles, and in particular to a method and system for leveling a four-legged AGV chassis supporting the ground. Background Art

[0002] Four-legged AGVs are widely used in scenarios such as precision assembly and material handling due to their flexible movement and support capabilities. The stable support and levelness of their chassis directly affect the accuracy and safety of the AGV's upper working platform.

[0003] Existing AGV chassis support and leveling methods have significant limitations. First, due to the tendency for AGVs to experience overload during operation or uneven working surfaces, traditional outrigger support solutions struggle to dynamically adjust the extension length of each leg. This can lead to some outriggers failing or uneven force distribution, causing the chassis to shake during AGV loading operations and compromising operational stability. Second, to ensure the accuracy of the AGV loading platform, the AGV chassis must be level with the ground. However, existing solutions cannot achieve high-precision horizontal control based on stable support and often rely on multiple sets of sensors and complex hardware configurations. Relying on multiple devices to achieve leveling not only increases system complexity but also leads to high costs.

[0004] In addition, the existing technology does not fully utilize the torque feedback and absolute position feedback of the servo electric cylinder, and cannot measure the horizontality of the vehicle body through a single dynamic inclinometer. It is difficult to take into account the requirements of stable support, horizontal accuracy and low cost, and cannot meet the requirements of industrial scenarios for AGV operation reliability.

[0005] Therefore, it is necessary to provide a four-legged AGV chassis ground support leveling method and system to solve the above technical problems. Summary of the Invention

[0006] In order to solve the above technical problems, the present invention provides a four-legged AGV chassis ground support and leveling method and system, which is used to solve the problem that the existing technology cannot achieve stable support of the AGV chassis legs and the leveling of the AGV body with the ground.

[0007] The present invention provides a method for leveling a four-legged AGV chassis supporting the ground, the method comprising:

[0008] The controller of the AGV chassis sends a first mode switching instruction to the drivers of the four groups of legs, configures the four groups of legs to the torque mode, and sends the target torque to each of the drivers to control the extension of each group of legs;

[0009] Continuously obtaining the leg extension length and leg extension speed feedback from each driver, and if the leg extension length meets a preset extension length condition and the leg extension speed meets a preset extension speed condition, determining that each group of legs is stably supporting the ground, and recording the current extension lengths of the four groups of legs;

[0010] Continuously obtaining a current pitch angle and a current roll angle fed back by a dynamic inclinometer, and calculating current adjustment amounts of the four groups of legs according to the current pitch angle and the current roll angle;

[0011] The controller of the AGV chassis sends a second mode switching instruction to the drivers of the four groups of legs, configures the four groups of legs to position mode, calculates the target extension length based on the current extension length and the current adjustment amount, and sends the target extension length to each driver to control each group of legs to extend until the error between the current pitch angle and the current roll angle meets the preset accuracy condition.

[0012] Preferably, four groups of the supporting legs are arranged at the four corners of the AGV chassis, and when each group of the supporting legs is extended, the AGV body is off the ground; after each group of the supporting legs is retracted, the AGV body supports the ground.

[0013] Preferably, the AGV body is equipped with a dynamic inclinometer, and the dynamic inclinometer is used to detect the current pitch angle and the current roll angle of the AGV body relative to the horizontal plane in real time, wherein the horizontal plane is based on the ground.

[0014] Preferably, the target torque is used to ensure that each group of the legs is extended in a no-load state and the AGV body cannot leave the ground.

[0015] Preferably, the preset extension length condition is that the extension length of the support leg is within a preset extension length range;

[0016] The preset extension speed condition is that the extension speed of the legs is always 0 in a continuous time period.

[0017] Preferably, the calculation formula for the current adjustment amount of the four groups of legs is as follows:

[0018] Dh1=0.5×(W×tan(Roll)-L×tan(Pitch))

[0019] Dh2=-0.5×(W×tan(Roll)+L×tan(Pitch))

[0020] Dh3=0.5×(L×tan(Pitch)-W×tan(Roll))

[0021] Dh4=0.5×(L×tan(Pitch)+W×tan(Roll))

[0022] Wherein, Dh1 represents the current adjustment amount of the first group of legs; Dh2 represents the current adjustment amount of the second group of legs; Dh3 represents the current adjustment amount of the third group of legs; Dh4 represents the current adjustment amount of the fourth group of legs; W represents the lateral distance between the first and second groups of legs, or the lateral distance between the third and fourth groups of legs; L represents the longitudinal distance between the first and fourth groups of legs, or the longitudinal distance between the second and third groups of legs; Roll represents the current roll angle; Pitch represents the current pitch angle.

[0023] Preferably, a preset chassis support height parameter is obtained, and the target extension length is the sum of the current extension length, the current adjustment amount and the preset chassis support height parameter.

[0024] Preferably, the preset accuracy condition is that the error of the current pitch angle is smaller than a preset pitch error and the error of the current roll angle is smaller than a preset roll error.

[0025] A four-legged AGV chassis ground support and leveling system, the system comprising:

[0026] A torque mode switching module is used for the controller of the AGV chassis to send a first mode switching instruction to the drivers of the four groups of legs, configure the four groups of legs to the torque mode, and send the target torque to each driver to control the extension of each group of legs;

[0027] an extension length recording module, configured to continuously obtain the leg extension length and leg extension speed feedback from each of the drivers, and if the leg extension length satisfies a preset extension length condition and the leg extension speed satisfies a preset extension speed condition, determine that each group of legs is stably supporting the ground, and record the current extension lengths of the four groups of legs;

[0028] an adjustment amount calculation module, configured to continuously obtain the current pitch angle and the current roll angle fed back by the dynamic inclinometer, and calculate the current adjustment amounts of the four groups of legs according to the current pitch angle and the current roll angle;

[0029] A position mode switching module is used for the controller of the AGV chassis to send a second mode switching instruction to the drivers of the four groups of the legs, configure the four groups of the legs to the position mode, and calculate the target extension length based on the current extension length and the current adjustment amount, and send the target extension length to each of the drivers to control the extension of each group of the legs until the error between the current pitch angle and the current roll angle meets the preset accuracy condition.

[0030] Compared with related technologies, the four-legged AGV chassis support and leveling method and system provided by the present invention has the following beneficial effects:

[0031] The present invention sends a first mode switching instruction to the drivers of the four groups of legs through the controller of the AGV chassis, configures the four groups of legs into the torque mode, and sends the target torque to each driver to control the extension of each group of legs; continuously obtains the leg extension length and leg extension speed fed back by each driver, and if the leg extension length meets the preset extension length condition and the leg extension speed meets the preset extension speed condition, it is determined that each group of legs is stably supporting the ground, and the current extension length of the four groups of legs is recorded; continuously obtains the current pitch angle and current roll angle fed back by the dynamic inclinometer, and calculates the current pitch angle and current roll angle of the four groups of legs according to the current pitch angle and current roll angle. Adjustment amount; the controller of the AGV chassis sends a second mode switching instruction to the drivers of the four groups of legs, configures the four groups of legs to the position mode, and calculates the target extension length based on the current extension length and the current adjustment amount, and sends the target extension length to each driver to control each group of legs to extend until the error between the current pitch angle and the current roll angle meets the preset accuracy conditions, so that the AGV chassis legs can be stably supported and the AGV body can be level with the ground, avoiding chassis shaking during AGV loading operation, improving the accuracy and safety of the AGV loading operation platform, and at the same time, without the need for complex hardware configuration, with the advantage of low cost.

[0032] The present invention controls the extension of the legs through a torque mode and combines the extension length with speed feedback to accurately determine the support status of the legs, thereby effectively ensuring that the four groups of legs stably support the ground and avoiding the problem of unstable support caused by AGV overload or uneven ground. At the same time, the present invention calculates the adjustment amount with the help of the pitch angle and roll angle detected in real time by the dynamic inclinometer, and then controls the extension of the legs through the position mode, which can achieve precise leveling of the AGV chassis, ensure the consistency of the chassis with the horizontal plane, and improve the accuracy of the AGV upper installation work platform. In addition, the present invention only needs to use the feedback information of four groups of leg drivers and a single dynamic inclinometer, without the need for additional complex hardware configuration. While achieving stable support and precise leveling, it simplifies the system structure and has the advantage of low cost. It is suitable for all kinds of AGV operation scenarios that require high-precision support and leveling. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A flow chart of a method for leveling a four-legged AGV chassis supporting the ground provided by an embodiment of the present invention;

[0034] Figure 2 A schematic diagram of four sets of legs of an AGV chassis provided in an embodiment of the present invention;

[0035] Figure 3 A side view of the AGV chassis leveling according to an embodiment of the present invention;

[0036] Figure 4 A front view of the AGV chassis leveling provided by an embodiment of the present invention;

[0037] Figure 5 This is a system block diagram of a four-legged AGV chassis ground support and leveling system provided by an embodiment of the present invention;

[0038] Figure 6 A schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments 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 shall fall within the scope of protection of the present invention.

[0040] like Figure 1 FIG. 1 is a flow chart of a method for leveling a four-legged AGV chassis supporting the ground provided by an embodiment of the present invention. Figure 1 The execution subject of the method shown may be a software and / or hardware device. The execution subject of the present application may include but is not limited to at least one of the following: user equipment, network equipment, etc. Among them, user equipment may include but is not limited to computers, smart phones, personal digital assistants (PDAs) and the electronic devices mentioned above. Network equipment may include but is not limited to a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of computers or network servers, wherein cloud computing is a type of distributed computing, a super virtual computer composed of a group of loosely coupled computers. This embodiment does not limit this. It includes steps S1 to S4, as follows:

[0041] S1, the controller of the AGV chassis sends a first mode switching instruction to the drivers of the four groups of legs, configures the four groups of legs to the torque mode, and sends the target torque to each driver to control the extension of each group of legs;

[0042] The AGV chassis is the bottom load-bearing structure of the automated guided vehicle (AGV) and serves as the installation base for components such as the outriggers. The controller is the core control unit in the AGV chassis that issues control instructions and coordinates the operation of various components. It is responsible for issuing mode switching instructions and parameters. The first mode switching instruction is a control signal sent by the AGV chassis controller to the outrigger driver, which is used to configure the four sets of outriggers to torque mode. The driver refers to an actuator that receives controller instructions and drives the outriggers to perform telescopic movements. It can provide feedback on the extension length and speed of the outriggers. Torque mode is a working mode of the outriggers. The driver controls the outriggers to output the corresponding torque based on the received target torque to achieve the extension action. The target torque refers to the torque setting value sent by the controller to the driver, which is used to control the extension of the outriggers in torque mode to ensure that the outriggers are extended without load and the vehicle body does not leave the ground.

[0043] The AGV chassis' ground support and leveling process is led by its controller, which achieves precise control through phased command issuance and status feedback. First, the controller issues a first-mode switch command to the actuators of the four outriggers, configuring all legs to operate in torque mode. In this mode, the controller issues a preset target torque to each actuator, driving each leg group to extend.

[0044] Through the above method, by controlling the torque output by the outriggers, it is ensured that the outriggers can be smoothly extended in the no-load state, while avoiding the entire AGV chassis being lifted off the ground due to excessive torque, laying the foundation for subsequent stable ground support.

[0045] S2, continuously obtaining the leg extension length and leg extension speed feedback from each of the drivers, and if the leg extension length meets a preset extension length condition and the leg extension speed meets a preset extension speed condition, determining that each group of legs is stably supporting the ground, and recording the current extension lengths of the four groups of legs;

[0046] It is understandable that the outrigger extension length refers to the distance the outrigger extends from the initial position, which is fed back by the driver and is used to determine whether the outrigger is supporting the ground. The outrigger extension speed refers to the movement speed of the outrigger during the extension process, which is fed back by the driver and is used to assist in determining whether the outrigger is stably supporting the ground. The preset outrigger length condition is the length range standard for determining whether the outrigger is supporting the ground, that is, the outrigger length must be within the preset range. The preset outrigger speed condition is the speed range standard for determining whether the outrigger is stably supporting the ground, which usually refers to an outrigger speed of 0 in a continuous time period, such as an outrigger speed of 0 for 3 consecutive seconds.

[0047] During the outrigger extension process, the controller continuously receives feedback from each driver regarding the outrigger extension length and speed. This feedback data is crucial for determining whether the outriggers have reached a stable ground support state. On the one hand, it's necessary to verify whether the outrigger extension length is within a preset reasonable range, which is set based on ground support requirements and is used to preliminarily determine whether the outriggers have contacted the ground. On the other hand, it's necessary to monitor whether the outrigger extension speed meets the preset stability conditions, meaning the outriggers remain stationary for a period of time. This ensures that the outriggers are in firm contact with the ground, without sliding or hanging in the air. When both of these conditions are met, the controller determines that all four groups of outriggers have reached a stable ground support state and simultaneously records the current extension length of each of the four groups of outriggers.

[0048] S3, continuously obtaining the current pitch angle and the current roll angle fed back by the dynamic inclinometer, and calculating the current adjustment amounts of the four groups of legs according to the current pitch angle and the current roll angle;

[0049] It should be noted that a dynamic inclinometer is a device used to measure the pitch and roll angles of the AGV body relative to the ground in real time. The current pitch angle, measured by the dynamic inclinometer, refers to the angle of rotation of the AGV body around its transverse axis and reflects the degree of its fore-aft tilt. The current roll angle, measured by the dynamic inclinometer, refers to the angle of rotation of the AGV body around its longitudinal axis and reflects the degree of its left-right tilt. The adjustment amount, calculated based on the current pitch and roll angles, is used to level the chassis.

[0050] After confirming the stable ground support state, the leveling process enters the next stage. The controller continuously obtains the current pitch and roll angles of the AGV chassis through the dynamic inclinometer. These two angle parameters directly reflect the chassis's tilt relative to the horizontal plane: the pitch angle reflects the chassis's tilt in the longitudinal direction, and the roll angle reflects the chassis's tilt in the lateral direction.

[0051] Based on the acquired pitch and roll angles, the controller uses pre-set calculation logic to determine the current adjustment required for each of the four outriggers. These adjustments are calculated to eliminate chassis tilt, ensuring that the chassis's leveling is gradually corrected by adjusting the extension length of each outrigger.

[0052] S4, the controller of the AGV chassis sends a second mode switching instruction to the drivers of the four groups of the legs, configures the four groups of the legs to the position mode, and calculates the target extension length based on the current extension length and the current adjustment amount, and sends the target extension length to each of the drivers to control each group of the legs to extend until the error between the current pitch angle and the current roll angle meets the preset accuracy condition.

[0053] The second mode switch command is a control signal sent by the AGV chassis controller to the outrigger driver, switching the four outriggers from torque mode to position mode. Position mode is a leg operating mode in which the driver controls the outriggers to extend and retract to a specified position based on the received target extension length. The target extension length refers to the final length the outriggers need to reach, which is the sum of the current extension length, the current adjustment amount, and the preset chassis support height parameter. The preset accuracy condition refers to the angular error standard for determining chassis leveling, namely, the pitch and roll angle errors must be less than the preset values.

[0054] Finally, the controller issues a second mode switch command to the actuators of the four outrigger groups, switching the legs' operating mode from torque mode to position mode. In position mode, the controller calculates the target extension length for each leg group based on the previously recorded current leg extension length and the calculated current adjustment amount. This calculated target extension length is then sent to each actuator, driving each leg group to continue extending or adjusting to the target extension length.

[0055] This position-based adjustment process isn't a one-time process; it's a continuous loop. The controller uses a dynamic inclinometer to monitor the chassis' pitch and roll angles in real time, continuously recalculating the adjustment, updating the target extension length, and driving the outriggers until the deviation between the current pitch and roll angles, as reported by the inclinometer, falls within a preset range. At this point, the AGV chassis is aligned with the ground, and all four outriggers are stable and balanced, completing the ground-supporting and leveling process. This provides the AGV with a stable, level working platform.

[0056] Through the above method, through the orderly connection of mode switching, the real-time application of feedback data and the cyclic optimization of adjustment logic, the dual goals of balancing the stable support of the outriggers and the horizontal accuracy of the chassis are achieved while simplifying the hardware configuration. This ensures that the AGV can still meet the requirements of chassis stability and horizontality for upper loading operations through precise leveling control under conditions of overload or uneven ground.

[0057] Four groups of legs are arranged at the four corners of the AGV chassis, and when each group of legs is extended, the AGV body is off the ground; after each group of legs is retracted, the AGV body supports the ground.

[0058] In actual applications, a set of legs are arranged at the four corners of the AGV chassis. These four sets of legs serve as key supporting components between the chassis and the ground. Their telescopic state directly determines the relative position relationship between the AGV body and the ground.

[0059] When each set of legs extends outward, the end of the leg contacts the ground and provides support force. As the extension length increases, the support force gradually overcomes the gravity of the AGV body, and eventually the entire AGV body is lifted off the ground. At this time, the weight of the body is completely borne by the four sets of legs, realizing the transition from mobile state to support state.

[0060] When each set of legs is retracted inward, the ends of the legs gradually leave the ground, the supporting force disappears, and the AGV body gradually falls under the action of gravity until the bottom of the body contacts the ground, returning to a state where the body is supported by itself, providing a basis for the AGV to move or stay still.

[0061] The AGV body is equipped with a dynamic inclinometer, and the dynamic inclinometer is used to detect the current pitch angle and the current roll angle of the AGV body relative to the horizontal plane in real time, wherein the horizontal plane is based on the ground.

[0062] To accurately monitor the horizontal state of the AGV body, the AGV body is equipped with a dynamic inclinometer. This dynamic inclinometer is a core detection component, and its main function is to obtain the inclination parameters of the AGV body relative to the horizontal plane in real time.

[0063] The horizontal plane is based on the ground, that is, it is parallel to the earth's surface and is the reference plane for measuring the horizontal state of the vehicle body.

[0064] Specifically, the dynamic inclinometer can detect and feedback two sets of key angle parameters in real time: one is the current pitch angle, which reflects the degree of inclination of the AGV body along the longitudinal axis relative to the reference horizontal plane, that is, the inclination angle formed by the height difference between the front and rear ends of the body; the other is the current roll angle, which reflects the degree of inclination of the AGV body along the transverse axis relative to the reference horizontal plane, that is, the inclination angle formed by the height difference between the left and right sides of the body.

[0065] By detecting these two angle parameters in real time, the dynamic inclinometer provides direct status information for the AGV chassis's ground support and leveling process, ensuring that the controller can accurately determine the vehicle's tilt state and formulate targeted outrigger adjustment strategies accordingly, ultimately achieving precise alignment of the AGV chassis with the reference horizontal plane.

[0066] The target torque is used to ensure that each group of the legs is extended in an unloaded state and the AGV body cannot leave the ground.

[0067] It should be noted that the setting of the target torque is intended to achieve a dual control effect: on the one hand, its torque value must meet the requirement of driving each set of legs to extend smoothly in a no-load state, ensuring that the legs can move outward without additional load, laying the foundation for subsequent contact with the ground and forming support; on the other hand, the torque value must be strictly controlled within a specific range, so that the supporting force generated during the extension of the legs is not sufficient to overcome the gravity of the AGV body, thereby preventing the body from being lifted off the ground by the legs.

[0068] This precise torque setting ensures that the outriggers extend as expected to contact the ground, while preventing the vehicle body from hanging in the air due to excessive torque, providing the necessary prerequisite for subsequent judgment of whether the outriggers are stably supporting the ground.

[0069] The preset extension length condition is that the extension length of the support leg is within the preset extension length range;

[0070] The preset extension speed condition is that the extension speed of the legs is always 0 in a continuous time period.

[0071] The preset extension length condition is based on the core principle of ensuring that the outriggers can effectively contact the ground. By defining a specific length range, a preliminary judgment is made from the spatial position of whether the outriggers have reached ground contact. If the outrigger length does not fall within this range, it means that the outriggers may not have touched the ground or the extension length exceeds the reasonable support range, failing to meet the basic requirements for stable support.

[0072] The preset extension speed condition verifies the stability of the outrigger after contact with the ground from the perspective of motion state. When the outrigger speed is continuously 0, it indicates that the outrigger has stopped extending and retracting, and a stable mechanical balance has been formed between it and the ground. There is no sliding, displacement or incomplete fit, and it can provide reliable support for the AGV chassis.

[0073] These two conditions work together to form the core criteria for determining whether the outriggers are stably supporting the ground. The preset extension length condition confirms that the outriggers have touched the ground from a spatial perspective, while the preset extension speed condition confirms that the outriggers are in stable contact with the ground from a motion perspective. Only when both conditions are met can the outriggers be considered to have reached a stable ground support state. This determination lays a solid foundation for subsequent AGV chassis leveling operations, effectively preventing chassis shaking or displacement during leveling due to unstable support, and ensuring the reliability and accuracy of the entire ground support and leveling process.

[0074] like Figure 2-4 As shown, Figure 4The G in it represents the direction of gravity, that is, the direction pointing vertically downward to the center of the earth, which is the reference for detecting and leveling the horizontality of the AGV chassis. During the AGV ground support and leveling process, the dynamic inclinometer uses the direction of gravity indicated by G as a reference to detect the pitch angle and roll angle of the vehicle body, thereby judging the tilt state of the chassis relative to the horizontal plane. The stability of the direction of gravity provides a constant reference for inclination detection, ensuring that the calculated adjustment amount can accurately eliminate the tilt. Through closed-loop adjustment based on G, the AGV chassis is eventually kept perpendicular to the direction of gravity, that is, parallel to the horizontal plane, to ensure that the leveling accuracy meets the preset requirements and provide a reliable direction reference for stable support and operation. The calculation formula for the current adjustment amount of the four groups of legs is as follows:

[0075] Dh1=0.5×(W×tan(Roll)-L×tan(Pitch))

[0076] Dh2=-0.5×(W×tan(Roll)+L×tan(Pitch))

[0077] Dh3=0.5×(L×tan(Pitch)-W×tan(Roll))

[0078] Dh4=0.5×(L×tan(Pitch)+W×tan(Roll))

[0079] Wherein, Dh1 represents the current adjustment amount of the first group of legs; Dh2 represents the current adjustment amount of the second group of legs; Dh3 represents the current adjustment amount of the third group of legs; Dh4 represents the current adjustment amount of the fourth group of legs; W represents the lateral distance between the first and second groups of legs, or the lateral distance between the third and fourth groups of legs; L represents the longitudinal distance between the first and fourth groups of legs, or the longitudinal distance between the second and third groups of legs; Roll represents the current roll angle; Pitch represents the current pitch angle.

[0080] It's easy to understand that the required adjustment for each of the four outriggers can be precisely determined based on the AGV chassis's current roll and pitch angles, as well as the outriggers' lateral and longitudinal distances. By quantifying the chassis's lateral and longitudinal tilt and combining this with the spatial layout of the outriggers, the adjustment required for each outrigger group is precisely matched to the chassis' actual tilt.

[0081] The adjustment amount calculated by the above calculation formula can ensure that each set of legs can be accurately extended and retracted according to actual needs, effectively eliminating chassis tilt and making the AGV chassis quickly level with the ground. This not only ensures the stable support of the four sets of legs, but also ensures the accuracy of the AGV upper working platform.

[0082] A preset chassis support height parameter is obtained, wherein the target extension length is the sum of the current extension length, the current adjustment amount, and the preset chassis support height parameter.

[0083] When determining the target outrigger extension length, the first step is to obtain the pre-set chassis support height parameter. This parameter is used to ensure that the AGV chassis reaches the preset ground clearance while being stably supported and leveled. The target extension length is determined based on the integration of three key parameters: the previously recorded current outrigger extension length, which is the basic length for the outrigger to maintain stable contact with the ground; the calculated current adjustment amount, which is used to correct chassis tilt and achieve horizontal calibration; and the pre-set chassis support height parameter, which is used to ensure that the chassis is raised to the required operating height.

[0084] The target extension length, constituted by the sum of the three, not only retains the basic length for stable ground support, incorporates the adjustment amount required for leveling, but also includes the preset ground clearance requirement. It can accurately guide the outriggers to extend to the specified position, so that the AGV chassis can achieve the preset support height while being level, thus meeting the dual requirements of chassis support status and ground clearance for AGV loading operations.

[0085] The preset accuracy condition is that the error of the current pitch angle is less than a preset pitch error and the error of the current roll angle is less than a preset roll error.

[0086] The preset accuracy condition is the key criterion for determining whether the AGV chassis leveling meets the requirements. Specifically, the error of the current pitch angle must be lower than the preset pitch error, and the error of the current roll angle must be lower than the preset roll error.

[0087] The current pitch angle error reflects the degree to which the chassis's longitudinal tilt deviates from the preset horizontal state, while the current roll angle error reflects the degree to which the chassis's lateral tilt deviates from the preset horizontal state. These two error control dimensions work together to fully constrain the chassis' horizontal accuracy in both the longitudinal and lateral directions.

[0088] When both the pitch and roll angles are within their respective preset tolerances, the AGV chassis is confirmed to have reached its preset level, and the leveling process can be terminated. This condition, through strict control of dual angular errors, ensures that the AGV chassis's ultimate leveling accuracy meets the stability and precision requirements of loading operations, providing a reliable horizontal reference for subsequent loading operations.

[0089] like Figure 5 FIG. 1 is a system block diagram of a four-legged AGV chassis ground support and leveling system provided by an embodiment of the present invention. The system includes:

[0090] A torque mode switching module is used for the controller of the AGV chassis to send a first mode switching instruction to the drivers of the four groups of legs, configure the four groups of legs to the torque mode, and send the target torque to each driver to control the extension of each group of legs;

[0091] an extension length recording module, configured to continuously obtain the leg extension length and leg extension speed feedback from each of the drivers, and if the leg extension length satisfies a preset extension length condition and the leg extension speed satisfies a preset extension speed condition, determine that each group of legs is stably supporting the ground, and record the current extension lengths of the four groups of legs;

[0092] an adjustment amount calculation module, configured to continuously obtain the current pitch angle and the current roll angle fed back by the dynamic inclinometer, and calculate the current adjustment amounts of the four groups of legs according to the current pitch angle and the current roll angle;

[0093] A position mode switching module is used for the controller of the AGV chassis to send a second mode switching instruction to the drivers of the four groups of the legs, configure the four groups of the legs to the position mode, and calculate the target extension length based on the current extension length and the current adjustment amount, and send the target extension length to each of the drivers to control the extension of each group of the legs until the error between the current pitch angle and the current roll angle meets the preset accuracy condition.

[0094] Figure 5 The apparatus of the embodiment shown can be used to perform Figure 1 The implementation principles and technical effects of the steps in the method embodiment shown are similar and will not be repeated here.

[0095] An electronic device includes a memory and a processor, wherein a computer program is stored in the memory. When the processor runs the computer program stored in the memory, the processor executes the steps of a four-legged AGV chassis ground support and leveling method as described in any one of the above items.

[0096] like Figure 6 FIG. 1 is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention. The electronic device 60 includes: a processor 61, a memory 62 and a computer program;

[0097] The memory 62 is used to store the computer program, which may also be a flash memory. The computer program is, for example, an application program or a functional module for implementing the above method.

[0098] The processor 61 is configured to execute the computer program stored in the memory to implement the various steps performed by the device in the above method. For details, please refer to the relevant description in the above method embodiment.

[0099] Optionally, the memory 62 may be independent or integrated with the processor 61 .

[0100] When the memory 62 is a device independent of the processor 61, the device may further include:

[0101] The bus 63 is used to connect the memory 62 and the processor 61 .

[0102] A readable storage medium stores a computer program, which, when executed by a processor, is used to implement the steps of a four-legged AGV chassis ground support and leveling method as described in any one of the above.

[0103] The readable storage medium may be a computer storage medium or a communication medium. Communication media include any medium that facilitates the transfer of computer programs from one location to another. Computer storage media may be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, a readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium may also be an integral part of the processor. The processor and the readable storage medium may be located in an application-specific integrated circuit (ASIC). In addition, the ASIC may be located in a user device. Of course, the processor and the readable storage medium may also exist as discrete components in a communication device. The readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0104] The present invention also provides a program product, which includes execution instructions stored in a readable storage medium. At least one processor of a device can read the execution instructions from the readable storage medium, and at least one processor executes the execution instructions so that the device implements the methods provided in the various embodiments described above.

[0105] In the embodiments of the above-mentioned devices, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASICs), etc. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules within the processor.

[0106] Through the introduction of the above embodiments, the present invention uses a four-legged AGV chassis ground support and leveling method and system, and sends a first mode switching instruction to the drivers of the four groups of legs through the controller of the AGV chassis, configures the four groups of legs into torque mode, and sends the target torque to each driver to control the extension of each group of legs; continuously obtains the leg extension length and leg extension speed feedback from each driver, and if the leg extension length meets the preset extension length condition and the leg extension speed meets the preset extension speed condition, it is determined that each group of legs is stably supporting the ground, and the current extension length of the four groups of legs is recorded; continuously obtains the current pitch angle and current roll angle fed back by the dynamic inclinometer, and calculates the current pitch angle and roll angle according to the current pitch angle. The controller of the AGV chassis sends a second mode switching instruction to the drivers of the four groups of legs, configures the four groups of legs into position mode, and calculates the target extension length based on the current extension length and the current adjustment amount, and sends the target extension length to each driver to control each group of legs to extend until the error between the current pitch angle and the current roll angle meets the preset accuracy conditions, so that the AGV chassis legs can be stably supported and the AGV body can be level with the ground, avoiding chassis shaking during AGV loading operation, improving the accuracy and safety of the AGV loading operation platform, and at the same time, without the need for complex hardware configuration, with the advantage of low cost.

[0107] The present invention controls the extension of the legs through a torque mode and combines the extension length with speed feedback to accurately determine the support status of the legs, thereby effectively ensuring that the four groups of legs stably support the ground and avoiding the problem of unstable support caused by AGV overload or uneven ground. At the same time, the present invention calculates the adjustment amount with the help of the pitch angle and roll angle detected in real time by the dynamic inclinometer, and then controls the extension of the legs through the position mode, which can achieve precise leveling of the AGV chassis, ensure the consistency of the chassis with the horizontal plane, and improve the accuracy of the AGV upper installation work platform. In addition, the present invention only needs to use the feedback information of four groups of leg drivers and a single dynamic inclinometer, without the need for additional complex hardware configuration. While achieving stable support and precise leveling, it simplifies the system structure and has the advantage of low cost. It is suitable for all kinds of AGV operation scenarios that require high-precision support and leveling.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A four-legged AGV chassis support and leveling method, characterized in that: The method comprises: The controller of the AGV chassis sends a first mode switching instruction to the drivers of the four groups of legs, configures the four groups of legs to the torque mode, and sends the target torque to each of the drivers to control the extension of each group of legs; Continuously obtaining the leg extension length and leg extension speed feedback from each driver, and if the leg extension length meets a preset extension length condition and the leg extension speed meets a preset extension speed condition, determining that each group of legs is stably supporting the ground, and recording the current extension lengths of the four groups of legs; Continuously obtaining a current pitch angle and a current roll angle fed back by a dynamic inclinometer, and calculating current adjustment amounts of the four groups of legs according to the current pitch angle and the current roll angle; The controller of the AGV chassis sends a second mode switching instruction to the drivers of the four groups of legs, configures the four groups of legs to the position mode, calculates a target extension length based on the current extension length and the current adjustment amount, sends the target extension length to each driver, and controls each group of legs to extend until the error between the current pitch angle and the current roll angle meets a preset accuracy condition; The calculation formulas for the current adjustment amounts of the four groups of legs are as follows: Dh1=0.5×(W×tan(Roll)-L×tan(Pitch)) Dh2=-0.5×(W×tan(Roll)+L×tan(Pitch)) Dh3=0.5×(L×tan(Pitch)-W×tan(Roll)) Dh4=0.5×(L×tan(Pitch)+W×tan(Roll)) Wherein, Dh1 represents the current adjustment amount of the first group of legs; Dh2 represents the current adjustment amount of the second group of legs; Dh3 represents the current adjustment amount of the third group of legs; Dh4 represents the current adjustment amount of the fourth group of legs; W represents the lateral distance between the first and second groups of legs, or the lateral distance between the third and fourth groups of legs; L represents the longitudinal distance between the first and fourth groups of legs, or the longitudinal distance between the second and third groups of legs; Roll represents the current roll angle; Pitch represents the current pitch angle.

2. A four-legged AGV chassis ground support and leveling method according to claim 1, characterized in that: Four groups of legs are arranged at the four corners of the AGV chassis, and when each group of legs is extended, the AGV body is off the ground; after each group of legs is retracted, the AGV body supports the ground.

3. The method for leveling a four-legged AGV chassis by supporting the ground according to claim 1, characterized in that: The AGV body is equipped with a dynamic inclinometer, and the dynamic inclinometer is used to detect the current pitch angle and the current roll angle of the AGV body relative to the horizontal plane in real time, wherein the horizontal plane is based on the ground.

4. The method for leveling a four-legged AGV chassis by supporting the ground according to claim 1, characterized in that: The target torque is used to ensure that each group of the legs is extended in an unloaded state and the AGV body cannot leave the ground.

5. The method for leveling a four-legged AGV chassis by supporting the ground according to claim 1, characterized in that: The preset extension length condition is that the extension length of the support leg is within the preset extension length range; The preset extension speed condition is that the extension speed of the legs is always 0 in a continuous time period.

6. The method for leveling a four-legged AGV chassis by supporting the ground according to claim 1, characterized in that: A preset chassis support height parameter is obtained, wherein the target extension length is the sum of the current extension length, the current adjustment amount, and the preset chassis support height parameter.

7. The method for leveling a four-legged AGV chassis by supporting the ground according to claim 1, characterized in that: The preset accuracy condition is that the error of the current pitch angle is less than a preset pitch error and the error of the current roll angle is less than a preset roll error.

8. A four-legged AGV chassis ground support and leveling system, applied to a four-legged AGV chassis ground support and leveling method according to any one of claims 1 to 7, characterized in that: The system comprises: A torque mode switching module is used for the controller of the AGV chassis to send a first mode switching instruction to the drivers of the four groups of legs, configure the four groups of legs to the torque mode, and send the target torque to each driver to control the extension of each group of legs; an extension length recording module, configured to continuously obtain the leg extension length and leg extension speed feedback from each of the drivers, and if the leg extension length satisfies a preset extension length condition and the leg extension speed satisfies a preset extension speed condition, determine that each group of legs is stably supporting the ground, and record the current extension lengths of the four groups of legs; an adjustment amount calculation module, configured to continuously obtain the current pitch angle and the current roll angle fed back by the dynamic inclinometer, and calculate the current adjustment amounts of the four groups of legs according to the current pitch angle and the current roll angle; A position mode switching module is used for the controller of the AGV chassis to send a second mode switching instruction to the drivers of the four groups of the legs, configure the four groups of the legs to the position mode, and calculate the target extension length based on the current extension length and the current adjustment amount, and send the target extension length to each of the drivers to control the extension of each group of the legs until the error between the current pitch angle and the current roll angle meets the preset accuracy condition.

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