A self-balancing smart pole control system

Abstract

The present application relates to the technical field of intelligent device control, and discloses a self-balancing intelligent rod control system, which comprises an intelligent rod body, a plurality of supporting legs, a supporting driving module, a state acquisition module and a control module, wherein the intelligent rod body comprises a base, a lifting mast and a device mounting platform. The state acquisition module acquires base posture data, rod top posture data and supporting state data. When the lifting mast and the device mounting platform stop moving, the control module determines supporting subsidence according to the data, determines and adjusts the subsidence supporting legs; when the base posture is stable and the rod top posture reciprocally changes, the control module determines mast swing and locks all the supporting legs; after receiving a lifting instruction or a rotating instruction, the control module determines compensation supporting legs according to the moving direction, and pre-adjusts before corresponding movement is performed. After adjustment, whether balance control is completed is determined according to the base posture data and the supporting state data. The present application improves the leveling accuracy, operation stability and safety of the intelligent rod.

Description

Technical Field

[0001] This invention relates to the field of intelligent device control technology, and more specifically, to a self-balancing smart pole control system. Background Technology

[0002] Mobile smart poles typically integrate a lifting mast, camera equipment, communication equipment, lighting equipment, and power supply equipment. They can be moved to the target site and quickly deployed according to needs such as emergency communication, temporary monitoring, and large-scale event support. When deployed on lawns, gravel surfaces, or slopes, smart poles require multiple support legs to form a stable support. During operation, the lifting of the mast, the rotation of the equipment installation platform, and changes in external wind force and ground bearing conditions can all affect the pole's attitude stability. If the smart pole fails to maintain stability, it will not only reduce the working accuracy of the camera, communication, and lighting equipment, but may also cause uneven stress on the support structure or the pole to tip over. Therefore, automatic leveling and attitude control of mobile smart poles are crucial technical aspects to ensure rapid deployment and safe operation.

[0003] For example, Chinese invention patent application CN113294412A discloses an intelligent leveling system and method for engineering vehicles with hydraulic outriggers. This system acquires the vehicle and outrigger status through pressure sensors, length sensors, tilt sensors, and distance sensors, and then controls the extension and retraction of the outrigger cylinders until the vehicle's tilt meets the leveling requirements. This technology primarily uses the carrier reaching a preset horizontal state as the control objective. However, for mobile smart poles with high lifting structures and movable top equipment, attitude changes during operation can be influenced by various factors such as changes in the supporting ground, equipment movements, and external disturbances. Existing leveling methods tend to directly drive the outriggers for correction, potentially leading to frequent outrigger movements, improper adjustment directions, or insufficient stability after leveling. This makes it difficult to simultaneously ensure the continuous balance and operational safety of the mobile smart pole after deployment.

[0004] Therefore, it is necessary to design a self-balancing smart pole control system to solve the problems existing in the current technology. Summary of the Invention

[0005] In view of this, the present invention proposes a self-balancing smart pole control system, which aims to solve the problem of mobile smart poles being unable to distinguish between attitude changes caused by support settlement, mast swaying and equipment movement, resulting in misadjustment.

[0006] This invention proposes a self-balancing smart pole control system, comprising: The smart pole consists of the main body, multiple support legs, a support drive module, a status acquisition module, and a control module. The smart pole body includes a base, a lifting mast, and an equipment installation platform; The status acquisition module is used to acquire base posture data, pole top posture data, and support status data of each of the support legs; The control module is used to determine the support settlement based on the base posture data, the pole top posture data and the support status data when both the lifting mast and the equipment installation platform stop moving, determine the settlement support leg and adjust the settlement support leg through the support drive module; When the base posture data is within a preset stable range and the mast top posture data changes repeatedly, the mast is determined to swing and each of the support legs is locked. Upon receiving a lifting or rotating command, the compensating support leg is determined based on the direction of the action, and the compensating support leg is pre-adjusted before the corresponding action is executed. The balance control is determined based on the adjusted base posture data and the support status data.

[0007] Furthermore, the smart pole body also includes: The walking section is located at the bottom of the base; the lifting mast is located on the base, and the equipment installation platform is located on the top of the lifting mast; multiple support legs are spaced around the base, and each support leg is provided with a leveling adjustment seat at its lower end. After the multiple leveling adjustment seats are grounded, they jointly support the smart pole body.

[0008] Furthermore, the support drive module includes: at least one hydraulic pump and multiple hydraulic control valves, each of the support legs including a hydraulic cylinder; each of the hydraulic control valves controls the extension, retraction or pressure holding of one of the hydraulic cylinders respectively.

[0009] Furthermore, the status acquisition module includes: a base posture acquisition unit disposed on the base, a pole top posture acquisition unit disposed on the equipment installation platform, and a grounding detection unit and a load-bearing detection unit disposed on each of the support legs; the support status data includes grounding status and load-bearing value.

[0010] Furthermore, the determination of support settlement includes: within a preset determination period, when the base posture data and the pole top posture data change along the same tilt direction, and the load-bearing value of at least one of the support legs continues to decrease, the control module determines that the support settlement has occurred, and identifies the support leg with the continuously decreasing load-bearing value as the settlement support leg.

[0011] Furthermore, the adjustment of the settlement support leg includes: the control module controls the settlement support leg to extend according to a preset adjustment amount, and reacquires the base posture data and the load-bearing value of the settlement support leg; when the deviation of the base posture data from the preset horizontal posture decreases and the load-bearing value of the settlement support leg increases, the settlement support leg is further adjusted; otherwise, the settlement support leg is controlled to retract by the current adjustment amount.

[0012] Furthermore, the determination of mast sway includes: when the base posture data is within the preset stable range, and the mast top posture data changes direction at least twice within the preset observation period, the control module determines that the mast sway has occurred.

[0013] Furthermore, the control of the mast swing includes: the control module controlling each of the hydraulic control valves to maintain pressure, stopping the rotation of the equipment installation platform and prohibiting the lifting mast from continuing to rise; when the mast top attitude data continues to change within a preset protection period, controlling the lifting mast to lower.

[0014] Furthermore, the determination of the compensating support leg includes: the control module determining the action direction according to the lifting command or the rotation command, and determining the compensating support leg, the pre-adjustment direction and the basic pre-adjustment amount according to the pre-stored compensation relationship between the action direction and the support leg, and correcting the basic pre-adjustment amount according to the load-bearing value of the compensating support leg to obtain the pre-adjustment amount.

[0015] Furthermore, the adjustment of the compensating support leg includes: before executing the lifting command or the rotation command, the control module adjusts the compensating support leg according to the pre-adjustment direction and the pre-adjustment amount; during the execution of the corresponding action and when no mast sway is determined to occur, the compensating support leg is adjusted according to the updated base posture data and the mast top posture data; when the base posture data is within a preset balance range, each support leg remains grounded, and the load value of each support leg is within a preset load range, the balance control is determined to be complete.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: By simultaneously acquiring base posture data, pole top posture data, and support status data of each support leg, and combining this with the action status of the lifting mast and equipment installation platform, the posture changes during the operation of the smart pole are differentiated and processed: When both the lifting mast and equipment installation platform stop moving, support settlement is identified based on the same-direction posture changes of the base and pole top and the changes in support status, thereby determining the settled support leg and making targeted adjustments; when the base posture remains stable while the pole top posture undergoes reciprocating changes, the abnormal posture is identified as mast swaying and each support leg is locked to prevent the support legs from repeatedly extending and retracting following the pole's swaying; upon receiving the lifting mast posture data, the invention further distinguishes and processes the posture changes during the operation of the smart pole. After receiving a command or rotation command, the compensation support legs are pre-determined and adjusted according to the direction of the movement to form support compensation before the center of gravity shifts, reducing the instantaneous tilt caused by the movement of the lifting mast or equipment installation platform. After adjustment, the balance result is verified by combining the base posture data and support status data. This allows for the use of settlement correction, support locking, and pre-compensation control for support settlement, mast swing, and changes in movement load, respectively. This reduces the misadjustment, frequent movements, and support force imbalance caused by the traditional leveling method of uniformly driving the support legs for different posture changes, and improves the leveling accuracy, posture stability, and operational safety of the mobile smart pole under uneven ground and dynamic equipment operation conditions. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the self-balancing smart pole provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of the base provided in an embodiment of the present invention; Figure 3 This is a flowchart of the support settlement determination and adjustment process provided in an embodiment of the present invention; Figure 4 A flowchart for motion pre-compensation and mast swing protection provided for embodiments of the present invention.

[0018] The components include: 1. Smart pole body; 3. Support leg; 11. Base; 12. Lifting mast; 13. Equipment installation platform; 14. Solar panel; 15. Camera device; 21. Directional wheel; 22. Universal wheel; 23. Braking device; 31. Leveling adjustment seat; 111. Solar panel bracket; 112. Display screen; 113. Control module; 114. Battery; 115. First tray; 116. Cable reel; 117. Second tray; 118. Terminal components; 119. Door magnetic switch; 120. Lighting lamp. Detailed Implementation

[0019] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. These embodiments are used to illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention. Where there is no conflict, technical features in different embodiments can be combined with each other.

[0020] In this embodiment, see Figures 1 to 4 A self-balancing smart pole control system includes a smart pole body 1, multiple support legs 3, a support drive module, a status acquisition module, and a control module 113.

[0021] The smart pole body 1 includes a base 11, a lifting mast 12, and an equipment installation platform 13.

[0022] The status acquisition module is used to acquire the base posture data, the pole top posture data, and the support status data of each support leg 3.

[0023] The control module 113 is used to determine the support settlement based on the base posture data, the pole top posture data and the support status data when both the lifting mast 12 and the equipment installation platform 13 stop moving, determine the settlement support leg and adjust the settlement support leg through the support drive module.

[0024] When the base posture data is within the preset stable range and the mast top posture data changes back and forth, the mast swing is determined and each support leg 3 is locked.

[0025] Upon receiving a lifting or rotating command, the compensation support leg is determined based on the direction of the movement, and the compensation support leg is pre-adjusted before the corresponding movement is executed.

[0026] The balance control is determined based on the adjusted base posture data and support status data.

[0027] See Figure 1 The smart pole body 1 includes a base 11, a lifting mast 12, and an equipment mounting platform 13. The lifting mast 12 is mounted on the base 11, and the equipment mounting platform 13 is located on top of the lifting mast 12. A camera device 15 is mounted on the equipment mounting platform 13. A solar panel 14 is located on the side of the base 11. The bottom of the base 11 is provided with directional wheels 21, omnidirectional wheels 22, and a braking device 23. The directional wheels 21 and omnidirectional wheels 22 constitute the walking part. Multiple support legs 3 are spaced around the base 11, and each support leg 3 has a leveling adjustment seat 31 at its lower end. After the smart pole moves to the deployment position, the braking device 23 locks the walking part, and the multiple support legs 3 extend, so that the leveling adjustment seat 31 contacts the ground and jointly supports the smart pole body 1.

[0028] See Figure 2A solar panel bracket 111 is located on the side of the base 11 and connected to the solar panel 14. A display screen 112 and a control module 113 are located inside the upper part of the base 11. The display screen 112 displays base attitude data, mast top attitude data, and the support status of each support leg. The control module 113 performs support settlement determination, mast sway determination, and compensates for support leg adjustment. A battery 114 is located in the first tray 115 and supplies power to the electrical components inside the smart pole. A cable reel 116 is located in the second tray 117 and stores external cables. A terminal component 118 is located inside the base 11 and connects to internal electrical wiring. A magnetic door switch 119 is located at the door of the base 11 and detects the door's opening and closing status. A lighting lamp 120 is located inside the base 11 and provides internal lighting when the door is open. Figure 2 The auxiliary structure shown is used for the installation, power supply and maintenance of the smart pole, without changing the control process of support settlement, mast swing and motion pre-adjustment.

[0029] Specifically, this embodiment takes a mobile smart pole with four support legs 3 as an example. The four support legs 3 are located on the left front side, right front side, left rear side, and right rear side of the base 11, respectively. Each support leg 3 includes a hydraulic cylinder. The hydraulic pump supplies oil to the hydraulic cylinder through a corresponding hydraulic control valve. The hydraulic control valve can perform extension, retraction, and pressure holding operations.

[0030] A base attitude acquisition unit is installed on base 11 to collect base attitude data. A pole-top attitude acquisition unit is installed on equipment mounting platform 13 to collect pole-top attitude data. Both base and pole-top attitude data include forward and backward tilt angles, left and right tilt angles, and the direction of change of the corresponding tilt angles. The front of the smart pole is set as the longitudinal reference direction, and the right side of the smart pole is set as the lateral reference direction. After installation, the base and pole-top attitude acquisition units are zero-point calibrated on a horizontal surface, and the pole-top attitude data is converted to the same coordinate direction as the base attitude data. The two sets of attitude data are matched according to the acquisition time, with a time difference not exceeding one acquisition cycle. When the time difference exceeds one acquisition cycle, adjacent sample values ​​are used for time alignment.

[0031] A grounding detection unit is installed on each leveling and adjusting seat 31 to output the grounding status. The load-bearing detection unit uses pressure sensors installed in the oil supply lines of each hydraulic cylinder to acquire the hydraulic pressure. Before use, multiple known loads are applied sequentially to each support leg 3, and the corresponding hydraulic pressures are recorded to establish a calibration relationship between the hydraulic pressure and the load-bearing value. During operation, the hydraulic pressure is converted into the load-bearing value based on this calibration relationship. Preferably, 20%, 40%, 60%, and 80% of the rated load-bearing capacity are used as calibration loads.

[0032] With the leveling and adjusting seat 31 not in contact with the ground, load values ​​are continuously collected for at least 10 seconds to obtain the no-load load fluctuation. The minimum grounding load threshold is the larger of three times the no-load load fluctuation and 2% of the rated load capacity of the support leg. The grounding detection signal is maintained continuously for at least three collection cycles, and when the load value of the corresponding support leg 3 exceeds the minimum grounding load threshold, it is determined that the support leg 3 is grounded. The grounding status and load value together constitute the support status data.

[0033] Before the smart pole is put into use, it is placed on a level, hardened surface. The walking mechanism is locked, and each support leg 3 is kept stably bearing load. Base posture data, pole top posture data, and load values ​​of each support leg 3 are continuously collected for at least 30 seconds to obtain the horizontal posture reference, posture static fluctuation range, load static fluctuation amount, and reference load value. The load static fluctuation amount is the difference between the maximum and minimum load values ​​of the corresponding support leg within 30 seconds. The posture acquisition error is the maximum indication error after the posture acquisition unit completes zero-position correction. The posture static fluctuation range is the larger of the maximum posture fluctuation amount during continuous acquisition and three times the posture acquisition error.

[0034] The preset stability range is used to determine whether the base remains stable, representing the allowable range of change in the base's attitude data relative to the initial value of the observation period. The preset balance range is used to determine whether the smart pole has reached a horizontal state, representing the allowable absolute deviation of the base's attitude data relative to a horizontal attitude reference. The two ranges serve different purposes. Preferably, the attitude data acquisition period is 0.1 seconds, the preset stability range is 0.1 degrees, and the preset balance range is 0.3 degrees.

[0035] The preset load range is set for each support leg. The preset lower load limit is used to prevent support leg 3 from being unloaded, and is preferably 60% of the corresponding benchmark load value. The preset upper load limit is used to prevent support leg 3 from being overloaded, and is preferably the smaller value between 140% of the corresponding benchmark load value and 80% of the rated load capacity of the support leg. The preset judgment period is preferably 1.5 seconds, the preset observation period is preferably 2 seconds, and the preset protection period is preferably 3 seconds.

[0036] The preset coarse adjustment threshold is preferably 0.5 degrees. The second adjustment amount is used as an adjustment step, preferably corresponding to a 2 mm extension of the hydraulic cylinder. The preset safety height is determined based on the minimum working height of the top equipment and swing tests at different mast heights; in this embodiment, the preset safety height is 3 meters. Different parameter sets correspond to different lifting mast heights, top equipment weights, and deployment ground types; the deployment ground type is selected by the operator before deployment. When the lifting mast height or the weight of the top equipment increases, a smaller allowable swing range is used, and the preset judgment time period for soft ground is longer than that for hard ground.

[0037] During initial deployment, the braking device 23 is locked and multiple support legs 3 are extended. Once all support legs 3 are effectively grounded, the tilt direction is determined based on the base posture data. If the base posture deviation exceeds a preset coarse adjustment threshold, the support leg 3 on the tilting side is adjusted using a first adjustment amount. If the base posture deviation is less than or equal to the preset coarse adjustment threshold, a second adjustment amount less than the first adjustment amount is used for fine adjustment. When the base posture data is within a preset balance range, all support legs 3 remain grounded, and the load value of each support leg 3 is within a preset load range, initial leveling is completed and the system enters the operation monitoring state.

[0038] After the smart pole completes its initial leveling, it continuously monitors the operational status of the lifting mast 12 and the equipment installation platform 13. When both the lifting mast 12 and the equipment installation platform 13 cease operation, the support settlement observation process begins. Within a preset judgment period, the changes in the base attitude data and the pole top attitude data relative to the start of the judgment period are compared. If both the base and the pole top tilt to the left, right, front, or back, the base attitude data and the pole top attitude data are considered to be changing in the same tilt direction. If only the pole top attitude changes while the base attitude remains within a preset stable range, the support settlement judgment is not initiated.

[0039] Within a preset judgment period, the changes in base attitude data and pole top attitude data relative to the starting value of the judgment period are calculated. The changes in the forward / backward tilt angle and the left / right tilt angle relative to the starting value of the judgment period are also calculated. If only one tilt angle change reaches the direction confirmation threshold, the front, rear, left, or right tilt is determined based on the sign of the tilt angle change. If both tilt angle changes reach the direction confirmation threshold, the left front, right front, left rear, or right rear tilt is determined based on the combination of the positive and negative signs of the two tilt angle changes. If the signs of the corresponding tilt angle changes in the base attitude data and pole top attitude data are the same, it is determined that both are changing along the same tilt direction. The direction confirmation threshold should be greater than the static attitude fluctuation range, preferably 0.1 degrees.

[0040] The load-bearing capacity of each support leg 3 is determined by a moving average of five consecutive sampled values. Within a preset judgment period, if the averaged load-bearing capacity decreases at least three times consecutively, and the cumulative decrease reaches the load-bearing capacity decrease threshold, the load-bearing capacity is considered to be continuously decreasing. The load-bearing capacity decrease threshold is the larger of three times the static load fluctuation and 5% of the corresponding baseline load-bearing capacity.

[0041] When the base attitude data and the pole top attitude data change along the same tilt direction, and the load-bearing value of at least one support leg 3 continuously decreases, support settlement is determined to have occurred. The support leg 3 whose load-bearing value continuously decreases and is located on one side of the tilt direction is identified as the settlement support leg. When the load-bearing values ​​of two adjacent support legs 3 both continuously decrease, both adjacent support legs 3 are identified as settlement support legs, and they are adjusted sequentially according to the magnitude of the decrease in load-bearing value from largest to smallest.

[0042] After determining the settlement support leg, control its extension according to a preset adjustment amount. The preset adjustment amount can be expressed as the extension distance of the hydraulic cylinder, the opening duration of the hydraulic control valve, or the oil supply duration of the hydraulic pump. Preferably, when the deviation of the base posture data from the horizontal posture reference is greater than 0.5 degrees, the first adjustment amount corresponds to a 4 mm extension of the hydraulic cylinder. When the deviation is not greater than 0.5 degrees, the second adjustment amount corresponds to a 2 mm extension of the hydraulic cylinder. When using the opening duration of the hydraulic control valve to represent the adjustment amount, the extension distance is generated according to the corresponding opening duration through hydraulic flow calibration.

[0043] After each adjustment, maintain pressure in the hydraulic control valve and wait for at least 0.5 seconds. When the changes in base posture and load value are less than the corresponding static fluctuation range for three consecutive acquisition cycles, the mechanical state is considered stable, and the base posture data and the load value of the settlement support leg are acquired again.

[0044] When the deviation of the base attitude data from the horizontal attitude reference decreases and the load-bearing capacity of the settlement support leg increases, the adjustment is confirmed to be effective, and the settlement support leg is adjusted using the current adjustment amount or the reduced adjustment amount. When the base attitude deviation does not decrease or the load-bearing capacity of the settlement support leg does not increase, the settlement support leg is controlled to retract in the opposite direction according to the current adjustment amount, the automatic adjustment of the settlement support leg is stopped, and an alert for ground loosening, support slippage, or hydraulic abnormality is output.

[0045] When the base attitude data is within a preset stable range, the direction of change in the mast top attitude data is continuously assessed. If the change in the mast top attitude data in one direction reaches a direction confirmation threshold, and then changes in the opposite direction and reaches the same threshold, a change in direction is confirmed. If at least two changes in direction occur within a preset observation period, the differences between the maximum and minimum values ​​of the mast top forward / backward tilt angle and the mast top left / right tilt angle within the preset observation period are calculated, and the larger of the two differences is determined as the mast top sway amplitude. If the mast top sway amplitude exceeds the allowable sway range, mast swaying is determined to have occurred.

[0046] The permissible swing range is determined based on the height of the lifting mast. Preferably, when the lifting mast height does not exceed 4 meters, the permissible swing range is 0.5 degrees. When the lifting mast height is greater than 4 meters but not exceeding 6 meters, the permissible swing range is 0.4 degrees. When the lifting mast height is greater than 6 meters, the permissible swing range is 0.3 degrees.

[0047] Upon detecting mast swaying, all hydraulic control valves switch to pressure-holding mode, each support leg 3 maintains its current extension / retraction position, the equipment installation platform 13 stops rotating, and the lifting mast 12 is prohibited from further raising. After the preset protection period ends, the mast top attitude data is reacquired. When the mast top attitude data enters the allowable sway range and remains continuously for 5 acquisition cycles, the raising prohibition state is lifted. If the mast top attitude data continues to fluctuate, the lifting mast 12 is controlled to lower by one height level. The height difference between adjacent height levels is preferably 0.5 meters to 1 meter; in this embodiment, 0.8 meters is used. After lowering, the swaying observation is repeated until the mast top attitude stabilizes or the lifting mast 12 is lowered to the preset safe height. If mast swaying still occurs after reaching the preset safe height, the protection state is maintained, and a sway over-limit warning is output.

[0048] After receiving a lifting or rotating command, the control module 113 temporarily suspends the execution of the corresponding action and determines the expected load transfer direction based on the action type, direction, current height of the lifting mast, current position of the equipment mounting platform, and load-bearing capacity of each support leg 3. The current height of the lifting mast is obtained from the stroke feedback of the lifting drive mechanism, and the current position of the equipment mounting platform is obtained from the angle feedback of the rotating drive mechanism. The weight and eccentric installation direction of the top equipment are entered into the control module 113 after the top equipment is installed. In this embodiment, the direction of action refers to the expected load transfer direction caused by the corresponding action. For example, when the equipment mounting platform 13 carries the eccentric equipment and rotates to the right, the expected load transfer is to the right. When the lifting mast is raised, the expected load transfer direction is determined based on the current orientation of the equipment mounting platform 13 and the eccentric position of the top equipment.

[0049] The compensation relationship between the direction of motion and support leg 3 was pre-obtained through commissioning tests. During commissioning, lifting and lowering movements within different height ranges and rotation movements within different rotation angle ranges were performed on a horizontal ground. The changes in load on each support leg 3 and the changes in the base posture before and after the movements were recorded. The support leg 3 on the side with increased load or the side expected to tilt was identified as the compensation support leg, and the corresponding pre-adjustment direction and foundation pre-adjustment amount were recorded. The pre-adjustment direction includes extension or shortening. The foundation pre-adjustment amount was grouped and stored according to the type of motion, direction of motion, mast height range, and equipment installation platform angle range.

[0050] The pre-stored compensation relationships include at least the action type, action start position, action target position, mast height range, top equipment load direction, compensation support leg, pre-adjustment direction, and basic pre-adjustment amount. When the expected load transfer direction falls into the left-front, right-front, left-rear, or right-rear direction area, the support leg 3 in the corresponding direction is selected as the main compensation support leg. When the expected load transfer direction is located in the middle area on one side of the base 11, two adjacent support legs 3 are selected together as compensation support legs. The pre-adjustment direction and basic pre-adjustment amount are based on the actual adjustment results that can reduce the base attitude deviation during the debugging process.

[0051] When the current load value of the compensating support leg is between 90% and 110% of the corresponding reference load value, and the difference between the current load value and the preset upper limit load value is not less than 10% of the corresponding reference load value, the basic pre-adjustment amount is directly adopted. When the current load value is lower than 90% of the corresponding reference load value, an adjustment step is added to the basic pre-adjustment amount. When the difference between the current load value and the preset upper limit load value is less than 10% of the corresponding reference load value, an adjustment step is reduced by one step to the basic pre-adjustment amount, or one adjustment step is allocated to the adjacent support leg 3. One adjustment step corresponds to a 2 mm extension or retraction of the hydraulic cylinder. The predicted load value after pre-adjustment is determined based on the current load value of the compensating support leg and the pre-calibrated relationship between the hydraulic cylinder displacement and the load increment. The corrected pre-adjustment amount must not exceed the remaining stroke of the hydraulic cylinder, and the predicted load value must not exceed the preset upper limit load value.

[0052] The control module 113 adjusts the compensation support leg according to the corrected pre-adjustment amount, and executes a lifting or rotating command after the pre-adjustment is completed. During the execution of the action, the base posture data and the pole top posture data are continuously acquired. When the base posture data and the pole top posture data change in the same tilt direction, and the base posture data exceeds the preset balance range, the compensation support leg is adjusted in one adjustment step, and the single feedback adjustment amount is no more than half of the basic pre-adjustment amount. When the base posture data is within the preset stable range, and the pole top posture data meets the condition that the direction of change has changed at least twice within the preset observation period and exceeds the allowable swing range, the feedback adjustment is stopped and the mast swing protection process is entered. After the corresponding action is completed, the mechanical state is allowed to stabilize. When the base posture data is within the preset balance range, each support leg 3 is grounded, and the load value of each support leg 3 is within the preset load range, the balance control is determined to be completed; otherwise, the support settlement observation process is entered.

[0053] In a temporary monitoring deployment, the smart pole was equipped with four support legs. The attitude data acquisition cycle was 0.1 seconds, with a preset judgment period of 1.5 seconds, a preset observation period of 2 seconds, and a preset protection period of 3 seconds. The preset balance range was set to a tilt of no more than 0.3 degrees relative to the horizontal orientation, both forward / backward and left / right. The preset stability range for the base attitude data was a change of no more than 0.1 degrees. After initial leveling, the load-bearing values ​​of the left front support leg, right front support leg, left rear support leg, and right rear support leg were 2.4 kN, 2.5 kN, 2.3 kN, and 2.4 kN, respectively.

[0054] During the period when the lifting mast 12 and equipment installation platform 13 were not in operation, the base attitude data and the mast top attitude data both changed continuously to the left front side. After 1.5 seconds, the base attitude deviation increased to 0.6 degrees, the mast top attitude deviation increased to 0.7 degrees, and the load value of the left front support leg decreased to 1.8 kN. The load values ​​of the other support legs did not decrease by the same magnitude. Therefore, it was determined that support settlement occurred on the left front side, and the left front support leg was identified as the settlement support leg. After controlling the extension of the left front support leg by 4 mm, the base attitude deviation decreased to 0.38 degrees, and the load value of the left front support leg increased to 2.2 kN. After a further extension of 2 mm, the base attitude deviation decreased to 0.12 degrees, all four support legs 3 remained grounded, and the load values ​​were all within the preset load range, indicating that the balance control was completed.

[0055] Subsequently, when the lifting mast 12 was at a height of 6 meters, it was subjected to continuous crosswinds. The base attitude change remained within 0.08 degrees, while the mast top attitude data changed direction three times within 2 seconds, with a reciprocating change amplitude of 0.65 degrees. This indicated mast swaying, and all hydraulic control valves entered pressure-holding mode, the equipment installation platform 13 stopped rotating, and the lifting mast 12 stopped rising. After a 3-second protection period, the mast top attitude data continued to reciprocate, so the lifting mast 12 was lowered by 0.8 meters. After lowering, the reciprocating change amplitude of the mast top attitude decreased to 0.25 degrees, returning to the allowable sway range. During this process, the support legs 3 did not extend or retract in response to the mast top sway.

[0056] During the rotation of the equipment installation platform 13, the lifting mast 12 is 6 meters high, and the equipment installation platform 13 rotates 90 degrees to the right from the front. Based on the pre-stored compensation relationship, the right front support leg and the right rear support leg are designated as compensation support legs, with both pre-adjustment directions being extension, and the basic pre-adjustment amounts being 2 mm and 1 mm respectively. Before the action is executed, the load values ​​of the right front support leg and the right rear support leg are 2.2 kN and 2.3 kN respectively, and the reference load values ​​of the right front support leg and the right rear support leg are 2.3 kN and 2.4 kN respectively. The current load values ​​are both between 90% and 110% of the corresponding reference load values, and the difference between them and the preset upper limit of the load is not less than 10% of the corresponding reference load value, all within the corresponding preset load range. Therefore, the basic pre-adjustment amount remains unchanged.

[0057] After pre-adjustment, the rotation was performed. During rotation, the maximum deviation of the base posture data to the right was 0.18 degrees, and the maximum deviation of the mast top posture data to the right was 0.24 degrees. The mast top posture data did not change direction twice, and no mast sway was detected. After the equipment installation platform 13 finished rotating and stabilized, the deviation of the base posture data from the horizontal posture reference was 0.15 degrees. All support legs 3 remained grounded, and the load values ​​of all support legs 3 were within the preset load range, indicating that balance control was completed.

[0058] Specifically, this embodiment first uses the relationship between the base attitude data and the mast top attitude data to determine whether the attitude anomaly originates from an overall change in the base 11. Then, it uses the load-bearing changes of the support leg 3 to locate the support position where settlement has occurred. In cases where the base 11 is stable but the mast top is oscillating, the support leg 3 is kept stationary, and the swaying is eliminated by limiting the top movement and lowering the mast. For predictable lifting or rotating movements, the compensating support leg is adjusted according to the load transfer direction before the movement is executed, and limited feedback correction is performed during the movement. All three processes share the same attitude reference, support state data, and balance completion conditions. Simultaneously, mast sway protection is prioritized over load feedback adjustment to avoid different control processes generating opposing support commands.

[0059] In addition to improving leveling accuracy, this embodiment also produces unique effects that differ from conventional attitude feedback leveling: Support settlement is achieved through trial adjustment and retraction, allowing for timely cancellation of ineffective actions in case of ground slippage or hydraulic pressure loss, reducing localized load concentration caused by the continuous extension of a single support leg. Maintaining a constant hydraulic support state during mast swaying prevents the support legs from following high-frequency changes at the mast top and transmitting the mast's elastic sway to the base 11, reducing pressure fluctuations and heat generation caused by frequent hydraulic branch reversals. Pre-adjustment before equipment operation completes load transfer before significant attitude deviations occur, ensuring that subsequent feedback adjustments only address remaining deviations. These methods collectively reduce the risk of amplified coupling between attitude changes and support adjustment, enabling the smart mast to maintain stable load bearing even under conditions of soft ground, eccentric loads, and wind-induced disturbances.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not 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 modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the present invention.

Claims

1. A self-balancing smart pole control system, characterized in that, include: The smart pole consists of the main body, multiple support legs, a support drive module, a status acquisition module, and a control module. The smart pole body includes a base, a lifting mast, and an equipment installation platform; The status acquisition module is used to acquire base posture data, pole top posture data, and support status data of each of the support legs; The control module is used to determine the support settlement based on the base posture data, the pole top posture data and the support status data when both the lifting mast and the equipment installation platform stop moving, determine the settlement support leg and adjust the settlement support leg through the support drive module; When the base posture data is within a preset stable range and the mast top posture data changes repeatedly, the mast is determined to swing and each of the support legs is locked. Upon receiving a lifting or rotating command, the compensating support leg is determined based on the direction of the action, and the compensating support leg is pre-adjusted before the corresponding action is executed. The balance control is determined based on the adjusted base posture data and the support status data.

2. The self-balancing smart pole control system according to claim 1, characterized in that, The smart pole body also includes: The walking section is located at the bottom of the base; the lifting mast is located on the base, and the equipment installation platform is located on the top of the lifting mast; multiple support legs are spaced around the base, and each support leg is provided with a leveling adjustment seat at its lower end. After the multiple leveling adjustment seats are grounded, they jointly support the smart pole body.

3. The self-balancing smart pole control system according to claim 2, characterized in that, The support drive module includes: at least one hydraulic pump and multiple hydraulic control valves, each of the support legs including a hydraulic cylinder; each of the hydraulic control valves controls the extension, retraction or pressure holding of one of the hydraulic cylinders respectively.

4. The self-balancing smart pole control system according to claim 3, characterized in that, The status acquisition module includes: a base posture acquisition unit disposed on the base, a pole top posture acquisition unit disposed on the equipment installation platform, and a grounding detection unit and a load-bearing detection unit disposed on each of the support legs; the support status data includes grounding status and load-bearing value.

5. The self-balancing smart pole control system according to claim 4, characterized in that, The determination of support settlement includes: within a preset determination period, when the base posture data and the pole top posture data change along the same tilt direction, and the load-bearing value of at least one of the support legs continues to decrease, the control module determines that the support settlement has occurred, and identifies the support leg with the continuously decreasing load-bearing value as the settlement support leg.

6. The self-balancing smart pole control system according to claim 5, characterized in that, The adjustment of the settlement support leg includes: the control module controls the settlement support leg to extend according to a preset adjustment amount, and reacquires the base posture data and the load value of the settlement support leg; when the deviation of the base posture data from the preset horizontal posture decreases and the load value of the settlement support leg increases, the settlement support leg is adjusted further; otherwise, the settlement support leg is controlled to retract by the current adjustment amount.

7. The self-balancing smart pole control system according to claim 4, characterized in that, The determination of mast sway includes: when the base posture data is within the preset stable range, and the mast top posture data changes direction at least twice within the preset observation period, the control module determines that the mast sway has occurred.

8. The self-balancing smart pole control system according to claim 7, characterized in that, The control of the mast swing includes: the control module controlling each of the hydraulic control valves to maintain pressure, stopping the rotation of the equipment installation platform and prohibiting the lifting mast from continuing to rise; when the mast top attitude data continues to change within a preset protection period, controlling the lifting mast to lower.

9. The self-balancing smart pole control system according to claim 4, characterized in that, The determination of the compensating support leg includes: the control module determines the action direction according to the lifting command or the rotation command, and determines the compensating support leg, the pre-adjustment direction and the basic pre-adjustment amount according to the pre-stored compensation relationship between the action direction and the support leg, and corrects the basic pre-adjustment amount according to the load value of the compensating support leg to obtain the pre-adjustment amount.

10. The self-balancing smart pole control system according to claim 9, characterized in that, The adjustment of the compensating support leg includes: before executing the lifting command or the rotation command, the control module adjusts the compensating support leg according to the pre-adjustment direction and the pre-adjustment amount; during the execution of the corresponding action and when no mast sway is determined to have occurred, the compensating support leg is adjusted according to the updated base posture data and the mast top posture data; when the base posture data is within a preset balance range, each of the support legs remains grounded, and the load value of each of the support legs is within a preset load range, the balance control is determined to be complete.

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