Automatic lifting and leveling vehicle for oil-electric hybrid crawler

Abstract

The invention discloses an automatic lifting and leveling vehicle for an oil-electric hybrid crawler, and relates to the technical field of vehicle engineering. Comprising a compartment, a crawler walking device, a lifting executing mechanism, a sensor set, a leveling control unit and a gas-electric hybrid power system. The lifting execution mechanism realizes carriage height adjustment through an electric hydraulic push rod and a supporting arm, and a damper guarantees stability; the sensor group collects data such as vehicle body postures and a power system; the leveling control unit controls an electric hydraulic push rod to complete automatic leveling based on an intelligent algorithm according to sensor data, and has the functions of energy management and the like; the oil-electricity hybrid power system is of a parallel structure, and power is distributed according to needs. The problems that a traditional tracked vehicle carriage is difficult to level and low in power energy efficiency are effectively solved, automatic carriage leveling and efficient power distribution under complex terrains are achieved, the stability and safety of the vehicle are improved, and diversified operation requirements are met.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicle engineering, in particular relates to an automatic lifting and leveling vehicle of oil-electric hybrid tracked vehicle. BACKGROUND

[0002] Oil-electric hybrid tracked vehicles are widely used in engineering construction, agricultural operations, rescue and other fields due to their good power performance and off-road capability. However, in actual operation environment, tracked vehicles often face complex terrain such as mountainous, hilly, and bumpy ground, which will cause the vehicle body to tilt. Vehicle body tilt not only affects the stability and safety of vehicle driving, but also interferes with the normal operation of the equipment carried, and in severe cases may even cause equipment damage or safety accidents.

[0003] Currently, some tracked vehicles use manual leveling method, which has complicated operation process, long time consumption, and cannot guarantee the accuracy and timeliness of leveling, and cannot meet the demand of rapid operation. Some automatic leveling mechanisms have defects such as complex structure, poor reliability, slow response speed, etc. For example, some mechanical connecting rod type leveling mechanisms have limited adjustment range and are difficult to work effectively on steep terrain; some leveling mechanisms based on simple hydraulic systems cannot accurately control the lifting of each part according to the degree of vehicle body tilt, resulting in unsatisfactory leveling effect. In addition, for oil-electric hybrid tracked vehicles, traditional leveling mechanisms do not fully consider the characteristics of oil-electric hybrid power system, and have deficiencies in energy utilization and system compatibility. Therefore, it is an urgent problem to develop an efficient, reliable and adaptive automatic lifting and leveling mechanism for oil-electric hybrid system. SUMMARY

[0004] The purpose of the present application is to provide an automatic lifting and leveling vehicle of oil-electric hybrid tracked vehicle, which realizes real-time sensing, accurate leveling and power optimization distribution of vehicle body posture by integrating lifting actuator, multi-source sensor group, intelligent leveling control unit and oil-electric hybrid power system, and improves the operation stability, energy efficiency and reliability of the vehicle in complex terrain.

[0005] To solve the above technical problems, the present application is realized by the following technical scheme:

[0006] The present application is an automatic lifting and leveling vehicle of oil-electric hybrid tracked vehicle, comprising a vehicle seat, a tracked walking device and a vehicle cabin, further comprising:

[0007] The lifting actuator comprises an electric hydraulic push rod, a support arm and a damper, one end of the electric hydraulic push rod is hinged to the vehicle seat, the support arm is hinged to the other end of the electric hydraulic push rod at the intersection of the two arms in the middle, the lower end of the support arm is hinged to the top of the vehicle seat of the tracked walking device, and the upper end is hinged to the bottom of the vehicle cabin, and the damper is connected between the support arm and the vehicle cabin or the tracked walking device;

[0008] A sensor group, including a gyroscope, an accelerometer, an inclination sensor, a pressure sensor, and an oil-electric hybrid power system sensor, is configured to collect real-time data of the vehicle body posture, inclination angle, acceleration, and track pressure;

[0009] A leveling control unit, connected with the sensor group and the electric hydraulic push rod signal, is internally provided with a microprocessor and an intelligent control algorithm:

[0010] The inclination state of the vehicle body is calculated according to the sensor data, and the extension control instruction of the electric hydraulic push rod is generated, so that the height of the vehicle cabin is adjusted by the support arm to realize automatic leveling;

[0011] An oil-electric hybrid power system, including an engine, a motor, a battery, and a power distribution device, is configured to provide power for the track walking device and the electric hydraulic push rod;

[0012] The leveling control unit is connected with the oil-electric hybrid power system signal, and the power distribution is optimized according to the driving conditions and the leveling requirements.

[0013] As a preferred technical solution of the present application, the track walking device includes a driving wheel, a driven wheel, a track, and a gearbox, and the top of one end of the vehicle seat is provided with a driving operation platform.

[0014] As a preferred technical solution of the present application, the oil-electric hybrid power system adopts a parallel architecture, in which:

[0015] The engine and the motor cooperatively output power to the gearbox through the power distribution device;

[0016] The battery supplies power to the motor and the electric hydraulic push rod;

[0017] The motor independently drives when on flat road or under light load, and the engine and the motor jointly drive when climbing, under heavy load, or when the battery power is insufficient.

[0018] As a preferred technical solution of the present application, the sensor group further includes a sensor for monitoring the working state of the oil-electric hybrid power system, which collects real-time data of the engine speed, motor power, and battery power and transmits them to the leveling control unit.

[0019] As a preferred technical solution of the present application, the leveling control unit further performs:

[0020] An energy management function: dynamically distributing the output power of the engine and the motor according to the vehicle body leveling requirements and driving conditions;

[0021] A fault diagnosis function: monitoring system abnormalities and triggering protection measures;

[0022] A data storage function: recording key parameters of the leveling process.

[0023] As a preferred technical solution of the present application, the working process of the leveling control unit comprises:

[0024] Real-time receiving of vehicle body inclination data collected by the sensor group;

[0025] Calculating the target extension amount of each electric hydraulic push rod through intelligent algorithm;

[0026] Outputting control instructions to the corresponding electric hydraulic push rod to drive the support arm to rotate to adjust the height of the carriage;

[0027] Based on sensor feedback, real-time correction of leveling action until the vehicle body is restored to level.

[0028] As a preferred technical solution of the present application, the intelligent control algorithm comprises: multi-sensor data fusion algorithm based on Kalman filter, fuzzy PID vehicle body posture control algorithm and energy distribution optimization model based on neural network.

[0029] The present application has the following beneficial effects:

[0030] Efficient and high-precision leveling: real-time monitoring of vehicle body posture by the sensor group, the leveling control unit quickly calculates the leveling scheme according to the intelligent control algorithm, and accurately controls the action of the lifting actuator, realizing efficient and high-precision automatic leveling.

[0031] Adapting to complex terrain: it can adapt to various complex and variable terrain conditions, whether it is mountainous, hilly, muddy or uneven road surface, it can adjust the height of the vehicle body in real time according to the terrain changes, ensuring the smooth driving of the tracked vehicle.

[0032] Optimized use of energy: the oil-electric hybrid power system and the leveling control unit work together, intelligently distribute power according to the driving conditions and leveling requirements, realize the optimized use of energy, and improve the energy utilization efficiency.

[0033] Improve safety and stability: keep the vehicle body level through automatic leveling, effectively avoid equipment damage and operator safety accidents caused by vehicle body inclination, and improve the driving stability and operation safety of the tracked vehicle.

[0034] Of course, any product implementing the present application does not necessarily need to achieve all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0036] Fig. 1 It is a front view of the present invention;

[0037] Fig. 2 It is a schematic diagram of the three-dimensional structure of the present invention;

[0038] Fig. 3 This is the working flow diagram of the leveling control unit;

[0039] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0040] 1-Seat, 2-Crawler walking device, 3-Carriage, 4-Support arm, 5-Electric hydraulic push rod, 6-Driver console. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 any creative efforts shall fall within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0043] Example 1

[0044] like Figs. 1-3 The present invention discloses an automatic lifting and leveling vehicle for a hybrid crawler vehicle, comprising a seat, a crawler traveling device and a vehicle compartment, and further comprising:

[0045] The lifting actuator includes an electric hydraulic push rod, a support arm and a damper. One end of the electric hydraulic push rod is hinged to the seat. The intersection of the two arms in the middle of the support arm is hinged to the other end of the electric hydraulic push rod. The lower end of the support arm is hinged to the seat at the top of the crawler travel device, and the upper end is hinged to the bottom of the car body. The damper is connected between the support arm and the car body or crawler travel device. The crawler travel device includes a driving wheel, a driven wheel, a crawler track and a gearbox. A driving console is set on the top of one end of the seat.

[0046] A sensor suite, including gyroscopes, accelerometers, inclinometers, pressure sensors, and hybrid system sensors, is used to collect real-time data on vehicle posture, tilt angle, acceleration, and track pressure.

[0047] The leveling control unit is connected with the sensor group and the electro-hydraulic push rod signal, and is internally provided with a microprocessor and an intelligent control algorithm, and is used for:

[0048] According to the sensor data, the inclination state of the vehicle body is calculated, and the extension and retraction control instructions of the electro-hydraulic push rod are generated, so that the height of the carriage is adjusted by the support arm to realize automatic leveling.

[0049] The oil-electric hybrid power system comprises an engine, a motor, a battery and a power distribution device, and provides power for the crawler walking device and the electro-hydraulic push rod.

[0050] The leveling control unit is connected with the oil-electric hybrid power system, and optimizes the power distribution according to the driving conditions and the leveling requirements.

[0051] In the embodiment, the leveling control unit processes the data collected by the sensor group in real time through the built-in microprocessor, including the angular velocity detected by the gyroscope, the linear acceleration measured by the accelerometer, the inclination of the carriage fed back by the inclination sensor, and the ground pressure of the crawler monitored by the pressure sensor. The microprocessor calculates the current inclination state of the vehicle body based on the intelligent control algorithm (such as PID control or fuzzy logic), generates accurate extension and retraction control instructions, and sends them to the electro-hydraulic push rod. The electro-hydraulic push rod drives the support arm in response to the instructions, adjusts the height of the carriage through the cross-hinged structure of the support arm, and absorbs vibration through the damper to maintain the stability of the leveling. The entire leveling process is automatically completed during vehicle driving, the response time is less than 0.5 seconds, and the carriage is always kept in a horizontal state.

[0052] The oil-electric hybrid power system optimizes the power distribution according to the signal of the leveling control unit: when driving on flat road, the motor is preferentially used to drive the crawler walking device to reduce fuel consumption; when the vehicle body inclination or leveling requirement is detected, the engine and the motor work together to provide additional torque to support the electro-hydraulic push rod through the power distribution device, while maintaining the balance of the crawler driving force. In addition, the power system sensor monitors the battery power and engine load in real time, and the leveling control unit dynamically adjusts the push rod extension and retraction speed and the power output ratio accordingly, to avoid overload or energy waste, and to improve the overall energy efficiency and driving safety. The embodiment also comprises a fault diagnosis module integrated in the leveling control unit, which can analyze abnormal sensor data in real time and trigger an alarm mechanism to ensure reliable operation of the system.

[0053] Embodiment two,

[0054] Based on example one, the difference of this embodiment is that the oil-electric hybrid system adopts a parallel architecture, in which the engine and the motor output power to the transmission through a power distribution device; the battery powers the motor and the electric hydraulic push rod; the motor drives independently on flat roads or light loads, and the engine and the motor drive together when climbing, heavy load or insufficient battery power. The sensor group also includes sensors that monitor the working state of the oil-electric hybrid system, real-time collection of engine speed, motor power, battery capacity data and transmission to the leveling control unit.

[0055] In this embodiment, the leveling control unit dynamically adjusts the power distribution strategy by real-time receiving the engine speed, motor power and battery capacity data collected by the sensor group to optimize the system response efficiency. For example, when the battery capacity drops to the preset threshold, the control unit starts the engine as the main driving source, and at the same time uses the remaining energy to charge the battery; in high load or extreme road conditions, the engine and the motor output maximum torque to ensure the rapid extension and retraction of the electric hydraulic push rod and maintain the level of the vehicle cabin. Sensor data is also used for predictive maintenance, such as monitoring engine vibration or motor temperature abnormalities, and the fault diagnosis module automatically identifies potential faults and sends an alarm to avoid power interruption. In addition, this parallel architecture has significant advantages in energy efficiency, with intelligent switching of driving modes, average fuel consumption is reduced, system overall reliability is improved, and supports continuous and stable operation of the vehicle in complex terrain.

[0056] Example three

[0057] Based on example one, the difference of this embodiment is that:

[0058] The leveling control unit also performs: energy management function: dynamically allocate the output power of the engine and the motor according to the body leveling requirements and driving conditions; fault diagnosis function: monitor system abnormalities and trigger protection measures; data storage function: record key parameters of the leveling process.

[0059] The working process of the leveling control unit includes: real-time receiving the vehicle body inclination data collected by the sensor group; calculating the target extension amount of each electric hydraulic push rod through intelligent algorithm; outputting control instructions to the corresponding electric hydraulic push rod to drive the support arm to rotate to adjust the height of the vehicle cabin; based on sensor feedback, real-time correction of leveling action until the vehicle body is restored to level. The intelligent control algorithm includes: multi-sensor data fusion algorithm based on Kalman filter, fuzzy PID vehicle body posture control algorithm and energy distribution optimization model based on neural network.

[0060] In this embodiment, the energy management function of the leveling control unit combines real-time vehicle speed, road slope and battery SOC state to dynamically optimize power distribution strategy. For example, in flat sections, pure electric driving is preferred to reduce fuel consumption, while in steep slopes or acceleration conditions, intelligent switching to hybrid mode is used to ensure engine and motor collaborative output, maximizing energy utilization. The fault diagnosis function continuously monitors parameters such as hydraulic system pressure, motor controller temperature and circuit current through built-in algorithms. Once abnormal fluctuations are detected (such as pressure exceeding limits or temperature exceeding standards), the protection mechanism is triggered, such as degraded operation or activation of backup power, to prevent system failure. The data storage function records key parameters during each leveling process, including inclination angle, leveling time, energy consumption distribution and fault codes, facilitating subsequent maintenance analysis and algorithm optimization. In the workflow, the multi-sensor data fusion algorithm based on Kalman filtering effectively eliminates noise interference and improves vehicle body posture data accuracy; fuzzy PID control dynamically adjusts proportional, integral and differential coefficients based on real-time feedback to ensure fast and smooth extension and retraction of the electric hydraulic push rod; the neural network model predicts the optimal energy distribution by learning historical operation data, significantly improving system adaptability and reliability, especially in frequent start-stop or rough terrain.

[0061] The working principle of the present application is as follows:

[0062] First, according to the vehicle seat 1, the vehicle cabin 3, the gearbox, the vehicle cabin base and the battery shown in Figures (1) and (2), ensure that each component is firmly connected and the structure is stable and reliable. Then, install the support arm 4 of the lifting actuator and the electric hydraulic push rod 5 at the designated position at the bottom of the seat, and use high-strength pins to hinge the electric hydraulic push rod at one end of the seat and hinge the other end to the middle of the support arm; at the same time, hinge the bottom end of the support arm to the seat at the top of the track walking device, and install the damper simultaneously.

[0063] Next, install the track walking device 2 under the seat, connect the drive motor, driving wheel, driven wheel and track, and accurately adjust the track tension. Then, deploy the sensor group at key parts such as the seat and track walking device 2 to ensure accurate data collection, and complete the line connection of the sensor and the leveling control unit.

[0064] Finally, install the leveling control unit at a reasonable position inside the seat, connect its communication lines and power supply with the lifting actuator, sensor group, oil-electric hybrid power system and other vehicle-mounted equipment; simultaneously install and debug the oil-electric hybrid power system to verify the correctness of component connection and operation status.

[0065] After the installation of the mechanism, the system is debugged:

[0066] 1. High-precision calibration of sensor groups using professional equipment and software, including the zero position and precision of gyroscopes, accelerometers, tilt sensors, pressure sensors, and power system sensors, to ensure data reliability;

[0067] 2. Strict testing of the leveling control unit function to verify its intelligent control algorithm - by simulating various vehicle body inclination states and driving conditions, to test whether the control unit can accurately calculate the adjustment amount of the lifting actuator and output correct instructions, and to simultaneously test the energy management function;

[0068] 3. Debugging of the lifting actuator to detect the smoothness of the extension and retraction of the electric hydraulic push rod and the compliance of the pushing force, to confirm the flexibility of the support arm rotation and the damping effect of the damper, and to optimize problems in real time to ensure stable operation of the automatic leveling mechanism;

[0069] 4. Comprehensive debugging of the oil-electric hybrid power system to test the coordination performance, power distribution rationality, and energy efficiency of the engine and motor, to ensure efficient cooperation with the leveling mechanism.

[0070] Operation process:

[0071] The driver can monitor in real time through the seat console 6. When the vehicle body is inclined due to uneven terrain, the sensor group collects the vehicle body posture, inclination, acceleration, track pressure, and power system parameters in real time and transmits them quickly to the leveling control unit. The control unit deeply analyzes the data and calculates the required adjustment height of each lifting actuator based on the preset algorithm, and then sends accurate instructions to the corresponding electric hydraulic push rod 5. The electric hydraulic push rod 5 extends and retracts according to the instructions, drives the seat to rise and fall through the support arm 4, and gradually restores the vehicle body to level. During the leveling process, the sensor group continuously monitors the state and feeds back the data, and the control unit adjusts the push rod action in real time to ensure the leveling accuracy and stability; at the same time, the power system output is intelligently controlled to optimize power distribution and energy efficiency. After the vehicle body is restored to level, the leveling control is automatically terminated, and the vehicle continues to drive.

[0072] In the description of the present specification, the description of the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0073] The preferred embodiments of the application disclosed above are only to facilitate the elucidation of the application. The preferred embodiments do not describe all the details of the application and limit the application to the specific embodiments described. Obviously, many modifications and variations can be made in light of the teachings above. The description is chosen and described in order to best explain the principles of the application and its practical application to thereby enable others skilled in the art to best utilize the application and get the best results from the application. The application is only limited by the claims and their full scope and equivalents.

Claims

1. A hybrid crawler vehicle with automatic lifting and leveling function, comprising a seat, a crawler traveling device and a carriage, characterized in that: Also includes: The lifting actuator includes an electric hydraulic push rod, a support arm and a damper. One end of the electric hydraulic push rod is hinged to the vehicle seat. The intersection of the two arms in the middle of the support arm is hinged to the other end of the electric hydraulic push rod. The lower end of the support arm is hinged to the vehicle seat at the top of the crawler walking device, and the upper end is hinged to the bottom of the car body. The damper is connected between the support arm and the car body or the crawler walking device. A sensor suite, including gyroscopes, accelerometers, inclinometers, pressure sensors, and hybrid system sensors, is used to collect real-time data on vehicle posture, tilt angle, acceleration, and track pressure. The leveling control unit is connected to the sensor group and the electric hydraulic push rod signal, and has a built-in microprocessor and intelligent control algorithm for: Calculate the vehicle body tilt state based on sensor data and generate telescopic control instructions for the electric hydraulic push rod, adjusting the vehicle body height through the support arm to achieve automatic leveling; A hybrid power system, including an engine, motor, battery, and power distribution device, provides power for the crawler track and electric hydraulic actuators; The leveling control unit is connected to the hybrid power system signal to optimize power distribution according to driving conditions and leveling requirements.

2. The automatic lifting and leveling vehicle for a hybrid crawler vehicle according to claim 1, characterized in that: The crawler walking device includes a driving wheel, a driven wheel, a crawler and a gearbox, and a driving operating console is arranged on the top of one end of the seat.

3. The automatic lifting and leveling vehicle for a hybrid crawler vehicle according to claim 2, characterized in that: The hybrid power system adopts a parallel architecture, wherein: The engine and motor work together to output power to the gearbox through the power distribution device; The battery powers the motor and electro-hydraulic actuator; On flat roads or when lightly loaded, the vehicle is driven solely by the motor; when climbing a slope, under heavy load, or when the battery is low, the vehicle is driven by both the engine and the motor.

4. The automatic lifting and leveling vehicle for a hybrid crawler vehicle according to claim 1, characterized in that: The sensor group also includes sensors for monitoring the working status of the hybrid power system, collecting engine speed, motor power, and battery power data in real time and transmitting them to the leveling control unit.

5. The automatic lifting and leveling vehicle for a hybrid crawler vehicle according to claim 1, characterized in that: The leveling control unit further performs: Energy management function: Dynamically allocates the output power of the engine and motor according to the vehicle leveling requirements and driving conditions; Fault diagnosis function: monitor system anomalies and trigger protective measures; Data storage function: record key parameters of the leveling process.

6. The automatic lifting and leveling vehicle for a hybrid crawler vehicle according to claim 1, characterized in that: The workflow of the leveling control unit includes: Receive vehicle body tilt data collected by the sensor group in real time; Calculate the target extension and retraction of the electric hydraulic push rod through intelligent algorithms; Output control instructions to the corresponding electric hydraulic push rod to drive the support arm to rotate to adjust the height of the carriage; The leveling action is corrected in real time based on sensor feedback until the vehicle body is restored to a level state.

7. The automatic lifting and leveling vehicle for a hybrid crawler vehicle according to claim 6, characterized in that: The intelligent control algorithm includes: a multi-sensor data fusion algorithm based on Kalman filtering, a fuzzy PID vehicle body posture control algorithm and an energy distribution optimization model based on neural network.

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