CN110908390A - Automatic leveling control system for carrying platform of crawler carrier - Google Patents

Automatic leveling control system for carrying platform of crawler carrier Download PDF

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CN110908390A
CN110908390A CN201911275992.8A CN201911275992A CN110908390A CN 110908390 A CN110908390 A CN 110908390A CN 201911275992 A CN201911275992 A CN 201911275992A CN 110908390 A CN110908390 A CN 110908390A
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crawler
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CN110908390B (en
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蔡宗琰
朱桂灵
肖飞
余啟航
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Changan University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

The invention belongs to the field of crawler carriers, and discloses an automatic leveling control system for a carrier platform of a crawler carrier, which comprises an inclination angle detection module, a central processor module, an execution module and a limiting module; the inclination angle detection module, the execution module and the limiting module are all connected with the central processor module; the inclination angle detection module is installed at the bottom of a carrying platform of the crawler, the limiting module is installed at the bottom of the carrying platform, and the execution module is connected with a hydraulic leveling system of the crawler. The invention can detect the inclination state of the object carrying platform in real time, automatically level the object carrying platform, meet the requirements of instantaneity and stability of the object carrying platform leveling of the crawler in a complex working environment, and solve the problems that the body of the prior agricultural crawler is bumpy, the object carrying platform is easy to incline, is not easy to balance, is easy to overturn and the like in the working process.

Description

Automatic leveling control system for carrying platform of crawler carrier
Technical Field
The invention belongs to the field of crawler carriers, and relates to an automatic leveling control system for a carrier platform of a crawler carrier.
Background
Some areas have abundant material resources, but the cultivated land area is small and the plots are scattered, most areas are hills and mountain forests, the road conditions are extremely severe, and a complete road traffic network is not formed yet. Therefore, in the process of transporting local materials, traditional transport machinery is mostly adopted, the function of leveling the vehicle body of the traditional transport machinery in real time is poor, the leveling system of the traditional transport machinery has the problems of untimely or inaccurate leveling of the vehicle body, the vehicle is easy to incline or turn over, and the safety and the property of people are greatly threatened. The existing automatic leveling control system for the vehicle body is widely applied to engineering vehicles, is less used in the field of agricultural crawler trucks, is complex in a whole set of control system and high in cost, and can greatly increase the design cost of the agricultural truck by using the existing leveling control system.
At present, an agricultural tracked carrier usually adopts a hydraulic leveling system to level a vehicle body, but the existing control system causes certain interference and error in the detection process of the deflection angle of the vehicle body because of the working environment where the agricultural carrier is located and the vibration of the vehicle body, so that the control on the telescopic degree of a hydraulic cylinder of the hydraulic leveling system is not stable and accurate enough, the tracked carrier has poor real-time performance and stability of leveling an object platform in a complex working environment, the vehicle body jolts in the working process of the agricultural tracked carrier, the object platform is not easy to reach balance after being inclined, and the like.
Disclosure of Invention
The invention aims to overcome the defects of poor instantaneity and stability of the leveling of the object carrying platform of the crawler in the complex working environment in the prior art, and provides an automatic leveling control system for the object carrying platform of the crawler.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
an automatic leveling control system for a carrier platform of a crawler carrier comprises an inclination angle detection module, a central processor module, an execution module and a limiting module; the inclination angle detection module, the execution module and the limiting module are all connected with the central processor module;
the inclination angle detection module is arranged at the bottom of a carrying platform of the crawler, is used for detecting an included angle between the bottom surface of the carrying platform and the horizontal plane and sending the included angle to the central processor module;
the limiting module is arranged at the bottom of the carrying platform and used for detecting the distance between the periphery of the bottom of the carrying platform and a chassis of the crawler carrier and sending the distance to the central processor module;
the central processor module is used for comparing the received included angle between the bottom surface of the loading platform and the horizontal plane with a preset included angle value to obtain a first comparison result, comparing the received distance between the periphery of the bottom of the loading platform and the chassis of the tracked carrier with a preset distance value to obtain a second comparison result, and generating a leveling control command according to the first comparison result and the second comparison result and sending the leveling control command to the execution module;
the execution module is connected with a hydraulic leveling system of the crawler carrier and used for controlling the stretching of a hydraulic cylinder in the hydraulic leveling system according to the received leveling control instruction.
The invention further improves the following steps:
the inclination angle detection module comprises a double-shaft acceleration sensor and an inclination angle detection module voltage stabilizing circuit;
the double-shaft acceleration sensor is installed at the bottom of a carrying platform of the crawler, a signal output end is connected with the central processor module, and a power supply end is connected with a power supply through a voltage stabilizing circuit of the inclination angle detection module.
The model of the double-shaft acceleration sensor is ADXL202, and the voltage stabilizing circuit of the inclination angle detection module is a switch type voltage stabilizing circuit LM 2576.
The central processor module comprises a single chip microcomputer, a single chip microcomputer power supply circuit and a plurality of transistor output circuits;
the signal input end of the single chip microcomputer is connected with the inclination angle detection module and the limiting module, the signal output end of the single chip microcomputer is connected with one end of each of the transistor output circuits, the other end of each transistor output circuit is connected with the execution module, and the power supply end of the single chip microcomputer is connected with the power supply through the single chip microcomputer power supply circuit.
The transistor output circuit comprises an isolation optocoupler circuit, an MOS (metal oxide semiconductor) tube, an LED (light-emitting diode) and a booster circuit;
keep apart opto-coupler circuit one end and connect central processing unit module, the other end connects gradually MOS pipe and execution module, and a freewheel diode that connects in parallel on the MOS pipe, and boost circuit one end is connected the power, and execution module is connected to the other end, and the connecting wire between boost circuit and the execution module is connected to LED one end, and the connecting wire between MOS pipe and the execution module is connected to the other end.
The single chip microcomputer is STM32F103, the power supply circuit of the single chip microcomputer adopts a three-end voltage stabilizing chip LM1117-3.3, the MOS tube is an N-channel MOS tube LR7843, and the booster circuit is SC3671 BOOST.
The execution module comprises a plurality of electromagnetic proportional reversing valves, the electromagnetic proportional reversing valves are respectively arranged on a hydraulic cylinder control oil path of the hydraulic leveling system, and the electromagnetic proportional reversing valves are all connected with the central processor module.
The limiting module comprises a plurality of proximity sensors, the proximity sensors are connected with the central processor module, and the proximity sensors are arranged around the bottom of the loading platform respectively.
An isolation optocoupler circuit is arranged between the proximity sensor and the central processor module.
Compared with the prior art, the invention has the following beneficial effects:
by taking a central processor module as a core, the central processor module receives signals from an inclination angle detection module and a limiting module which are positioned at the bottom of an objective platform, generates a leveling control instruction after processing, and controls the expansion degree of a hydraulic cylinder of a hydraulic leveling system through an execution module; the central processor module outputs a leveling control command to quickly and accurately control the hydraulic leveling system, so that the error is greatly reduced, and the occurrence of safety accidents can be reduced. Based on the real-time detection of the inclination angle detection module, the central processor module can timely acquire the size of the inclination angle, so that a corresponding leveling control instruction is generated, rapid and accurate adjustment is carried out, the time from the detection of the inclination to the leveling of the leveling system is far shorter than the time from the meeting of the vehicle on the inclination of an undulating road surface, and the requirements of the timeliness and the stability of the leveling of the object platform under the complex working environment of the crawler are met. Simultaneously, real-time distance based on spacing module detects, prevents that excessive adjustment from leading to cargo platform and chassis collision, promotes entire system's security.
Furthermore, the inclination angle detection module selects a double-shaft acceleration sensor, the double-shaft acceleration sensor can convert the measured X/Y-shaft acceleration signals into digital signals with pulse width duty ratio to be output, the digital signals can be directly transmitted to the central processor module to be analyzed, A/D conversion or other additional circuits are not needed, and the cost is further reduced and the accuracy is further increased.
Furthermore, one end of an isolation optocoupler circuit is connected with the central processor module, and the other end of the isolation optocoupler circuit is sequentially connected with the MOS tube and the execution module, so that signal interference between the low-voltage control loop and an external high-voltage circuit is avoided through the isolation optocoupler circuit; the MOS tube is connected with a freewheeling diode in parallel, the output frequency of the MOS tube is high, the current is large, and the requirements of converting voltage and current into PWM (pulse-width modulation) wave output can be met so as to achieve the aim of stepless regulation and the high-precision design requirement; one end of the booster circuit is connected with the power supply, and the other end of the booster circuit is connected with the execution module; one end of the LED is connected with a connecting wire between the booster circuit and the execution module, the other end of the LED is connected with a connecting wire between the MOS tube and the execution module, and whether the transistor output circuit works normally or not is detected through the LED.
Furthermore, the execution module comprises a plurality of electromagnetic proportional directional valves, the electromagnetic proportional directional valves are arranged on a hydraulic cylinder control oil path of the hydraulic leveling system, the current of the electromagnetic proportional directional valves is changed through the central processor module, the opening size of valve ports of the electromagnetic proportional directional valves is further adjusted, stepless control of the telescopic degree of the hydraulic cylinder is achieved, and the adjusting precision is further improved.
Furthermore, an isolation optocoupler circuit is arranged between the proximity sensor and the central processor module, so that interference of an external circuit on a limiting signal is prevented, and the working stability, reliability and safety are improved.
Drawings
FIG. 1 is a block diagram of a leveling control system configuration of the present invention;
FIG. 2 is a general circuit diagram of the leveling control system of the present invention;
FIG. 3 is a power supply circuit diagram of the automatic control system of the present invention;
FIG. 4 is a circuit diagram of the dual-axis acceleration sensor ADXL202 of the present invention;
FIG. 5 is a circuit diagram of the transistor output and isolation optocoupler of the invention;
FIG. 6 is a circuit diagram of a limit sensor and an isolating optocoupler of the invention;
FIG. 7 is a schematic flow chart of the ADXL202 connection of the present invention;
FIG. 8 is a schematic diagram of the angular transformation of the dual-axis acceleration sensor of the present invention;
FIG. 9 is a flowchart of a tilt signal conversion routine of the present invention;
FIG. 10 is a flow chart of the operation of the automatic control system of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1 to 8, the automatic leveling control system for the carrier platform of the tracked carrier comprises an inclination angle detection module, a central processor module, an execution module and a limiting module; the inclination angle detection module, the execution module and the limiting module are all connected with the central processor module.
The inclination angle detection module is arranged at the bottom of a carrying platform of the crawler, is used for detecting an included angle between the bottom surface of the carrying platform and the horizontal plane and sending the included angle to the central processor module; the limiting module is arranged on the periphery of the bottom of the carrying platform and used for detecting the distance between the periphery of the bottom of the carrying platform and the chassis of the crawler conveyor and sending the distance to the central processor module; the central processor module is used for receiving information of an included angle between the bottom surface of the carrying platform and the horizontal plane and a distance between the periphery of the bottom of the carrying platform and the chassis of the tracked carrier, generating a leveling control command according to the included angle between the bottom surface of the carrying platform and the horizontal plane and the distance between the periphery of the bottom of the carrying platform and the chassis of the tracked carrier, and sending the leveling control command to the execution module; the execution module is connected with a hydraulic leveling system of the crawler carrier and used for receiving a leveling control command and controlling the stretching of a hydraulic cylinder in the hydraulic leveling system according to the leveling control command.
Because the transport vehicle needs to level four positions, namely front, back, left and right, in real time, the double-shaft acceleration sensor ADXL202 with low cost, low power consumption and high precision is used as an inclination angle detection module, the detected X/Y-shaft acceleration signals can be converted into digital signals with pulse width duty ratio to be output, the digital signals can be directly transmitted to the STM32F103, A/D conversion or other additional circuits are not needed, and the cost is further reduced and the precision is further increased. The output signal of ADXL202 is a square wave with a duty cycle varying with the inclination angle, and the duty cycle T1/T2Proportional to the measured acceleration. The magnitude a of the acceleration component along the X-axis and Y-axis directions can be obtainedXAnd aYThe relationship with the gravitational acceleration g is: a isX＝g·sin(α)，aYIn the formula, α is the inclination angle of the sensor in the X-axis direction, β is the inclination angle of the sensor in the Y-axis direction, and α and β are expressed by an inverse trigonometric function as:
Figure BDA0002315566620000071
and a isX、aYCan be composed of
Figure BDA0002315566620000072
Figure BDA0002315566620000073
To obtain, therefore, the duration T of each high-level pulse received only needs to be calculated by the single-chip microcomputerX、TYThe inclination angles α, β of the sensors can be measured according to the corresponding relation between the duty ratio, the measured acceleration and the inclination angle and the corresponding calculation formula, so that the inclination angles α, β of the loading platform can be obtained, wherein the method for calculating the duration time of the high level comprises the steps that the single chip microcomputer enters interruption and the counter starts counting when detecting the rising edge, stops counting immediately when detecting the falling edge, enters interruption to read the value of the counter, and the value of the counter in one period T can be obtained through the counting value and the counting frequency2Inner high level TX、TYThe pulse width of (a), which is finally used as the basis for calculating the duty ratio. The double-shaft acceleration sensor ADXL202 is connected with a vehicle-mounted power supply through a switch type voltage stabilizing circuit LM2576 to realize power supply, the switch type voltage stabilizing circuit LM2576 has larger input voltage range and higher output current and working efficiency, and can convert the vehicle-mounted voltage DC12V of the transport vehicle into the voltage input double-shaft acceleration sensor ADXL202 of DC 5V.
Referring to fig. 9, the process from the detection of the signals by the two-axis acceleration sensor ADXL202 to the calculation and display of the single chip microcomputer is shown. Flag1 for high level time counting, Flag2 for one cycle time counting, high level time TXOr TY＝Flag1×T0Output pulse period T of double-shaft acceleration sensor ADXL2022＝Flag2×T0. Therefore, the size of the inclination angle of the loading platform can be obtained according to the corresponding conversion relation and the calculation formula.
The limiting module adopts a proximity sensor to detect the distance between the loading platform and the chassis in real time. A current-limiting protection resistor is arranged between the limiting module and the signal input end of the single chip microcomputer, so that overlarge current is avoided, an isolation optocoupler circuit is connected, and interference of current in the execution module on output signals of the limiting module is avoided. Four limiting modules are arranged in the embodiment and are respectively positioned at the front, the rear, the left and the right of the bottom of the loading platform, and the four limiting modules are connected into PA6, PA7, PA8 and PA9 interfaces of the single chip microcomputer, so that the accuracy of signals is ensured. The tilt angle detection module signal is directly transmitted to interfaces PB14 and PB15 of the single chip microcomputer.
The execution module is realized through an electromagnetic proportional directional valve, the electromagnetic proportional directional valve is arranged on a control oil path of a hydraulic cylinder of the hydraulic leveling system, and the electromagnetic proportional directional valve receives a leveling control instruction sent by the central processor module, adjusts the opening and closing size of a valve port of the electromagnetic proportional directional valve and further realizes stepless control on the expansion degree of the hydraulic cylinder.
The central processor module comprises a single chip microcomputer and a transistor output circuit; the signal input end of the single chip microcomputer is connected with the inclination angle detection module and the limiting module, the signal output end of the single chip microcomputer is sequentially connected with the transistor output circuit and the execution module, and the power supply end of the single chip microcomputer is connected with the power supply through a power supply voltage power supply line. STM32F103 is selected for the singlechip, and other singlechips with the same function can all be used.
The inclination angle detection module positioned at the bottom of the loading platform detects the inclination degree between the loading platform of the vehicle and the horizontal plane and outputs a digital signal to the single chip microcomputer for processing; and the single chip microcomputer calculates the front-back left-right deviation degree of the loading platform according to the corresponding relation between the internal program and the digital signal duty ratio, the deviation acceleration and the vehicle body deviation angle. If the offset angle is 0, the singlechip outputs a low level, an MOS (metal oxide semiconductor) tube of a transistor output circuit is not conducted, the execution module does not act, and the carrying platform keeps the original state at the moment; if the offset angle is not 0, the singlechip outputs a leveling control command through the I/O interface, and the leveling control command is a PWM pulse signal. The controllable transistor output circuit can output corresponding control current, so that stepless regulation and control of the opening and closing degree of the valve port of the electromagnetic proportional directional valve are realized, the extension or contraction of a hydraulic cylinder in the hydraulic leveling system is accurately controlled, and the carrying platform is always parallel to the horizontal plane. When the transport vehicle moves under a complex working condition to cause the vehicle body to incline, the processes are repeated, and the real-time and accurate leveling of the loading platform is realized.
The working current of the electromagnetic proportional reversing valve reaches 2.5A to the maximum, in order to meet the design requirement of high precision, the transistor output circuit selects an N-channel MOS tube with the model of LR7843 to control the electromagnetic proportional reversing valve, and in order to prevent the minimum system of the single chip microcomputer from being interfered by an external circuit, the transistor output circuit and the single chip microcomputer are isolated by using an isolation circuit. The electromagnetic proportional reversing valve has the advantages that impact current is large when the electromagnetic proportional reversing valve works, the optical coupler is considered to be possibly damaged, in order to facilitate replacement and manufacturing cost, a single optical coupler design is selected, a four-pin direct-insertion optical coupler with the model of PC817 is selected, a single chip microcomputer outputs control signals to four-path four-pin direct-insertion optical couplers PC817 through I/O ports PA1, PA2, PA3 and PA4, each four-path four-pin direct-insertion optical coupler PC817 is connected with one MOS (metal oxide semiconductor) tube, each MOS tube is connected with one freewheeling diode in parallel, then the four MOS tubes output control currents through large-current output ports J1L, J1R, J2L and J2R respectively, the purpose of controlling the opening size of a valve port of the electromagnetic proportional reversing valve is achieved, in order to guarantee normal work of the electromagnetic proportional reversing valve, an SC3671BOOST boosting circuit is used for supplying power to the electromagnetic proportional reversing valve, an LED indicating circuit is arranged.
Referring to fig. 10, the working process of the present invention:
when the vehicle runs, the inclination angle detection module detects that the vehicle body inclines and sends a PWM pulse signal to the single chip microcomputer interface, and the single chip microcomputer calculates the duration time of the high level in a time period according to the input signal of the single chip microcomputer interface. When the single chip detects the rising edge, the single chip enters interruption to start counting; when the falling edge is detected, the counting is immediately stopped, the value of the reading interruption counter is entered, the pulse width of the high level is obtained according to the counting value and the counting frequency, and the duty ratio of the high level pulse in the whole period is obtained through calculation. And calculating to obtain the front-back left-right deviation degree according to the one-to-one correspondence among the duty ratio, the deviation acceleration and the vehicle body deviation angle. If the offset angle is 0, the singlechip outputs a low level, an MOS (metal oxide semiconductor) tube of a transistor output circuit is not conducted, the execution module does not act, and the carrying platform keeps the original state at the moment; if the offset angle is not 0, the singlechip outputs a leveling control command through I/O interfaces PA1, PA2, PA3 and PA4, and the leveling control command is a PWM pulse signal. The leveling control instruction passes through the isolation optocoupler circuit, avoids the interference of larger impact current to the single chip microcomputer leveling control instruction when an external circuit works, and the transistor output circuit can output corresponding control voltage and current under the action of PWM wave signals, so that the stepless control of the opening and closing degree of the valve port of the electromagnetic proportional directional valve is realized, and the accurate and stable control of the hydraulic cylinder stretching degree is realized. When the transport vehicle moves under a complex working condition and the vehicle body deflects, the processes are repeated, and the process that the loading platform is parallel to the ground all the time is realized.
The limiting modules on the front side, the rear side, the left side and the right side of the vehicle body detect the leveling state of the vehicle body, the distance between the carrying platform and the chassis is continuously detected, the limiting modules output signals to the single chip microcomputer, in order to avoid interference of impact current on signals of the single chip microcomputer when an electric external circuit works, the control signals firstly pass through the isolation optocoupler circuit and then are transmitted to interfaces PA6, PA7, PA8 and PA9 of the single chip microcomputer, the single chip microcomputer compares the limiting signals with a preset distance value, if the distance between the carrying platform and the chassis is smaller than the preset distance value, collision can occur when the vehicle continues to move, the single chip microcomputer outputs a leveling termination signal at the moment, pins PA1, PA2, PA3 and PA4 are empty, the electromagnetic proportional reversing valve.
The automatic leveling control system for the object carrying platform of the crawler carrier can detect the inclination state of the object carrying platform in real time, automatically level the object carrying platform, meet the requirements of instantaneity and stability of leveling the object carrying platform under a complex working environment of the crawler carrier, and solve the problems that an existing agricultural crawler carrier is bumpy in the working process, the object carrying platform is not easy to balance after inclining, and is easy to overturn.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.

Claims (9)

1. An automatic leveling control system for a carrier platform of a crawler carrier is characterized by comprising an inclination angle detection module, a central processor module, an execution module and a limiting module; the inclination angle detection module, the execution module and the limiting module are all connected with the central processor module;
the inclination angle detection module is arranged at the bottom of a carrying platform of the crawler, is used for detecting an included angle between the bottom surface of the carrying platform and the horizontal plane and sending the included angle to the central processor module;
the limiting module is arranged at the bottom of the carrying platform and used for detecting the distance between the periphery of the bottom of the carrying platform and a chassis of the crawler carrier and sending the distance to the central processor module;
the central processor module is used for comparing the received included angle between the bottom surface of the loading platform and the horizontal plane with a preset included angle value to obtain a first comparison result, comparing the received distance between the periphery of the bottom of the loading platform and the chassis of the tracked carrier with a preset distance value to obtain a second comparison result, and generating a leveling control command according to the first comparison result and the second comparison result and sending the leveling control command to the execution module;
the execution module is connected with a hydraulic leveling system of the crawler carrier and used for controlling the stretching of a hydraulic cylinder in the hydraulic leveling system according to the received leveling control instruction.
2. The automatic leveling control system for the carrier platform of the tracked carrier according to claim 1, wherein the tilt angle detection module comprises a dual-axis acceleration sensor and a tilt angle detection module voltage stabilizing circuit;
the double-shaft acceleration sensor is installed at the bottom of a carrying platform of the crawler, a signal output end is connected with the central processor module, and a power supply end is connected with a power supply through a voltage stabilizing circuit of the inclination angle detection module.
3. The automatic leveling control system for the carrier platform of the tracked carrier according to claim 2, wherein the model of the dual-axis acceleration sensor is ADXL202, and the inclination angle detection module voltage stabilizing circuit is a switch type voltage stabilizing circuit LM 2576.
4. The automatic leveling control system for the carrier platform of the tracked carrier according to claim 1, wherein the central processor module comprises a single chip microcomputer, a single chip microcomputer power supply circuit and a plurality of transistor output circuits;
the signal input end of the single chip microcomputer is connected with the inclination angle detection module and the limiting module, the signal output end of the single chip microcomputer is connected with one end of each of the transistor output circuits, the other end of each transistor output circuit is connected with the execution module, and the power supply end of the single chip microcomputer is connected with the power supply through the single chip microcomputer power supply circuit.
5. The automatic leveling control system for the carrier platform of the tracked carrier according to claim 4, wherein the transistor output circuit comprises an isolation optocoupler circuit, a MOS transistor, an LED and a booster circuit;
keep apart opto-coupler circuit one end and connect central processing unit module, the other end connects gradually MOS pipe and execution module, and a freewheel diode that connects in parallel on the MOS pipe, and boost circuit one end is connected the power, and execution module is connected to the other end, and the connecting wire between boost circuit and the execution module is connected to LED one end, and the connecting wire between MOS pipe and the execution module is connected to the other end.
6. The automatic leveling control system for the carrying platform of the crawler carrier as recited in claim 5, wherein the single chip microcomputer is STM32F103, the power circuit of the single chip microcomputer adopts a three-terminal voltage stabilization chip LM1117-3.3, the MOS transistor is an N-channel MOS transistor LR7843, and the voltage BOOST circuit is SC3671 BOOST.
7. The automatic leveling control system for the loading platform of the crawler carrier according to claim 1, wherein the execution module comprises a plurality of electromagnetic proportional directional valves, the electromagnetic proportional directional valves are respectively arranged on a hydraulic cylinder control oil path of the hydraulic leveling system, and the electromagnetic proportional directional valves are all connected with the central processor module.
8. The automatic leveling control system for the loading platform of the crawler carrier according to claim 1, wherein the limiting module comprises a plurality of proximity sensors, the proximity sensors are all connected with the central processor module, and the proximity sensors are respectively arranged around the bottom of the loading platform.
9. The automatic leveling control system for the carrier platform of the tracked carrier according to claim 8, wherein an isolation optocoupler circuit is arranged between the proximity sensor and the central processor module.
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