Leveling method and apparatus for telescopic handler, device, and storage medium

Abstract

A leveling method and apparatus for a telescopic handler, a device, and a storage medium. The method comprises: on the basis of a positional relationship among a boom (1), a chassis (2), and an attachment (3), determining height information of a first virtual point; on the basis of a first height, the height information of the first virtual point, and preset leveling function relationships, determining a first adjustment angle of a luffing cylinder (110) and a second adjustment angle of a leveling cylinder (120) when the attachment (3) is adjusted from an initial height to the first height; and acquiring first actual angle information of the boom (1) and second actual angle information of the attachment (3), and, on the basis of the first adjustment angle and the first actual angle information, controlling the luffing cylinder (110) to adjust the angle of the boom (1), and, on the basis of the second adjustment angle and the second actual angle information, controlling the leveling cylinder (120) to adjust the angle of the attachment (3). In this way, automatic leveling of the attachment is achieved by setting the first height, thereby reducing the operational difficulty of leveling the attachment, preventing the problem of severe wear of the attachment caused by improper or forceful operations by operators, and prolonging the service life of the attachment.

Description

Leveling method, device, equipment and storage medium of telescopic forklift

[0001] The present application claims priority to the Chinese patent application No. 202411259878.7, filed on September 10, 2024, with the Chinese Patent Office, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of forklifts, for example, to a leveling method, device, equipment and storage medium of telescopic forklift. BACKGROUND

[0003] Telescopic forklifts belong to the subfield of engineering machinery, and can be used for earthmoving, material loading and unloading, structure hoisting, etc. with various auxiliary tools, so the applicability of telescopic forklifts is widespread and the working conditions are complex, which puts higher requirements on the convenient control performance of the vehicle. The leveling of various auxiliary tools is extremely important for the loading, unloading, earthmoving, and earth pushing of the vehicle. For earth pushing, if the angle of the bucket auxiliary tool is too large, it may cause damage to the ground, and at the same time, it may also cause wear and tear of the auxiliary tool itself. If the angle is too small, it may not be able to push the earth. For the forks, if they are not leveled, it may cause damage to the goods during loading, and if the angle is too small, it may cause the goods to fall.

[0004] The leveling operation of the auxiliary tool by the operator through visual means is difficult, which is not conducive to the operation of novice drivers. Moreover, the operability is poor during the work process, and the constant manual leveling wastes working time and affects work efficiency. At the same time, due to the complexity of the working conditions, the environment is relatively harsh, and improper operation or violent operation may cause wear and tear of the auxiliary tool, thereby increasing the use cost of the vehicle and reducing the service life of the vehicle. As can be seen from the above, the leveling of the auxiliary tool seriously affects the safety and usability of the vehicle, so how to conveniently realize the leveling of the auxiliary tool should be considered and solved. SUMMARY

[0005] The present application provides a leveling method, device, equipment and storage medium of telescopic forklift, which realizes automatic leveling of the auxiliary tool by setting the first height, reduces the operation difficulty of the leveling of the auxiliary tool, avoids the problem of serious wear and tear of the auxiliary tool caused by improper operation and violent operation of the operator, and improves the service life of the auxiliary tool.

[0006] The application provides a leveling method of a telescopic boom forklift, the telescopic boom forklift comprising an arm frame, a chassis and an auxiliary tool. The arm frame is provided with a luffing cylinder and a leveling cylinder, the luffing cylinder is arranged to adjust the angle of the arm frame, and the leveling cylinder is arranged to adjust the angle of the auxiliary tool. The leveling method comprises: determining the height information of a first virtual point according to the positional relationship of the arm frame, the chassis and the auxiliary tool; obtaining the first height of the upper surface of the auxiliary tool in a horizontal state; determining the first adjustment angle of the luffing cylinder and the second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from an initial height to the first height according to the first height, the height information of the first virtual point and a preset leveling function relationship; obtaining the first actual angle information of the arm frame and the second actual angle information of the auxiliary tool, and controlling the luffing cylinder to adjust the angle of the arm frame according to the first adjustment angle and the first actual angle information, and controlling the leveling cylinder to adjust the angle of the auxiliary tool according to the second adjustment angle and the second actual angle information.

[0007] In an embodiment, the determining the height information of the first virtual point according to the positional relationship of the arm frame, the chassis and the auxiliary tool comprises: establishing a coordinate system of the telescopic boom forklift; determining a first position point corresponding to the hinge point of the arm frame and the chassis, a second position point corresponding to the hinge point of the arm frame and the auxiliary tool, and a third position point corresponding to the projection of the gravity center of the cargo on the surface of the auxiliary tool; determining the height information of the first virtual point according to the first position point, the second position point and the third position point; and the line connecting any two adjacent points among the first position point, the second position point, the third position point and the first virtual point forms a parallelogram.

[0008] In an embodiment, the determining the first adjustment angle of the luffing cylinder and the second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from an initial height to the first height according to the first height, the height information of the first virtual point and a preset leveling function relationship comprises: when the first height is less than or equal to the height information of the first virtual point, determining that the preset leveling function relationship comprises a first leveling function relationship; determining fixed length information according to the height information of the first virtual point and the positional information of the third position point corresponding to the projection of the gravity center of the cargo on the surface of the auxiliary tool; obtaining the first initial angle information of the arm frame at the initial height; and determining the first adjustment angle and the second adjustment angle according to the first height, the height information of the first virtual point, the first leveling function relationship, the fixed length information and the first initial angle information.

[0009] In an embodiment, the first virtual point is A1, the first position point corresponding to the hinge point of the arm frame and the chassis is A2, the second position point corresponding to the hinge point of the arm frame and the auxiliary tool is A3, the third position point is the projection of the gravity center of the cargo on the surface of the auxiliary tool is A4, and the hinge point of the leveling oil cylinder and the arm frame is B1; the first leveling function relationship comprises: Y1-H=L A1A4 ×sin(∠B1A2A3-(α+Δα)); wherein Y1 is the height information of the first virtual point, H is the height information of the first height, L A1A4 is the fixed length information, ∠B1A2A3 is the fixed angle information, α is the first initial angle information of the arm frame at the initial height, α+Δα is the first adjustment angle, and Δα is the second adjustment angle.

[0010] In an embodiment, the first virtual point is A1, the first position point corresponding to the hinge point of the arm frame and the chassis is A2, the second position point corresponding to the hinge point of the arm frame and the auxiliary tool is A3, the third position point is the projection of the gravity center of the cargo on the surface of the auxiliary tool is A4, and the hinge point of the leveling oil cylinder and the arm frame is B1; the first leveling function relationship comprises: Y1-H=L A1A4 ×sin(∠B1A2A3-(α+Δα)); wherein Y1 is the height information of the first virtual point, H is the height information of the first height, L A1A4 is the fixed length information, ∠B1A2A3 is the fixed angle information, α is the first initial angle information of the arm frame at the initial height, α+Δα is the first adjustment angle, and Δα is the second adjustment angle.

[0011] In an embodiment, the first virtual point is A1, the first position point corresponding to the hinge point of the arm frame and the chassis is A2, the second position point corresponding to the hinge point of the arm frame and the auxiliary tool is A3, the third position point is the projection of the gravity center of the cargo on the surface of the auxiliary tool is A4, and the hinge point of the leveling oil cylinder and the arm frame is B1; the first leveling function relationship comprises: Y1-H=L A1A4 ×sin(α+Δα-∠B1A2A3); wherein Y1 is the height information of the first virtual point, H is the height information of the first height, L A1A4 is the fixed length information, ∠B1A2A3 is the fixed angle information, α is the first initial angle information of the arm frame at the initial height, α+Δα is the first adjustment angle, and Δα is the second adjustment angle.

[0012] In an embodiment, the obtaining the first actual angle information of the arm frame and the second actual angle information of the auxiliary tool, and controlling the luffing cylinder to adjust the angle of the arm frame according to the first adjustment angle and the first actual angle information, and controlling the leveling cylinder to adjust the angle of the auxiliary tool according to the second adjustment angle and the second actual angle information, comprises: obtaining the first actual angle information of the arm frame, and controlling the luffing cylinder to adjust the angle of the arm frame according to the comparison between the first adjustment angle and the first actual angle information, so that the first actual angle information is equal to the first adjustment angle; obtaining the second initial angle information of the auxiliary tool at the initial height, and determining the adjustment angle information of the auxiliary tool according to the second initial angle information and the second adjustment angle; obtaining the second actual angle information of the auxiliary tool, and controlling the leveling cylinder to adjust the angle of the auxiliary tool according to the comparison between the adjustment angle information of the auxiliary tool and the second actual angle information, so that the second actual angle information is equal to the adjustment angle information of the auxiliary tool.

[0013] The application further provides a leveling device of a telescopic forklift. The telescopic forklift comprises an arm frame, a chassis and an auxiliary tool. The arm frame is provided with a luffing cylinder and a leveling cylinder. The luffing cylinder is arranged to adjust the angle of the arm frame, and the leveling cylinder is arranged to adjust the angle of the auxiliary tool. The leveling device comprises a determination module arranged to determine the height information of a first virtual point according to the positional relationship among the arm frame, the chassis and the auxiliary tool; a first height obtaining module arranged to obtain the first height of the upper surface of the auxiliary tool in a horizontal state; an angle determination module arranged to determine the first adjustment angle of the luffing cylinder and the second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from an initial height to the first height according to the first height, the height information of the first virtual point and a preset leveling function relationship; and an adjustment module arranged to obtain the first actual angle information of the arm frame and the second actual angle information of the auxiliary tool, and control the luffing cylinder to adjust the angle of the arm frame according to the first adjustment angle and the first actual angle information, and control the leveling cylinder to adjust the angle of the auxiliary tool according to the second adjustment angle and the second actual angle information.

[0014] The application further provides a leveling device, which comprises one or more processors. The leveling device further comprises a storage device arranged to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the leveling method described above.

[0015] The application further provides a storage medium, which stores a computer program. When the computer program is executed by a processor, the leveling method described above is implemented. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 is a structural schematic diagram of a telescopic forklift truck according to an embodiment of the present application;

[0017] Fig. 2 is a flow chart of a leveling method of the telescopic forklift truck according to the embodiment of the present application;

[0018] Fig. 3 is a coordinate system schematic diagram of a telescopic forklift truck according to an embodiment of the present application;

[0019] Fig. 4 is a flow chart of a leveling method of the telescopic forklift truck according to the embodiment of the present application;

[0020] Fig. 5 is a coordinate system schematic diagram of a telescopic forklift truck according to an embodiment of the present application;

[0021] Fig. 6 is a flow chart of a leveling method of the telescopic forklift truck according to the embodiment of the present application;

[0022] Fig. 7 is a structural schematic diagram of a leveling device of a telescopic forklift truck according to an embodiment of the present application;

[0023] Fig. 8 is a structural schematic diagram of a leveling device according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] The terms "first", "second", and the like in the description and in the claims of the present application and in the above-described drawings mean for distinguishing similar objects, not necessarily for describing a specific sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the present application described herein are capable of operation in other sequences than described or illustrated herein. Furthermore, the terms "comprise", "comprising", "include", "including", and the like are intended to cover non-exclusive inclusions, such that a process, method, system, product, or apparatus that comprises a list of steps or units are not necessarily limited to those steps or units, but can include other steps or units not expressly listed or inherent to such process, method, system, product, or apparatus.

[0025] Embodiment I

[0026] Fig. 1 is a structural schematic diagram of a telescopic handler provided by an embodiment of the present application, and Fig. 2 is a flow chart of a leveling method of the telescopic handler provided by the embodiment of the present application. The embodiment can be applied to the case that it is difficult to level the assistive device by visual means, is not conducive to the operation of novice drivers, and is poor in operability in the working process, and the working time is wasted by constant artificial leveling, which affects the working efficiency. The method can be executed by a leveling device provided by the embodiment of the present application, and the device can be realized by software and / or hardware. The device can be configured in the leveling equipment provided by the embodiment of the present application.

[0027] Referring to Fig. 1, the telescopic handler includes a boom 1, a chassis 2 and an assistive device 3. The boom 1 is provided with a luffing cylinder 110 and a leveling cylinder 120. The luffing cylinder 110 is arranged to adjust the angle of the boom 1, which can be understood as the angle between the boom 1 and the chassis 2. The leveling cylinder 120 is arranged to adjust the angle of the assistive device 3, which can be understood as the angle between the assistive device 3 and the leveling cylinder 120, i.e. the leveling angle. In the embodiment shown in Fig. 1, the assistive device 3 includes a fork and a bucket. Fig. 1 shows different positions of the boom 1 and different assistive devices 3, so as to show that the telescopic handler includes two booms 1 and two assistive devices 3. It can be understood by those skilled in the art that the telescopic handler usually includes one boom 1 and one assistive device 3. In addition, the telescopic handler further includes a leveling angle detection unit, a boom length detection unit, a boom luffing angle detection unit, a control unit and a front tire. The leveling angle detection unit is arranged to measure the angle between the assistive device 3 and the leveling cylinder 120 in real time. The boom length detection unit is arranged to detect the length information of the boom 1. The boom luffing angle detection unit is arranged to detect the angle between the boom 1 and the chassis 2. The control unit is arranged to receive the information collected by the leveling angle detection unit, the boom length detection unit and the boom luffing angle detection unit, and process the collected information according to a preset leveling function relationship therein.

[0028] Referring to Fig. 2, the leveling method of the telescopic handler includes:

[0029] S110, determining the height information of a first virtual point according to the positional relationship among the boom, the chassis and the assistive device.

[0030] In the process of leveling the auxiliary tool, the angle between the boom and the chassis is usually adjusted, and the position between the auxiliary tool and the boom is adjusted, so that the auxiliary tool can still be kept horizontal when the auxiliary tool is adjusted to the required height. Among them, the height information of the first virtual point can be understood as the critical information of the required height. When the height information of the required height is less than the height information of the first virtual point, the positional relationship of the boom, the chassis and the auxiliary tool corresponds to a function relationship, and when the height information of the required height is greater than the height information of the first virtual point, the positional relationship of the boom, the chassis and the auxiliary tool corresponds to another function relationship. Further, the coordinate system of the boom, the chassis and the auxiliary tool can be established, so that the height information of the first virtual point can be determined according to the positional relationship of the boom, the chassis and the auxiliary tool. The position of the first virtual point is fixed, and the positional relationship of the boom, the chassis and the auxiliary tool is changing.

[0031] S120, acquiring the first height of the upper surface of the auxiliary tool in the horizontal state.

[0032] The first height of the upper surface of the auxiliary tool in the horizontal state is the required height of the auxiliary tool adjustment. In the leveling process, the first height can be set by the input of the operator.

[0033] S130, determining the first adjustment angle of the luffing cylinder and the second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from the initial height to the first height according to the first height, the height information of the first virtual point and the preset leveling function relationship.

[0034] After acquiring the set first height and the height information of the first virtual point, the first height and the height information of the first virtual point are compared, and the corresponding preset leveling function relationship is determined according to the comparison of the first height and the height information of the first virtual point. Then, the first height set by the operator and the height information of the first virtual point are substituted into the preset leveling function relationship, and the first adjustment angle of the luffing cylinder and the adjustment angle change amount of the luffing cylinder when the auxiliary tool is adjusted from the initial height to the first height can be obtained. Among them, the initial height can be the angle condition when the first height is 0, that is, when the first height is 0, the initial angle of the boom and the initial angle of the auxiliary tool, the first adjustment angle of the luffing cylinder can be understood as the actual angle of the boom after adjustment, that is, the sum of the initial angle of the boom and the adjustment angle change amount. In the leveling process of the auxiliary tool, in order to ensure that the auxiliary tool can still be kept horizontal when the auxiliary tool is adjusted to the first height, it is necessary to make the adjustment angle change amount of the luffing cylinder and the adjustment angle change amount of the leveling cylinder the same, that is, the angle increase amount of the boom and the angle decrease amount of the auxiliary tool are the same, and then the adjustment angle change amount of the luffing cylinder is the second adjustment angle of the leveling cylinder.

[0035] S140, the first actual angle information of the arm support and the second actual angle information of the auxiliary device are acquired, and the angle of the luffing oil cylinder adjusting the arm support is controlled according to the first adjusting angle and the first actual angle information, and the angle of the leveling oil cylinder adjusting the auxiliary device is controlled according to the second adjusting angle and the second actual angle information.

[0036] The leveling angle detection unit and the arm support luffing angle detection unit each include at least one of an angle sensor or a long angle sensor. Further, the actual angle between the arm support and the chassis, i.e., the first actual angle information of the arm support, can be detected by the arm support luffing angle detection unit, and the actual angle between the auxiliary device and the leveling oil cylinder, i.e., the second actual angle information of the auxiliary device, can be detected by the leveling angle detection unit. Then, the first actual angle information is compared with the first adjusting angle of the luffing oil cylinder, and the angle of the luffing oil cylinder adjusting the arm support is controlled according to the comparison between the first actual angle information and the first adjusting angle of the luffing oil cylinder until the first actual angle information of the arm support is the first adjusting angle. Similarly, the second actual angle information is compared with the second adjusting angle of the leveling oil cylinder, and the angle of the leveling oil cylinder adjusting the auxiliary device is controlled according to the comparison between the second actual angle information and the second adjusting angle of the leveling oil cylinder, so that the adjusted auxiliary device is kept horizontal, and the automatic leveling of the auxiliary device is completed. In this way, in the entire leveling process, the operator can realize the automatic leveling of the auxiliary device by inputting the first height, the operation difficulty of the auxiliary device leveling is reduced, the operation convenience is improved, the work efficiency is improved, the problem that the auxiliary device is severely worn due to improper operation and violent operation of the operator is avoided, and the service life of the auxiliary device is improved.

[0037] According to the positional relationship among the arm support, the chassis and the auxiliary device, the height information of the first virtual point and the first height of the upper surface of the auxiliary device in the horizontal state are determined. Then, according to the first height, the height information of the first virtual point and a preset leveling function relationship, the first adjusting angle of the luffing oil cylinder and the second adjusting angle of the leveling oil cylinder when the auxiliary device is adjusted from the initial height to the first height are determined. The first actual angle information of the arm support and the second actual angle information of the auxiliary device are acquired, and the angle of the luffing oil cylinder adjusting the arm support is controlled according to the first adjusting angle and the first actual angle information, and the angle of the leveling oil cylinder adjusting the auxiliary device is controlled according to the second adjusting angle and the second actual angle information. In this way, the operator can realize the automatic leveling of the auxiliary device by setting the first height, thereby reducing the operation difficulty of the auxiliary device leveling, avoiding the problem that the auxiliary device is severely worn due to improper operation and violent operation of the operator, and improving the service life of the auxiliary device.

[0038] Embodiment two

[0039] FIG. 3 is a schematic diagram of a coordinate system of a telescopic handler according to an embodiment of the present application, and FIG. 4 is a flowchart of a leveling method of a telescopic handler according to an embodiment of the present application. Referring to FIGS. 3 and 4, the leveling method includes:

[0040] S210, a coordinate system of the telescopic handler is established, a first position point corresponding to a hinge point of the boom and the chassis is determined, a second position point corresponding to a hinge point of the boom and the auxiliary tool is determined, and a third position point of a projection of the gravity center of the cargo on a surface of the auxiliary tool is determined, and height information of a first virtual point is determined according to the first position point, the second position point, and the third position point.

[0041] As shown in FIG. 3, a coordinate system of the telescopic handler is established with a front vertical tangent of a front tire as a Y axis and a plane of the ground as an X axis. Then, the positional relationship of the boom, the chassis, and the auxiliary tool can be determined in the coordinate system. For example, the hinge point of the boom and the chassis is defined as the first position point, and the first position point is denoted as A2, the hinge point of the boom and the auxiliary tool is defined as the second position point, and the second position point is denoted as A3, and the projection of the gravity center of the cargo on the surface of the auxiliary tool is defined as the third position point, and the third position point is denoted as A4. Thus, after the first position point A2, the second position point A3, and the third position point A4 are determined, the position of the first virtual point A1 can be determined according to the parallelogram rule, in other words, the adjacent two points of the first virtual point A1, the first position point A2, the second position point A3, and the third position point A4 form a parallelogram. In the embodiment shown in FIG. 3, A1A4 is parallel to and equal to A2A3.

[0042] S220, a first height of the upper surface of the auxiliary tool in a horizontal state is obtained.

[0043] S230, when the first height is less than or equal to the height information of the first virtual point, it is determined that the preset leveling function relationship includes a first leveling function relationship, the fixed length information is determined according to the height information of the first virtual point and the position information of the third position point of the projection of the gravity center of the cargo on the surface of the auxiliary tool, the first initial angle information of the boom at the initial height is obtained, and the first adjustment angle and the second adjustment angle are determined according to the first height, the height information of the first virtual point, the first leveling function relationship, the fixed length information, and the first initial angle information.

[0044] Continuing to refer to FIG. 3, let the hinge point of the leveling oil cylinder and the boom be B1, and the hinge point of the leveling oil cylinder and the auxiliary tool be B2. In the process of leveling the auxiliary tool, the angle of the boom and the angle of the auxiliary tool are adjusted, wherein the angle of the auxiliary tool is adjusted by rotating the hinge point B2 of the leveling oil cylinder and the auxiliary tool around the second position point A3, that is, the angle of the auxiliary tool is adjusted by adjusting the angle of ∠B1A3B2. The overall shape of the boom does not change in the adjustment process, and further, the first position point A2 of the hinge point of the boom and the chassis, the second position point A3 of the hinge point of the boom and the auxiliary tool, and the hinge point B1 of the leveling oil cylinder and the boom do not move relative to each other, in other words, the triangle B1A2A3 is fixed, that is, the angle of ∠B1A2A3 is fixed, and the length of A2A3 is also fixed. Since the length of A2A3 is equal to the length of A1A4, the length of A1A4 can be set as the fixed length information, so that the fixed length information can be determined according to the height information of the first virtual point A1 and the position information of the third position point A4 which is the projection of the gravity center of the cargo on the surface of the auxiliary tool.

[0045] In addition, when the first height H is less than or equal to the height information Y1 of the first virtual point A1, it indicates that the height of the first height H is small, and further, the angle adjustment of the auxiliary tool is small, at this time, the preset leveling function relationship is determined as the first leveling function relationship. As shown in FIG. 3, a horizontal line parallel to the X axis is drawn along the third position point A4, and intersects the height information Y1 of the first virtual point A1 at point C1. A horizontal line parallel to the X axis is drawn along the first position point A2, and intersects the Y axis at point D1. Further, from the coordinate system, it can be obtained that ∠D1A2A3 is the sum of ∠D1A2B1 and ∠B1A2A3, wherein ∠B1A2A3 is fixed angle information, A2 is the hinge point of the boom and the chassis, and B1 is the hinge point of the leveling oil cylinder and the boom, that is, ∠D1A2B1 is the actual angle of the boom when the auxiliary tool is adjusted from the initial height to the first height (the first adjustment angle), in other words, ∠D1A2B1 is the sum of the first initial angle of the boom and the adjustment angle change amount. Since A2D1 is parallel to A4C1, and A2A3 is parallel to A1A4, according to the principle of similar triangles, it can be obtained that the angle of ∠D1A2A3 is equal to the angle of ∠A1A4C1. In addition, according to the sine theorem of triangle, Y1-H=L A1A4 ×sin∠A1A4C1, since A1A4C1=∠D1A2A3=∠B1A2A3+∠D1A2B1, and when the first height H is less than or equal to the height information Y1 of the first virtual point A1, the angle of the boom is below the horizontal plane, that is, ∠D1A2B1 is negative, and further, Y1-H=L A1A4 ×sin(∠B1A2A3-∠D1A2B1) can be obtained. Wherein ∠D1A2B1 is the sum of the first initial angle of the boom and the adjustment angle change amount α+Δα, that is, the first leveling function relationship Y1-H=L A1A4Xsin(∠B1A2A3-(a+Δa)), and further, the first height H, the height information Y1 of the first virtual point A1, the first initial angle information a of the arm support at the initial height, the fixed angle information ∠B1A2A3, and the fixed length information L A1A4 By substituting into the first leveling function relationship, the first adjustment angle a+Δa and the second adjustment angle (adjustment angle change) Δa can be obtained. For example, assuming that the height information Y1 of the first virtual point A1 is 1 m, the first height H is 0.5 m, the fixed angle information ∠B1A2A3 is 10°, and the fixed length information L is 5 m. At the initial state (H=0), the first initial angle information a of the arm support is -5°, and further, after substituting into the first leveling function relationship, the first adjustment angle a+Δa is 4.27, and the second adjustment angle Δa is 9.27°. A1A4

[0046] S240, acquiring the first actual angle information of the arm support, and controlling the luffing oil cylinder to adjust the angle of the arm support according to the comparison between the first adjustment angle and the first actual angle information, so that the first actual angle information is equal to the first adjustment angle.

[0047] The actual angle between the arm support and the chassis, i.e., the first actual angle information of the arm support, can be detected by the arm support luffing angle detection unit, and the first actual angle information is compared with the first adjustment angle a+Δa of the luffing oil cylinder. If the first actual angle information is greater than the first adjustment angle a+Δa, the luffing oil cylinder is retracted to reduce the first actual angle information of the arm support, until the first actual angle information of the arm support is equal to the first adjustment angle a+Δa, and the luffing oil cylinder stops working. If the first actual angle information is equal to the first adjustment angle a+Δa, the luffing oil cylinder does not work. If the first actual angle information is less than the first adjustment angle a+Δa, the luffing oil cylinder is extended to increase the first actual angle information of the arm support, until the first actual angle information of the arm support is equal to the first adjustment angle a+Δa, and the luffing oil cylinder stops working. For example, if the first adjustment angle a+Δa is 4.27°, and the first actual angle information of the arm support is 10°, the luffing oil cylinder is retracted until the first actual angle information of the arm support is reduced to 4.27°, and the luffing oil cylinder stops working.

[0048] S250, acquiring the second initial angle information of the assistive device at the initial height, and determining the adjustment angle information of the assistive device according to the second initial angle information and the second adjustment angle, acquiring the second actual angle information of the assistive device, and controlling the leveling oil cylinder to adjust the angle of the assistive device according to the comparison between the adjustment angle information of the assistive device and the second actual angle information, so that the second actual angle information is equal to the adjustment angle information of the assistive device.

[0049] ​The second adjustment angle Δα of the leveling oil cylinder is the adjustment angle change of the leveling oil cylinder when the auxiliary device is adjusted from the initial height to the first height. Since the initial height is H=0, the angle of the boom is increased and the angle of the auxiliary device is decreased when the auxiliary device is adjusted from the initial height to the first height, and the angle of the boom is increased by the same angle as the angle of the auxiliary device is decreased. Thus, by subtracting the second adjustment angle Δα from the second initial angle information β of the auxiliary device at the initial height, the required angle information of the auxiliary device when the auxiliary device is adjusted from the initial height to the first height, i.e., the adjustment angle information (β-Δα) of the auxiliary device, is obtained. The second actual angle information β1 is compared with the adjustment angle information (β-Δα) of the auxiliary device. For example, if the second actual angle information β1 is greater than the adjustment angle information (β-Δα), the leveling oil cylinder is retracted to reduce the second actual angle information of the auxiliary device, until the second actual angle information β1 of the auxiliary device is equal to the adjustment angle information (β-Δα), and the leveling oil cylinder stops working. If the second actual angle information β1 is equal to the adjustment angle information (β-Δα), the leveling does not work. If the second actual angle information β1 is less than the adjustment angle information (β-Δα), the leveling oil cylinder is extended to increase the second actual angle information of the auxiliary device, until the second actual angle information of the auxiliary device is equal to the adjustment angle information (β-Δα), and the leveling oil cylinder stops working. For example, if the second actual angle information β1 is 100°, the second adjustment angle Δα is 9.27°, and the second initial angle information β of the auxiliary device at the initial height is 120°, the adjustment angle information (β-Δα) is 110.73°, and then the leveling oil cylinder is extended until the second actual angle information of the auxiliary device increases to 110.73°, and the leveling oil cylinder stops working.

[0050] In summary, when the first height is less than or equal to the height information of the first virtual point, the preset leveling function relationship includes the first leveling function relationship in the embodiment of the application, the first height, the height information of the first virtual point, the fixed length information, and the first initial angle information are substituted into the first leveling function relationship to determine the first adjustment angle and the second adjustment angle, the angle of the boom is controlled according to the comparison between the first adjustment angle and the first actual angle information, and the angle of the auxiliary device is controlled according to the comparison between the adjustment angle information of the auxiliary device and the second actual angle information. In this way, when the first height is less than or equal to the height information of the first virtual point, the corresponding first leveling function relationship is used to determine the first adjustment angle and the second adjustment angle to adjust the boom and the auxiliary device, to realize automatic leveling of the auxiliary device, reduce the operation difficulty of leveling the auxiliary device, improve the operation convenience, improve the work efficiency, avoid the problem that improper operation and violent operation of the operator cause serious wear of the auxiliary device, and improve the service life of the auxiliary device.

[0051] Embodiment Three

[0052] FIG. 5 is a coordinate system diagram of a telescopic handler provided by Embodiment Three of the present application, and FIG. 6 is a flow chart of a leveling method of a telescopic handler provided by Embodiment Three of the present application. Referring to FIGS. 5 and 6, the leveling method comprises the following steps.

[0053] S310, a coordinate system of the telescopic handler is established, a first position point corresponding to the hinge point of the boom and the chassis is determined, a second position point corresponding to the hinge point of the boom and the auxiliary tool is determined, and a third position point of the gravity center of the cargo projected on the surface of the auxiliary tool is determined, and the height information of the first virtual point is determined according to the first position point, the second position point, and the third position point.

[0054] S320, the first height of the upper surface of the auxiliary tool in the horizontal state is obtained.

[0055] S330, when the first height is greater than the height information of the first virtual point, it is determined that the preset leveling function relationship comprises the second leveling function relationship, the fixed length information is determined according to the height information of the first virtual point and the position information of the third position point of the gravity center of the cargo projected on the surface of the auxiliary tool, and the first initial angle information of the boom at the initial height is obtained, and the first adjustment angle and the second adjustment angle are determined according to the first height, the height information of the first virtual point, the second leveling function relationship, the fixed length information, and the first initial angle information.

[0056] Continuing to refer to FIG. 5, the first virtual point is A1, the first position point corresponding to the hinge point of the boom and the chassis is A2, the second position point corresponding to the hinge point of the boom and the auxiliary tool is A3, the third position point of the gravity center of the cargo projected on the surface of the auxiliary tool is A4, the hinge point of the leveling cylinder and the boom is B1, and the hinge point of the leveling cylinder and the auxiliary tool is B2. In the process of leveling the auxiliary tool, the angles of the boom and the auxiliary tool are adjusted, wherein the angle adjustment of the auxiliary tool is that the hinge point B2 of the leveling cylinder and the auxiliary tool rotates around the second position point A3, that is, the angle of the auxiliary tool is adjusted by adjusting the angle of B1A3B2. The overall shape of the boom does not change in the adjustment process, and thus the first position point A2 corresponding to the hinge point of the boom and the chassis, the second position point A3 corresponding to the hinge point of the boom and the auxiliary tool, and the hinge point B1 of the leveling cylinder and the boom do not move relative to each other, in other words, the triangle B1A2A3 is fixed, that is, the angle of ∠B1A2A3 is fixed, and the length of A2A3 is also fixed. Since the length of A2A3 is equal to the length of A1A4, the length of A1A4 can be set as the fixed length information, and thus the fixed length information can be determined according to the height information of the first virtual point A1 and the position information of the third position point A4 of the gravity center of the cargo projected on the surface of the auxiliary tool.

[0057] Further, when the first height H is greater than the height information Y1 of the first virtual point A1, it indicates that the height of the first height H is greater, and the angle adjustment of the auxiliary device is greater, and at this time, the preset leveling function relationship is determined as the second leveling function relationship. As shown in FIG. 5, a horizontal line parallel to the X axis is drawn along the first virtual point A1, and intersects the first height H at point E1. A horizontal line parallel to the X axis is drawn along the first position point A2, and intersects the Y axis at point F1. Since A2 is the hinge point of the arm support and the chassis, and B1 is the hinge point of the leveling oil cylinder and the arm support, ∠B1A2F1 is the actual angle of the arm support when the auxiliary device is adjusted from the initial height to the first height (the first adjustment angle), in other words, ∠B1A2F1 is the sum of the first initial angle of the arm support and the adjustment angle change amount (α+Δα). In addition, from the coordinate system, it can be obtained that ∠B1A2F1 is the sum of ∠F1A2A3 and ∠B1A2A3, wherein ∠B1A2A3 is fixed angle information. Since A2F1 is parallel to A1E1, and A2A3 is parallel to A1A4, and then according to the principle of similar triangles, it can be obtained that the angle of ∠A3A2F1 is equal to the angle of ∠A4A1E1. In addition, according to the sine theorem of triangle, it can be obtained that H-Y1=L A1A4 ×sin∠A4A1E1=L A1A4 ×∠A3A2F1, since ∠A3A2F1=∠B1A2F1-∠B1A2A3, and then it can be obtained that H-Y1=L A1A4 ×sin(∠B1A2F1-∠B1A2A3). Wherein ∠B1A2F1 is the sum of the first initial angle of the arm support and the adjustment angle change amount (α+Δα), that is, the second leveling function relationship can be obtained as H-Y1=L A1A4 ×sin(α+Δα-∠B1A2A3), and then the first height H, the height information Y1 of the first virtual point A1, the first initial angle information α of the arm support at the initial height, the fixed angle information ∠B1A2A3, and the fixed length information L A1A4 are substituted into the second leveling function relationship, and then the first adjustment angle α+Δα and the second adjustment angle Δα can be obtained. For example, the height information Y1 of the first virtual point A1 is 1m, the first height H is 2m, the fixed angle information ∠B1A2A3 is 10°, and the fixed length information L A1A4 is 5m. In the initial state (H=0), the first initial angle information α of the arm support is-5°, and then after being substituted into the second leveling function relationship, the first adjustment angle α+Δα is 21.53°, and the second adjustment angle Δα is 26.53°.

[0058] S340, obtain the first actual angle information of the arm support, and control the luffing oil cylinder to adjust the angle of the arm support according to the comparison of the first adjustment angle and the first actual angle information, so that the first actual angle information is equal to the first adjustment angle.

[0059] The actual angle between the boom and the chassis, i.e. the first actual angle information of the boom, can be detected by the boom luffing angle detection unit, and the first actual angle information is compared with the first adjusted angle a+Da of the luffing cylinder. If the first actual angle information is greater than the first adjusted angle a+Da, the luffing cylinder is retracted to reduce the first actual angle information of the boom, until the first actual angle information of the boom is equal to the first adjusted angle a+Da, and the luffing cylinder stops working. If the first actual angle information is equal to the first adjusted angle a+Da, the luffing cylinder does not work. If the first actual angle information is less than the first adjusted angle a+Da, the luffing cylinder is extended to increase the first actual angle information of the boom, until the first actual angle information of the boom is equal to the first adjusted angle a+Da, and the luffing cylinder stops working. For example, if the first adjusted angle a+Da is 21.53°, and the first actual angle information of the boom is 10°. The luffing cylinder is extended until the first actual angle information of the boom increases to 21.53°, and the luffing cylinder stops working.

[0060] S350, the second initial angle information of the assistive device at the initial height is obtained, and the adjusted angle information of the assistive device is determined according to the second initial angle information and the second adjusted angle. The second actual angle information of the assistive device is obtained, and the leveling cylinder is controlled to adjust the angle of the assistive device according to the comparison between the adjusted angle information of the assistive device and the second actual angle information, so that the second actual angle information is equal to the adjusted angle information of the assistive device.

[0061] The second adjustment angle Δα of the leveling oil cylinder is the adjustment angle change of the leveling oil cylinder when the auxiliary device is adjusted from the initial height to the first height. Since the initial height is H = 0, the angle of the boom is increased and the angle of the auxiliary device is decreased when the auxiliary device is adjusted from the initial height to the first height, and the angle of the boom is increased by the same angle as the angle of the auxiliary device is decreased. Thus, by subtracting the second adjustment angle Δα from the second initial angle information β of the auxiliary device at the initial height, the required angle information of the auxiliary device when the auxiliary device is adjusted from the initial height to the first height, that is, the adjustment angle information (β-Δα) of the auxiliary device, is obtained. The second actual angle information β1 is compared with the adjustment angle information (β-Δα) of the auxiliary device. For example, if the second actual angle information β1 is greater than the adjustment angle information (β-Δα), the leveling oil cylinder is retracted to reduce the second actual angle information of the auxiliary device, until the second actual angle information β1 of the auxiliary device is equal to the adjustment angle information (β-Δα), and the leveling oil cylinder stops working. If the second actual angle information β1 is equal to the adjustment angle information (β-Δα), the leveling does not work. If the second actual angle information β1 is less than the adjustment angle information (β-Δα), the leveling oil cylinder is extended to increase the second actual angle information of the auxiliary device, until the second actual angle information of the auxiliary device is equal to the adjustment angle information (β-Δα), and the leveling oil cylinder stops working. For example, if the second actual angle information β1 is 100°, the second adjustment angle Δα is 26.53°, and the second initial angle information β of the auxiliary device at the initial height is 120°, the adjustment angle information (β-Δα) is 93.47°, and then the leveling oil cylinder is retracted until the second actual angle information of the auxiliary device is reduced to 93.47°, and the leveling oil cylinder stops working.

[0062] In summary, when the first height is greater than the height information of the first virtual point, the preset leveling function relationship of the embodiment of the application includes the second leveling function relationship, and the first height, the height information of the first virtual point, the fixed length information, and the first initial angle information are substituted into the second leveling function relationship to determine the first adjustment angle and the second adjustment angle, and the angle of the boom is controlled according to the comparison between the first adjustment angle and the first actual angle information, and the angle of the auxiliary device is controlled according to the comparison between the adjustment angle information of the auxiliary device and the second actual angle information. In this way, when the first height is greater than the height information of the first virtual point, the corresponding second leveling function relationship is used to determine the first adjustment angle and the second adjustment angle to adjust the boom and the auxiliary device, to realize automatic leveling of the auxiliary device, reduce the operation difficulty of leveling the auxiliary device, improve the operation convenience, improve the work efficiency, avoid the problem that improper operation and violent operation of the operator cause serious wear of the auxiliary device, and improve the service life of the auxiliary device.

[0063] Embodiment Four

[0064] Figure 7 is a structural schematic diagram of a leveling device of a telescopic handler according to an embodiment of the present application. The leveling device can be used in a situation where leveling of an auxiliary device by visual observation is difficult for a novice driver, and the leveling operation is poor in workability, and the artificial leveling wastes working time and affects work efficiency.

[0065] The determining module 100 is configured to determine the height information of the first virtual point according to the positional relationship among the boom, the chassis and the auxiliary device.

[0066] The first height obtaining module 200 is configured to obtain the first height of the upper surface of the auxiliary device in a horizontal state.

[0067] The angle determining module 300 is configured to determine the first adjusting angle of the luffing cylinder and the second adjusting angle of the leveling cylinder when the auxiliary device is adjusted from the initial height to the first height according to the first height, the height information of the first virtual point and a preset leveling function relationship.

[0068] The adjusting module 400 is configured to obtain the first actual angle information of the boom and the second actual angle information of the auxiliary device, and control the luffing cylinder to adjust the angle of the boom according to the first adjusting angle and the first actual angle information, and control the leveling cylinder to adjust the angle of the auxiliary device according to the second adjusting angle and the second actual angle information.

[0069] The determining module 100 is further configured to establish a coordinate system of the telescopic handler, determine a first position point corresponding to the hinge point of the boom and the chassis, a second position point corresponding to the hinge point of the boom and the auxiliary device, and a third position point corresponding to the projection of the gravity center of the cargo on the surface of the auxiliary device, and determine the height information of the first virtual point according to the first position point, the second position point and the third position point. The first position point, the second position point, the third position point and the first virtual point form a parallelogram.

[0070] The angle determining module 300 is further configured to determine that the preset leveling function relationship includes the first leveling function relationship when the first height is less than or equal to the height information of the first virtual point, and determine the fixed length information according to the height information of the first virtual point and the position information of the third position point corresponding to the projection of the gravity center of the cargo on the surface of the auxiliary device. The angle determining module 300 is further configured to obtain the first initial angle information of the boom at the initial height, and determine the first adjusting angle and the second adjusting angle according to the first height, the height information of the first virtual point, the first leveling function relationship, the fixed length information and the first initial angle information.

[0071] The first leveling function relationship includes: Y1-H=L A1A4 ×sin(∠B1A2A3-(α+Δα)), where Y1 is the height information of the first virtual point, H is the height information of the first height, L A1A4B1A2A3 is fixed angle information, a is first initial angle information of the arm support at the initial height, a+Δa is the first adjustment angle, and Δa is the second adjustment angle.

[0072] The angle determination module 300 is further configured to, when the first height is greater than the height information of the first virtual point, determine that the preset leveling function relationship comprises a second leveling function relationship, and determine the fixed length information according to the height information of the first virtual point and position information of a third position point at which the gravity center of the cargo is projected on the surface of the auxiliary tool. The angle determination module 300 is further configured to obtain first initial angle information of the arm support at the initial height, and determine the first adjustment angle and the second adjustment angle according to the first height, the height information of the first virtual point, the second leveling function relationship, the fixed length information, and the first initial angle information.

[0073] The second leveling function relationship comprises: H-Y1=LA1A4×sin(a+Δa-∠B1A2A3), where Y1 is the height information of the first virtual point, H is the height information of the first height, LA1A4 is the fixed length information, B1A2A3 is the fixed angle information, a is the first initial angle information of the arm support at the initial height, a+Δa is the first adjustment angle, and Δa is the second adjustment angle.

[0074] The adjustment module 400 is further configured to obtain first actual angle information of the arm support, and control the angle of the luffing cylinder to adjust the angle of the arm support according to a comparison between the first adjustment angle and the first actual angle information, so that the first actual angle information is equal to the first adjustment angle. The adjustment module 400 is further configured to obtain second initial angle information of the auxiliary tool at the initial height, and determine adjustment angle information of the auxiliary tool according to the second initial angle information and the second adjustment angle. Then, the adjustment module 400 is further configured to obtain second actual angle information of the auxiliary tool, and control the angle of the leveling cylinder to adjust the angle of the auxiliary tool according to a comparison between the adjustment angle information of the auxiliary tool and the second actual angle information, so that the second actual angle information is equal to the adjustment angle information of the auxiliary tool.

[0075] In summary, in the embodiment of the present application, the angle determination module determines the first adjustment angle of the luffing cylinder and the second adjustment angle of the leveling cylinder when the auxiliary tool is adjusted from the initial height to the first height according to the first height, the height information of the first virtual point, and the preset leveling function relationship. The adjustment module obtains the first actual angle information of the arm support and the second actual angle information of the auxiliary tool, and controls the angle of the luffing cylinder to adjust the angle of the arm support according to the first adjustment angle and the first actual angle information, and controls the angle of the leveling cylinder to adjust the angle of the auxiliary tool according to the second adjustment angle and the second actual angle information. In this way, in the entire leveling process, the operator can realize automatic leveling of the auxiliary tool by inputting the first height, which reduces the operation difficulty of leveling the auxiliary tool, improves the operation convenience, improves the work efficiency, avoids the problem that improper operation and violent operation of the operator cause serious wear of the auxiliary tool, and improves the service life of the auxiliary tool.

[0076] Embodiment Five

[0077] FIG. 8 is a structural diagram of a leveling device provided by Embodiment Five of the present application, which is intended to represent a variety of forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Leveling device can also represent a variety of forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application as described and / or claimed herein.

[0078] As shown in FIG. 8, the leveling device 10 includes at least one processor 11, and a memory, such as a Read-Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., connected to the at least one processor 11 in communication, wherein the memory stores computer programs executable by the at least one processor, and the processor 11 can perform a variety of appropriate actions and processes according to the computer programs stored in the ROM 12 or loaded from the storage unit 18 into the RAM 13. In the RAM 13, a variety of programs and data required for the operation of the leveling device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An Input / Output (I / O) interface 15 is also connected to the bus 14.

[0079] A variety of components in the leveling device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as a variety of types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the leveling device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or a variety of telecommunications networks.

[0080] The processor 11 can be a variety of general and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include a central processing unit (CPU), a graphics processing unit (GPU), a variety of specialized artificial intelligence (AI) computing chips, a variety of processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the methods and processes described above.

[0081] In some embodiments, the levelling method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the levelling device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the compensation method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured, by way of firmware or

[0082] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0083] Embodiment Six

[0084] The embodiment six of the application further provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to perform a leveling method of a telescopic forklift truck, the leveling method comprising: determining height information of a first virtual point according to a positional relationship among the boom, the chassis and the auxiliary tool; obtaining a first height of an upper surface of the auxiliary tool in a horizontal state; determining a first adjusting angle of the luffing cylinder and a second adjusting angle of the leveling cylinder when the auxiliary tool is adjusted from an initial height to the first height according to the first height, the height information of the first virtual point and a preset leveling function relationship; obtaining first actual angle information of the boom and second actual angle information of the auxiliary tool, and controlling the luffing cylinder to adjust the angle of the boom according to the first adjusting angle and the first actual angle information, and controlling the leveling cylinder to adjust the angle of the auxiliary tool according to the second adjusting angle and the second actual angle information.

[0085] The computer executable instructions of the storage medium provided by the embodiment of the application are not limited to the method operations as described above, and can also perform the related operations in the leveling method provided by any embodiment of the application.

[0086] Through the above description of the embodiments, those skilled in the art can clearly understand that the application can be realized by means of software and necessary universal hardware, or by hardware. Based on such understanding, the technical solutions of the application can essentially be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, such as a floppy disk, a ROM, a RAM, a FLASH memory (FLASH), a hard disk or an optical disk, and includes multiple instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments of the application.

[0087] In the above embodiment of the search device, the plurality of units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the names of the plurality of functional units are only for easy mutual differentiation, and do not limit the protection scope of the application.

Claims

1. A leveling method of a telescopic handler, the telescopic handler comprising a boom, a chassis and an auxiliary device, wherein the boom is provided with a luffing cylinder and a leveling cylinder, the luffing cylinder is configured to adjust an angle of the boom, and the leveling cylinder is configured to adjust an angle of the auxiliary device, the leveling method comprising: determining height information of a first virtual point according to a positional relationship among the boom, the chassis and the auxiliary device; obtaining a first height of an upper surface of the auxiliary device in a horizontal state; determining a first adjustment angle of the luffing cylinder and a second adjustment angle of the leveling cylinder when the auxiliary device is adjusted from an initial height to the first height according to the first height, the height information of the first virtual point and a preset leveling function relationship; obtaining first actual angle information of the boom and second actual angle information of the auxiliary device, and controlling the luffing cylinder to adjust the angle of the boom according to the first adjustment angle and the first actual angle information, and controlling the leveling cylinder to adjust the angle of the auxiliary device according to the second adjustment angle and the second actual angle information. The determining of the height information of the first virtual point according to the positional relationship among the boom, the chassis and the auxiliary device comprises: establishing a coordinate system of the telescopic handler; determining a first position point corresponding to a hinge point between the boom and the chassis, a second position point corresponding to a hinge point between the boom and the auxiliary device, and a third position point corresponding to a projection of a gravity center of a cargo on a surface of the auxiliary device; and determining the height information of the first virtual point according to the first position point, the second position point and the third position point, wherein a line connecting any two adjacent points among the first position point, the second position point, the third position point and the first virtual point forms a parallelogram. The determining of the first adjustment angle of the luffing cylinder and the second adjustment angle of the leveling cylinder when the auxiliary device is adjusted from the initial height to the first height according to the first height, the height information of the first virtual point and the preset leveling function relationship comprises: in response to the first height being less than or equal to the height information of the first virtual point, determining that the preset leveling function relationship comprises a first leveling function relationship; determining fixed length information according to the height information of the first virtual point and position information of the third position point corresponding to the projection of the gravity center of the cargo on the surface of the auxiliary device; obtaining first initial angle information of the boom at the initial height; and determining the first adjustment angle and the second adjustment angle according to the first height, the height information of the first virtual point, the first leveling function relationship, the fixed length information and the first initial angle information. The first virtual point is A1, the first position point corresponding to the hinge point between the boom and the chassis is A2, the second position point corresponding to the hinge point between the boom and the auxiliary device is A3, the third position point corresponding to the projection of the gravity center of the cargo on the surface of the auxiliary device is A4, and the hinge point between the leveling cylinder and the boom is B1. ​ 2. The method of leveling according to claim 1, wherein, ​ ​ ​ ​ 3. The method of leveling according to claim 1, wherein, ​ ​ ​ ​ ​ 4. The method of leveling according to claim 3, wherein, ​ The first leveling function relationship includes: Y1-H=L A1A4 wherein Y1 is height information of the first virtual point, H is height information of the first height, L is the fixed length information, ∠B1A2A3 is fixed angle information, α is first initial angle information of the arm support at the initial height, α+Δα is the first adjustment angle, and Δα is the second adjustment angle. A1A4 wherein Y1 is height information of the first virtual point, H is height information of the first height, L is the fixed length information, ∠B1A2A3 is fixed angle information, α is first initial angle information of the arm support at the initial height, α+Δα is the first adjustment angle, and Δα is the second adjustment angle.

5. The method of leveling according to claim 1, wherein, The first adjustment angle of the luffing oil cylinder and the second adjustment angle of the leveling oil cylinder when the auxiliary device is adjusted from the initial height to the first height are determined according to the first height, the height information of the first virtual point, and a preset leveling function relationship, and the method comprises the following steps: In response to the first height being greater than the height information of the first virtual point, the preset leveling function relationship comprises a second leveling function relationship; The fixed length information is determined according to the height information of the first virtual point and the position information of a third position point at which the gravity center of the cargo is projected on the surface of the auxiliary device; First initial angle information of the arm support at the initial height is obtained; The first adjustment angle and the second adjustment angle are determined according to the first height, the height information of the first virtual point, the second leveling function relationship, the fixed length information, and the first initial angle information.

6. The method of leveling according to claim 5, wherein, The first virtual point is A1, a first position point corresponding to the hinge point of the arm support and the chassis is A2, a second position point corresponding to the hinge point of the arm support and the auxiliary device is A3, the third position point at which the gravity center of the cargo is projected on the surface of the auxiliary device is A4, and the hinge point of the leveling oil cylinder and the arm support is B1; The second leveling function relationship includes: H-Y1=L A1A4 x sin (a+deltaa-∠B1A2A3) Wherein, Y1 is height information of the first virtual point, H is height information of the first height, L A1A4 is the fixed length information, ∠B1A2A3 is fixed angle information, a is first initial angle information of the arm support at the initial height, a+Δa is the first adjustment angle, and Δa is the second adjustment angle.

7. The method of leveling according to claim 1, wherein, The first actual angle information of the arm support and the second actual angle information of the auxiliary device are obtained, and the angle of the arm support is adjusted by the luffing oil cylinder according to the comparison between the first adjustment angle and the first actual angle information, and the angle of the auxiliary device is adjusted by the leveling oil cylinder according to the comparison between the second adjustment angle and the second actual angle information, and the method comprises the following steps: The first actual angle information of the arm support is obtained, and the angle of the arm support is adjusted by the luffing oil cylinder according to the comparison between the first adjustment angle and the first actual angle information, so that the first actual angle information is equal to the first adjustment angle; Second initial angle information of the auxiliary device at the initial height is obtained, and the adjustment angle information of the auxiliary device is determined according to the second initial angle information and the second adjustment angle; The second actual angle information of the auxiliary device is obtained, and the angle of the auxiliary device is adjusted by the leveling oil cylinder according to the comparison between the adjustment angle information of the auxiliary device and the second actual angle information, so that the second actual angle information is equal to the adjustment angle information of the auxiliary device.

8. A leveling device of a telescopic handler, the telescopic handler comprising a boom, a chassis and an attachment; the boom is provided with a luffing cylinder and a leveling cylinder, the luffing cylinder is configured to adjust an angle of the boom, and the leveling cylinder is configured to adjust an angle of the attachment, wherein, The leveling device comprises: A determination module is configured to determine height information of a first virtual point according to the positional relationship among the arm support, the chassis, and the auxiliary device; A first height acquisition module is configured to obtain a first height of an upper surface of the auxiliary device in a horizontal state; An angle determination module is configured to determine a first adjustment angle of a luffing oil cylinder and a second adjustment angle of a leveling oil cylinder when the auxiliary device is adjusted from an initial height to the first height according to the first height, the height information of the first virtual point, and a preset leveling function relationship. The adjusting module is configured to acquire first actual angle information of the boom and second actual angle information of the auxiliary device, and control the luffing cylinder to adjust the angle of the boom according to the first adjusting angle and the first actual angle information, and control the leveling cylinder to adjust the angle of the auxiliary device according to the second adjusting angle and the second actual angle information.

9. A leveling device, comprising: at least one processor; a storage device configured to store at least one program, when the at least one program is executed by the at least one processor, the at least one processor implements the leveling method according to any one of claims 1-7.

10. A storage medium storing a computer program, which is executed by a processor to implement the leveling method according to any one of claims 1-7.

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