CN110471462A - A kind of method for automatically leveling, system, terminal and the storage medium of multi-point support equipment - Google Patents

Abstract

Method for automatically leveling, system, terminal and the storage medium of a kind of multi-point support equipment provided herein, which comprises obtain the load value of each supporting leg of multi-point support equipment and the inclination value in each two direction of supporting leg relative level；Determine the load target value and load target zone and inclination angle target zone of each supporting leg；Judge whether the load value of each supporting leg exceeds its corresponding load target zone, if so, determining each supporting leg load compensation signal control height of landing leg lifting according to the load value of each supporting leg and its corresponding target value；Judge whether the inclination value in two direction of relative level of each supporting leg exceeds inclination angle range, if, then the movement speed of each supporting leg in two directions is determined according to each supporting leg inclination value respectively, the corresponding Inclination maneuver signal control height of landing leg lifting of each supporting leg is determined according to movement speed；The application is able to achieve the adjust automatically at load inclination angle and the adjust automatically of each supporting leg load on the basis of ensuring to level precision.

Description

Automatic leveling method, system, terminal and storage medium of multi-point supporting equipment

technical field

The present application relates to the technical field of multi-point leveling control, in particular to a method, system, terminal and storage medium for automatically adjusting the load and inclination angle of a multi-point support mechanism.

Background technique

The multi-point support leveling system is widely used in various large-scale movable equipment, such as medical monitoring platforms, special vehicles, etc., and the driving method is usually electro-hydraulic drive or electromechanical drive. In the past, equipment mostly used four-point support. As the volume and distribution range of the load increased, it was necessary to set up multiple outriggers for support and levelling. The degree of static uncertainty is high. While improving the leveling accuracy, it is required to control the load on each leg within a certain range of variation. Due to the influence of factors such as manufacturing deviation and uneven deformation (the load is flexible), there is no uniform reference plane for each support point of the multi-point support, and it is difficult to adjust the vertical displacement of each leg. The load of the outrigger and the adjustment of the inclination of the equipment.

Generally, the experience of load adjustment is: the height of the outrigger with a large load is decreased, and the height of the outrigger with a small load is increased; the experience of inclination adjustment is: assuming that the angle is higher than the reference plane, it is positive, and the outrigger in the direction of the positive angle is lowered, and the height of the outrigger in the negative direction is lowered. The outriggers rise in the angular direction. It is undoubtedly more difficult to adjust by manual control. The manual control method relies on human eye observation, judgment based on experience and the movement instructions of the outriggers, which is time-consuming and laborious, and is prone to misoperation.

Therefore, there is an urgent need for an automatic leveling method, system, terminal and storage medium for multi-point support equipment, which can simultaneously realize automatic adjustment of load inclination and load on the basis of ensuring leveling accuracy.

Contents of the invention

In view of the deficiencies in the prior art, the present application provides an automatic leveling method, system, terminal and storage medium for multi-point support equipment, which solves the problems in the prior art that manual leveling is time-consuming, labor-intensive, and prone to misoperation.

In order to solve the above technical problems, in the first aspect, the present application provides an automatic leveling method for multi-point support equipment, including:

Obtain the load value of each outrigger of the multi-point support equipment and the inclination value of each outrigger relative to the horizontal plane in two directions;

Determine the load target value, load target range and inclination angle target range of each leg;

Determine whether the load value of each leg exceeds its corresponding load target range, if so, determine the load deviation of each leg according to the load value of each leg and its corresponding target value, and determine the corresponding load compensation of each leg according to the load deviation The signal controls the height of the outriggers to rise and fall until the load value of each outrigger is within its corresponding load target range;

Determine whether the inclination value of each outrigger in two directions relative to the horizontal plane exceeds the inclination angle range, if so, determine the moving speed of each outrigger in two directions according to the inclination value of each outrigger, and determine the corresponding inclination angle of each outrigger according to the moving speed Adjust the signal to control the height of the outriggers until the inclination value of each outrigger is within the inclination target range.

Preferably, the acquisition of the load value of each leg of the multi-point support device and the inclination value of each leg relative to the two directions of the horizontal plane includes:

Obtain the load value of each leg through the pressure sensor installed on each leg;

The inclination values of each leg relative to the horizontal plane in two directions are acquired by a dual-axis inclination sensor installed on each leg.

Preferably, the determination of the load target value, load target range and inclination angle target range of each leg includes:

Determine the total load according to the load value of each leg;

Determine the load target value of each leg according to the total load and the preset load distribution coefficient of each leg;

The load target range of each leg is determined according to the load target value of each leg and a preset deviation coefficient.

Preferably, the determination of whether the load value of each leg exceeds its corresponding load target range, if so, then determine the load deviation of each leg according to the load value of each leg and its corresponding target value, and determine the load deviation of each leg according to the load deviation. The corresponding load compensation signal of the legs controls the height of the legs until the load value of each leg is within its corresponding load target range, including:

Determine whether the load value of each outrigger exceeds its corresponding load target range;

If so, the load deviation of each leg is obtained by making a difference between the load value of each leg and its corresponding target value;

converting the load deviation of each outrigger into a corresponding load compensation signal for each outrigger;

The load compensation signal is amplified and output to the circuit driver of each outrigger, and the driver controls the height of the outrigger to rise and fall until the load value of each outrigger is within its corresponding load target range.

Preferably, it is judged whether the inclination angle values of the two directions of each leg relative to the horizontal plane exceed the inclination angle range; The corresponding inclination adjustment signal of the outrigger controls the height of the outrigger until the inclination value of each outrigger is within the inclination target range, including:

Judging whether the inclination value of each outrigger relative to the two directions of the horizontal plane exceeds the inclination range;

If so, then determine the turning axes in two directions according to the inclination angle values of each leg, and then determine the distance between each leg and the two turning axes, and then calculate the distance between each supporting leg and the two turning axes according to the distance between each supporting leg and the two turning axes. speed of movement in both directions;

converting the moving speed of each leg in two directions into corresponding speed signals of each leg in two directions;

The speed signal is output to the circuit driver of each outrigger, and the driver controls the height of the outrigger to rise and fall until the inclination value of each outrigger is within the inclination target range.

The present application also provides an automatic leveling method for multi-point support equipment, including:

Obtain the load value of each outrigger of the multi-point support equipment and the inclination value of each outrigger relative to the horizontal plane in two directions;

Determine the load target value, load target range and inclination angle target range of each leg;

Determine whether the load value of each leg exceeds its corresponding load target range, if so, determine the load deviation of each leg according to the load value of each leg and its corresponding target value, and determine the corresponding load compensation of each leg according to the load deviation Signal;

Determine whether the inclination value of each outrigger in two directions relative to the horizontal plane exceeds the inclination angle range, if so, determine the moving speed of each outrigger in two directions according to the inclination value of each outrigger, and determine the corresponding inclination angle of each outrigger according to the moving speed adjust the signal;

The load compensation signal and inclination adjustment signal of each leg are superimposed to control the lifting of the outrigger until the load value and inclination value of each leg are within the corresponding load target range and inclination angle target range respectively.

Preferably, the acquisition of the load value of each leg of the multi-point support device and the inclination value of each leg relative to the two directions of the horizontal plane includes:

Obtain the load value of each leg through the pressure sensor installed on each leg;

The inclination values of each leg relative to the horizontal plane in two directions are acquired by a dual-axis inclination sensor installed on each leg.

Preferably, the determination of the load target value, load target range and inclination angle target range of each leg includes:

Determine the total load according to the load value of each leg;

Determine the load target value of each leg according to the total load and the preset load distribution coefficient of each leg;

The load target range of each leg is determined according to the load target value of each leg and a preset deviation coefficient.

Preferably, the determination of whether the load value of each leg exceeds its corresponding load target range, if so, then determine the load deviation of each leg according to the load value of each leg and its corresponding target value, and determine the load deviation of each leg according to the load deviation. The corresponding load compensation signal of the leg, including:

Determine whether the load value of each outrigger exceeds its corresponding load target range;

If so, the load deviation of each leg is obtained by making a difference between the load value of each leg and its corresponding target value;

The load deviation of each leg is converted into a corresponding load compensation signal of each leg.

Preferably, it is judged whether the inclination angle values of the two directions of each leg relative to the horizontal plane exceed the inclination angle range; Corresponding inclination adjustment signals of outriggers, including:

Judging whether the inclination value of each outrigger relative to the two directions of the horizontal plane exceeds the inclination range;

If so, then determine the turning axes in two directions according to the inclination angle values of each leg, and then determine the distance between each leg and the two turning axes, and then calculate the distance between each supporting leg and the two turning axes according to the distance between each supporting leg and the two turning axes. speed of movement in both directions;

The moving speeds of the legs in the two directions are converted into corresponding speed signals of the legs in the two directions.

Optionally, the load compensation signal and inclination adjustment signal of each leg are superimposed to control the lifting of the leg until the load value and inclination value of each leg are respectively within the corresponding load target range and inclination angle target range, including:

The amplified load compensation signal and the inclination adjustment signal are simultaneously output to each outrigger circuit driver, and the driver controls the height of the outrigger until the load value of each outrigger is within its corresponding load target range;

The speed signal is output to the circuit driver of each outrigger, and the driver controls the height of the outrigger to rise and fall, and the load value and inclination value of each outrigger are respectively within its corresponding load target range and inclination angle target range.

In a second aspect, the present application provides an automatic leveling system for multi-point support equipment, including:

An acquisition unit configured to acquire the load value of each leg of the multi-point support device and the inclination value of each leg relative to the horizontal plane in two directions;

A determining unit configured to determine a target load value, a target load range, and an inclination angle target range of each leg;

A load adjustment unit, the load adjustment unit is configured to determine whether the load value of each leg exceeds its corresponding load target range, and if so, determine the load deviation of each leg according to the load value of each leg and its corresponding target value , according to the load deviation, determine the corresponding load compensation signal of each leg to control the height of the leg until the load value of each leg is within its corresponding load target range;

An inclination adjustment unit, the inclination adjustment unit is configured to determine whether the inclination values of each leg in two directions relative to the horizontal plane exceed the inclination range, and if so, determine the movement of each leg in two directions according to the inclination value of each leg Speed, according to the moving speed, determine the corresponding inclination adjustment signal of each outrigger to control the height of the outrigger until the inclination value of each outrigger is within the inclination target range.

Preferably, the acquisition unit is specifically used for:

Obtain the load value of each leg through the pressure sensor installed on each leg;

The inclination values of each leg relative to the horizontal plane in two directions are acquired by a dual-axis inclination sensor installed on each leg.

Preferably, the determining unit is specifically used for:

Determine the total load according to the load value of each leg;

Determine the load target value of each leg according to the total load and the preset load distribution coefficient of each leg;

The load target range of each leg is determined according to the load target value of each leg and a preset deviation coefficient.

Preferably, the load adjustment unit is specifically used for:

Determine whether the load value of each outrigger exceeds its corresponding load target range;

If so, the load deviation of each leg is obtained by making a difference between the load value of each leg and its corresponding target value;

converting the load deviation of each outrigger into a corresponding load compensation signal for each outrigger;

The load compensation signal is amplified and output to the circuit driver of each outrigger, and the driver controls the height of the outrigger to rise and fall until the load value of each outrigger is within its corresponding load target range.

Preferably, the inclination adjustment unit is specifically used for:

Judging whether the inclination value of each outrigger relative to the two directions of the horizontal plane exceeds the inclination range;

If so, then determine the turning axes in two directions according to the inclination angle values of each leg, and then determine the distance between each leg and the two turning axes, and then calculate the distance between each supporting leg and the two turning axes according to the distance between each supporting leg and the two turning axes. speed of movement in both directions;

converting the moving speed of each leg in two directions into corresponding speed signals of each leg in two directions;

The speed signal is output to the circuit driver of each outrigger, and the driver controls the height of the outrigger to rise and fall until the inclination angle of each outrigger is within the inclination angle target range.

Correspondingly, the present application also provides an automatic leveling system for multi-point support equipment, including:

An acquisition unit configured to acquire the load value of each leg of the multi-point support device and the inclination value of each leg relative to the horizontal plane in two directions;

A determining unit configured to determine a target load value, a target load range, and an inclination angle target range of each leg;

A load signal acquisition unit configured to determine whether the load value of each leg exceeds its corresponding load target range, and if so, determine each leg according to the load value of each leg and its corresponding target value Load deviation, determine the corresponding load compensation signal of each leg according to the load deviation;

An inclination signal acquisition unit, the inclination signal acquisition unit is configured to determine whether the inclination angle values of each leg in two directions relative to the horizontal plane exceed the inclination angle range, and if so, determine the inclination angle of each leg in two directions according to the inclination value of each leg. According to the moving speed, the corresponding inclination adjustment signal of each leg is determined according to the moving speed;

A synchronous adjustment unit, the synchronous adjustment unit is configured to superimpose the load compensation signal and the inclination adjustment signal of each leg to control the lifting of the legs until the load value and inclination value of each leg are within the corresponding load target range and Inclination target range.

Preferably, the load signal acquisition unit is specifically used for:

Determine whether the load value of each outrigger exceeds its corresponding load target range;

If so, the load deviation of each leg is obtained by making a difference between the load value of each leg and its corresponding target value;

The load deviation of each leg is converted into a corresponding load compensation signal of each leg.

Preferably, the inclination signal acquisition unit is specifically used for:

Judging whether the inclination value of each outrigger relative to the two directions of the horizontal plane exceeds the inclination range;

If so, then determine the turning axes in two directions according to the inclination angle values of each leg, and then determine the distance between each leg and the two turning axes, and then calculate the distance between each supporting leg and the two turning axes according to the distance between each supporting leg and the two turning axes. speed of movement in both directions;

The moving speeds of the legs in the two directions are converted into corresponding speed signals of the legs in the two directions.

Preferably, the synchronization adjustment unit is specifically used for:

The amplified load compensation signal and the inclination adjustment signal are simultaneously output to each outrigger circuit driver, and the driver controls the height of the outrigger until the load value of each outrigger is within its corresponding load target range;

The speed signal is output to the circuit driver of each outrigger, and the driver controls the height of the outrigger to rise and fall, and the load value and inclination value of each outrigger are respectively within its corresponding load target range and inclination angle target range.

In a third aspect, the present application provides a leveling terminal, including:

memory for storing computer programs;

The processor is configured to implement the automatic leveling method for multi-point support equipment when executing the computer program.

In a fourth aspect, the present application provides a computer storage medium, where instructions are stored in the computer-readable storage medium, and when the instructions are run on a computer, the computer executes the methods described in the above aspects.

Compared with the prior art, the present application has the following beneficial effects:

The automatic adjustment strategy of the multi-point support equipment proposed in this application can realize the automatic adjustment of the load inclination and the automatic adjustment of the load of each leg on the basis of ensuring the leveling accuracy. Compared with the manual adjustment method, it has the following advantages:

1. Accurate and quantitative control of the controlled quantity can be realized by calculating the deviation, and the control target can be achieved more quickly and efficiently, increasing the reliability of the system.

2. The controller has a parallel data processing method, which can adjust the movements of multiple outriggers at the same time, avoiding manual adjustments one by one and repeated adjustments.

3. Automatic control can be used for superposition processing of signals, and simultaneous adjustment of inclination angle and load can be realized.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present application, and those skilled in the art can obtain other drawings according to the provided drawings without any creative work.

Fig. 1 is a schematic diagram of the horizontal distribution of the legs of a multi-point support device provided by the embodiment of the present application;

Fig. 2 is a flowchart of an automatic leveling method for a multi-point support device provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of a load automatic adjustment control provided by the embodiment of the present application;

Fig. 4 is a schematic diagram of an automatic adjustment control of inclination angle provided by the embodiment of the present application;

Fig. 5 is a flow chart of another automatic leveling method for multi-point support equipment provided by the embodiment of the present application;

Fig. 6 is a schematic diagram of a simultaneous automatic adjustment control of inclination angle and load provided by the embodiment of the present application;

Fig. 7 is a schematic structural diagram of an automatic leveling system for multi-point support equipment provided by an embodiment of the present application;

Fig. 8 is a structural schematic diagram of another automatic leveling system for multi-point support equipment provided by the embodiment of the present application;

FIG. 9 is a schematic structural diagram of a terminal provided by an embodiment of the present application.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

It should be noted that the multi-point support device usually has a plurality of legs and the legs are usually symmetrically distributed, as shown in Figure 1, and Figure 2 shows the horizontal plane of each leg of a multi-point support device provided by the embodiment of the present application. Schematic diagram of the distribution, with the center of symmetry of the 12 legs as the center, a coordinate system is established, the X-axis and the Y-axis are perpendicular to each other, and the distance from each leg to the X-axis is l _i (i=1, 2, ... 12), and the distance The distances on the Y axis are h _i (i=1, 2, ... 12), and the positions of the legs can be determined by their coordinates (l _i , h _i ).

Please refer to FIG. 2. FIG. 2 is a flow chart of an automatic leveling method for a multi-point support device provided in an embodiment of the present application. The method 200 includes:

S201: Obtain the load value of each outrigger of the multi-point support equipment and the inclination value of each outrigger relative to the horizontal plane in two directions;

S202: Determine the load target value, load target range, and inclination angle target range of each leg;

S203: Determine whether the load value of each outrigger exceeds its corresponding load target range, if so, determine the load deviation of each outrigger according to the load value of each outrigger and its corresponding target value, and determine the corresponding load deviation of each outrigger according to the load deviation The load compensation signal controls the height of the outriggers up and down until the load value of each outrigger is within its corresponding load target range;

S204: Determine whether the inclination values of the two directions of each leg relative to the horizontal plane exceed the range of the inclination angle, if so, determine the moving speed of each leg in the two directions according to the inclination value of each leg, and determine the corresponding The inclination adjustment signal controls the height of the outriggers up and down until the inclination value of each outrigger is within the inclination target range.

It should be noted that the height adjustment of the outriggers of the multi-point support equipment is divided into two aspects: load adjustment and inclination adjustment. Usually, the load adjustment is performed first, and then the inclination adjustment; the simultaneous adjustment of inclination and load can also be realized. This embodiment provides a leveling method in which the load is adjusted first and then the inclination is adjusted.

Based on the above-mentioned embodiment, as described in a preferred embodiment, the step S201 of obtaining the load value of each leg of the multi-point support device and the inclination value of each leg relative to the horizontal plane in two directions includes:

Obtain the load value of each leg through the pressure sensor installed on each leg;

The inclination values of each leg relative to the horizontal plane in two directions are acquired by a dual-axis inclination sensor installed on each leg.

Specifically, the load value F _i of each leg is obtained through the pressure sensor installed on each leg, and the inclination angle of each leg relative to the horizontal plane X-axis and Y-axis is obtained through a dual-axis inclination sensor installed on each leg Value (m _i , n _i ), where _i is the number of legs of the multi-point support equipment.

Based on the above embodiment, as a preferred embodiment, the step S202 determines the load target value, load target range and inclination angle target range of each leg, including:

Determine the total load according to the load value of each leg;

Determine the load target value of each leg according to the total load and the preset load distribution coefficient of each leg;

The load target range of each leg is determined according to the load target value of each leg and a preset deviation coefficient.

Specifically, take the twelve-point leveling system in Figure 1 as an example. The loads of all outriggers measured by the force sensor are added to obtain the total load G. The load distribution coefficient of the outrigger is α _i , then the load target value of the leg is G _i =α _i G , for example, when the set deviation range is ±σ%, the corresponding load target range is increased on the basis of the target value The deviation range is obtained, that is, the load target range is [G _i -σ%G _i , G _i +σ%G _i ]. In addition, an inclination target range [M _i , N _i ] is set.

Based on the above embodiment, as a preferred embodiment, the step S203 judges whether the load value of each leg exceeds its corresponding load target range; Leg load deviation, according to the load deviation, determine the corresponding load compensation signal of each leg to control the height of the legs until the load value of each leg is within its corresponding load target range, including:

Determine whether the load value of each outrigger exceeds its corresponding load target range;

If so, the load deviation of each leg is obtained by making a difference between the load value of each leg and its corresponding target value;

converting the load deviation of each outrigger into a corresponding load compensation signal for each outrigger;

The load compensation signal is amplified and output to the circuit driver of each outrigger, and the driver controls the height of the outrigger to rise and fall until the load value of each outrigger is within its corresponding load target range.

Specifically, as shown in Figure 3, Figure 3 is a schematic diagram of a load automatic adjustment control provided by the embodiment of the present application. It can be seen from Figure 3 that each leg has an independent load control circuit, which is monitored in real time by a force sensor The load value of each outrigger, if the load of a certain outrigger exceeds the range, compare the current load value measured by the force sensor with the ideal load value and give a load compensation signal to control the lifting of the outrigger until the load is within the target range . This part of the model is established using the tools in the signal library in AMESim. The corresponding load automatic adjustment method is as follows:

First judge whether the load target value of leg _i is beyond its corresponding load target range [G _i -σ%G _i , G _i +σ%G _i ];

The outriggers whose load exceeds the target range need to be adjusted for load. The load F _i of this outrigger is different from the target value G _i to obtain the load deviation λ _i =G _i -F _i , and the load deviation λ _i is converted into the corresponding load compensation signal;

Finally, the load compensation signal λ _i is multiplied by an appropriate amplification factor k, and output to the driver of each outrigger circuit, the driver controls the actuator to manipulate the transmission mechanism, and the movement of the transmission mechanism drives the height of the outrigger to rise and fall to adjust the load of the outrigger until each The load value F _i of the outrigger is within its corresponding load target range [G _i -σ%G _i , G _i +σ%G _i ].

Based on the above-mentioned embodiment, as a preferred embodiment, the step S204 judges whether the inclination angle values of the two directions of each leg relative to the horizontal plane exceed the range of the inclination angle; According to the moving speed above, determine the corresponding inclination adjustment signal of each outrigger according to the moving speed to control the height of the outrigger until the inclination value of each outrigger is within the inclination target range, including:

Judging whether the inclination value of each outrigger relative to the two directions of the horizontal plane exceeds the inclination range;

If so, then determine the turning axes in two directions according to the inclination angle values of each leg, and then determine the distance between each leg and the two turning axes, and then calculate the distance between each supporting leg and the two turning axes according to the distance between each supporting leg and the two turning axes. speed of movement in both directions;

converting the moving speed of each leg in two directions into corresponding speed signals of each leg in two directions;

The speed signal is output to the circuit driver of each outrigger, and the driver controls the height of the outrigger to rise and fall until the inclination value of each outrigger is within the inclination target range.

Specifically, as shown in Figure 4, Figure 4 is a schematic diagram of an automatic tilt adjustment control provided by the embodiment of the present application; it can be seen from Figure 4 that each leg has an independent tilt control loop, and the dual-axis tilt sensor Real-time monitoring of the inclination angle of each outrigger relative to the X-axis and Y-axis directions, if the inclination angle of the outrigger is out of range, the current inclination angle relative to the X-axis and Y-axis directions measured by the dual-axis inclination sensor is determined to determine the The direction and position of the leg movement and the inclination adjustment signal are given to control the lifting of the outrigger until the load is within the target range. This part of the model is established using the tools in the signal library in AMESim.

Since the load inclination includes two components in X and Y directions, it needs to be adjusted separately in two directions. Taking the adjustment of the inclination in the X direction as an example to illustrate, when adjusting the angle of the outriggers, in order to make all the supporting points of the outriggers turn over At the same angle, the lifting displacement of each leg should be proportional to its distance from the turning axis, and correspondingly, the lifting speed of each leg should also be proportional to its distance from the turning axis. Therefore, the corresponding inclination automatic adjustment method is as follows:

First determine whether the inclination value (m _i , n _i ) of the i leg in the X-axis and Y-axis directions exceeds its corresponding inclination target range [M _i , N _i ];

When the inclination value of the outrigger in the X-axis direction exceeds the target range, according to the inclination value of the outrigger (m _i , n _i ), respectively determine the turning axes X' axis and Y' axis in the X and Y directions. The coordinate values of the legs (l _i , h _i ) and then calculate the distances of each leg from the flip axis X' axis and Y' axis respectively. When adjusting the inclination angle in the X direction, the displacement y _i of each leg should satisfy y ₁ : y ₂ : ... : y ₁₂ = l ₁ : l ₂ : ... : l ₁₂ , the lifting speed R _i of each leg should satisfy R ₁ : R ₂ : ...: R ₁₂ = l ₁ : l ₂ : ...: l ₁₂ , calculate the speed signal R _i of each leg according to the proportional relationship; the adjustment in the Y direction is similar to that in the X direction;

Finally, the speed signal R _i of each outrigger is output to the driver of each outrigger circuit, the driver controls the actuator to manipulate the transmission mechanism, and the movement of the transmission mechanism drives the height of the outrigger to adjust the outrigger load until each outrigger is in the X-axis, The inclination values (m _i , _ni ) in the two directions of the Y axis are within the corresponding inclination target range [M _i , N _i ].

Please refer to FIG. 5. FIG. 5 is a flow chart of another automatic leveling method for multi-point support equipment provided by the embodiment of the present application. The method 500 includes:

S501: Obtain the load value of each outrigger of the multi-point support equipment and the inclination value of each outrigger relative to the horizontal plane in two directions;

S502: Determine the load target value, load target range and inclination angle target range of each leg;

S503: Determine whether the load value of each outrigger exceeds its corresponding load target range, if so, determine the load deviation of each outrigger according to the load value of each outrigger and its corresponding target value, and determine the corresponding load deviation of each outrigger according to the load deviation load compensation signal;

S504: Determine whether the inclination angle values of the two directions of each leg relative to the horizontal plane exceed the range of the inclination angle. If so, determine the moving speed of each leg in the two directions according to the inclination value of each leg, and determine the corresponding position of each leg according to the moving speed. The inclination adjustment signal;

S505: superimpose the load compensation signal and the inclination adjustment signal of each leg to control the lifting of the leg until the load value and inclination value of each leg are within the corresponding load target range and inclination angle target range respectively.

It should be noted that the height adjustment of the outriggers of the multi-point support equipment is divided into two aspects: load adjustment and inclination adjustment, and this embodiment provides a leveling method of simultaneously adjusting the inclination angle and the load.

Based on the above embodiment, as a preferred embodiment, the step 502 judges whether the load value of each leg exceeds its corresponding load target range, and if so, determines the load value of each leg according to the load value of each leg and its corresponding target value. Leg load deviation, determine the corresponding load compensation signal of each leg according to the load deviation, including:

Determine whether the load value of each outrigger exceeds its corresponding load target range;

If so, the load deviation of each leg is obtained by making a difference between the load value of each leg and its corresponding target value;

The load deviation of each leg is converted into a corresponding load compensation signal of each leg.

Based on the above-mentioned embodiment, as a preferred embodiment, the step 503 judges whether the inclination angle values of the two directions of each leg relative to the horizontal plane exceed the range of the inclination angle; According to the moving speed above, the corresponding inclination adjustment signal of each leg is determined according to the moving speed, including:

Judging whether the inclination value of each outrigger relative to the two directions of the horizontal plane exceeds the inclination range;

If so, then determine the turning axes in two directions according to the inclination angle values of each leg, and then determine the distance between each leg and the two turning axes, and then calculate the distance between each supporting leg and the two turning axes according to the distance between each supporting leg and the two turning axes. speed of movement in both directions;

The moving speeds of the legs in the two directions are converted into corresponding speed signals of the legs in the two directions.

Based on the above-mentioned embodiment, as a preferred embodiment, the step 504 superimposes the load compensation signal and the inclination adjustment signal of each leg to control the lifting of the leg until the load value and inclination value of each leg are at their corresponding load Target range and inclination target range, including:

The amplified load compensation signal and the inclination adjustment signal are simultaneously output to each outrigger circuit driver, and the driver controls the height of the outrigger until the load value of each outrigger is within its corresponding load target range;

The speed signal is output to the circuit driver of each outrigger, and the driver controls the height of the outrigger to rise and fall, and the load value and inclination value of each outrigger are respectively within its corresponding load target range and inclination angle target range.

Specifically, as shown in Figure 6, Figure 6 is a schematic diagram of a simultaneous automatic adjustment control of inclination and load provided by the embodiment of the present application; it can be seen from Figure 6 that each leg has an independent load and inclination control loop, The load of each leg and its inclination relative to the X-axis and Y-axis are monitored in real time through the force sensor and the dual-axis inclination sensor. If the inclination angle of the outrigger or the load exceeds the range, the outrigger will be given The inclination adjustment signal, the load compensation signal is given to the outrigger exceeding the load requirement, and the load compensation signal is given to the outrigger exceeding the load requirement, and the signals of both parties are simultaneously sent to the driver to control the lifting of the outrigger until the inclination angle and the load reach the target Within the range, the control effect is the comprehensive effect formed by the superposition of the two signals, which makes the system adjust the load while inverting the inclination angle, further reducing the adjustment time. This part of the model is established using the tools in the signal library in AMESim.

Fig. 7 is a schematic structural diagram of an automatic leveling system for multi-point support equipment provided by an embodiment of the present application. The system 700 includes:

An acquisition unit 701, the acquisition unit 701 is configured to acquire the load value of each leg of the multi-point support device and the inclination value of each leg relative to the horizontal plane in two directions;

A determination unit 702 configured to determine a load target value, a load target range, and an inclination angle target range of each leg;

A load adjustment unit 703, the load adjustment unit 703 is configured to determine whether the load value of each leg exceeds its corresponding load target range, and if so, determine the load value of each leg according to the load value of each leg and its corresponding target value Load deviation, according to the load deviation, determine the corresponding load compensation signal of each leg to control the height of the legs until the load value of each leg is within its corresponding load target range;

An inclination adjustment unit 704, the inclination adjustment unit 704 is configured to determine whether the inclination values of each leg in two directions relative to the horizontal plane exceed the range of inclination angles; According to the moving speed, the corresponding inclination adjustment signal of each leg is determined according to the moving speed to control the height of the legs until the inclination value of each leg is within the target range of the inclination angle.

Based on the above embodiments, as a preferred embodiment, the acquiring unit 701 is specifically configured to:

Obtain the load value of each leg through the pressure sensor installed on each leg;

The inclination values of each leg relative to the horizontal plane in two directions are acquired by a dual-axis inclination sensor installed on each leg.

Based on the above embodiments, as a preferred embodiment, the determining unit 702 is specifically configured to:

Determine the total load according to the load value of each leg;

Determine the load target value of each leg according to the total load and the preset load distribution coefficient of each leg;

The load target range of each leg is determined according to the load target value of each leg and a preset deviation coefficient.

Based on the above embodiment, as a preferred embodiment, the load adjustment unit 703 is specifically used for:

Determine whether the load value of each outrigger exceeds its corresponding load target range;

If so, the load deviation of each leg is obtained by making a difference between the load value of each leg and its corresponding target value;

converting the load deviation of each outrigger into a corresponding load compensation signal for each outrigger;

The load compensation signal is amplified and output to the circuit driver of each outrigger, and the driver controls the height of the outrigger to rise and fall until the load value of each outrigger is within its corresponding load target range.

Based on the above embodiments, as a preferred embodiment, the inclination adjustment unit 704 is specifically used for:

Judging whether the inclination value of each outrigger relative to the two directions of the horizontal plane exceeds the inclination range;

If so, then determine the turning axes in two directions according to the inclination angle values of each leg, and then determine the distance between each leg and the two turning axes, and then calculate the distance between each supporting leg and the two turning axes according to the distance between each supporting leg and the two turning axes. speed of movement in both directions;

converting the moving speed of each leg in two directions into corresponding speed signals of each leg in two directions;

The speed signal is output to the circuit driver of each outrigger, and the driver controls the height of the outrigger to rise and fall until the inclination value of each outrigger is within the inclination target range.

Fig. 8 is a schematic structural diagram of another automatic leveling system for multi-point support equipment provided by the embodiment of the present application. The system 800 includes:

An acquisition unit 801 configured to acquire the load value of each leg of the multi-point support device and the inclination value of each leg relative to the horizontal plane in two directions;

A determination unit 802 configured to determine a load target value, a load target range, and an inclination angle target range of each leg;

A load signal acquisition unit 803, the load signal acquisition unit 803 is configured to determine whether the load value of each leg exceeds its corresponding load target range, and if so, determine each leg according to the load value of each leg and its corresponding target value. Outrigger load deviation, determine the corresponding load compensation signal of each outrigger according to the load deviation;

An inclination signal acquisition unit 804, the inclination signal acquisition unit 804 is configured to determine whether the inclination value of each leg in two directions relative to the horizontal plane exceeds the inclination range, and if so, determine the inclination angle of each leg in two directions according to the inclination value of each leg. According to the moving speed in the direction, the corresponding inclination adjustment signal of each leg is determined according to the moving speed;

A synchronous adjustment unit 805, the synchronous adjustment unit 805 is configured to superimpose the load compensation signal and the inclination adjustment signal of each leg to control the lifting of the legs until the load value and inclination value of each leg are within their corresponding load target Range and inclination target range.

Based on the above embodiments, as a preferred embodiment, the load signal acquisition unit 803 is specifically configured to:

Determine whether the load value of each outrigger exceeds its corresponding load target range;

If so, the load deviation of each leg is obtained by making a difference between the load value of each leg and its corresponding target value;

The load deviation of each leg is converted into a corresponding load compensation signal of each leg.

Based on the above embodiments, as a preferred embodiment, the inclination signal acquisition unit 804 is specifically configured to:

Judging whether the inclination value of each outrigger relative to the two directions of the horizontal plane exceeds the inclination range;

If so, then determine the turning axes in two directions according to the inclination angle values of each leg, and then determine the distance between each leg and the two turning axes, and then calculate the distance between each supporting leg and the two turning axes according to the distance between each supporting leg and the two turning axes. speed of movement in both directions;

The moving speeds of the legs in the two directions are converted into corresponding speed signals of the legs in the two directions.

Based on the above embodiments, as a preferred embodiment, the synchronization adjustment unit 805 is specifically configured to:

The amplified load compensation signal and the inclination adjustment signal are simultaneously output to each outrigger circuit driver, and the driver controls the height of the outrigger until the load value of each outrigger is within its corresponding load target range;

The speed signal is output to the circuit driver of each outrigger, and the driver controls the height of the outrigger to rise and fall, and the load value and inclination value of each outrigger are respectively within its corresponding load target range and inclination angle target range.

Please refer to FIG. 9 . FIG. 9 is a schematic structural diagram of a terminal 900 provided in an embodiment of the present application. The terminal system 300 can be used to implement the method for automatically leveling a multi-point support device provided in an embodiment of the present invention.

Wherein, the terminal system 900 may include: a processor 901 , a memory 902 and a communication unit 903 . These components communicate through one or more buses. Those skilled in the art can understand that the structure of the server shown in the figure does not constitute a limitation to the present invention. It can be a bus structure, a star structure, or a More or fewer components than shown, or combinations of certain components, or different arrangements of components may be included.

Wherein, the memory 902 can be used to store the execution instructions of the processor 901, and the memory 902 can be realized by any type of volatile or non-volatile storage terminal or their combination, such as static random access memory (SRAM), electronic Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic Disk or Optical Disk . When the execution instructions in the memory 902 are executed by the processor 901, the terminal 900 is enabled to perform some or all of the steps in the following above-mentioned method embodiments.

The processor 901 is the control center of the storage terminal, and uses various interfaces and lines to connect various parts of the entire electronic terminal, by running or executing software programs and/or modules stored in the memory 902, and calling data stored in the memory, To perform various functions of the electronic terminal and/or process data. The processor may be composed of an integrated circuit (Integrated Circuit, IC for short), for example, may be composed of a single packaged IC, or may be composed of multiple packaged ICs connected with the same function or different functions. For example, the processor 901 may only include a central processing unit (Central Processing Unit, CPU for short). In the embodiments of the present invention, the CPU may be a single computing core, or may include multiple computing cores.

The communication unit 903 is configured to establish a communication channel, so that the storage terminal can communicate with other terminals. Receive user data sent by other terminals or send user data to other terminals.

The present application also provides a computer storage medium, wherein the computer storage medium may store a program, and the program may include part or all of the steps in the various embodiments provided by the present invention when executed. The storage medium may be a magnetic disk, an optical disk, a read-only memory (English: read-only memory, ROM for short), or a random access memory (English: random access memory, RAM for short), and the like.

The automatic adjustment strategy of the multi-point support equipment proposed in this application can realize the automatic adjustment of the load inclination and the automatic adjustment of the load of each leg on the basis of ensuring the leveling accuracy. Compared with the manual adjustment method, it has the following advantages:

1. Accurate and quantitative control of the controlled quantity can be realized by calculating the deviation, and the control target can be achieved more quickly and efficiently, increasing the reliability of the system.

2. The controller has a parallel data processing method, which can adjust the movements of multiple outriggers at the same time, avoiding manual adjustments one by one and repeated adjustments.

3. Automatic control can be used for superposition processing of signals, and simultaneous adjustment of inclination angle and load can be realized.

Each embodiment in the description is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other. As for the system provided in the embodiment, since it corresponds to the method provided in the embodiment, the description is relatively simple, and for relevant details, please refer to the description of the method part.

In this paper, specific examples are used to illustrate the principles and implementation methods of the present application, and the descriptions of the above embodiments are only used to help understand the methods and core ideas of the present application. It should be pointed out that those skilled in the art can make some improvements and modifications to the application without departing from the principles of the application, and these improvements and modifications also fall within the protection scope of the claims of the application.

It should also be noted that in this specification, relative terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations There is no such actual relationship or order between the operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

Claims (10)

1. a kind of method for automatically leveling of multi-point support equipment characterized by comprising

Obtain the load value of each supporting leg of multi-point support equipment and the inclination value in each two direction of supporting leg relative level；

Determine the load target value and load target zone and inclination angle target zone of each supporting leg；

Judge whether the load value of each supporting leg exceeds its corresponding load target zone, if so, according to the load value of each supporting leg And its corresponding target value determines each supporting leg load deflections, determines the corresponding load compensation signal control of each supporting leg according to load deflections Height of landing leg lifting processed, until the load value of each supporting leg is in its corresponding load target zone；

Judge whether the inclination value in two direction of relative level of each supporting leg exceeds inclination angle range, if so, inclining according to each supporting leg Angle value determines the movement speed of each supporting leg in two directions respectively, determines the corresponding Inclination maneuver of each supporting leg according to movement speed Signal controls height of landing leg lifting, until the inclination value of each supporting leg is in the target zone of inclination angle.

2. a kind of method for automatically leveling of multi-point support equipment characterized by comprising

Obtain the load value of each supporting leg of multi-point support equipment and the inclination value in each two direction of supporting leg relative level；

Determine the load target value and load target zone and inclination angle target zone of each supporting leg；

Judge whether the load value of each supporting leg exceeds its corresponding load target zone, if so, according to the load value of each supporting leg And its corresponding target value determines each supporting leg load deflections, determines the corresponding load compensation signal of each supporting leg according to load deflections；

Judge whether the inclination value in two direction of relative level of each supporting leg exceeds inclination angle range, if so, inclining according to each supporting leg Angle value determines the movement speed of each supporting leg in two directions respectively, determines the corresponding Inclination maneuver of each supporting leg according to movement speed Signal；

The load compensation signal of each supporting leg and Inclination maneuver signal are overlapped control supporting leg lifting, until the load of each supporting leg Value is with inclination value respectively in its corresponding load target zone and inclination angle target zone.

3. the method for automatically leveling of multi-point support equipment according to claim 1 or 2, which is characterized in that the acquisition is more The load value of point each supporting leg of support equipment and the inclination value in each two direction of supporting leg relative level, comprising:

The load value of each supporting leg is obtained by the pressure sensor being installed on each supporting leg；

The inclination value in each two direction of supporting leg relative level is obtained by the double-shaft tilt angle sensor being installed on each supporting leg.

4. the method for automatically leveling of multi-point support equipment according to claim 1 or 2, which is characterized in that the determination is each The load target value and load target zone and inclination angle target zone of supporting leg, comprising:

Full payload is determined according to the load value of each supporting leg；

The load target value of each supporting leg is determined according to the preset weight distribution factor of full payload and each supporting leg；

The load target zone of each supporting leg is determined according to the load target value of each supporting leg and preset deviation factor.

5. the method for automatically leveling of multi-point support equipment according to claim 1, which is characterized in that each supporting leg of judgement Load value whether exceed its corresponding load target zone, if so, according to the load value of each supporting leg and its corresponding target Value determines each supporting leg load deflections, determines that the corresponding load compensation signal of each supporting leg controls height of landing leg liter according to load deflections Drop, until the load value of each supporting leg is in its corresponding load target zone, comprising:

Judge whether the load value of each supporting leg exceeds its corresponding load target zone；

If so, being made the difference to obtain each supporting leg load deflections according to the corresponding target value of the load value of each supporting leg；

The corresponding load compensation signal of each supporting leg is converted by each supporting leg load deflections；

By load compensation signal amplification output to each supporting leg circuit driver, driver control height of landing leg is gone up and down, until The load value of each supporting leg is in its corresponding load target zone.

6. the method for automatically leveling of multi-point support equipment according to claim 1, which is characterized in that each supporting leg of judgement The inclination value in two direction of relative level whether exceed inclination angle range, if so, being determined respectively according to each supporting leg inclination value each The movement speed of supporting leg in two directions determines that the corresponding Inclination maneuver signal control supporting leg of each supporting leg is high according to movement speed Degree lifting, until the inclination value of each supporting leg is in the target zone of inclination angle, comprising:

Judge whether the inclination value in two direction of relative level of each supporting leg exceeds inclination angle range；

If so, determining that both direction overturns axis respectively according to each supporting leg inclination value, and then determines each supporting leg distance two and turn over The distance of shaft axis, the distance that overturns axis further according to each supporting leg distance two calculate each supporting leg in both direction Movement speed；

Each supporting leg is converted in the corresponding speed signal of both direction in the movement speed of both direction by each supporting leg；

The speed signal is exported to each supporting leg circuit driver, the lifting of driver control height of landing leg, until each supporting leg Inclination value is in the target zone of inclination angle.

7. a kind of automatic horizontal control system of multi-point support equipment characterized by comprising

Acquiring unit, the acquiring unit are configured to the load value for obtaining each supporting leg of multi-point support equipment and each supporting leg with respect to water The inclination value in two direction of plane；

Determination unit, the determination unit are configured to determine the load target value of each supporting leg and load target zone and inclination angle mesh Mark range；

Load adjustment unit, the load adjustment unit are configured to judge whether the load value of each supporting leg exceeds its corresponding load Lotus target zone, if so, each supporting leg load deflections are determined according to the load value of each supporting leg and its corresponding target value, according to load Lotus deviation determines the corresponding load compensation signal control height of landing leg lifting of each supporting leg, until the load value of each supporting leg is in its correspondence Load target zone in；

Inclination maneuver unit, the Inclination maneuver unit are configured to judge the inclination value in two direction of relative level of each supporting leg Whether inclination angle range is exceeded, if so, the movement speed of each supporting leg in two directions is determined according to each supporting leg inclination value respectively, The corresponding Inclination maneuver signal control height of landing leg lifting of each supporting leg is determined according to movement speed, until the inclination value of each supporting leg exists In the target zone of inclination angle.

8. a kind of automatic horizontal control system of multi-point support equipment characterized by comprising

Acquiring unit, the acquiring unit are configured to the load value for obtaining each supporting leg of multi-point support equipment and each supporting leg with respect to water The inclination value in two direction of plane；

Determination unit, the determination unit are configured to determine the load target value of each supporting leg and load target zone and inclination angle mesh Mark range；

Load signal acquiring unit, the load signal acquiring unit are configured to judge whether the load value of each supporting leg exceeds it Corresponding load target zone, if so, determining that each supporting leg load is inclined according to the load value of each supporting leg and its corresponding target value Difference determines the corresponding load compensation signal of each supporting leg according to load deflections；

Dip angle signal acquiring unit, the dip angle signal acquiring unit are configured to judge two direction of relative level of each supporting leg Inclination value whether exceed inclination angle range, if so, determining each supporting leg in two directions respectively according to each supporting leg inclination value Movement speed determines the corresponding Inclination maneuver signal of each supporting leg according to movement speed；

Synchronous adjustment unit, the synchronous adjustment unit are configured to the load compensation signal and Inclination maneuver signal of each supporting leg It is overlapped control supporting leg lifting, until the load value of each supporting leg and inclination value in its corresponding load target zone and are inclined respectively In the target zone of angle.

9. a kind of terminal characterized by comprising

Processor；

The memory executed instruction for storage processor；

Wherein, the processor is configured to perform claim requires the described in any item methods of 1-6.

10. a kind of computer readable storage medium for being stored with computer program, which is characterized in that the program is executed by processor Shi Shixian method for example of any of claims 1-6.