阅读说明：本技术 一种基于二维二分法策略的载车调平方法及装置 (Vehicle loading leveling method and device based on two-dimensional bisection strategy ) 是由 何治斌 王军 秦亚利 王燕 李林萍 于 2019-11-05 设计创作，主要内容包括：本发明提供了一种基于二维二分法策略的载车调平方法及装置,比较载车的左右倾角α和前后倾角β,选择倾角大的方向先进行二分调平,调整各支腿的高度,待调整的倾角减少一半时停止；然后重新比较α、β值,选择倾角大的方向进行二分调平,反复循环直至调平完成。本发明的调平系统更加简单,调平过程更加可靠,操作更加方便,可应用于不同类别液压、电动调平系统中,配置简单,适应面广。(The invention provides a vehicle-mounted leveling method and device based on a two-dimensional bisection strategy, wherein a left-right inclination angle alpha and a front-back inclination angle beta of a vehicle are compared, bisection leveling is firstly carried out in the direction with a large inclination angle, the height of each supporting leg is adjusted, and the vehicle-mounted leveling method and device stops when the inclination angle to be adjusted is reduced by half; then comparing the alpha value and the beta value again, selecting the direction with large inclination angle to carry out binary leveling, and repeatedly circulating until the leveling is finished. The leveling system is simpler, the leveling process is more reliable, the operation is more convenient, the leveling system can be applied to hydraulic and electric leveling systems of different types, the configuration is simple, and the application range is wide.)

1. A vehicle loading leveling method based on a two-dimensional bisection strategy is characterized by comprising the following steps: lifting out the supporting legs of the vehicle, comparing a left and right inclination angle alpha and a front and back inclination angle beta of the vehicle after all the supporting legs touch the ground and reach a set minimum pressure value, selecting a direction with a large inclination angle to perform binary leveling, adjusting the height of each supporting leg, and stopping when the adjusted inclination angle is reduced by half; then comparing the alpha value and the beta value again, selecting the direction with large inclination angle to carry out binary leveling, and repeatedly circulating until the leveling is finished.

2. The vehicle loading leveling method based on the two-dimensional bisection strategy as claimed in claim 1, wherein: before the landing leg is lifted out, the invention firstly detects the state of the vehicle, sends out an alarm when the leveling condition is not met, and lifts out the landing leg after the leveling condition is met.

3. The vehicle loading leveling method based on the two-dimensional bisection strategy as claimed in claim 1, wherein: and monitoring the vehicle-carrying inclination angle value in real time, calculating the movement speed of the corresponding supporting leg under different angles, and adjusting the movement speed of each supporting leg in the leveling process.

4. The vehicle loading leveling method based on the two-dimensional bisection strategy as claimed in claim 1, wherein: the pressure state parameters of the supporting legs of the vehicle carrier are monitored in real time, the pressure of the supporting legs is adjusted in real time, and virtual support is prevented.

5. The vehicle loading leveling method based on the two-dimensional bisection strategy as claimed in claim 1, wherein: and monitoring the inclination angle of the vehicle carrier in real time, immediately stopping leveling when the inclination angle exceeds the maximum set value, and sending an alarm.

6. A vehicle-carrying leveling device based on a two-dimensional bisection strategy for realizing the method of claim 1 comprises an inclination angle sensor, a leveling controller, a motor and a leveling mechanism, and is characterized in that: the inclination angle sensor collects a left inclination angle alpha, a right inclination angle alpha, a front inclination angle beta and a rear inclination angle beta of the carrier vehicle and sends the left inclination angle alpha, the right inclination angle alpha, the front inclination angle beta and the rear inclination angle beta to the leveling controller, the leveling controller sends a leveling instruction according to a carrier vehicle leveling method based on a two-dimensional bisection strategy, and the driving motor drives the leveling mechanism to adjust the height of each supporting leg.

7. The vehicle loading leveling device based on the two-dimensional bisection strategy as claimed in claim 6, wherein: the leveling controller is provided with a WiFi communication interface and is communicated with a mobile phone or a remote control station, so that leveling operation is controlled through APP on the mobile phone or leveling is controlled at the remote control station.

8. The vehicle loading leveling device based on the two-dimensional bisection strategy as claimed in claim 6, wherein: the pressure sensor monitors the pressure state parameters of the supporting leg of the vehicle carrier in real time and adjusts the pressure of the supporting leg; the displacement sensor monitors the movement speed of the supporting leg at different angles in real time, and the leveling is stopped when the inclination angle of the carrier vehicle exceeds the maximum set value through the limit switch.

Technical Field

The invention belongs to the technical field of shelter electrical control.

Background

There are a wide variety of products currently being developed based on surface equipment. The automatic leveling technology for the square cabin vehicle, the launching vehicle and the radar vehicle is applied to various automatic leveling technologies for the vehicle at home and abroad. According to the origin of production, a leveling system based on an import controller and a leveling system based on a national product self-research controller are provided. The leveling system based on the hydraulic or electric servo system is additionally integrated with the inlet controller, so that the reliability is high, the precision is high, and the cost is relatively high. The leveling controller and the leveling system developed by domestic professions are autonomous brand controllers based on systems such as a universal Programmable Logic Controller (PLC), a Programmable Computer Controller (PCC), an FPGA, an ARM and the like.

The vehicle-carrying leveling system comprises an intelligent leveling controller and an actuating mechanism. The intelligent leveling controller includes: the system comprises a central core control module, an embedded operating system, leveling control software, a digital display or function interaction terminal, a communication interface, a digital IO interface, a power supply module and the like. Due to the complex and diverse use environments of the vehicle, the existing leveling equipment applies various leveling strategies in the leveling process. For four-point leveling systems, leveling strategies are different, and there are a one-point chasing leveling method, a two-point chasing leveling method, a three-point proportional synchronous leveling method, and the like. However, tests show that the leveling strategies all have certain defects, such as the phenomenon that a certain leg is over-stressed and is supported by a virtual leg easily in the leveling process by a one-point chasing leveling method, and the phenomenon that the three-point proportion synchronous leveling method is shaken violently when the leveling is started and stopped. Since many vehicle-mounted devices require high mobility, there are higher requirements on leveling time, stability, accuracy and anti-overturning capability after leveling is completed, which must be avoided during leveling, and thus these conventional leveling strategies have gradually shown disadvantages.

The most advanced leveling technology at present realizes 'one-key' automatic leveling. After the vehicle carrier is placed in any place, a power supply is switched on, and a leveling button is pressed, so that the vehicle carrier automatically finishes leveling and gives a prompt. The leveling precision can reach within +/-1'. However, the leveling control system still needs to be operated and monitored by people in front of the leveling operation panel during the leveling process so as to timely cut off power and stop suddenly in case of accidents.

In addition, all leveling systems in the current market rely on self-matched digital display interactive interfaces in operation control, and industrial touch screen display, professional display screen display, nixie tube display and the like are available. This increases the complexity of the system and the environmental compatibility issues. To enhance the environmental suitability of the display system, the cost and maintenance costs are increased.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the vehicle loading leveling method based on the two-dimensional bisection strategy, so that the system leveling efficiency is improved, the stability of equipment is improved, and the reliability of the system is improved.

The technical scheme adopted by the invention for solving the technical problems is as follows: a vehicle-carrying leveling method based on a two-dimensional bisection strategy is characterized in that supporting legs of a vehicle-carrying vehicle are lifted out, after all the supporting legs touch the ground and reach a set minimum pressure value, a left-right inclination angle alpha and a front-back inclination angle beta of the vehicle-carrying vehicle are compared, bisection leveling is carried out in the direction with a large inclination angle, the height of each supporting leg is adjusted, and the vehicle-carrying leveling method stops when the adjusted inclination angle is reduced by half; then comparing the alpha value and the beta value again, selecting the direction with large inclination angle to carry out binary leveling, and repeatedly circulating until the leveling is finished.

Before the landing leg is lifted out, the invention firstly detects the state of the vehicle, sends out an alarm when the leveling condition is not met, and lifts out the landing leg after the leveling condition is met.

The invention monitors the vehicle-carrying inclination angle value in real time, calculates the movement speed of the corresponding supporting leg under different angles, and can adjust the movement speed of each supporting leg in the leveling process.

The invention monitors the pressure state parameters of the supporting legs of the vehicle carrier in real time, adjusts the pressure of the supporting legs in real time and prevents the virtual support.

The invention monitors the inclination angle of the vehicle carrier in real time, stops leveling immediately when the inclination angle exceeds the maximum set value, and sends out an alarm.

The invention also provides a vehicle-mounted leveling device based on the two-dimensional bisection strategy, which comprises an inclination angle sensor, a leveling controller, a motor and a leveling mechanism, wherein the inclination angle sensor acquires a left inclination angle alpha, a right inclination angle alpha and a front inclination angle beta of a vehicle-mounted, and sends the left inclination angle alpha, the right inclination angle alpha, the front inclination angle beta and the rear inclination angle beta to the leveling controller, the leveling controller sends a leveling instruction according to the vehicle-mounted leveling method based on the two-dimensional bisection strategy, and the motor is driven to drive the leveling mechanism to adjust the.

The leveling controller is provided with a WiFi communication interface and is communicated with a mobile phone or a remote control station, so that leveling operation is controlled on the mobile phone through an APP or leveling is controlled on the remote control station.

The invention also comprises a pressure sensor, a displacement sensor and a limit switch, wherein the pressure sensor monitors the pressure state parameters of the supporting leg of the vehicle carrier in real time and adjusts the pressure of the supporting leg; the displacement sensor monitors the movement speed of the supporting leg at different angles in real time, and the leveling is stopped when the inclination angle of the carrier vehicle exceeds the maximum set value through the limit switch.

The invention has the beneficial effects that: the vehicle loading leveling method and device based on the two-dimensional bisection strategy are an innovation in a leveling mode and an innovation in an operation mode. The method makes the new leveling system simpler, the leveling process more reliable and the operation more convenient. Has the following effects:

1) the vehicle-mounted leveling method using the two-dimensional bisection strategy expands the leveling process to the application field of two-dimensional leveling, monitors the tilt angle value of the vehicle in real time, calculates the movement speed of corresponding supporting legs at different angles according to a fuzzy factor, and can adjust the movement speed of each supporting leg in the leveling process, thereby improving the leveling efficiency of the system, increasing the stability of equipment and improving the reliability of the system.

2) With the deepening of the concept of 'softening' of product design and the trend of new technology development, the mobile phone intelligent technology becomes more and more intelligent in an interactive technology mode, and the convenience is greatly enhanced. Therefore, the problem of leveling operation control can be solved through a mobile phone intelligent technology, and the control mode and the leveling strategy can be conveniently converted. The leveling software is embedded in the mobile phone, the mobile phone is provided with a communication port, the leveling operation is controlled through an APP (application) on the mobile phone or the leveling is controlled through a remote control station by means of a universal smart phone and the APP installed on the mobile phone, and the intelligent mobile control display terminal is constructed by means of the APP on the universal smart phone for operation and display. The mobile phone is convenient and flexible to operate, local and remote control and monitoring of leveling operation can be realized, and the traditional control panel and display part are omitted, so that the system is simplified, the size is reduced, the cost is reduced, and the environment adaptability of the system is improved.

3) The vehicle-carrying leveling device based on the two-dimensional bisection strategy can meet the requirements of leveling various vehicle-carrying vehicles on hardware, can be applied to hydraulic and electric leveling systems of different types, and has the advantages of simple configuration and wide application range.

4) The system is simple to operate and can be applied to military equipment and civil engineering equipment.

Drawings

FIG. 1 is a leveling control flow diagram of the present invention;

fig. 2 is a schematic diagram of a controller and an intelligent vehicle-carrying leveling system based on mobile phone remote control.

Detailed Description

The present invention will be further described with reference to the following drawings and examples, which include, but are not limited to, the following examples.

The content of the invention comprises:

a vehicle loading leveling method based on a two-dimensional bisection strategy is disclosed. The vehicle carrying vehicles with different structures have different leveling methods, and the vehicle carrying vehicles with the same structure can also adopt different leveling strategy modes. The leveling control software is realized based on different control strategy processes.

The leveling strategy method is based on a mathematical model dichotomy, and expands the leveling process to the application field of two-dimensional leveling in an angle error method leveling system. And adjusting the height of each supporting leg by taking the left and right inclination angles alpha and the front and back inclination angles beta of the horizontal inclination angle sensor as adjustment objects to enable the alpha and beta values to gradually approach 0.

The leveling procedure is shown in fig. 1. And (5) when the leveling is started, the system automatically detects the state of the vehicle carrier. If the leveling condition is not met, giving an alarm. And when the leveling condition is met, starting a leveling process.

And the first step of flow executes the lifting action of the supporting legs, and the system enters the second step of flow after all the supporting legs touch the ground and reach the set minimum pressure value.

And the second step of the process firstly compares the alpha value and the beta value, firstly performs two-part leveling in the direction with a large inclination angle, and stops when the inclination angle is reduced by half. Then comparing the alpha value and the beta value again, performing binary leveling in the direction with a large inclination angle, and circulating in sequence until the leveling is finished.

The vehicle loading leveling method based on the two-dimensional bisection strategy can achieve the following effects in the leveling process:

1) the direction of the maximum inclination angle is adjusted circularly each time, so that the safety of the vehicle carrying is ensured;

2) the vehicle-mounted vehicle leveling device has the advantages that the vehicle-mounted vehicle inclination angle value is monitored in real time, the movement speeds of corresponding support legs at different angles are calculated according to the fuzzy factors, the movement speed of each support leg in the leveling process is adjustable, the leveling efficiency is improved, the movement impact shaking of the vehicle-mounted vehicle is reduced, and the stability is good;

3) monitoring the pressure state parameters of the supporting legs of the vehicle carrier in real time, and adjusting the pressure of the supporting legs in real time through a balance algorithm to prevent virtual support;

4) monitoring the vehicle-carrying inclination angle state parameters in real time, immediately stopping leveling when the vehicle-carrying inclination angle state parameters exceed a maximum set value, and sending an alarm;

5) the multiple leveling control modes can be selected: leveling upwards for the first time, leveling downwards for the first time, leveling upwards in real time, leveling downwards in real time, leveling at specified positions in real time and the like;

6) and the real-time state and the running data of the vehicle carrier are sent to a remote monitoring center.

The invention also provides an intelligent vehicle-carrying leveling controller based on the two-dimensional bisection strategy.

The controller is provided with a WiFi communication interface and can be used for communicating with a mobile phone or a remote control station to realize leveling operation controlled by an APP or leveling controlled by the remote control station on the mobile phone. The device is provided with communication ports such as CAN, UART, SPI and the like, and CAN be conveniently butted and communicated with a sensor and other driving equipment. The leveling controller is communicated with the servo driver through a CAN interface and is communicated with the inclination angle sensor, the pressure sensor and the displacement sensor through RS485 interfaces. The bus communication framework has simple wiring and strong anti-interference capability.

The controller is suitable for a hydraulic leveling system, an electric servo leveling system and an electric variable frequency leveling system, can meet the leveling requirements of various vehicle carriers on hardware, and can be configured only on a set interface during leveling.

The controller is pre-installed with vehicle-carrying leveling control software with a two-dimensional bisection strategy and communication software communicating with the mobile phone, and has the functions of realizing leveling operation and state monitoring on a developed mobile phone APP. The controller and the intelligent vehicle-carrying leveling system structure based on the mobile phone remote control are shown in figure 2.

Vehicle loading leveling methods and devices based on a two-dimensional bisection strategy are verified on leveling systems on two types of vehicle loading.

One is to level the chassis of the vehicle by controlling the extension of the oil cylinder in a four-pivot hydraulic leveling system. The oil cylinder of the leveling system is controlled by two electromagnetic valves connected in parallel, and three telescopic speeds are combined through on-off, so that the efficiency can be effectively improved during coarse adjustment, and the impact shaking generated by starting and stopping when the oil cylinder is close to a balance point is reduced during fine adjustment. The controller completes four-pivot leveling tasks by using 16 paths of digital output DO. And the leveling adopts a two-dimensional bisection strategy and a speed gradient selection combined mode. The system has been successfully applied to a certain type of equipment.

The other type is that in a four-fulcrum electric servo leveling system, a leveling mode adopts a combination mode of a two-dimensional bisection strategy and a speed proportion method, and a controller controls an electric push rod driven by a servo motor to achieve leveling of a vehicle chassis. The servo driver is provided with a CAN interface, the controller controls the driver to move through the CAN communication interface, the speed is adjusted in real time, and the inclination angle value is collected through the CAN interface in real time. The electric leveling system is successfully applied to equipment of a certain geographic measurement model.

The two leveling system control operations are all realized on a mobile phone APP.