CN110471462A - A kind of method for automatically leveling, system, terminal and the storage medium of multi-point support equipment - Google Patents
A kind of method for automatically leveling, system, terminal and the storage medium of multi-point support equipment Download PDFInfo
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- CN110471462A CN110471462A CN201910756213.XA CN201910756213A CN110471462A CN 110471462 A CN110471462 A CN 110471462A CN 201910756213 A CN201910756213 A CN 201910756213A CN 110471462 A CN110471462 A CN 110471462A
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- supporting leg
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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
Technical field
This application involves multi-point leveling control technology field, more particularly, to a kind of multi-point support mechanism load and inclination angle from
Dynamic method of adjustment, system, terminal and storage medium.
Background technique
Multi-point support leveling system is widely used in various large-scale movable equipments, such as medical monitoring platform, special vehicle
Electro-hydraulic driving or electromechanical driving are generallyd use Deng, driving method.Previous equipment mostly uses four-point supporting, with the volume of load
Increase with distribution, multiple supporting legs need to be set and be supported and level, the support points of large-scale heavy duty flat pad are more at present
It up to and, supports static indeterminacy degree high at 12 points at 24 points, while improving leveling precision, it is loaded not to propose each supporting leg institute of control
More than the requirement of certain variation range.Due to the influence of the factors such as manufacture deviation, deformation uneven (loading has flexibility), multiple spot
Each supporting point of support ununified datum plane has when carrying out the adjustment of displacement of vertical direction to each supporting leg compared with disaster
Degree, need to take into account the load of each supporting leg and the adjustment at equipment inclination angle.
The experience of usual load adjustment are as follows: enable the height of landing leg decline that load is bigger than normal, load height of landing leg less than normal rises；
The experience of Inclination maneuver are as follows: assuming that angle is positive higher than datum plane, positive angular direction supporting leg is enabled to decline, on the supporting leg of negative angle direction
It rises.If adjusting by the mode manually controlled, naturally there are larger difficulty, and manual control mode relies on eye-observation, according to warp
The action command for being judged and being provided supporting leg is tested, it is time-consuming and laborious, and it is easy to appear maloperation.
Therefore, method for automatically leveling, system, terminal and the storage medium for needing a kind of multi-point support equipment are ensuring to adjust
On the basis of flat precision, the adjust automatically at load inclination angle and load can be realized simultaneously.
Summary of the invention
In view of the deficiencies of the prior art, the application provides a kind of method for automatically leveling of multi-point support equipment, system, terminal
And storage medium, solve manually level in the prior art it is time-consuming and laborious, be easy to appear the problems such as maloperation.
In order to solve the above technical problems, in a first aspect, the application provides a kind of method for automatically leveling of multi-point support equipment,
Include:
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 of each supporting leg
Charge values and its corresponding target value determine each supporting leg load deflections, determine that the corresponding load compensation of each supporting leg is believed according to load deflections
Number control height of landing leg lifting, until each supporting leg load value 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, according to each
Leg inclination value determines the movement speed of each supporting leg in two directions respectively, determines the corresponding inclination angle of each supporting leg according to movement speed
Adjustment signal controls height of landing leg lifting, until the inclination value of each supporting leg is in the target zone of inclination angle.
Preferably, the acquisition load value of each supporting leg of multi-point support equipment and inclining for each two direction of supporting leg relative level
Angle value, 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.
Preferably, the load target value and load target zone and inclination angle target zone of each supporting leg of the determination, 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.
Preferably, whether the load value for judging 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 determine each supporting leg load deflections, determine that each supporting leg is corresponding according to load deflections
Load compensation signal controls height of landing leg lifting, 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.
Preferably, whether the inclination value in two direction of relative level for judging each supporting leg exceeds inclination angle range, if so,
Then the movement speed of each supporting leg in two directions is determined according to each supporting leg inclination value respectively, each supporting leg is determined according to movement speed
Corresponding Inclination maneuver signal control height of landing leg 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 determine each supporting leg distance two
It is a overturning axis distance, further according to each supporting leg distance two overturn axis distance calculate each supporting leg two sides
To 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, driver control height of landing leg lifting, until each
The inclination value of leg is in the target zone of inclination angle.
The application also provides a kind of method for automatically leveling of multi-point support equipment, 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 of each supporting leg
Charge values and its corresponding target value determine each supporting leg load deflections, determine that the corresponding load compensation of each supporting leg is believed according to load deflections
Number；
Judge whether the inclination value in two direction of relative level of each supporting leg exceeds inclination angle range, if so, according to each
Leg inclination value determines the movement speed of each supporting leg in two directions respectively, determines the corresponding inclination angle of each supporting leg according to movement speed
Adjustment signal；
The load compensation signal of each supporting leg and Inclination maneuver signal are overlapped control supporting leg lifting, until each supporting leg
Load value and inclination value are respectively in its corresponding load target zone and inclination angle target zone.
Preferably, the acquisition load value of each supporting leg of multi-point support equipment and inclining for each two direction of supporting leg relative level
Angle value, 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.
Preferably, the load target value and load target zone and inclination angle target zone of each supporting leg of the determination, 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.
Preferably, whether the load value for judging 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 determine each supporting leg load deflections, determine that each supporting leg is corresponding according to load deflections
Load compensation signal, 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.
Preferably, whether the inclination value in two direction of relative level for judging each supporting leg exceeds inclination angle range, if so,
Then the movement speed of each supporting leg in two directions is determined according to each supporting leg inclination value respectively, each supporting leg is determined according to movement speed
Corresponding Inclination maneuver signal, 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 determine each supporting leg distance two
It is a overturning axis distance, further according to each supporting leg distance two overturn axis distance calculate each supporting leg two sides
To 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.
Choosing, it is described that the load compensation signal of each supporting leg and Inclination maneuver signal are overlapped control supporting leg lifting, directly
To each supporting leg load value and inclination value respectively in its corresponding load target zone and inclination angle target zone, comprising:
It will be exported simultaneously with Inclination maneuver signal to each supporting leg circuit driver, driving after load compensation signal amplification
Device controls height of landing leg lifting, until the load value of each supporting leg is in its corresponding load target zone；
The speed signal is exported to each supporting leg circuit driver, the lifting of driver control height of landing leg, each supporting leg
Load value and inclination value are respectively in its corresponding load target zone and inclination angle target zone.
Second aspect, the application provide a kind of automatic horizontal control system of multi-point support equipment, comprising:
Acquiring unit, the acquiring unit are configured to obtain the load value of each supporting leg of multi-point support equipment and each supporting leg phase
To the inclination value in two direction of horizontal plane；
Determination unit, the determination unit are configured to determine the load target value of each supporting leg and load target zone and incline
Angle target zone；
Load adjustment unit, the load adjustment unit are configured to judge whether the load value of each supporting leg exceeds its correspondence
Load target zone, if so, determining each supporting leg load deflections, root according to the load value of each supporting leg and its corresponding target value
The corresponding load compensation signal control height of landing leg lifting of each supporting leg is determined according to load deflections, until the load value of each supporting leg is at it
In corresponding load target zone；
Inclination maneuver unit, the Inclination maneuver unit are configured to judge inclining for two direction of relative level of each supporting leg
Whether angle value exceeds inclination angle range, if so, determining the movement of each supporting leg in two directions respectively according to each supporting leg inclination value
Speed determines the corresponding Inclination maneuver signal control height of landing leg lifting of each supporting leg according to movement speed, until each supporting leg inclines
Angle value is in the target zone of inclination angle.
Preferably, the acquiring unit is specifically used for:
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.
Preferably, the determination unit is specifically used for:
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.
Preferably, the load adjustment unit is specifically used for:
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.
Preferably, the Inclination maneuver unit is specifically used for:
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 determine each supporting leg distance two
It is a overturning axis distance, further according to each supporting leg distance two overturn axis distance calculate each supporting leg two sides
To 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, driver control height of landing leg lifting, until each
The inclination angle of leg is in the target zone of inclination angle.
Correspondingly, the application also provides a kind of automatic horizontal control system of multi-point support equipment, comprising:
Acquiring unit, the acquiring unit are configured to obtain the load value of each supporting leg of multi-point support equipment and each supporting leg phase
To the inclination value in two direction of horizontal plane；
Determination unit, the determination unit are configured to determine the load target value of each supporting leg and load target zone and incline
Angle target zone；
Load signal acquiring unit, the load signal acquiring unit are configured to judge whether the load value of each supporting leg surpasses
Its corresponding load target zone out, if so, determining that each supporting leg carries according to the load value of each supporting leg and its corresponding target value
Lotus deviation 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 the relative level two of each supporting leg
Whether the inclination value in direction exceeds inclination angle range, if so, determining each supporting leg in both direction respectively according to each supporting leg inclination value
On movement speed, the corresponding Inclination maneuver signal of each supporting leg is determined according to movement speed；
Synchronous adjustment unit, the synchronous adjustment unit are configured to the load compensation signal and Inclination maneuver of each supporting leg
Signal is overlapped control supporting leg lifting, until the load value of each supporting leg and inclination value are respectively in its corresponding load target zone
And in the target zone of inclination angle.
Preferably, the load signal acquiring unit is specifically used for:
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.
Preferably, the dip angle signal acquiring unit is specifically used for:
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 determine each supporting leg distance two
It is a overturning axis distance, further according to each supporting leg distance two overturn axis distance calculate each supporting leg two sides
To 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.
Preferably, the synchronous adjustment unit is specifically used for:
It will be exported simultaneously with Inclination maneuver signal to each supporting leg circuit driver, driving after load compensation signal amplification
Device controls height of landing leg lifting, until the load value of each supporting leg is in its corresponding load target zone；
The speed signal is exported to each supporting leg circuit driver, the lifting of driver control height of landing leg, each supporting leg
Load value and inclination value are respectively in its corresponding load target zone and inclination angle target zone.
The third aspect, the application provide a kind of leveling terminal, comprising:
Memory, for storing computer program；
Processor realizes the multi-point support equipment method for automatically leveling when for executing the computer program.
Fourth aspect stores in the computer readable storage medium this application provides a kind of computer storage medium
There is instruction, when run on a computer, so that computer executes method described in above-mentioned various aspects.
Compared with prior art, the application has the following beneficial effects:
The multi-point support equipment adjust automatically strategy that the application proposes is able to achieve negative on the basis of ensuring to level precision
The adjust automatically of the adjust automatically and each supporting leg load that carry inclination angle has the advantage that compared to the mode manually adjusted
1, the control of quantization accurate to controlled volume can be realized by calculating deviation, it is more rapidly efficient to realize control target,
Increase the reliability of system.
2, controller has parallel data processing mode, can adjust the movement of multiple supporting legs simultaneously, avoid manual behaviour
Make to adjust one by one, repeat the case where adjusting.
3, using automatically controlling the superposition processing that can carry out signal, it can be achieved that adjustment while inclination angle and load.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of application for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of each supporting leg of multi-point support equipment provided by the embodiment of the present application in horizontal plane distribution schematic diagram；
Fig. 2 is a kind of flow chart of multi-point support equipment method for automatically leveling provided by the embodiment of the present application；
Fig. 3 is a kind of load adjust automatically control principle drawing provided by the embodiment of the present application；
Fig. 4 is a kind of inclination angle adjust automatically control principle drawing provided by the embodiment of the present application；
Fig. 5 is the flow chart of another kind multi-point support equipment method for automatically leveling provided by the embodiment of the present application；
Fig. 6 is a kind of inclination angle and load while adjust automatically control principle drawing provided by the embodiment of the present application；
Fig. 7 is a kind of structural schematic diagram of multi-point support equipment automatic horizontal control system provided by the embodiment of the present application；
Fig. 8 is the structural schematic diagram of another kind multi-point support equipment automatic horizontal control system provided by the embodiment of the present application；
Fig. 9 is a kind of structural schematic diagram of terminal provided by the embodiment of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
Acquired every other embodiment without making creative work, shall fall in the protection scope of this application.
It should be noted that multi-point support equipment usually has a plurality of supporting leg and each supporting leg is usually symmetrical, such as Fig. 1 institute
Show, Fig. 2 is a kind of each supporting leg of multi-point support equipment is in horizontal plane distribution schematic diagram provided by the embodiment of the present application, with 12 branch
The symmetrical centre of leg is the center of circle, establishes coordinate system, X-axis and Y-axis are mutually perpendicular to, if each supporting leg is respectively l apart from X-axisi(i=1,
2 ... ... 12), and the distance apart from Y-axis is respectively hi(i=1,2 ... ... 12), and the position of supporting leg can be by its coordinate (li, hi) into
Row determines.
Referring to FIG. 2, Fig. 2 is a kind of process of multi-point support equipment method for automatically leveling provided by the embodiment of the present application
Figure, this method 200 include:
S201: 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 are obtained；
S202: the load target value and load target zone and inclination angle target zone of each supporting leg are determined；
S203: judging whether the load value of each supporting leg exceeds its corresponding load target zone, if so, according to each supporting leg
Load value and its corresponding target value determine each supporting leg load deflections, determine that the corresponding load of each supporting leg is mended according to load deflections
Signal control height of landing leg lifting is repaid, until the load value of each supporting leg is in its corresponding load target zone；
S204: judging whether the inclination value in two direction of relative level of each supporting leg exceeds inclination angle range, if so, according to
Each supporting leg inclination value determines the movement speed of each supporting leg in two directions respectively, determines that each supporting leg is corresponding according to movement speed
Inclination maneuver signal controls height of landing leg lifting, until the inclination value of each supporting leg is in the target zone of inclination angle.
It should be noted that the height of landing leg adjustment of multi-point support equipment is divided into two aspect of load adjustment and Inclination maneuver,
Load adjustment is usually first carried out, then carries out Inclination maneuver；Adjustment while can also be achieved inclination angle and load.It is provided in this embodiment
It is the leveling mode that first load adjusts again Inclination maneuver.
Based on the above embodiment, as described in preferred embodiment, multi-point support equipment is obtained described in the step S201
The inclination value in the load value of each supporting leg and 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.
Specifically, obtaining the load value F of each supporting leg by the pressure sensor being installed on each supporting legi, by being installed on
Double-shaft tilt angle sensor on each supporting leg obtains the inclination value (m of each supporting leg relative level X-axis, two direction of Y-axisi, ni),
In,iFor multi-point support equipment supporting leg number.
Based on the above embodiment, as preferred embodiment, the step S202 determine each supporting leg load target value and
Load target zone and inclination angle target zone, 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.
Specifically, being illustrated by taking ten two leveling systems of Fig. 1 as an example, all supporting legs that force snesor is measured
Load be added to obtain full payload G, if the target load for setting certain i supporting leg accounts for the weight distribution factor of full payload as αi, then should
The load target value of supporting leg is Gi=αiG, such as when setting deviation range as ± σ %, corresponding load target zone be
Increase deviation range on the basis of target value to obtain, i.e., load target zone is [Gi- σ %Gi, Gi+ σ %Gi].In addition, setting is inclined
Angle target zone [Mi, Ni]。
Based on the above embodiment, as preferred embodiment, the step S203 judges whether the load value of each supporting leg surpasses
Its corresponding load target zone out, if so, determining that each supporting leg carries according to the load value of each supporting leg and its corresponding target value
Lotus deviation determines the corresponding load compensation signal control height of landing leg lifting of each supporting leg according to load deflections, until each supporting leg
Load value 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.
Specifically, as shown in figure 3, Fig. 3 be the embodiment of the present application provided by a kind of load adjust automatically control principle drawing,
From the figure 3, it may be seen that each supporting leg has independent load control loop, by each supporting leg load value of force snesor real-time monitoring, such as
There is the case where load goes beyond the scope in fruit supporting leg, and force snesor is measured current load value and is compared simultaneously with ideal load value
Provide load compensation signal, control supporting leg lifting, until within load to target zone.This department pattern uses to be believed in AMESim
Tool in number library is established.Its corresponding load automatic adjusting method is as follows:
The load target value for first determining whether i supporting leg is GiWhether its corresponding load target zone [G is exceededi- σ %Gi, Gi+
σ %Gi]；
Load need to carry out load adjustment beyond the supporting leg of target zone, by the load F of this part supporting legiWith target value GiMake
Difference obtains load deflections λi=Gi-Fi, and by load deflections λiIt is converted into corresponding load compensation signal；
Finally, by load compensation signal λiMultiplied by amplification coefficient k appropriate, export into the driver in each supporting leg circuit,
Driver control actuator control rod transmission gear, transmission mechanism movement drive height of landing leg lifting to carry out the adjustment of supporting leg load, directly
To the load value F of each supporting legiIn its corresponding load target zone [Gi- σ %Gi, Gi+ σ %Gi] in.
Based on the above embodiment, as preferred embodiment, the step S204 judges the relative level two of each supporting leg
Whether the inclination value in direction exceeds inclination angle range, if so, determining each supporting leg in both direction respectively according to each supporting leg inclination value
On movement speed, the corresponding Inclination maneuver signal control height of landing leg lifting of each supporting leg is determined according to movement speed, until each
The inclination value of 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 determine each supporting leg distance two
It is a overturning axis distance, further according to each supporting leg distance two overturn axis distance calculate each supporting leg two sides
To 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, driver control height of landing leg lifting, until each
The inclination value of leg is in the target zone of inclination angle.
Specifically, as shown in figure 4, Fig. 4 is a kind of inclination angle adjust automatically control principle drawing provided by the embodiment of the present application；
As shown in Figure 4, each supporting leg has independent pitch angle control circuit, opposite by each supporting leg of double-shaft tilt angle sensor real-time monitoring
Double-shaft tilt angle sensor is measured and is worked as if the case where inclination angle goes beyond the scope occurs in supporting leg by the inclination angle of X-axis and Y-axis both direction
It determines each leg motion direction and its present position and provides Inclination maneuver letter in the inclination angle of preceding opposite X-axis and Y-axis both direction
Number, control supporting leg lifting, until within load to target zone.This department pattern is built using the tool in signal library in AMESim
It is vertical.
Due to load inclination angle include X, Y both direction component, need to a point both direction be adjusted separately, to adjust the side X
To inclination angle for be illustrated, when carrying out the adjustment of supporting leg angle, to make all supporting leg supporting points turn over equal angular, each
Distance proportional relationship of the displacement Ying Yuqi away from overturning axis of leg lifting, correspondingly, the speed of each supporting leg lifting also its away from turning over
The proportional relationship of the distance of shaft axis.Therefore, corresponding inclination angle automatic adjusting method is as follows:
First determine whether i supporting leg in the inclination value (m in X-axis, two direction of Y-axisi, ni) whether exceed its corresponding inclination angle target model
Enclose [Mi, Ni]；
When supporting leg is when the inclination value of X-direction is more than target zone, according to supporting leg inclination value (mi, ni) determine respectively
X, the overturning axis X ' axis, Y ' axis of Y both direction, according to the coordinate value (l of each supporting legi, hi) and then calculate separately each supporting leg distance
The distance for overturning axis X ' axis, Y ' axis, when adjusting the inclination angle of X-direction, the displacement y of each supporting leg liftingiY should be met1:
y2: ...: y12=l1: l2: ...: l12, the speed R of each supporting leg liftingiR should be met1: R2: ...: R12=l1: l2: ...:
l12, the speed signal R of each supporting leg is calculated according to the proportionate relationshipi；The adjustment of Y-direction is similar with X-direction；
Finally, by the speed signal R of each supporting legiIt exports to the driver in each supporting leg circuit, driver control actuator behaviour
Vertical transmission mechanism, transmission mechanism movement drives height of landing leg lifting to carry out the adjustment of supporting leg load, until each supporting leg is in X-axis, Y-axis two
Inclination value (the m in directioni, ni) in its corresponding inclination angle target zone [Mi, Ni] in.
Referring to FIG. 5, Fig. 5 is the stream of another kind multi-point support equipment method for automatically leveling provided by the embodiment of the present application
Cheng Tu, this method 500, comprising:
S501: 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 are obtained；
S502: the load target value and load target zone and inclination angle target zone of each supporting leg are determined；
S503: judging whether the load value of each supporting leg exceeds its corresponding load target zone, if so, according to each supporting leg
Load value and its corresponding target value determine each supporting leg load deflections, determine that the corresponding load of each supporting leg is mended according to load deflections
Repay signal；
S504: judging whether the inclination value in two direction of relative level of each supporting leg exceeds inclination angle range, if so, according to
Each supporting leg inclination value determines the movement speed of each supporting leg in two directions respectively, determines that each supporting leg is corresponding according to movement speed
Inclination maneuver signal；
S505: the load compensation signal of each supporting leg and Inclination maneuver signal are overlapped control supporting leg lifting, until each
The load value and inclination value of supporting leg are respectively in its corresponding load target zone and inclination angle target zone.
It should be noted that the height of landing leg adjustment of multi-point support equipment is divided into two aspect of load adjustment and Inclination maneuver,
The leveling mode provided in this embodiment adjusted while be inclination angle and load.
Based on the above embodiment, as preferred embodiment, the step 502 judges whether the load value of each supporting leg exceeds
Its corresponding load target zone, if so, determining each supporting leg load according to the load value of each supporting leg and its corresponding target value
Deviation determines the corresponding load compensation signal of each supporting leg according to load deflections, 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.
Based on the above embodiment, as preferred embodiment, the step 503 judges two side of relative level of each supporting leg
To inclination value whether exceed inclination angle range, if so, determining each supporting leg respectively in two directions according to each supporting leg inclination value
Movement speed, the corresponding Inclination maneuver signal of each supporting leg is determined according to movement speed, 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 determine each supporting leg distance two
It is a overturning axis distance, further according to each supporting leg distance two overturn axis distance calculate each supporting leg two sides
To 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.
Based on the above embodiment, as preferred embodiment, the step 504 is by the load compensation signal of each supporting leg and inclines
Angle adjustment signal is overlapped control supporting leg lifting, until the load value of each supporting leg and inclination value are respectively in its corresponding load mesh
It marks in range and inclination angle target zone, comprising:
It will be exported simultaneously with Inclination maneuver signal to each supporting leg circuit driver, driving after load compensation signal amplification
Device controls height of landing leg lifting, until the load value of each supporting leg is in its corresponding load target zone；
The speed signal is exported to each supporting leg circuit driver, the lifting of driver control height of landing leg, each supporting leg
Load value and inclination value are respectively in its corresponding load target zone and inclination angle target zone.
Specifically, as shown in fig. 6, Fig. 6 is a kind of inclination angle and load while adjust automatically provided by the embodiment of the present application
Control principle drawing；It will be appreciated from fig. 6 that each supporting leg has independent load and pitch angle control circuit, pass through force snesor and twin shaft
The inclination angle of the load of each supporting leg of obliquity sensor real-time monitoring and its opposite X-axis and Y-axis both direction, if inclination angle occurs in supporting leg
Or load the case where going beyond the scope, Inclination maneuver signal is provided to the supporting leg beyond angle requirement, to the branch for exceeding loading demands
Leg provides load compensation signal, provides load compensation signal to the supporting leg beyond loading demands, the signal of two sides transports to drive simultaneously
Control supporting leg lifting in dynamic device, until within inclination angle and load to target zone, both control effect is Signal averaging institute shape
At resultant effect be further reduced adjustment time so that system adjusts load while carrying out inclination angle overturning.This part mould
Type is established using the tool in signal library in AMESim.
Fig. 7 is a kind of structural schematic diagram of multi-point support equipment automatic horizontal control system provided by the embodiment of the present application, should
System 700, comprising:
Acquiring unit 701, the acquiring unit 701 are configured to obtain the load value of each supporting leg of multi-point support equipment and each
The inclination value in two direction of supporting leg relative level；
Determination unit 702, the determination unit 702 are configured to determine the load target value of each supporting leg and load target model
It encloses and inclination angle target zone；
Load adjustment unit 703, the load adjustment unit 703 are configured to judge whether the load value of each supporting leg exceeds
Its corresponding load target zone, if so, determining each supporting leg load according to the load value of each supporting leg and its corresponding target value
Deviation determines the corresponding load compensation signal control height of landing leg lifting of each supporting leg according to load deflections, until the load of each supporting leg
Charge values are in its corresponding load target zone；
Inclination maneuver unit 704, the Inclination maneuver unit 704 are configured to judge two side of relative level of each supporting leg
To inclination value whether exceed inclination angle range, if so, determining each supporting leg respectively in two directions according to each supporting leg inclination value
Movement speed, the corresponding Inclination maneuver signal control height of landing leg lifting of each supporting leg is determined according to movement speed, until each
The inclination value of leg is in the target zone of inclination angle.
Based on the above embodiment, as preferred embodiment, the acquiring unit 701 is specifically used for:
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.
Based on the above embodiment, as preferred embodiment, the determination unit 702 is specifically used for:
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.
Based on the above embodiment, as preferred embodiment, the load adjustment unit 703 is specifically used for:
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.
Based on the above embodiment, as preferred embodiment, the Inclination maneuver unit 704 is specifically used for:
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 determine each supporting leg distance two
It is a overturning axis distance, further according to each supporting leg distance two overturn axis distance calculate each supporting leg two sides
To 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, driver control height of landing leg lifting, until each
The inclination value of leg is in the target zone of inclination angle.
Fig. 8 is the structural schematic diagram of another kind multi-point support equipment automatic horizontal control system provided by the embodiment of the present application,
The system 800, comprising:
Acquiring unit 801, the acquiring unit 801 are configured to obtain the load value of each supporting leg of multi-point support equipment and each
The inclination value in two direction of supporting leg relative level；
Determination unit 802, the determination unit 802 are configured to determine the load target value of each supporting leg and load target model
It encloses and inclination angle target zone；
Load signal acquiring unit 803, the load signal acquiring unit 803 are configured to judge the load value of each supporting leg
Whether its corresponding load target zone is exceeded, if so, determining according to the load value of each supporting leg and its corresponding target value each
Supporting leg load deflections determine the corresponding load compensation signal of each supporting leg according to load deflections；
Dip angle signal acquiring unit 804, the dip angle signal acquiring unit 804 are configured to judge the opposite water of each supporting leg
Whether the inclination value in two direction of plane exceeds inclination angle range, if so, determining each supporting leg two respectively according to each supporting leg inclination value
Movement speed on a direction determines the corresponding Inclination maneuver signal of each supporting leg according to movement speed；
Synchronous adjustment unit 805, the synchronous adjustment unit 805 are configured to the load compensation signal of each supporting leg and incline
Angle adjustment signal is overlapped control supporting leg lifting, until the load value of each supporting leg and inclination value are respectively in its corresponding load mesh
It marks in range and inclination angle target zone.
Based on the above embodiment, as preferred embodiment, the load signal acquiring unit 803 is specifically used for:
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.
Based on the above embodiment, as preferred embodiment, the dip angle signal acquiring unit 804 is specifically used for:
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 determine each supporting leg distance two
It is a overturning axis distance, further according to each supporting leg distance two overturn axis distance calculate each supporting leg two sides
To 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.
Based on the above embodiment, as preferred embodiment, the synchronous adjustment unit 805 is specifically used for:
It will be exported simultaneously with Inclination maneuver signal to each supporting leg circuit driver, driving after load compensation signal amplification
Device controls height of landing leg lifting, until the load value of each supporting leg is in its corresponding load target zone；
The speed signal is exported to each supporting leg circuit driver, the lifting of driver control height of landing leg, each supporting leg
Load value and inclination value are respectively in its corresponding load target zone and inclination angle target zone.
Referring to FIG. 9, Fig. 9 is a kind of structural schematic diagram of terminal 900 provided by the embodiment of the present application, the terminal system
300 can be used for executing the method for automatically leveling of multi-point support equipment provided in an embodiment of the present invention.
Wherein, which may include: processor 901, memory 902 and communication unit 903.These components
It is communicated by one or more bus, it will be understood by those skilled in the art that the structure of server shown in figure is not
Limitation of the invention is constituted, it is also possible to hub-and-spoke configuration either busbar network, can also include more than illustrating
Or less component, perhaps combine certain components or different component layouts.
Wherein, which can be used for executing instruction for storage processor 901, and memory 902 can be by any class
The volatibility or non-volatile memories terminal or their combination of type are realized, such as static random access memory (SRAM), electricity
Erasable Programmable Read Only Memory EPROM (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory
(PROM), read-only memory (ROM), magnetic memory, flash memory, disk or CD.When executing instruction in memory 902
When being executed by processor 901, so that terminal 900 some or all of is able to carry out in following above method embodiment step.
Processor 901 is the control centre for storing terminal, utilizes each of various interfaces and the entire electric terminal of connection
A part by running or execute the software program and/or module that are stored in memory 902, and calls and is stored in storage
Data in device, to execute the various functions and/or processing data of electric terminal.The processor can be by integrated circuit
(Integrated Circuit, abbreviation IC) composition, such as the IC that can be encapsulated by single are formed, can also be by more of connection
The encapsulation IC of identical function or different function and form.For example, processor 901 can only include central processing unit
(Central Processing Unit, abbreviation CPU).In embodiments of the present invention, CPU can be single operation core, can also
To include multioperation core.
Communication unit 903, for establishing communication channel, so that the storage terminal be allow to be led to other terminals
Letter.It receives the user data of other terminals transmission or sends user data to other terminals.
The application also provides a kind of computer storage medium, wherein the computer storage medium can be stored with program, the journey
Sequence may include step some or all of in each embodiment provided by the invention when executing.The storage medium can for magnetic disk,
CD, read-only memory (English: read-only memory, referred to as: ROM) or random access memory (English:
Random access memory, referred to as: RAM) etc..
The multi-point support equipment adjust automatically strategy that the application proposes is able to achieve negative on the basis of ensuring to level precision
The adjust automatically of the adjust automatically and each supporting leg load that carry inclination angle has the advantage that compared to the mode manually adjusted
1, the control of quantization accurate to controlled volume can be realized by calculating deviation, it is more rapidly efficient to realize control target,
Increase the reliability of system.
2, controller has parallel data processing mode, can adjust the movement of multiple supporting legs simultaneously, avoid manual behaviour
Make to adjust one by one, repeat the case where adjusting.
3, using automatically controlling the superposition processing that can carry out signal, it can be achieved that adjustment while inclination angle and load.
Each embodiment is described in a progressive manner in specification, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.For embodiment provide system and
Speech, since it is corresponding with the method that embodiment provides, so being described relatively simple, related place is referring to method part illustration
.
Specific examples are used herein to illustrate the principle and implementation manner of the present application, and above embodiments are said
It is bright to be merely used to help understand the present processes and its core concept.It should be pointed out that for the ordinary skill of the art
For personnel, under the premise of not departing from the application principle, can also to the application, some improvement and modification can also be carried out, these improvement
It is also fallen into the protection scope of the claim of this application with modification.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the 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.
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Application publication date: 20191119 |