CN110759195B - Leveling control method, device and equipment - Google Patents

Leveling control method, device and equipment Download PDF

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Publication number
CN110759195B
CN110759195B CN201911078928.0A CN201911078928A CN110759195B CN 110759195 B CN110759195 B CN 110759195B CN 201911078928 A CN201911078928 A CN 201911078928A CN 110759195 B CN110759195 B CN 110759195B
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floating platform
classified
inclination angle
executive component
leveling
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CN110759195A (en
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舒远
朱智新
陈健华
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Guangdong Bozhilin Robot Co Ltd
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Guangdong Bozhilin Robot Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
    • B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass

Abstract

The invention provides a leveling control method, which comprises the following steps: if the executive component is leveled to a target floor, acquiring a leveling inclination angle of each coordinate axis of the floating platform in the executive component; and adjusting the floating platform according to the inclination angle of the flat layer so that the floating platform is parallel and level to the horizontal plane. The leveling control method can reduce leveling errors, improve the working efficiency and prolong the service life of software and hardware.

Description

Leveling control method, device and equipment
Technical Field
The embodiment of the invention relates to the technical field of lifting control, in particular to a leveling control method, device and equipment.
Background
The leveling of the construction elevator is realized by manual control of an operator through visual inspection, the floor can be well stopped only by frequently clicking up and down for several times, the labor intensity is high, the efficiency is low, the fatigue of a dragging and controlling system is increased, the service life is shortened, and the working efficiency is influenced.
Moreover, in the actual leveling process, the accuracy of the current automatic leveling control system of the construction elevator is generally +/-25 mm, and if the transported materials are in an unbalance loading condition in the construction elevator, the loaded equipment can also be tilted to one side, and the superposition error can exceed +/-45 mm.
Disclosure of Invention
The embodiment of the invention aims to provide a leveling control method, a leveling control device and leveling control equipment, which can reduce leveling errors, improve the working efficiency and prolong the service life of software and hardware.
To achieve the purpose, the embodiment of the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a leveling control method, including:
if the executive component is leveled to a target floor, acquiring a leveling inclination angle of each coordinate axis of the floating platform in the executive component;
and adjusting the floating platform according to the flat bed inclination angle, so that the floating platform is flush with the horizontal plane.
Further, the floating platform further comprises, after being flush with the horizontal plane:
the robot enters or leaves the executive component and acquires the dynamic inclination angle of each coordinate axis of the floating platform in real time;
and adjusting the floating platform in real time according to the dynamic inclination angle, so that the floating platform is parallel and level to the horizontal plane in real time.
Further, before the execution part is leveled to the target floor, the method further comprises the following steps:
the robot calls the executive to the target floor through network communication.
Further, the method further comprises:
acquiring attitude data and cargo weight of the executive component through measuring equipment, and forming items to be classified;
and determining the operating state of the executive component according to the probability of the items to be classified and different preset categories.
Further, acquiring the attitude data and the cargo weight of the executive component through a measuring device, and forming items to be classified comprises:
let x be { Rx, Ry, Rz, load };
wherein, x is an item to be classified, Rx is a rotation axis deflection angle in the x axis direction in the attitude data, Ry is a rotation axis deflection angle in the y axis direction in the attitude data, Rz is a rotation axis deflection angle in the z axis direction in the attitude data, and load is cargo weight.
Further, determining the operating state of the executing element according to the probability of the item to be classified and different preset categories includes:
determining a value range corresponding to the item to be classified according to the measuring equipment;
calculating the probability of the items to be classified and different value ranges and forming different value range probabilities;
calculating the probability of the items to be classified and different preset categories;
and if the probability of the item to be classified and one preset category is equal to the maximum value in all value range probabilities, the running state of the executive component is the preset category corresponding to the maximum value.
Further, determining the value range corresponding to the item to be classified according to the measuring device includes:
B＝{y1，y2，y3，y4，y5，y6}；
correspondingly, calculating the probability of the item to be classified and different value ranges, and forming different value range probabilities, including:
calculating P (y1| x), P (y3| x), P (y4| x) and P (y5| x) according to a Bayesian formula;
wherein the Bayesian formula is
Figure BDA0002262521870000031
Further, if the probability of the item to be classified and one of the preset categories is equal to the maximum value of all the value range probabilities, the operating state of the executing element is the preset category corresponding to the maximum value, and the method includes:
if P (yk | x) ═ max { P (y1| x), P (y3| x), P (y4| x), P (y5| x) }, then x ∈ yk;
where yk is a predetermined category, which may be normal, warning, pre-warning, or dangerous.
In a second aspect, an embodiment of the present invention provides a leveling control device, including: the device comprises a control module, an inclination angle sensor and a floating platform;
the inclination angle sensor is used for acquiring a flat bed inclination angle of each coordinate axis of a floating platform in the executive component and sending the flat bed inclination angle to the control module;
and the control module is used for adjusting the floating platform according to the flat bed inclination angle so that the floating platform is parallel and level to the horizontal plane.
Further, the tilt angle sensor is further configured to obtain a dynamic tilt angle of each coordinate axis of the floating platform in real time and send the dynamic tilt angle to the control module if the robot enters or leaves the executing part;
the control module is further used for adjusting the floating platform in real time according to the dynamic inclination angle, so that the floating platform is parallel and level to the horizontal plane in real time.
Further, the apparatus further comprises: a gyroscope and a weighing sensor;
the gyroscope is used for acquiring and sending the attitude data of the executive component to the control module;
the weighing sensor is used for acquiring and sending the weight of the goods of the executive component to the control module;
the control module is further used for determining the running state of the executive component according to the attitude data and the cargo weight.
Further, the control module includes: the inclination angle sensor and the floating platform are electrically connected with the programmable logic controller;
the programmable logic controller is used for adjusting the floating platform according to the flat bed inclination angle so that the floating platform is level with the horizontal plane;
and the server is used for determining the running state of the executive component according to the attitude data and the cargo weight.
In a third aspect, an embodiment of the present invention provides a leveling control device, which includes an actuator and the leveling control device, where the actuator moves up and down in a vertical direction, the floating platform is disposed at the bottom of the actuator, the tilt sensor is disposed on the floating platform, the gyroscope is disposed inside the actuator, and the weighing sensor is disposed on one side of the actuator.
Further, the gyroscope is arranged on the top of the executing piece.
Further, the apparatus further comprises: and the lifting mechanism is used for driving the executing piece to move up and down along the vertical direction.
The embodiment of the invention has the beneficial effects that:
according to the embodiment of the invention, the floating platform is adjusted through the leveling inclination angle of each coordinate axis, so that the leveling precision can be adjusted, the leveling error is reduced, and the working efficiency is improved; and the layer can be accurately leveled without repeated operation, thereby reducing the fatigue of software and hardware and further prolonging the service life. Meanwhile, in the process of the robot entering and exiting, the floating platform is adjusted through the dynamic inclination angle of each coordinate axis, so that the robot can be prevented from slipping or failing to cross obstacles when entering and exiting.
Drawings
Fig. 1 is a schematic flowchart of a leveling control method according to an embodiment.
Fig. 2 is a schematic flow chart of a leveling control method according to the second embodiment.
Fig. 3 is a schematic structural diagram of a leveling control device according to a third embodiment.
Fig. 4 is a schematic structural diagram of a leveling control device according to a fourth embodiment.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
Example one
The embodiment provides a leveling control method, which can adjust the leveling precision, thereby reducing the leveling error and further improving the working efficiency; and the layer can be accurately leveled without repeated operation, thereby reducing the fatigue of software and hardware and further prolonging the service life. Meanwhile, the robot can be prevented from slipping or failing to cross obstacles when entering and exiting.
Fig. 1 is a schematic flowchart of a leveling control method according to an embodiment. As shown in fig. 1, the leveling control method includes:
s11, the robot calls the executive component to the target floor through network communication.
In this embodiment, the robot calls the executive through the 4G network. And the executive component receives the call and then levels to the target floor.
And S12, if the executive component is leveled to the target floor, acquiring the leveling inclination angle of each coordinate axis of the floating platform in the executive component.
Correspondingly, the executive part is leveled to the target floor, the leveling is the primary leveling, and the error range is within +/-25 mm. In this embodiment, the flat bed inclination angle of the floating platform with respect to the x-axis and the flat bed inclination angle of the y-axis of the horizontal plane are obtained.
And S13, adjusting the floating platform according to the flat bed inclination angle so that the floating platform is flush with the horizontal plane.
Correspondingly, secondary leveling is carried out according to the leveling inclination angle of the x axis and the leveling inclination angle of the y axis, so that the floating platform is level with the horizontal plane, and the error range is within +/-1 mm.
And S14, the robot enters or leaves the executive component, and the dynamic inclination angle of each coordinate axis of the floating platform is obtained in real time.
After the actuating member is opened, the robot enters the actuating member, and the actuating member is subjected to a sinking inclination angle in the entering process because of inherent gaps in the structure of a driving mechanism for driving the actuating member. The dynamic inclination angle of the floating platform relative to the x axis and the dynamic inclination angle of the y axis of the horizontal plane need to be obtained in real time.
And after the executing piece is opened, the robot leaves the executing piece, the executing piece also has a sinking inclination angle in the leaving process, and the dynamic inclination angle of the floating platform relative to the x axis and the dynamic inclination angle of the y axis of the horizontal plane also need to be obtained in real time.
And S15, adjusting the floating platform in real time according to the dynamic inclination angle, so that the floating platform is aligned with the horizontal plane in real time.
The angle of the floating platform in the x-axis direction and the y-axis direction is adjusted in real time according to the dynamic inclination angle of the x-axis and the dynamic inclination angle of the y-axis, so that the robot is always horizontal when entering an executive component, and the robot is prevented from slipping when entering.
In the embodiment, the floating platform is adjusted through the leveling inclination angle of each coordinate axis, and the leveling precision can be adjusted, so that the leveling error is reduced, and the working efficiency is improved; and the layer can be accurately leveled without repeated operation, thereby reducing the fatigue of software and hardware and further prolonging the service life. Meanwhile, in the process of the robot entering and exiting, the floating platform is adjusted through the dynamic inclination angle of each coordinate axis, so that the robot can be prevented from slipping or failing to cross obstacles when entering and exiting.
Example two
On the basis of the above embodiments, the present embodiment adds a method for determining the operating state of the executing element. In each of the above steps, the operating state of the actuator can be judged. Fig. 2 is a schematic flow chart of a leveling control method according to the second embodiment. As shown in fig. 2, the leveling control method includes:
and S21, acquiring the attitude data and the cargo weight of the executive component through the measuring equipment, and forming items to be classified.
Specifically, let x be { Rx, Ry, Rz, load };
wherein, x is an item to be classified, Rx is a rotation axis deflection angle in the x axis direction in the attitude data, Ry is a rotation axis deflection angle in the y axis direction in the attitude data, Rz is a rotation axis deflection angle in the z axis direction in the attitude data, and load is cargo weight.
S22, determining the operating state of the executive component according to the probability of the items to be classified and different preset categories.
Specifically, in step S221, determining a value range corresponding to the item to be classified according to the measurement device, that is: b ═ y1, y2, y3, y4, y5, y 6. The value range is determined by the measuring device acquiring information of the actuator.
S222, calculating the probability of the items to be classified and different value ranges, and forming different value range probabilities. Selecting a required value range according to actual conditions to calculate the probability of the items to be classified and different value ranges, wherein the probability comprises the following steps: calculating P (y1| x), P (y3| x), P (y4| x) and P (y5| x) according to a Bayesian formula;
wherein the Bayesian formula is
Figure BDA0002262521870000081
S223, calculating probabilities of the items to be classified and different preset categories, and if the probability of one of the items to be classified and one of the preset categories is equal to a maximum value in all value range probabilities, the operating state of the executive component is the preset category corresponding to the maximum value, including: if P (yk | x) ═ max { P (y1| x), P (y3| x), P (y4| x), P (y5| x) }, then x ∈ yk; where yk is a predetermined category, which may be normal, warning, pre-warning, or dangerous. Namely, the maximum value of the probabilities of the items to be classified and all the preset categories is selected, and the preset category corresponding to the maximum value is the operating state of the executive component.
According to the method, the attitude data and the cargo weight of the executive component are analyzed, the probability of each preset category is calculated by combining naive Bayes classification, and the running state of the executive component can be determined quickly and accurately.
EXAMPLE III
The present embodiment provides a leveling control apparatus, which is configured to implement the leveling control method described in the foregoing embodiment, to solve the same technical problems and achieve the same technical effects.
Fig. 3 is a schematic structural diagram of a leveling control device according to a third embodiment. As shown in fig. 3, the control device includes: control module 10, tilt sensor 20, floating platform 30, gyroscope 40, and load cell 50. The gyroscope 40 and the load cell 50 are collectively referred to as a measuring device.
In this embodiment, the control module 10 includes: programmable logic controller 11 and server 12. Further, the tilt sensor 20 and the floating platform 30 are electrically connected to the programmable logic controller 11.
The tilt sensor 20 is configured to obtain a flat bed tilt angle of each coordinate axis of the floating platform 30 in the actuator, and send the flat bed tilt angle to the control module 10. In the present embodiment, the tilt sensor is a two-axis tilt sensor, and can acquire the flat bed tilt of the floating platform 30 with respect to the x-axis and the flat bed tilt of the y-axis of the horizontal plane.
The control module 10 is configured to adjust the floating platform 30 according to the flat bed inclination angle, so that the floating platform 30 is flush with the horizontal plane. Accordingly, the programmable logic controller 11 is configured to adjust the floating platform 30 according to the flat bed inclination angle, so that the floating platform 30 is level with the horizontal plane, i.e. always in a horizontal state.
In this embodiment, the tilt sensor 20 is further configured to obtain a dynamic tilt of each coordinate axis of the floating platform 30 in real time and send the dynamic tilt to the control module 10 if the robot enters or leaves the executing element.
The control module 10 is further configured to adjust the floating platform 30 in real time according to the dynamic inclination angle, so that the floating platform 30 is aligned with the horizontal plane in real time. Correspondingly, the programmable logic controller 11 is further configured to adjust the floating platform 30 in real time according to the dynamic inclination angle, so that the floating platform 30 is flush with the horizontal plane in real time.
That is, the tilt sensor 20 obtains tilt angles of the floating flat layer 30 with respect to the x-axis and the y-axis in real time, so as to provide a basis for adjusting the floating platform 30 subsequently. And then the programmable logic controller 11 adjusts the plane of the floating platform 30 according to the dynamic inclination angle, so that the robot can horizontally enter and exit the executive component, and the robot is ensured to smoothly enter and exit without slipping.
Further, the floating platform 30 includes a servo driver 31 and a servo motor 32, and the programmable logic controller 11 is electrically connected to the servo motor 32 through the servo driver 31.
The gyroscope 40 is configured to acquire and send attitude data of the actuator to the control module 10. The acquired attitude data includes a rotation axis deflection angle in the x-axis direction, a rotation axis deflection angle in the y-axis direction and a rotation axis deflection angle in the z-axis direction of the executing component.
The load cell 50 is configured to obtain and send the weight of the cargo of the actuator to the control module 10.
The control module 10 is further configured to determine an operation state of the actuator according to the attitude data and the cargo weight. Correspondingly, the server 12 is configured to determine the operating state of the executing component according to the attitude data and the cargo weight.
In this embodiment, the server receives the attitude data and the cargo weight through the 4G network by using the MQTT protocol, analyzes the attitude data and the cargo weight to obtain a maximum value among the probabilities of the preset categories, and takes the preset category corresponding to the maximum value as the operating state of the executive.
In this embodiment, the leveling control device further includes an operation module 60, and the operation module 60 is electrically connected to the control module 10. Specifically, the operation module includes: an operating handle 61, command buttons 62 and/or a touch screen 63.
The operation module 60 is configured to receive and send an operation instruction of a user to the control module 10.
The control module 10 is configured to control the executing element according to the operation instruction. Correspondingly, the operation module 60 is electrically connected to the programmable logic controller 11, and the programmable logic controller 11 is configured to control the executing element according to the operation instruction.
The user can perform different operations through the operation handle 61, can also send specific control instructions through the instruction button 62, and can also perform information interaction with the programmable logic controller 11 through the touch screen 63.
In the embodiment, the inclination angle sensor is matched with the control module, so that the floating platform is adjusted to be level with the horizontal plane, the leveling error can be reduced, and the working efficiency is improved; the fatigue of software and hardware is also reduced, and the service life is further prolonged. And the robot can smoothly enter and exit without slipping. Through the cooperation of the gyroscope, the weighing sensor and the control module, the running state of the executive component can be known in real time.
Example four
The present embodiment provides a leveling control device, including the leveling control apparatus described in the above embodiment, for executing the leveling control method described in the above embodiment. Fig. 4 is a schematic structural diagram of a leveling control device according to a fourth embodiment. As shown in fig. 4, the control device further includes an actuator 10, wherein the actuator 10 moves up and down in a vertical direction, the floating platform 31 is disposed at the bottom of the actuator 10, the tilt sensor 32 is disposed on the floating platform, the gyroscope 33 is disposed inside the actuator 10, and the load cell 34 is disposed at one side of the actuator 10.
Specifically, the gyroscope 33 is disposed on the top of the actuator 10.
In this embodiment, the implement 10 is a cage.
In this embodiment, a control module (not shown) may be provided within the actuator 10. In other embodiments, the control module may also be provided in the external device.
Further, the leveling control apparatus further includes a lifting mechanism 20, which is a driving mechanism for driving the actuator 10.
The lifting mechanism 20 includes a track frame 21, an incremental encoder 22 and a driving component 23, and is used for driving the actuator 10 to move up and down along the vertical direction.
The rail frame 21 is arranged in the vertical direction; the incremental encoder 22 is disposed on the track frame 21 and electrically connected to a programmable logic controller (not shown) and the driving assembly 23; the driving assembly 23 is disposed on the track frame 21 and electrically connected to the programmable logic controller.
In the present embodiment, the driving assembly 23 includes a frequency converter and a motor (not shown), and the programmable logic controller and the incremental encoder 22 are electrically connected to the motor through the frequency converter.
Description of the drawings: the reason for executing S14 and S15 in the above embodiment is the inherent gap in the structure of the driving mechanism for driving the actuating member 10, corresponding to the inherent gap between the driving gear in the driving assembly 23 and the rack on the track frame 21, which causes the actuating member 10 to sink and tilt during the movement of the robot.
By using the control method and the control device, the leveling error can be reduced, and the working efficiency is improved; and the accurate leveling of the layer is not required to be carried out repeatedly, so that the fatigue is reduced, and the service life is prolonged.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.

Claims (13)

1. A floor leveling control method, comprising:
if the executive component is leveled to a target floor, acquiring a leveling inclination angle of each coordinate axis of the floating platform in the executive component;
adjusting the floating platform according to the flat bed inclination angle to enable the floating platform to be level with the horizontal plane;
acquiring attitude data and cargo weight of the executive component through measuring equipment, and forming items to be classified;
determining the operating state of the executive component according to the probability of the items to be classified and different preset classes,
the determining the operating state of the executive component according to the probability of the item to be classified and different preset categories comprises:
determining a value range corresponding to the item to be classified according to the measuring equipment;
calculating the probability of the items to be classified and different value ranges and forming different value range probabilities;
calculating the probability of the items to be classified and different preset categories;
and if the probability of the item to be classified and one preset category is equal to the maximum value in all value range probabilities, the running state of the executive component is the preset category corresponding to the maximum value.
2. The leveling control method of claim 1, further comprising, after the floating platform is level with a horizontal surface:
the robot enters or leaves the executive component and acquires the dynamic inclination angle of each coordinate axis of the floating platform in real time;
and adjusting the floating platform in real time according to the dynamic inclination angle, so that the floating platform is parallel and level to the horizontal plane in real time.
3. The leveling control method according to claim 2, wherein before performing leveling of the member to the target floor, further comprising:
the robot calls the executive to the target floor through network communication.
4. The leveling control method according to claim 3, wherein acquiring attitude data and cargo weight of the executive by a measuring device and forming items to be classified comprises:
let x be { Rx, Ry, Rz, load };
wherein, x is an item to be classified, Rx is a rotation axis deflection angle in the x axis direction in the attitude data, Ry is a rotation axis deflection angle in the y axis direction in the attitude data, Rz is a rotation axis deflection angle in the z axis direction in the attitude data, and load is cargo weight.
5. The flat-layer control method according to claim 1, wherein determining the value range corresponding to the item to be classified according to the measuring device comprises:
B＝{y1，y2，y3，y4，y5，y6}；
correspondingly, calculating the probability of the item to be classified and different value ranges, and forming different value range probabilities, including:
calculating P (y1| x), P (y3| x), P (y4| x) and P (y5| x) according to a Bayesian formula;
wherein the Bayesian formula is
Figure FDA0003356314090000021
6. The leveling control method according to claim 5, wherein if the probability of the item to be classified and one of the preset categories is equal to the maximum value of all value range probabilities, the operating state of the executing element is the preset category corresponding to the maximum value, and the method comprises:
if P (yk | x) ═ max { P (y1| x), P (y3| x), P (y4| x), P (y5| x) }, then x ∈ yk;
where yk is a predetermined category, which may be normal, warning, pre-warning, or dangerous.
7. A leveling control device comprising: the control module, its characterized in that still includes: an inclination angle sensor and a floating platform;
the inclination angle sensor is used for acquiring a flat bed inclination angle of each coordinate axis of a floating platform in the executive component and sending the flat bed inclination angle to the control module;
the control module is used for adjusting the floating platform according to the flat bed inclination angle so that the floating platform is level with the horizontal plane;
acquiring attitude data and cargo weight of the executive component through measuring equipment, and forming items to be classified;
determining the operating state of the executive component according to the probability of the items to be classified and different preset categories;
the determining the operating state of the executive component according to the probability of the item to be classified and different preset categories comprises:
determining a value range corresponding to the item to be classified according to the measuring equipment;
calculating the probability of the items to be classified and different value ranges and forming different value range probabilities;
calculating the probability of the items to be classified and different preset categories;
and if the probability of the item to be classified and one preset category is equal to the maximum value in all value range probabilities, the running state of the executive component is the preset category corresponding to the maximum value.
8. The leveling control device according to claim 7, wherein: the inclination angle sensor is also used for acquiring the dynamic inclination angle of each coordinate axis of the floating platform in real time and sending the dynamic inclination angle to the control module if the robot enters or leaves the executive piece;
the control module is further used for adjusting the floating platform in real time according to the dynamic inclination angle, so that the floating platform is parallel and level to the horizontal plane in real time.
9. The leveling control device of claim 7, further comprising: a gyroscope and a weighing sensor;
the gyroscope is used for acquiring and sending the attitude data of the executive component to the control module;
the weighing sensor is used for acquiring and sending the weight of the goods of the executive component to the control module;
the control module is further used for determining the running state of the executive component according to the attitude data and the cargo weight.
10. The leveling control device of claim 9, wherein the control module comprises: the inclination angle sensor and the floating platform are electrically connected with the programmable logic controller;
the programmable logic controller is used for adjusting the floating platform according to the flat bed inclination angle so that the floating platform is level with the horizontal plane;
and the server is used for determining the running state of the executive component according to the attitude data and the cargo weight.
11. A leveling control device, comprising an actuating member which moves up and down in a vertical direction, and further comprising the leveling control device of claim 9, wherein the floating platform is disposed at the bottom of the actuating member, the tilt sensor is disposed on the floating platform, the gyroscope is disposed inside the actuating member, and the weighing sensor is disposed on one side of the actuating member.
12. The leveling control apparatus of claim 11, wherein the gyroscope is disposed on top of the actuator.
13. The leveling control apparatus according to claim 12, further comprising: and the lifting mechanism is used for driving the executing piece to move up and down along the vertical direction.
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