A method and system for balance monitoring and self-adjustment of a wheeled mechanical work platform

Abstract

The application discloses a kind of wheeled walking mechanized operation platform balance monitoring and self-regulating method and system, and it is related to engineering machinery intelligent control technical field.The method is by collecting platform pitch angle, platform roll angle, mast X / Y direction inclination, hydraulic branch pressure, hoist angle, wire rope tension, rotation angle and outrigger action state and other multi-source monitoring data, after time synchronization, filtering and validity discrimination, fusion calculation is carried out, constructs platform stability evaluation quantity and operation posture deviation quantity;Two are compared with stability threshold, posture threshold respectively, identify walking, leveling, hole forming, rotation positioning or safety protection mode;When over-limit, output leveling, vertical adjustment, rotation, speed limit, alarm or locking instruction, and simultaneously drive mast lifting cylinder and chassis hydraulic cylinder to carry out linkage adjustment in hole forming mode.The application realizes the adaptive stability control of wheeled walking mechanized operation platform under complex terrain, improves hole forming accuracy and operation safety.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for engineering machinery, and in particular to a method and system for balance monitoring and self-adjustment of a wheel-mounted mechanized work platform. Background Technology

[0002] Wheel-and-walker mechanized work platforms are suitable for foundation excavation, drilling, and hoisting operations in complex terrains such as mountains, forests, hills, and plateaus. These platforms typically employ a hybrid structure combining wheeled travel and a walking chassis, working in conjunction with a slewing platform, mast, winch, and hydraulic actuators to complete construction operations. Due to the steep slopes, significant variations in foundation bearing conditions, and complex equipment posture changes in the operating environment, problems such as platform tilting, uneven stress on local supports, mast misalignment, slewing positioning deviations, and excessive wire rope release can easily occur during platform movement and drilling. Relying solely on a single sensor or operator experience for control makes it difficult to simultaneously manage functions such as platform leveling, mast sagging, slope stability detection, drilling depth detection, and bottoming protection, resulting in insufficient automation, limited operational safety, and restricted drilling accuracy.

[0003] The existing electrical systems of wheeled walking mechanized work platforms have the functions of engine condition acquisition, walking leg motion control, drilling rig verticality monitoring, platform tilt monitoring, one-click platform leveling, one-click mast sag adjustment, slope operation monitoring and automatic adjustment, drilling depth detection, bottoming protection, and remote control. However, they still lack a method to integrate, judge, and output linkage adjustment commands from multiple types of sensor data in a unified manner, making it difficult to balance stability, responsiveness, and control coordination in complex slope environments. Summary of the Invention

[0004] To address the problems of insufficient accuracy in identifying the stability of wheeled walking mechanized work platforms under complex terrain conditions, poor coordination between platform leveling and mast sag adjustment, and untimely triggering of safety protection in existing technologies, this invention proposes a balance monitoring and self-adjustment method and system for wheeled walking mechanized work platforms.

[0005] On one hand, the present invention provides a method for balance monitoring and self-adjustment of a wheeled mechanized work platform, wherein the controller performs the following steps: S1: Acquire multi-source monitoring data of the wheeled mechanized work platform. The multi-source monitoring data includes at least the platform pitch angle, platform roll angle, mast X-axis tilt angle, mast Y-axis tilt angle, hydraulic branch pressure, winch angle, wire rope tension, slewing angle, and the action status of the outriggers or working devices. S2: Perform time synchronization, filtering, and validity assessment on the multi-source monitoring data to obtain fused input data; S3: Calculate the platform stability evaluation quantity and the operation posture deviation quantity based on the fused input data; S4: Compare the platform stability evaluation quantity and the working posture deviation quantity with the stability threshold and posture threshold respectively, and identify whether the current wheel-walking mechanized operation platform is in one of the following modes: walking mode, leveling mode, hole-forming mode, rotary positioning mode or safety protection mode. S5: When the platform stability evaluation value exceeds the stability threshold or the working posture deviation value exceeds the posture threshold, generate and output outrigger compensation control command, platform leveling control command, mast sag control command, slewing positioning control command, working speed limit command, alarm command and / or protection lockout command; and when it is identified that the current wheel-step mechanized working platform is in drilling mode, drive the mast lifting cylinder and chassis hydraulic cylinder simultaneously according to the mast X-axis tilt angle and the mast Y-axis tilt angle to perform linkage adjustment so that the mast posture deviation converges to the preset allowable range; S6: Control the wheel-walking mechanized work platform to execute the corresponding actions of the output command, and update the platform stability evaluation quantity and work posture deviation quantity in real time until it is restored to the allowable range.

[0006] Furthermore, the platform stability evaluation quantity is calculated by weighting the absolute values ​​of the platform pitch angle, platform roll angle, imbalance between hydraulic branch forces, mast X-axis tilt angle, mast Y-axis tilt angle, and wire rope tension variation; the working posture deviation quantity is calculated based on the mast X-axis tilt angle, mast Y-axis tilt angle, and rotation angle positioning deviation.

[0007] Furthermore, the platform stability evaluation quantity J mentioned in step S3 is expressed as: ; in, For the platform's roll angle, The platform's pitch angle, The angle of inclination of the mast in the X direction. The mast's Y-axis tilt angle. This refers to the pressure imbalance between the various hydraulic branch circuits. This represents the change in tension of the wire rope. to These are the weighting coefficients for the platform roll angle, platform pitch angle, imbalance between pressure values ​​in each hydraulic branch, mast X-axis tilt angle, mast Y-axis tilt angle, and wire rope tension variation.

[0008] Furthermore, weighting coefficients to The value is dynamically adjusted according to the current operation mode: in walking mode or leveling mode, and The value is greater than , and In the pore-forming mode, , and The value is greater than and .

[0009] Furthermore, the linkage adjustment specifically involves the controller calculating the target compensation amount of the chassis hydraulic cylinder based on the mast's X-axis tilt angle and Y-axis tilt angle, and actively changing the platform roll angle and platform pitch angle to keep the mast vertical under the combined action of chassis attitude changes and mast lifting cylinder.

[0010] Furthermore, the stability threshold includes a first stability threshold. Second stability threshold ,and When the platform stability evaluation value reaches the first stability threshold, the controller outputs a work speed limit command or an alarm command; when the platform stability evaluation value reaches the second stability threshold, the controller outputs a protection lockout command and prohibits dangerous actions from continuing.

[0011] Furthermore, when the change in the tension of the wire rope When the value is negative and its absolute value exceeds the preset bottoming threshold, the drill pipe is determined to have bottomed out and the wire rope release action is locked.

[0012] Furthermore, the winch angle is used to calculate the wire rope winding and unwinding length, and the controller, together with the real-time wire rope tension value, jointly determines the drilling depth and whether the drill rod has touched the bottom; when the wire rope winding and unwinding length reaches the preset hole depth and the real-time wire rope tension value is lower than 120% of the calibrated no-load tension value, the hole is determined to be completed and drilling is automatically stopped.

[0013] Furthermore, the platform pitch angle and platform roll angle are obtained by tilt sensors installed on the operating platform or chassis, the mast X-axis tilt angle and mast Y-axis tilt angle are obtained by tilt sensors installed on the mast, the hydraulic branch pressure is obtained by a pressure sensor, the hoisting angle is obtained by an encoder or angle sensor, and the wire rope tension is obtained by a tension sensor.

[0014] On the other hand, the present invention provides a balance monitoring and self-adjustment system for a wheeled mechanized work platform, comprising: The platform attitude detection unit is used to obtain the platform pitch angle and platform roll angle; The mast attitude detection unit is used to obtain the mast's X-axis tilt angle and Y-axis tilt angle; Pressure detection unit, used to obtain hydraulic branch pressure; The winch detection unit is used to acquire winch angle information; The tension detection unit is used to acquire tension information of the wire rope; A rotation angle detection unit is used to obtain the rotation angle; The controller is signal-connected to the platform attitude detection unit, mast attitude detection unit, pressure detection unit, winch detection unit, tension detection unit, and slewing angle detection unit, respectively. It is used to receive monitoring data from each detection unit and generate and output outrigger compensation control commands, platform leveling control commands, mast sag control commands, slewing positioning control commands, operation speed limit commands, alarm commands, and / or protection interlock commands based on the monitoring data, so as to control the actions of each actuator of the wheel-walking mechanized work platform. The remote control and display unit is connected to the controller via signals and is used for mode switching, parameter display, alarm prompts, and remote control operations.

[0015] Compared with the prior art, the present invention has the following beneficial effects: (1) This invention collects seven types of multi-source monitoring data, including platform pitch angle, platform roll angle, mast X / Y tilt angle, hydraulic branch pressure, winch angle, wire rope tension and rotation angle, and performs time synchronization, filtering and fusion calculation to construct platform stability evaluation quantity and working posture deviation quantity. This enables a comprehensive characterization of the operating status of the wheeled mechanized operation platform from multiple dimensions such as posture, force and working status. It overcomes the misjudgment and omission problems caused by relying on a single sensor in the prior art and improves the accuracy and reliability of platform stability status identification under complex working conditions.

[0016] (2) The present invention incorporates platform leveling, mast sag adjustment, slewing positioning, drilling depth detection and bottoming protection into a unified control framework. In drilling mode, the mast lifting cylinder and chassis hydraulic cylinder are driven simultaneously for linkage adjustment based on the mast X-axis tilt angle and mast Y-axis tilt angle, so that chassis attitude adjustment and mast attitude correction are executed in coordination. This avoids the problem of the functions being scattered and lacking coordination in the prior art, and improves the coordinated adjustment capability of multiple actuators.

[0017] (3) The present invention sets a first stability threshold and a second stability threshold. When the stability evaluation value of the platform is reached, the operation speed limit command or alarm command is output. When the second stability threshold is reached, the protection lockout command is output and the dangerous action is prohibited from continuing to be executed. At the same time, the drilling rod is determined to be bottomed out according to the change in wire rope tension and the wire rope slack action is automatically locked. The graded safety protection is realized, which effectively reduces the risks of equipment overturning and wire rope over-release.

[0018] (4) The present invention calculates the wire rope winding and unwinding length by converting the winch angle, and judges the drilling depth and whether the drill rod touches the bottom by combining the real-time wire rope tension value. When the wire rope winding and unwinding length reaches the preset hole depth and the tension value is lower than 120% of the calibrated no-load tension value, the hole is automatically determined to be completed and drilling is stopped. This realizes closed-loop control of real-time detection of drilling depth and automatic stopping of hole formation, and improves the hole formation accuracy and the degree of automation of operation. Attached Figure Description

[0019] Figure 1 This is a system block diagram of the present invention; Figure 2 This is a flowchart of the method of the present invention; Figure 3 This is a schematic diagram illustrating the linkage control principle of leveling and plumb in this invention. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0021] like Figure 1 As shown, the balance monitoring and self-adjustment system of a wheeled mechanized work platform in this embodiment includes: a platform attitude detection unit, a mast attitude detection unit, a pressure detection unit, a winch detection unit, a tension detection unit, a rotation angle detection unit, a controller, and a remote control and display unit.

[0022] The platform attitude detection unit is mounted on the operating platform or chassis to detect the platform's pitch and roll angles. The unit employs a dual-axis tilt sensor, installed at the center of the operating platform or chassis, to acquire real-time tilt angle signals along the lateral (X-axis) and longitudinal (Y-axis) axes.

[0023] The mast attitude detection unit is mounted on the mast to detect the mast's X-axis and Y-axis tilt angles. The unit employs a dual-axis tilt sensor, installed at the base or middle of the mast, to acquire real-time attitude deviation signals of the mast along two orthogonal directions.

[0024] The pressure detection unit is arranged in the chassis hydraulic branch circuit and / or the working device hydraulic branch circuit to detect the pressure in each branch circuit. Specifically, pressure sensors are installed in the oil circuits of the four outrigger hydraulic cylinders to collect the force data of each outrigger in real time.

[0025] The winch detection unit is used to detect the winch rotation angle and, in conjunction with the winch drum diameter and wire rope diameter, calculate the wire rope winding and unwinding length to obtain the total drilling depth and single drilling depth. The winch detection unit uses a rotary encoder or angle sensor, mounted on the rotating shaft of the winch mechanism.

[0026] The tension detection unit is used to detect changes in the tension of the wire rope to determine whether the drill rod has reached the bottom. The tension detection unit uses a tension sensor, installed on the fixed end of the wire rope or on the movable pulley block, to collect the tension value of the wire rope in real time.

[0027] The slewing angle detection unit is used to obtain the slewing angle. It adopts an angle sensor or encoder and is installed at the slewing bearing to detect the rotation angle of the slewing platform relative to the chassis.

[0028] The controller is a programmable logic controller (PLC), serving as the core computing and control unit of the system. The controller communicates with various sensors and actuators via a CAN bus to achieve integrated execution of multi-source monitoring, fusion judgment, and coordinated control.

[0029] The remote control and display unit serves as the human-machine interface, integrating parameter display, alarm prompts, and remote control functions. It is used for mode switching, parameter display, alarm prompts, and remote control operations. Operators can switch between walking mode, leveling mode, drilling mode, rotary positioning mode, and safety protection mode via the remote control or the operating interface on the display screen.

[0030] like Figure 2 As shown, the present invention provides a method for balance monitoring and self-adjustment of a wheeled walking mechanized work platform, comprising the following steps: S1: Acquire multi-source monitoring data of the wheeled mechanized work platform. The multi-source monitoring data includes at least the platform pitch angle, platform roll angle, mast X-axis tilt angle, mast Y-axis tilt angle, hydraulic branch pressure, winch angle, wire rope tension, slewing angle, and the operating status of the outriggers or working devices.

[0031] Specifically, the platform pitch and roll angles are acquired by tilt sensors mounted on the operating platform or chassis. The tilt sensors are dual-axis tilt sensors with a sampling frequency of at least 50Hz, a range of at least ±30°, and an accuracy of at least 0.1°. The sensors transmit the angle signals to the controller via a CAN bus.

[0032] The mast's X-axis and Y-axis tilt angles are obtained by tilt sensors mounted on the mast. These tilt sensors are also dual-axis tilt sensors with a sampling frequency of at least 50Hz, a range of at least ±15°, and an accuracy of at least 0.05°.

[0033] The hydraulic branch pressure is obtained by pressure sensors. The pressure sensors are installed in the oil lines of each outrigger hydraulic cylinder, with a range of 0~35MPa, an accuracy of not less than 0.5%FS, and output a 4~20mA current signal, which is transmitted to the controller after A / D conversion.

[0034] The winch angle is obtained by an encoder or angle sensor. The encoder is mounted on the rotating shaft of the winch mechanism and has a resolution of 1024 pulses / revolution or higher. It is used to detect the rotation angle and the number of rotations of the winch.

[0035] The tension of the wire rope is obtained by a tension sensor. The tension sensor is installed at the fixed end of the wire rope, with a range of 0~200kN, an accuracy of not less than 1%FS, and an output current signal of 4~20mA.

[0036] The slewing angle is obtained by a slewing angle sensor. The slewing angle sensor is installed at the slewing bearing and uses an absolute encoder with a resolution of not less than 0.1°. It is used to detect the absolute rotation angle of the slewing platform relative to the chassis.

[0037] The operational status information of the outriggers or working devices is obtained through the displacement sensors and switching signals of each actuator, which is used to determine whether each actuator is currently in an operational state.

[0038] S2: Perform time synchronization, filtering, and validity determination on the multi-source monitoring data to obtain fused input data.

[0039] Specifically, due to the different sampling frequencies and transmission delays of each sensor, the controller first performs time synchronization processing on various monitoring data. Specifically, the controller uses a unified timestamp as a reference and employs interpolation to synchronize the data from each sensor to the same point in time, with a time synchronization accuracy of no less than 10ms.

[0040] Subsequently, the controller filters each signal. Moving average filtering is applied to the platform pitch angle, platform roll angle, mast X-axis tilt angle, and mast Y-axis tilt angle, with a window length of 10 sampling points, to suppress the influence of vibration noise on attitude measurement. Median filtering is applied to the hydraulic branch pressure, with a window length of 5 sampling points, to filter out pulse noise in pressure fluctuations. Low-pass filtering is applied to the wire rope tension, with a cutoff frequency of 5Hz, to filter out high-frequency noise caused by wire rope oscillation. Moving average filtering is applied to the hoisting angle and slewing angle, with a window length of 8 sampling points.

[0041] After filtering, the controller verifies the validity of each signal. Validity verification includes: checking whether each sensor signal is within its preset range, checking whether the signal rate of change exceeds a preset maximum rate of change threshold, and checking for communication timeouts or disconnections. When a sensor signal is invalid, the controller records a fault code and issues an alarm through the remote control and display unit; when a critical sensor signal (such as an inclinometer or tension sensor) is invalid, the controller automatically enters a safety protection mode and locks out dangerous actions.

[0042] After time synchronization, filtering, and validity assessment, the fused input data is obtained.

[0043] S3: Calculate the platform stability evaluation quantity and the operation posture deviation quantity based on the fused input data.

[0044] In this embodiment, the platform stability evaluation quantity J is represented as: ; in, The platform roll angle represents the tilt angle of the wheeled mechanized work platform along the lateral (X-axis) direction. The platform pitch angle represents the tilt angle of the wheeled walking mechanized work platform along the longitudinal (Y-axis) direction; The X-axis tilt angle of the mast represents the attitude deviation of the mast along the lateral (X-axis) direction. The mast's Y-axis tilt angle represents the mast's attitude deviation along the longitudinal (Y-axis) direction. This represents the imbalance between the pressures of each hydraulic branch, indicating the degree of dispersion between the pressure values ​​of each hydraulic branch. This represents the change in tension of the wire rope. to These are the weighting coefficients for the platform roll angle, platform pitch angle, imbalance between pressure values ​​in each hydraulic branch, mast X-axis tilt angle, mast Y-axis tilt angle, and wire rope tension variation.

[0045] In this embodiment, ;in, Let i be the pressure value of the i-th outrigger. The arithmetic mean of all outrigger pressure values. For the number of outriggers, . ;in, For real-time wire rope tension, To calibrate the no-load tension (i.e., the tension value of the wire rope when it is not under load), in this embodiment, the default value of each weighting coefficient is [value to be filled in]. , , , , , The values ​​of each weighting coefficient can be dynamically adjusted according to the current operating mode.

[0046] The operational posture deviation E is calculated based on the mast's X-axis tilt angle, Y-axis tilt angle, and rotation angle positioning deviation. In this embodiment, the operational posture deviation includes the overall mast tilt angle deviation. Its calculation formula is The unit is degrees. When the mast's overall tilt angle deviation... When the preset attitude threshold is exceeded, the mast attitude deviation is determined to be excessive.

[0047] Rotation angle positioning deviation , ;in, The current rotation angle, The rotation angle corresponding to the target hole position is preset by the operator or calculated based on the hole position coordinates. The operational posture deviation is a comprehensive representation of the mast tilt angle deviation and rotation angle positioning deviation mentioned above, and is used for comparison with the posture threshold. When either of them exceeds the corresponding posture threshold, the operational posture deviation is determined to be out of limit.

[0048] S4: Compare the platform stability evaluation quantity and the working posture deviation quantity with the stability threshold and posture threshold respectively, and identify whether the current wheel-walking mechanized operation platform is in one of the following modes: walking mode, leveling mode, hole-forming mode, rotary positioning mode or safety protection mode. The stability threshold includes the first stability threshold. Second stability threshold ,and The first stability threshold is the warning threshold. When the platform stability evaluation value reaches or exceeds the first stability threshold, it indicates that the platform has a stability risk trend and a warning or speed limit needs to be issued. The second stability threshold is the protection threshold. When the platform stability evaluation value reaches or exceeds the second stability threshold, it indicates that the platform is in a dangerous state and protective measures need to be taken immediately.

[0049] In this embodiment, the first stability threshold The value is 0.35, the second stability threshold. The value is 0.65. The attitude threshold is 1.5 degrees. The attitude threshold is the upper limit of the allowable values ​​for the mast's overall tilt angle deviation and the rotation angle positioning deviation. The attitude threshold for the mast's overall tilt angle deviation is used for comparison with the mast's overall tilt angle deviation; the attitude threshold for the rotation angle positioning deviation is used for comparison with the rotation angle positioning deviation. The specific values ​​of the attitude thresholds are determined based on the verticality accuracy requirements and hole positioning accuracy requirements of the drilling operation. In this embodiment, the attitude threshold for the mast's overall tilt angle deviation is 1.5 degrees, and the attitude threshold for the rotation angle positioning deviation is 0.5 degrees.

[0050] In this embodiment, the wheel-walking mechanized work platform has five operating modes based on the work stage and platform status: walking mode, used for moving and relocating the platform on the construction site; leveling mode, used to adjust the platform to a level state after reaching the work position; drilling mode, used for drilling operations; rotation positioning mode, used to rotate the drill bit to align with the target hole position; and safety protection mode, used to take protective measures when the platform's stability or posture exceeds limits. The operators can manually switch between these modes via a remote control and display unit, or the controller can automatically identify and switch modes based on the comparison results of the platform stability evaluation value and the work posture deviation value with thresholds. The controller compares the platform stability evaluation value and the work posture deviation value E with the stability threshold and posture threshold, respectively, to identify the current operating mode of the wheel-walking mechanized work platform.

[0051] The specific logic of pattern recognition is as follows: When the platform stability evaluation value is lower than the first stability threshold and the working posture deviation is lower than the posture threshold, if the wheel-walking mechanized work platform is in a moving state, it is identified as walking mode; when the platform stability evaluation value is lower than the first stability threshold but the working posture deviation reaches or exceeds the posture threshold, if it is necessary to adjust the horizontal posture of the wheel-walking mechanized work platform, it is identified as leveling mode; when the platform stability evaluation value is lower than the first stability threshold and the working posture deviation is lower than the posture threshold, if the drilling device is in a working state, it is identified as drilling mode; when it is necessary to perform drill bit alignment operation (i.e., the rotation angle positioning deviation exceeds its posture threshold), it is identified as rotation positioning mode; when the platform stability evaluation value reaches or exceeds the first stability threshold or the second stability threshold, it is identified as safety protection mode.

[0052] S5: When the platform stability evaluation value exceeds the stability threshold or the working posture deviation value exceeds the posture threshold, generate and output outrigger compensation control command, platform leveling control command, mast sag control command, slewing positioning control command, working speed limit command, alarm command and / or protection lockout command; and when it is identified that the current wheel-step mechanized working platform is in drilling mode, drive the mast lifting cylinder and chassis hydraulic cylinder simultaneously for linkage adjustment according to the mast X-axis tilt angle and the mast Y-axis tilt angle, so as to bring the mast posture deviation to a preset allowable range.

[0053] Specifically, when the platform stability evaluation value is greater than or equal to the first stability threshold, the controller outputs a warning or speed limit command, issues an audible and visual alarm through the remote control and display unit, and limits the walking speed or working speed.

[0054] When the platform stability evaluation value is greater than or equal to the second stability threshold, the controller outputs a protection lockout command, prohibiting at least one of the following actions: rotation, travel, or drilling.

[0055] When the overall tilt angle deviation of the mast exceeds its attitude threshold, the controller outputs a mast sag control command; when the slewing angle positioning deviation exceeds its attitude threshold, the controller outputs a slewing positioning control command.

[0056] Specifically, when the wheel-mounted mechanized work platform is identified as being in drilling mode, the controller simultaneously drives the mast lifting cylinder and the chassis hydraulic cylinder to make linkage adjustments based on the mast's X-axis tilt angle and Y-axis tilt angle, so that the mast's attitude deviation converges to the preset allowable range.

[0057] The specific implementation of the linkage adjustment is as follows: The controller calculates the target compensation amount of the chassis hydraulic cylinders based on the mast's X-axis and Y-axis tilt angles, and actively changes the platform's roll and pitch angles to keep the mast vertical under the combined action of chassis attitude changes and mast lifting cylinders. Specifically, the controller decomposes the mast tilt angle deviation into lateral and longitudinal components, corresponding to the compensation amounts of the chassis roll and pitch angles, respectively. By controlling the extension and retraction of the four outrigger cylinders of the chassis, the platform attitude is actively adjusted, while the mast lifting cylinders are controlled for fine-tuning. The combined effect of these two mechanisms allows the mast to quickly converge to a vertical state.

[0058] In leveling mode, the controller drives the chassis hydraulic cylinders to compensate for and adjust the platform's pitch and roll angles, bringing the X-axis and Y-axis angular deviations of the wheel-step mechanized work platform within a preset allowable range. The specific leveling process is as follows: the controller reads the platform's pitch and roll angles; when either angle exceeds the preset allowable deviation range (e.g., ±0.5°), it calculates the required compensation amount in the corresponding direction and adjusts the platform's attitude by controlling the extension and retraction of the outrigger cylinders until the angular deviations in both directions converge within the allowable range.

[0059] In rotary positioning mode, the controller controls the hydraulic motor to drive the rotary platform to rotate according to the rotary angle positioning deviation. When the rotary angle positioning deviation converges to the preset allowable range (such as the rotary angle positioning deviation being less than or equal to its attitude threshold), it is determined that the drill bit has been aligned with the hole position.

[0060] In walking mode, the controller monitors the platform stability evaluation value in real time. When the platform stability evaluation value exceeds the first stability threshold, it automatically limits the speed. When the platform stability evaluation value exceeds the second stability threshold, it automatically stops walking and issues an alarm.

[0061] S6: Control the wheel-walking mechanized work platform to execute the corresponding actions of the output command, and update the platform stability evaluation quantity and work posture deviation quantity in real time until it is restored to the allowable range.

[0062] Specifically, the controller sends control commands to the electro-hydraulic proportional valves or on / off valves of each actuator via the CAN bus, driving the corresponding hydraulic cylinders or hydraulic motors to operate. During execution, each sensor continuously collects data, and the controller recalculates the platform stability evaluation value and the working posture deviation value at an update frequency of no less than 20Hz, comparing them with threshold values. When both the platform stability evaluation value and the working posture deviation value return to the allowable range, the controller stops the adjustment action and maintains the current state; if the platform stability evaluation value or the working posture deviation value continues to increase during the adjustment process, a higher level of protection measures are triggered.

[0063] During the drilling operation, the winch detection unit monitors the winch rotation angle in real time and calculates the wire rope winding and unwinding length based on the winch drum diameter and wire rope diameter to obtain the real-time drilling depth. Specifically, the drilling depth H... Where α is the hoist rotation angle, D is the diameter of the hoist drum, and d is the diameter of the wire rope.

[0064] The controller combines real-time wire rope tension values ​​to determine the drilling depth and whether the drill rod has reached the bottom. When the calculated wire rope length reaches the preset hole depth and the real-time wire rope tension value is less than 120% of the calibrated no-load tension value, the hole is considered complete and drilling automatically stops.

[0065] When the change in wire rope tension is negative and its absolute value exceeds the preset bottoming threshold, the drill pipe is determined to have bottomed out, and the wire rope slack release action is locked. Specifically, when When the real-time tension is less than the no-load tension minus the bottoming threshold, it indicates that the drill rod has contacted the bottom of the hole or encountered a hard object. The controller immediately locks the winch release action to prevent the wire rope from being excessively loosened, which could lead to rope tangling or damage to the drill rod.

[0066] Bottom-out threshold This represents the lower limit of the change in tension of the wire rope. Take the negative value. The specific values ​​are predetermined through testing and calibration based on the drill string weight, the mechanical properties of the wire rope, and the operating conditions, and are stored in the controller. In this embodiment, the bottoming threshold is 20% of the calibrated no-load tension (i.e., ).

[0067] In a specific application scenario, after the wheeled mechanized work platform reaches the hole on the slope, the operator switches to the leveling mode via remote control and display unit. The controller drives the hydraulic cylinders of the four outriggers of the chassis to compensate and adjust according to the platform's pitch and roll angles, so that the platform returns to the allowable angle range (both the platform roll and pitch angles are less than 0.5°).

[0068] The operator then switches to drilling mode. The controller, based on the mast's X-axis and Y-axis tilt angles, controls the mast lifting cylinder and chassis hydraulic cylinders in a coordinated manner to keep the mast vertical. During drilling, the winch detection unit calculates the drilling depth in real time, and the tension detection unit monitors the wire rope tension in real time. If bottoming occurs, the locking protection is immediately activated to prevent excessive wire rope release. When the platform's attitude deviation exceeds limits or the hydraulic support circuit experiences abnormal stress, the outriggers are automatically compensated or the attitude is adjusted to steer the equipment in a stable direction, preventing tipping.

[0069] In another specific implementation, the weighting coefficient to The value is dynamically adjusted according to the current operating mode: in walking mode or leveling mode, the platform's posture has a more critical impact on stability, therefore and The value is greater than , and In the drilling mode, changes in mast attitude and tension have a more significant impact on the quality of the operation. , and The value is greater than and The dynamic adjustment of weighting coefficients makes the stability evaluation more closely aligned with the actual needs of different working conditions.

[0070] The acquired sensor signals are categorized by function: the platform pitch angle and platform roll angle are collectively referred to as platform tilt angle signals; the mast X-axis tilt angle and mast Y-axis tilt angle are collectively referred to as mast tilt angle signals; the pressure values ​​of each hydraulic branch are collectively referred to as pressure signals; the hoisting angle and wire rope tension are used for drilling depth conversion and bottoming judgment, respectively, and are collectively referred to as hoisting and tension signals.

[0071] like Figure 3 As shown, in the leveling and sag linkage control, the platform tilt angle signal is mainly used to compensate for the chassis attitude, the mast tilt angle signal is mainly used to correct the mast attitude, the pressure signal is used to determine the support force balance state, and the winch and tension signals are used to assist in determining the hole forming and protection status. The information from each sensor is fused and processed before being sent to the controller. The controller outputs control commands to the chassis hydraulic cylinders, mast lifting cylinders, slewing drive hydraulic motors, and winch actuators according to the target mode.

[0072] The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent substitutions, improvements, and modifications made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for balance monitoring and self-adjustment of a wheeled walking mechanized work platform, characterized in that, The controller performs the following steps: S1: Acquire multi-source monitoring data of the wheeled mechanized work platform. The multi-source monitoring data includes at least the platform pitch angle, platform roll angle, mast X-axis tilt angle, mast Y-axis tilt angle, hydraulic branch pressure, winch angle, wire rope tension, slewing angle, and the action status of the outriggers or working devices. S2: Perform time synchronization, filtering, and validity determination on the multi-source monitoring data to obtain fused input data; S3: Calculate the platform stability evaluation quantity and the operation posture deviation quantity based on the fused input data; S4: Compare the platform stability evaluation quantity and the working posture deviation quantity with the stability threshold and posture threshold respectively, and identify whether the current wheel-walking mechanized operation platform is in one of the following modes: walking mode, leveling mode, hole-forming mode, rotary positioning mode or safety protection mode. S5: When the platform stability evaluation value exceeds the stability threshold or the working posture deviation value exceeds the posture threshold, generate and output outrigger compensation control command, platform leveling control command, mast sag control command, slewing positioning control command, working speed limit command, alarm command and / or protection lockout command; and when it is identified that the current wheel-step mechanized working platform is in drilling mode, drive the mast lifting cylinder and chassis hydraulic cylinder simultaneously for linkage adjustment according to the mast X-axis tilt angle and the mast Y-axis tilt angle, so as to bring the mast posture deviation to a preset allowable range; S6: Control the wheel-walking mechanized work platform to execute the corresponding actions of the output command, and update the platform stability evaluation quantity and work posture deviation quantity in real time until it is restored to the allowable range.

2. The method according to claim 1, characterized in that, The platform stability evaluation value is calculated by weighting the absolute values ​​of the platform pitch angle, platform roll angle, imbalance between hydraulic branch forces, mast X-axis tilt angle, mast Y-axis tilt angle, and wire rope tension variation; the working posture deviation is calculated based on the mast X-axis tilt angle, mast Y-axis tilt angle, and rotation angle positioning deviation.

3. The method according to claim 1, characterized in that, The platform stability evaluation quantity J mentioned in step S3 is expressed as: ； in, For the platform's roll angle, The platform's pitch angle, The angle of inclination of the mast in the X direction. The mast's Y-axis tilt angle. This refers to the pressure imbalance between the various hydraulic branch circuits. This represents the change in tension of the wire rope. to These are the weighting coefficients for the platform roll angle, platform pitch angle, imbalance between pressure values ​​in each hydraulic branch, mast X-axis tilt angle, mast Y-axis tilt angle, and wire rope tension variation.

4. The method according to claim 3, characterized in that, Weighting coefficient to The value is dynamically adjusted according to the current operation mode: in walking mode or leveling mode, and The value is greater than , and ; In the pore-forming mode , and The value is greater than and .

5. The method according to claim 1, characterized in that, The linkage adjustment specifically involves the controller calculating the target compensation amount of the chassis hydraulic cylinder based on the mast's X-axis tilt angle and Y-axis tilt angle, and actively changing the platform roll angle and platform pitch angle to keep the mast vertical under the combined action of chassis attitude changes and mast lifting cylinder.

6. The method according to claim 3, characterized in that, The stability threshold includes a first stability threshold. Second stability threshold ,and ; When the platform stability evaluation value reaches the first stability threshold, the controller outputs a work speed limit command or an alarm command; when the platform stability evaluation value reaches the second stability threshold, the controller outputs a protection lockout command and prohibits dangerous actions from continuing.

7. The method according to claim 3, characterized in that, When the change in tension of the wire rope When the value is negative and its absolute value exceeds the preset bottoming threshold, the drill rod is determined to have bottomed out and the wire rope release action is locked.

8. The method according to claim 1, characterized in that, The winch angle is used to calculate the wire rope winding and unwinding length. The controller, together with the real-time wire rope tension value, jointly determines the drilling depth and whether the drill rod has touched the bottom. When the wire rope winding and unwinding length reaches the preset hole depth and the real-time wire rope tension value is lower than 120% of the calibrated no-load tension value, the hole is determined to be completed and drilling is automatically stopped.

9. The method according to claim 1, characterized in that, The platform pitch angle and platform roll angle are obtained by tilt sensors installed on the operating platform or chassis; the mast X-axis tilt angle and mast Y-axis tilt angle are obtained by tilt sensors installed on the mast; the hydraulic branch pressure is obtained by a pressure sensor; the hoisting angle is obtained by an encoder or angle sensor; and the wire rope tension is obtained by a tension sensor.

10. A balance monitoring and self-adjustment system for a wheeled walking mechanized work platform, applied to the method described in claims 1 to 9, characterized in that, include: The platform attitude detection unit is used to obtain the platform pitch angle and platform roll angle; The mast attitude detection unit is used to obtain the mast's X-axis tilt angle and Y-axis tilt angle; Pressure detection unit, used to obtain hydraulic branch pressure; The winch detection unit is used to acquire winch angle information; The tension detection unit is used to obtain the tension information of the wire rope; A rotation angle detection unit is used to obtain the rotation angle; The controller is signal-connected to the platform attitude detection unit, mast attitude detection unit, pressure detection unit, winch detection unit, tension detection unit, and slewing angle detection unit, respectively. It is used to receive monitoring data from each detection unit and generate and output outrigger compensation control commands, platform leveling control commands, mast sag control commands, slewing positioning control commands, operation speed limit commands, alarm commands, and / or protection interlock commands based on the monitoring data, so as to control the actions of each actuator of the wheel-walking mechanized work platform. The remote control and display unit is connected to the controller via signals and is used for mode switching, parameter display, alarm prompts, and remote control operations.

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