CN111301091A - Chassis leveling method and device, transport vehicle and storage medium - Google Patents

Chassis leveling method and device, transport vehicle and storage medium Download PDF

Info

Publication number
CN111301091A
CN111301091A CN202010152891.8A CN202010152891A CN111301091A CN 111301091 A CN111301091 A CN 111301091A CN 202010152891 A CN202010152891 A CN 202010152891A CN 111301091 A CN111301091 A CN 111301091A
Authority
CN
China
Prior art keywords
chassis
leg
telescopic
telescopic supporting
supporting leg
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010152891.8A
Other languages
Chinese (zh)
Inventor
郑帅印
刘玉平
向星灿
杨银
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Bozhilin Robot Co Ltd
Original Assignee
Guangdong Bozhilin Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong Bozhilin Robot Co Ltd filed Critical Guangdong Bozhilin Robot Co Ltd
Priority to CN202010152891.8A priority Critical patent/CN111301091A/en
Publication of CN111301091A publication Critical patent/CN111301091A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B60G17/01908—Acceleration or inclination sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/30—Height or ground clearance

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Casings For Electric Apparatus (AREA)

Abstract

The invention discloses a chassis leveling method, which comprises the following steps: receiving a current signal collected by a motor arranged on a telescopic supporting leg; confirming whether the telescopic supporting leg is grounded or not according to the current signal; when the telescopic supporting legs do not touch the ground, controlling the telescopic supporting legs which do not touch the ground to touch the ground; acquiring angle information acquired by an inclination angle sensor arranged on a chassis; calculating the height value of the telescopic supporting leg needing to be lifted or lowered according to the angle information and the position of the telescopic supporting leg on the chassis; and controlling the corresponding telescopic supporting leg to ascend or descend to the chassis to keep a horizontal state according to the height value. The invention also provides a chassis leveling device, a transport vehicle and a storage medium, and the chassis is kept in a horizontal state by adjusting the ascending or descending of the telescopic supporting legs.

Description

Chassis leveling method and device, transport vehicle and storage medium
Technical Field
The invention relates to the technical field of building equipment, in particular to a chassis leveling method and device, a transport vehicle and a storage medium.
Background
An Automated Guided Vehicle (AGV), which was invented for the first time in south california in the united states since 1954, has been widely used in automated factories in the warehousing, manufacturing, light industry, and logistics transportation industries to reduce labor and improve work efficiency.
With the increasingly wide application of AGVs, the cooperative operation of the loading mechanism (such as a mechanical arm, a conveying mechanism and the like) and the AGVs is gradually generated to meet the application requirements. However, the AGV is mainly applied to an automated factory with a flat ground and a good environment, and the complexity of the road condition is not considered in the design process. If the AGV works in a place with uneven road surface, the operation of the loading mechanism can be influenced. Of course, the working range of the loading mechanism can be adjusted to meet the working requirement, but for the occasion with higher working precision requirement, the method can increase the design cost and the design complexity of the loading mechanism.
Disclosure of Invention
In view of the above, it is desirable to provide a chassis leveling method and apparatus, a transportation vehicle, and a storage medium, which maintain a chassis in a horizontal state by adjusting the raising or lowering of the extendable legs.
A first aspect of the present application provides a chassis leveling method, the method comprising:
receiving a current signal collected by a motor arranged on a telescopic supporting leg;
confirming whether the telescopic supporting leg is grounded or not according to the current signal;
when the telescopic supporting legs do not touch the ground, controlling the telescopic supporting legs which do not touch the ground to touch the ground;
acquiring angle information acquired by an inclination angle sensor arranged on a chassis;
calculating the height value of the telescopic supporting leg needing to be lifted or lowered according to the angle information and the position of the telescopic supporting leg on the chassis;
and controlling the corresponding telescopic supporting leg to ascend or descend to the chassis to keep a horizontal state according to the height value.
Preferably, the confirming whether the telescopic leg is grounded according to the current signal comprises:
pre-processing the current signal;
comparing the preprocessed current signal with a preset current;
when the preprocessed current signal is larger than or equal to the preset current, confirming that the telescopic supporting leg corresponding to the current signal lands; and
and when the preprocessed current signal is smaller than the preset current, confirming that the telescopic supporting leg corresponding to the current signal is not grounded.
Preferably, the telescoping legs comprise a first telescoping leg, a second telescoping leg, a third telescoping leg, and a fourth telescoping leg;
the chassis is rectangular and comprises a first side edge, a second side edge, a third side edge and a fourth side edge;
determining a first line at a location on the chassis passing through the first telescoping leg and parallel to the first side edge;
determining a second line at a location on the chassis passing through the second telescoping leg, and the second line is parallel to the second side edge;
determining a third line at a location on the chassis passing through the third telescoping leg, and the third line is parallel to the third side edge;
determining a fourth line at a location on the chassis passing through the fourth telescoping leg, and the fourth line is parallel to the fourth side;
and establishing a coordinate system XOY by taking the intersection point of two diagonal lines of a rectangle formed by intersecting the first straight line, the second straight line, the third straight line and the fourth straight line as an origin O, taking the middle lines of two opposite sides of the formed rectangle as an X axis and taking the middle lines of the other two opposite sides of the formed rectangle as a Y axis.
Preferably, the angle information includes an angle α and an angle β, wherein the angle α is the inclination angle of the chassis detected by the inclination sensor in the X-axis direction, and the angle β is the inclination angle of the chassis detected by the inclination sensor in the Y-axis direction.
Preferably, the calculating the height value of the telescopic leg needing to be raised or lowered according to the angle information and the position of the telescopic leg on the chassis comprises:
when α ≠ 0 and β ═ 0, calculating the height value of the telescopic leg needing to be ascended or descended by adopting a first method, wherein the first method calculates the height value of the other three telescopic legs needing to be ascended or descended by taking the position of the second telescopic leg on the chassis or the position of the fourth telescopic leg on the chassis as a fulcrum and the positions of the other three telescopic legs on the chassis as adjustable fulcrums;
when the position of the second telescopic supporting leg on the chassis is taken as a fulcrum, the positions of the first telescopic supporting leg, the third telescopic supporting leg and the fourth telescopic supporting leg on the chassis are taken as a first adjustable fulcrum, a second adjustable fulcrum and a third adjustable fulcrum respectively;
when the position of the fourth telescopic supporting leg on the chassis is taken as a fulcrum, the positions of the first telescopic supporting leg, the third telescopic supporting leg and the second telescopic supporting leg on the chassis are taken as a first adjustable fulcrum, a second adjustable fulcrum and a third adjustable fulcrum respectively.
Preferably, the height value of the telescopic leg corresponding to the first adjustable fulcrum to be raised or lowered is a first distance and tan | β1I, wherein the first distance is the distance between the position of the first telescoping leg on the chassis and the position of the second telescoping leg on the chassis;
the height value of the telescopic supporting leg corresponding to the second adjustable fulcrum needing to rise or fall is a second distance and tan | β1I, wherein the second distance is the distance between the position of the second telescoping leg on the chassis and the position of the third telescoping leg on the chassis;
the height value of the telescopic supporting leg corresponding to the third adjustable fulcrum needing to rise or fall is a third distance and tan|β1L, wherein the third distance is the distance between the position of the second telescoping leg on the chassis and the position of the fourth telescoping leg on the chassis, wherein when α>At 0, the tan | β is calculated by the following formula1|，
Figure BDA0002403057140000041
Wherein L isCDThe distance between the projection of the position of the fourth telescopic leg on the chassis and the projection of the position of the second telescopic leg on the chassis on the Y axis, LCbIs the distance between the projection of the position of the fourth telescopic leg on the chassis on the Y axis and the position of the second telescopic leg on the chassis, LDbThe distance between the projection of the position of the second telescopic leg on the chassis on the Y axis and the position of the second telescopic leg on the chassis;
when α<At 0, the tan | β is calculated by the following formula1|，
Figure BDA0002403057140000042
Wherein L isCdIs the distance between the projection of the position of the fourth telescopic leg on the chassis on the Y axis and the position of the fourth telescopic leg on the chassis, LDdIs the distance between the projection of the position of the second telescopic leg on the chassis on the Y-axis and the position of the fourth telescopic leg on the chassis.
Preferably, the calculating the height value of the telescopic leg needing to be raised or lowered according to the angle information and the position of the telescopic leg on the chassis comprises:
when α is equal to 0 and β is not equal to 0, calculating the height value of the telescopic legs needing to be ascended or descended by adopting a second method, wherein the second method takes the position of the first telescopic leg on the chassis or the position of the third telescopic leg on the chassis as a fulcrum, and the height values of the other three telescopic legs needing to be ascended or descended are calculated by taking the positions of the other three telescopic legs on the chassis as adjustable fulcrums;
when the position of the first telescopic supporting leg on the chassis is taken as a fulcrum, the positions of the second telescopic supporting leg, the third telescopic supporting leg and the fourth telescopic supporting leg on the chassis are taken as a fourth adjustable fulcrum, a fifth adjustable fulcrum and a sixth adjustable fulcrum respectively;
when the position of the third telescopic supporting leg on the chassis is taken as a fulcrum, the positions of the second telescopic supporting leg, the first telescopic supporting leg and the fourth telescopic supporting leg on the chassis are taken as a fourth adjustable fulcrum, a fifth adjustable fulcrum and a sixth adjustable fulcrum respectively.
Preferably, the height value of the telescopic leg corresponding to the fourth adjustable fulcrum to be raised or lowered is a fourth distance and tan | α1I, wherein the fourth distance is the distance between the position of the first telescoping leg on the chassis and the position of the second telescoping leg on the chassis;
the height value of the telescopic supporting leg corresponding to the fifth adjustable fulcrum needing to rise or fall is a fifth distance and tan | α1I, wherein the fifth distance is the distance between the position of the first telescoping leg on the chassis and the position of the third telescoping leg on the chassis;
the height value of the telescopic supporting leg corresponding to the sixth adjustable fulcrum needing to rise or fall is a sixth distance and tan | α1I, wherein the sixth distance is the distance between the position of the first telescoping leg on the chassis and the position of the fourth telescoping leg on the chassis;
wherein when β>At 0, tan | α is calculated by the following formula1|，
Figure BDA0002403057140000051
Wherein L isABThe distance between the projection of the position of the third telescopic leg on the chassis and the projection of the position of the first telescopic leg on the chassis on the X axis, LAaIs a stand forThe distance between the projection of the position of the third telescopic leg on the chassis on the X axis and the position of the first telescopic leg on the chassis, LBaThe distance between the projection of the position of the first telescopic leg on the chassis on the X axis and the position of the first telescopic leg on the chassis;
when β<At 0, tan | α is calculated by the following formula1|，
Figure BDA0002403057140000052
Wherein L isBcIs the distance between the projection of the position of the first telescopic leg on the chassis on the X axis and the position of the third telescopic leg on the chassis, LAcIs the distance between the projection of the position of the third telescopic leg on the chassis on the X-axis and the position of the third telescopic leg on the chassis.
Preferably, when α ≠ 0, and β ≠ 0, a height value for which the telescopic leg needs to be raised or lowered is calculated using the first method and the second method.
Preferably, the controlling the corresponding telescopic leg to ascend or descend to the chassis to maintain the horizontal state according to the height value comprises:
obtaining angle information detected by the tilt angle sensor again;
determining whether the chassis leveling precision is smaller than a preset precision or not according to whether the angle information is larger than or equal to a preset angle or not;
when the angle information is larger than or equal to a preset angle, confirming that the chassis leveling precision is larger than or equal to the preset precision, continuously calculating a height value of the telescopic supporting leg needing to be lifted or lowered according to the angle information and the position of the telescopic supporting leg on the chassis, and controlling the corresponding telescopic supporting leg to be lifted or lowered to the chassis to keep a horizontal state according to the height value;
and when the angle information is smaller than a preset angle and the chassis leveling precision is confirmed to be smaller than the preset precision, the chassis is confirmed to be kept in a horizontal state.
A second aspect of the present application provides a chassis leveling device, the device comprising:
the receiving module is used for receiving current signals collected by a motor arranged on the telescopic supporting leg;
the confirming module is used for confirming whether the telescopic supporting leg lands or not according to the current signal;
the control module is used for controlling the telescopic supporting leg which is not grounded to be grounded when the telescopic supporting leg is not grounded;
the acquisition module is used for acquiring angle information acquired by an inclination angle sensor arranged on the chassis;
the calculation module is used for calculating the height value of the telescopic supporting leg needing to be lifted or lowered according to the angle information and the position of the telescopic supporting leg on the chassis;
and the control module is also used for controlling the corresponding telescopic supporting leg to ascend or descend to the chassis to keep a horizontal state according to the height value.
A third aspect of the present application provides a transporter, comprising:
a chassis;
a controller having stored therein a plurality of program modules that are loaded by the controller and execute the chassis leveling method as described above.
A fourth aspect of the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a controller, implements a chassis leveling method as described above.
Compared with the prior art, the invention can control all the telescopic supporting legs of the transport vehicle to land, calculate the height value of the telescopic supporting legs needing to be lifted or lowered according to the angle information detected by the inclination angle sensor arranged on the chassis, and adjust the telescopic supporting legs according to the height value until the chassis is kept horizontal. Therefore, the transport vehicle can work in different operation scenes.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a diagram illustrating an application environment of a chassis leveling method according to an embodiment of the present invention.
Fig. 2 is a flow chart of a chassis leveling method according to an embodiment of the present invention.
Fig. 3 is a schematic view of a chassis of a transporter in accordance with an embodiment of the present invention.
Fig. 4 is a functional block diagram of a chassis leveling device according to an embodiment of the present invention.
Description of the main elements
Transport vehicle 1
Base plate 2
Controller 3
Rack 20
Running gear 21
Telescopic leg 22
Motor 220
Tilt angle sensor 23
Chassis leveling device 10
Receiving module 101
Validation Module 102
Control module 103
Acquisition module 104
Calculation Module 105
First side 200
Second side edge 201
Third side 202
Fourth side 203
Steps S1-S6
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
Referring to fig. 1, an application environment diagram of the chassis leveling method according to an embodiment of the invention is shown. In the present embodiment, the chassis leveling method is applied to the transport vehicle 1. The transport Vehicle 1 is an Automatic Guided Vehicle (AGV), and can operate in different scenarios. As shown in fig. 1, the transporter 1 includes, but is not limited to, a chassis 2 and a controller 3. The chassis 2 comprises a frame 20, a running gear 21 and telescopic legs 22. The traveling mechanism 21 is disposed below the frame 20. The telescoping legs 22 are disposed on the frame 20.
In the present embodiment, the running mechanism 21 may be a wheel type, a crawler type, or a leg type.
In this embodiment, the telescopic leg 22 is provided with a motor 220, and the motor 220 can control the telescopic leg 22 to ascend to be away from the ground and can also control the telescopic leg 22 to descend to be supported on the ground.
In the present embodiment, the chassis 2 is further provided with an inclination sensor 23, and the inclination sensor 23 is configured to obtain an inclination of the chassis 2.
In this embodiment, the controller 3 is configured to collect a current signal of the motor 220, and determine whether the retractable leg 22 is grounded according to the current signal. And calculating the height value of each telescopic leg 22 which needs to be raised or lowered according to the inclination angle obtained by the inclination angle sensor 23, and further adjusting the telescopic legs 22 to be raised or lowered according to the height value so as to realize the leveling of the chassis 2 of the transport vehicle 1.
It should be noted that fig. 1 is only an exemplary transport vehicle 1. In other embodiments, the transporter 1 may include more or fewer elements, or have a different arrangement of elements. Although not shown, the transportation vehicle 1 may further include a Wireless Fidelity (WiFi) unit, a bluetooth unit, a battery, and other components, which are not described in detail herein.
Referring to fig. 2, a flowchart of a chassis leveling method according to an embodiment of the invention is shown. The order of the steps in the flow chart may be changed and some steps may be omitted according to different needs.
And step S1, receiving current signals collected by a motor arranged on the telescopic supporting leg.
In one embodiment, the transport vehicle comprises a plurality of telescopic supporting legs, each telescopic supporting leg of the transport vehicle is provided with a motor, and the motors collect the current of the transport vehicle in the operation process in real time.
In this embodiment, the transport vehicle includes four telescopic legs, and the motor on each telescopic leg collects current information in real time and sends the current signal to the controller. For example, the motor of the first telescoping leg picks up a current of I1The current collected by the motor of the second telescopic supporting leg is I2The current collected by the motor of the third telescopic supporting leg is I3And the current collected by the motor of the fourth telescopic leg is I4. The controller receives current signals [ I ] acquired by the motors of the four telescopic supporting legs1，I2，I3，I4]。
And step S2, confirming whether the telescopic supporting leg is grounded according to the current signal. When there is no landing of the retractable leg, the flow proceeds to step S3; when all of the plurality of extendable legs are grounded, the flow proceeds to step S4.
In this embodiment, the determining whether the plurality of retractable legs are grounded according to the current signal includes: pre-processing the current signal; comparing the preprocessed current signal with a preset current; when the preprocessed current signal is larger than or equal to the preset current, confirming that the telescopic supporting leg corresponding to the current signal lands; and when the preprocessed current signal is smaller than the preset current, confirming that the telescopic supporting leg corresponding to the current signal is not grounded.
In this embodiment, the current collected by the motor varies greatly before and after landing due to the retractable legs. Therefore, the current signal feedback collected by the motor is used as the judgment basis for grounding the telescopic supporting leg. In order to avoid misjudgment of the landing condition of the telescopic leg caused by the overlarge starting current of the motor or current fluctuation caused by some accidental factors. And preprocessing the current signal before confirming whether each telescopic supporting leg is grounded according to the current signal. In one embodiment, the pre-processing the current signal is processing the current signal by a filtering algorithm.
Specifically, the preprocessing the current signal comprises:
receiving N groups of continuously collected current signals I1，I2，I3，I4]；
Removing the maximum value and the minimum value in the N groups of current signals;
the arithmetic mean of the N-2 sets of current signals is calculated.
In the present embodiment, the arithmetic mean of the current signals is used as a basis for determining whether each retractable leg is grounded. Specifically, the method comprises the following steps:
comparing the arithmetic mean of the current signal with the preset current;
when the arithmetic mean value of the current signal is greater than or equal to the preset current, confirming that the telescopic supporting leg corresponding to the current signal lands;
and when the arithmetic mean value of the current signal is smaller than the preset current, confirming that the telescopic supporting leg corresponding to the current signal is not grounded.
For example, when the arithmetic mean of the current signals corresponding to the first telescopic leg is I1' the arithmetic mean of the current signal corresponding to the second telescopic leg is I2' the arithmetic mean of the current signal corresponding to the third telescopic leg is I3', current signal corresponding to fourth telescopic legHas an arithmetic mean of I4'. When the said I1When the current is greater than or equal to the preset current, the first telescopic supporting leg is confirmed to be grounded; when the said I2When the current is greater than or equal to the preset current, the second telescopic supporting leg is confirmed to be grounded; when the said I3When the current is less than the preset current, the third telescopic leg is confirmed not to be grounded; when the said I4' when the current is less than the preset current, the fourth telescopic leg is confirmed not to be grounded.
And step S3, controlling the telescopic legs which are not grounded to be grounded.
In the present embodiment, when there is a case where the extendable legs do not land, the controller controls the extendable legs that do not land to land. For example, when a target location in a work scene is uneven, there may be retractable legs that do not land after the transporter reaches the target location. The controller sends a control command to the motor corresponding to the telescopic supporting leg, and the telescopic supporting leg is controlled to extend through the motor so as to touch the ground. The chassis of the transport vehicle may then be subject to tilting conditions which are detrimental to the loading mechanism operation of the transport vehicle. In order to level the chassis of the transport vehicle, the height value of each telescopic supporting leg needing to ascend or descend is calculated through the angle sensed by the inclination sensor, and then the telescopic supporting legs are adjusted according to the height value so as to level the chassis. The specific details are described below.
And step S4, acquiring angle information acquired by a tilt angle sensor installed on the chassis.
In this embodiment, a tilt sensor is mounted on the chassis. The inclination angle sensor is used for detecting the inclination angle of the chassis to obtain angle information and sending the angle information to the controller.
And step S5, calculating the height value of the telescopic leg needing to be lifted or lowered according to the angle information and the position of the telescopic leg on the chassis.
In this embodiment, the number of the extendable legs is four, and the four extendable legs are a first extendable leg, a second extendable leg, a third extendable leg and a fourth extendable leg. The four telescopic supporting legs are positioned on the chassis.
In this embodiment, the tilt sensor may detect angle information of the chassis in an X direction and angle information of the chassis in a Y direction. As shown in fig. 3, is a schematic view of the chassis. In this embodiment, the chassis is a rectangle including four sides, such as a first side 200, a second side 201, a third side 202, and a fourth side 203. A first line can be defined through the position of the first telescopic leg on the chassis and is parallel to the first side 200 of the rectangular chassis; a second line may be defined through the position of the second telescoping leg on the chassis and parallel to the second side edge 201 of the rectangular chassis; a third line can be defined through the position of the third telescopic leg on the chassis and is parallel to the third side 202 of the rectangular chassis; a fourth line may be defined through the position of the fourth telescopic leg on the chassis and parallel to the fourth side 203 of the rectangular chassis. And establishing a coordinate system XOY by taking the intersection point of two diagonal lines of a rectangle formed by intersecting the first straight line, the second straight line, the third straight line and the fourth straight line as an origin O, taking the middle lines of two opposite sides of the formed rectangle as an X axis and taking the middle lines of the other two opposite sides of the rectangle as a Y axis. Point a shows the position of the first telescopic leg on the chassis, point b shows the position of the second telescopic leg on the chassis, point c shows the position of the third telescopic leg on the chassis, and point d shows the position of the fourth telescopic leg on the chassis. The second telescopic supporting leg and the fourth telescopic supporting leg are respectively positioned on two sides of the chassis, which are intersected with the Y axis; the first telescopic supporting leg and the third telescopic supporting leg are respectively positioned on two sides of the chassis, which are intersected with the X axis. The point B is a projection of the position of the first telescopic leg on the chassis on an X axis, the point D is a projection of the position of the second telescopic leg on the chassis on a Y axis, the point A is a projection of the position of the third telescopic leg on the chassis on the X axis, and the point C is a projection of the position of the fourth telescopic leg on the chassis on the Y axis.
The angle information includes α and β, wherein α is the inclination angle of the chassis detected by the inclination sensor in the X direction, and β is the inclination angle of the chassis detected by the inclination sensor in the Y direction.
In one embodiment, when the tilt sensor detects that the chassis has a tilt in the X direction and no tilt in the Y direction, that is, when α ≠ 0 and β ═ 0, a first method is used to calculate the height value of the retractable leg that needs to be raised or lowered.
The first method is to use the position of the second telescopic leg on the chassis or the position of the fourth telescopic leg on the chassis as a fulcrum, and use the positions of the other three telescopic legs on the chassis as adjustable fulcrums to calculate the height values of the other three telescopic legs which need to be lifted or lowered. When the position of the second telescopic supporting leg on the chassis is taken as a fulcrum, the positions of the first telescopic supporting leg, the third telescopic supporting leg and the fourth telescopic supporting leg on the chassis are taken as a first adjustable fulcrum, a second adjustable fulcrum and a third adjustable fulcrum respectively. When the position of the fourth telescopic supporting leg on the chassis is taken as a fulcrum, the positions of the first telescopic supporting leg, the third telescopic supporting leg and the second telescopic supporting leg on the chassis are taken as a first adjustable fulcrum, a second adjustable fulcrum and a third adjustable fulcrum respectively.
Specifically, the height value of the telescopic leg corresponding to the first adjustable fulcrum to be raised or lowered is a first distance and tan | β1The height of the telescopic leg to be raised or lowered corresponding to the second adjustable fulcrum is the second distance and tan | β1The height of the telescopic leg corresponding to the third adjustable fulcrum to be raised or lowered is the third distance and tan | β1The product of | wherein the third distance is the position of the second extendable leg on the chassis and the position of the fourth extendable leg on the chassisThe distance between them.
Wherein, β1The angle between the horizontal plane and the connecting line of the grounded end of the second telescopic leg and the grounded end of the fourth telescopic leg is calculated by the angle β, the position of the second telescopic leg on the chassis, the position of the fourth telescopic leg on the chassis and the distance between the projection points of the second telescopic leg and the fourth telescopic leg on the Y axis to obtain the tan | β1The value of | is given.
For example, when α >0, the position of the extendable leg on the chassis as indicated by point b is taken as the fulcrum, and the positions of the three extendable legs on the chassis as indicated by points a, c, and d are taken as the adjustable fulcrums.
Figure BDA0002403057140000131
Wherein L isabIs the first distance, LbcIs the second distance, LbdIs said third distance, Δ LaHeight value, Δ L, of said first telescopic leg to be raised or loweredcHeight value, Δ L, of said third telescopic leg to be raised or loweredbdThe fourth telescoping leg is required to be raised or lowered by a height value.
From the formula LCD×tan|β|＝(LCb-LDb)×tan|β1In the knowledge of,
Figure BDA0002403057140000141
when α <0, the position of the telescopic leg on the chassis as shown by point d is taken as a fulcrum, and the positions of the three telescopic legs as shown by point a, point b and point c are taken as adjustable fulcrums, namely, the position of the fourth telescopic leg on the chassis is taken as a fulcrum, and the positions of the first telescopic leg, the third telescopic leg and the second telescopic leg on the chassis are taken as a first adjustable fulcrum, a second adjustable fulcrum and a third adjustable fulcrum respectively.
Figure BDA0002403057140000142
Wherein L isabIs the first distance, LbdIs the second distance, LbcIs said third distance, Δ LaHeight value, Δ L, of said first telescopic leg to be raised or loweredbdHeight value, Δ L, of said second telescopic leg to be raised or loweredcThe third telescopic leg is required to be raised or lowered by a height value.
From the formula LCD×tan|β|＝(LDd-LCd)×tan|β1In the knowledge of,
Figure BDA0002403057140000143
LAais the distance between point A and point a, LAbIs the distance between point A and point b, LAcIs the distance between point A and point c, LAdIs the distance between point a and point d; l isBaIs the distance between point B and point a, LBbIs the distance between point B and point B, LBcIs the distance between point B and point c, LBdIs the distance between point B and point d; l isDdIs the distance between point D and point D; l isCdIs the distance between point C and point d; l isDaIs the distance between point D and point a, LCaIs the distance between point C and point a, LABIs the distance between point A and point B, LCDIs the distance between point C and point D; l isacIs the distance between points a and c, LbdIs the distance between point b and point d, LCaIs the distance between point C and point a, LDaIs the distance between point D and point a, LDcIs the distance between point D and point c, LCcIs the distance between point C and point C, LCbIs the distance between point C and point b, LDbThe distance between point D and point b.
In another embodiment, when the tilt sensor detects that the chassis has no tilt in the X direction and has a tilt in the Y direction, that is, when α ≠ 0 and β ≠ 0, the height of the extendable leg is adjusted using the second method.
The second method is that the position of the first telescopic leg on the chassis or the position of the third telescopic leg on the chassis is used as a fulcrum, and the positions of the other three telescopic legs on the chassis are used as adjustable fulcrums to adjust the height values of the other three telescopic legs which need to be lifted or lowered. When the position of the first telescopic supporting leg on the chassis is taken as a fulcrum, the positions of the second telescopic supporting leg, the third telescopic supporting leg and the fourth telescopic supporting leg on the chassis are taken as a fourth adjustable fulcrum, a fifth adjustable fulcrum and a sixth adjustable fulcrum respectively. When the position of the third telescopic supporting leg on the chassis is taken as a fulcrum, the positions of the second telescopic supporting leg, the first telescopic supporting leg and the fourth telescopic supporting leg on the chassis are taken as a fourth adjustable fulcrum, a fifth adjustable fulcrum and a sixth adjustable fulcrum respectively.
Specifically, the height value of the telescopic leg corresponding to the fourth adjustable fulcrum to be raised or lowered is a fourth distance and tan | α1The height value of the telescopic leg corresponding to the fifth adjustable fulcrum to be raised or lowered is the fifth distance and tan | α1The height of the telescopic leg corresponding to the sixth adjustable fulcrum to be raised or lowered is the sixth distance and tan | α1I, wherein the sixth distance is the distance between the position of the first telescoping leg on the chassis and the position of the fourth telescoping leg on the chassis.
Wherein, α1The angle between the line connecting the grounded end of the first retractable leg and the grounded end of the third retractable leg and the horizontal plane is calculated by the angle α and the distance between the position of the first retractable leg on the chassis, the position of the second retractable leg on the chassis and the projected points of the first retractable leg and the second retractable leg on the X-axis to obtain the tan | α1The value of | is given.
For example, when β >0, the position of the telescoping leg on the chassis as shown at point a is taken as the fulcrum, and the positions of the three telescoping legs on the chassis as shown at points b, c and d are taken as adjustable fulcrums.
Figure BDA0002403057140000161
Wherein L isabIs the fourth distance, LacIs the fifth distance, LadIs the sixth distance, Δ LbHeight value, Δ L, of said second telescopic leg to be raised or loweredacHeight value, Δ L, of said third telescopic leg to be raised or lowereddThe fourth telescoping leg is required to be raised or lowered by a height value.
From the formula LAB×tan|α|＝(LAa-LBa)×tan|α1In the knowledge of,
Figure BDA0002403057140000162
when β <0, the position of the extendable leg on the chassis as shown by point c is taken as a fulcrum, and the positions of the three extendable legs on the chassis as shown by points a, b and d are taken as adjustable fulcrums.
Figure BDA0002403057140000163
Wherein L isabIs the fourth distance, LacIs the fifth distance, LadIs the sixth distance, Δ LbHeight value, Δ L, of said second telescopic leg to be raised or loweredacHeight value, Δ L, of said first telescopic leg to be raised or lowereddThe fourth telescoping leg is required to be raised or lowered by a height value.
From the formula LAB×tan|α|＝(LBc-LAc)×tan|α1In the knowledge of,
Figure BDA0002403057140000164
in another embodiment, when the tilt sensor detects that the chassis has a tilt angle in the X-direction and a tilt angle in the Y-direction, i.e. α ≠ 0 and β ≠ 0, it is able to first adjust the retractable leg in the X-axis direction and then adjust the retractable leg in the Y-axis direction.
That is, when α ≠ 0, and β ≠ 0, the height value of the telescoping leg can be adjusted using the first method first, and then the height value of the telescoping leg can be adjusted using the second method.
In addition, when α is equal to 0 and β is equal to 0, the chassis is horizontal, and the telescopic legs do not need to be adjusted.
And step S6, controlling the corresponding telescopic support legs to ascend or descend to the chassis to keep a horizontal state according to the height value.
In this embodiment, when α >0 and β is 0, the adjusted lengths of the first, second, third, and fourth extendable legs can be obtained by calculating the height adjustment required for the extendable legs to rise or fall according to the first method:
Figure BDA0002403057140000171
when α is less than 0 and β is 0, the adjusted lengths of the first, second, third and fourth telescopic legs can be obtained after calculating the height adjustment of the telescopic legs needing to be raised or lowered according to the first method:
Figure BDA0002403057140000172
when β is greater than 0 and α is 0, the adjusted lengths of the first, second, third and fourth telescopic legs can be obtained after calculating the height adjustment of the telescopic legs which needs to be raised or lowered according to the second method:
Figure BDA0002403057140000181
when β is less than 0 and α is 0, the adjusted lengths of the first, second, third and fourth telescopic legs can be obtained after calculating the height adjustment of the telescopic legs needing to be raised or lowered according to the second method:
Figure BDA0002403057140000182
wherein L isaFor the length of the first telescopic leg before adjustment, LbFor the length of the second telescopic leg before adjustment, LcLength before adjustment for the third telescopic leg, LdThe length of the fourth telescoping leg before adjustment.
It should be noted that, in the above embodiments, the telescopic leg which is the highest from the horizontal plane is used as the fulcrum, so as to increase the length of the other telescopic legs to make the chassis in the horizontal state. Of course, the telescopic leg which is the lowest away from the horizontal plane can be used as a fulcrum, and the length of other telescopic legs can be reduced to enable the chassis to be in the horizontal state.
In this embodiment, the controlling the corresponding telescopic leg to ascend or descend to the chassis to maintain the horizontal state according to the height value includes:
obtaining angle information detected by the tilt angle sensor again;
confirming whether the chassis leveling precision is smaller than a preset precision or not according to the angle information;
when the chassis leveling precision is greater than or equal to the preset precision, returning to the step S5, continuously calculating the height value of the telescopic support leg needing to be lifted or lowered according to the angle information and the position of the telescopic support leg on the chassis, and controlling the corresponding telescopic support leg to be lifted or lowered to the chassis to keep the horizontal state according to the height value;
and when the leveling precision of the chassis is smaller than the preset precision, stopping leveling.
In this embodiment, whether the chassis is leveled to a horizontal state can be determined according to the angle information detected by the tilt sensor. When the angle information is zero, confirming that the chassis keeps a horizontal state; when the angle information is larger than or equal to a preset angle, determining that the chassis does not keep a horizontal state according to the accuracy calculated by the angle information, which is larger than or equal to the preset accuracy; and when the angle information is smaller than the preset angle, confirming that the chassis is kept in a horizontal state according to the fact that the precision calculated according to the angle information is smaller than the preset precision, and stopping leveling.
Through the steps S1-S6, after the transportation vehicle reaches the target point and the position of the target point is uneven, all the telescopic legs of the transportation vehicle are controlled to land, the height value of the telescopic legs which need to be raised or lowered is calculated according to the angle information detected by the inclination angle sensor installed on the chassis, and the telescopic legs are adjusted according to the height value until the chassis is kept horizontal.
In another embodiment, the steps S1-S6 may also be performed in a server communicatively coupled to the transporter. The transport vehicle sends current signals collected by the motors of the telescopic supporting legs and angle information detected by the inclination angle sensors to the server. The server receives the current signal and the angle information; confirming whether the plurality of telescopic supporting legs are grounded or not according to the current signal; when the retractable legs do not touch the ground, sending control information to the transport vehicle to control the retractable legs which do not touch the ground to touch the ground; and calculating the height values of the plurality of telescopic supporting legs which need to be lifted or lowered according to the angle information, and sending the height values to the transport vehicle to control the transport vehicle to adjust the corresponding telescopic supporting legs until the chassis of the transport vehicle keeps a horizontal state.
Fig. 4 is a functional block diagram of a chassis leveling device according to the present invention.
In some embodiments, the chassis leveling device 10 is operated in the transporter 1 or in a server (not shown) communicatively coupled to the transporter. The chassis leveling device 10 may be divided into one or more modules, which are stored in the controller 3 and executed by the controller 3 to complete the present application.
The one or more modules may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the chassis levelling device 10 in the vehicle 1. For example, the chassis leveling device 10 may be divided into a receiving module 101, a confirming module 102, a control module 103, an obtaining module 104, and a calculating module 105 in fig. 4.
The receiving module 101 is used for receiving current signals collected by a motor mounted on the telescopic supporting leg; the confirming module 102 is configured to confirm whether the retractable leg is grounded according to the current signal; the control module 103 is used for controlling the telescopic leg which is not grounded to be grounded when the telescopic leg is not grounded; the acquisition module 104 is configured to acquire angle information acquired by a tilt sensor installed on a chassis; the calculation module 105 is configured to calculate a height value of the telescopic leg, which needs to be raised or lowered, according to the angle information and the position of the telescopic leg on the chassis; the control module 103 is further configured to control the corresponding telescopic leg to ascend or descend to the chassis to maintain a horizontal state according to the height value.
The controller 3 may be a Central Processing Unit (CPU), or may be other general purpose processors, Digital Signal Processors (DSP), Application Specific Integrated Circuits (ASIC), Field-Programmable Gate arrays (FPGA) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the controller may be any other conventional processor or the like.
The separately integrated modules/units of the chassis levelling device 10 can be stored in a computer readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, all or part of the processes in the method according to the embodiments of the present invention can also be implemented by a computer program, which can be stored in a computer-readable storage medium, and can implement the steps of the embodiments of the method when the computer program is executed by a processor. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention.

Claims (13)

1. A method of chassis leveling, the method comprising:
receiving a current signal collected by a motor arranged on a telescopic supporting leg;
confirming whether the telescopic supporting leg is grounded or not according to the current signal;
when the telescopic supporting legs do not touch the ground, controlling the telescopic supporting legs which do not touch the ground to touch the ground;
acquiring angle information acquired by an inclination angle sensor arranged on a chassis;
calculating the height value of the telescopic supporting leg needing to be lifted or lowered according to the angle information and the position of the telescopic supporting leg on the chassis;
and controlling the corresponding telescopic supporting leg to ascend or descend to the chassis to keep a horizontal state according to the height value.
2. The chassis leveling method of claim 1, wherein said ascertaining from the current signal whether the telescoping leg is grounded comprises:
pre-processing the current signal;
comparing the preprocessed current signal with a preset current;
when the preprocessed current signal is larger than or equal to the preset current, confirming that the telescopic supporting leg corresponding to the current signal lands; and
and when the preprocessed current signal is smaller than the preset current, confirming that the telescopic supporting leg corresponding to the current signal is not grounded.
3. The chassis leveling method of claim 1 wherein the telescoping legs comprise a first telescoping leg, a second telescoping leg, a third telescoping leg, and a fourth telescoping leg;
the chassis is rectangular and comprises a first side edge, a second side edge, a third side edge and a fourth side edge;
determining a first line at a location on the chassis passing through the first telescoping leg and parallel to the first side edge;
determining a second line at a location on the chassis passing through the second telescoping leg, and the second line is parallel to the second side edge;
determining a third line at a location on the chassis passing through the third telescoping leg, and the third line is parallel to the third side edge;
determining a fourth line at a location on the chassis passing through the fourth telescoping leg, and the fourth line is parallel to the fourth side;
and establishing a coordinate system XOY by taking the intersection point of two diagonal lines of a rectangle formed by intersecting the first straight line, the second straight line, the third straight line and the fourth straight line as an origin O, taking the middle lines of two opposite sides of the formed rectangle as an X axis and taking the middle lines of the other two opposite sides of the formed rectangle as a Y axis.
4. The chassis leveling method of claim 3, wherein the angle information comprises an angle α and an angle β, wherein the angle α is the inclination angle of the chassis in the X-axis direction detected by the inclination sensor, and the angle β is the inclination angle of the chassis in the Y-axis direction detected by the inclination sensor.
5. The chassis leveling method of claim 4, wherein calculating a height value that the telescoping leg needs to be raised or lowered based on the angle information and the position of the telescoping leg on the chassis comprises:
when α ≠ 0 and β ═ 0, calculating the height value of the telescopic leg needing to be ascended or descended by adopting a first method, wherein the first method calculates the height value of the other three telescopic legs needing to be ascended or descended by taking the position of the second telescopic leg on the chassis or the position of the fourth telescopic leg on the chassis as a fulcrum and the positions of the other three telescopic legs on the chassis as adjustable fulcrums;
when the position of the second telescopic supporting leg on the chassis is taken as a fulcrum, the positions of the first telescopic supporting leg, the third telescopic supporting leg and the fourth telescopic supporting leg on the chassis are taken as a first adjustable fulcrum, a second adjustable fulcrum and a third adjustable fulcrum respectively;
when the position of the fourth telescopic supporting leg on the chassis is taken as a fulcrum, the positions of the first telescopic supporting leg, the third telescopic supporting leg and the second telescopic supporting leg on the chassis are taken as a first adjustable fulcrum, a second adjustable fulcrum and a third adjustable fulcrum respectively.
6. The chassis leveling method as recited in claim 5, wherein:
the height value of the telescopic supporting leg corresponding to the first adjustable fulcrum needing to rise or fall is a first distance and tan | β1I, wherein the first distance is the distance between the position of the first telescoping leg on the chassis and the position of the second telescoping leg on the chassis;
the height value of the telescopic supporting leg corresponding to the second adjustable fulcrum needing to rise or fall is a second distance and tan | β1I, wherein the second distance is the distance between the position of the second telescoping leg on the chassis and the position of the third telescoping leg on the chassis;
the height value of the telescopic supporting leg corresponding to the third adjustable fulcrum needing to rise or fall is a third distance and tan | β1I, wherein the third distance is the distance between the position of the second telescoping leg on the chassis and the position of the fourth telescoping leg on the chassis;
wherein when α>At 0, the tan | β is calculated by the following formula1|，
Figure FDA0002403057130000031
Wherein L isCDThe distance between the projection of the position of the fourth telescopic leg on the chassis and the projection of the position of the second telescopic leg on the chassis on the Y axis, LCbIs the distance between the projection of the position of the fourth telescopic leg on the chassis on the Y axis and the position of the second telescopic leg on the chassis, LDbThe distance between the projection of the position of the second telescopic leg on the chassis on the Y axis and the position of the second telescopic leg on the chassis;
when α<At 0, the tan | β is calculated by the following formula1|，
Figure FDA0002403057130000032
Wherein L isCdIs the distance between the projection of the position of the fourth telescopic leg on the chassis on the Y axis and the position of the fourth telescopic leg on the chassis, LDdThe distance between the projection of the position of the second telescopic leg on the chassis and the position of the fourth telescopic leg on the chassis is the position on the chassis.
7. The chassis leveling method of claim 5, wherein calculating a height value that the telescoping leg needs to be raised or lowered based on the angle information and the position of the telescoping leg on the chassis comprises:
when α is equal to 0 and β is not equal to 0, calculating the height value of the telescopic legs needing to be ascended or descended by adopting a second method, wherein the second method takes the position of the first telescopic leg on the chassis or the position of the third telescopic leg on the chassis as a fulcrum, and the height values of the other three telescopic legs needing to be ascended or descended are calculated by taking the positions of the other three telescopic legs on the chassis as adjustable fulcrums;
when the position of the first telescopic supporting leg on the chassis is taken as a fulcrum, the positions of the second telescopic supporting leg, the third telescopic supporting leg and the fourth telescopic supporting leg on the chassis are taken as a fourth adjustable fulcrum, a fifth adjustable fulcrum and a sixth adjustable fulcrum respectively;
when the position of the third telescopic supporting leg on the chassis is taken as a fulcrum, the positions of the second telescopic supporting leg, the first telescopic supporting leg and the fourth telescopic supporting leg on the chassis are taken as a fourth adjustable fulcrum, a fifth adjustable fulcrum and a sixth adjustable fulcrum respectively.
8. The chassis leveling method as recited in claim 7, wherein:
the height value of the telescopic supporting leg corresponding to the fourth adjustable fulcrum needing to rise or fall is a fourth distance and tan | α1I, wherein the fourth distance is the distance between the position of the first telescoping leg on the chassis and the position of the second telescoping leg on the chassis;
the height value of the telescopic supporting leg corresponding to the fifth adjustable fulcrum needing to rise or fall is a fifth distance and tan | α1I, wherein the fifth distance is the distance between the position of the first telescoping leg on the chassis and the position of the third telescoping leg on the chassis;
the height value of the telescopic supporting leg corresponding to the sixth adjustable fulcrum needing to rise or fall is a sixth distance and tan | α1I, wherein the sixth distance is the distance between the position of the first telescoping leg on the chassis and the position of the fourth telescoping leg on the chassis; wherein,
when β>At 0, tan | α is calculated by the following formula1|，
Figure FDA0002403057130000041
Wherein L isABThe distance between the projection of the position of the third telescopic leg on the chassis and the projection of the position of the first telescopic leg on the chassis on the Y axis, LAaIs the distance between the projection of the position of the third telescopic leg on the chassis on the X axis and the position of the first telescopic leg on the chassis, LBaThe distance between the projection of the position of the first telescopic leg on the chassis on the X axis and the position of the first telescopic leg on the chassis;
when β<At 0, tan | α is calculated by the following formula1|，
Figure FDA0002403057130000051
Wherein L isBcIs the distance between the projection of the position of the first telescopic leg on the chassis on the X axis and the position of the third telescopic leg on the chassis, LAcIs the distance between the projection of the position of the third telescopic leg on the chassis on the X-axis and the position of the third telescopic leg on the chassis.
9. The chassis leveling method as recited in claim 7, wherein:
when α ≠ 0, and β ≠ 0, a height value for which the telescopic leg needs to be raised or lowered is calculated using the first method and the second method.
10. The chassis leveling method of claim 1, wherein said controlling the corresponding telescoping leg up or down to the chassis level based on the height value comprises:
obtaining angle information detected by the tilt angle sensor again;
determining whether the chassis leveling precision is smaller than a preset precision or not according to whether the angle information is larger than or equal to a preset angle or not;
when the angle information is larger than or equal to a preset angle, confirming that the chassis leveling precision is larger than or equal to the preset precision, continuously calculating a height value of the telescopic supporting leg needing to be lifted or lowered according to the angle information and the position of the telescopic supporting leg on the chassis, and controlling the corresponding telescopic supporting leg to be lifted or lowered to the chassis to keep a horizontal state according to the height value;
and when the angle information is smaller than a preset angle and the chassis leveling precision is confirmed to be smaller than the preset precision, the chassis is confirmed to be kept in a horizontal state.
11. A chassis leveling device, the device comprising:
the receiving module is used for receiving current signals collected by a motor arranged on the telescopic supporting leg;
the confirming module is used for confirming whether the telescopic supporting leg lands or not according to the current signal;
the control module is used for controlling the telescopic supporting leg which is not grounded to be grounded when the telescopic supporting leg is not grounded;
the acquisition module is used for acquiring angle information acquired by an inclination angle sensor arranged on the chassis;
the calculation module is used for calculating the height value of the telescopic supporting leg needing to be lifted or lowered according to the angle information and the position of the telescopic supporting leg on the chassis;
and the control module is also used for controlling the corresponding telescopic supporting leg to ascend or descend to the chassis to keep a horizontal state according to the height value.
12. A transporter, characterized in that the transporter comprises:
a chassis;
a controller having stored therein a plurality of program modules that are loaded by the controller and execute the chassis leveling method according to any one of claims 1 to 10.
13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the chassis leveling method according to any one of claims 1 to 10.
CN202010152891.8A 2020-03-06 2020-03-06 Chassis leveling method and device, transport vehicle and storage medium Pending CN111301091A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010152891.8A CN111301091A (en) 2020-03-06 2020-03-06 Chassis leveling method and device, transport vehicle and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010152891.8A CN111301091A (en) 2020-03-06 2020-03-06 Chassis leveling method and device, transport vehicle and storage medium

Publications (1)

Publication Number Publication Date
CN111301091A true CN111301091A (en) 2020-06-19

Family

ID=71153610

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010152891.8A Pending CN111301091A (en) 2020-03-06 2020-03-06 Chassis leveling method and device, transport vehicle and storage medium

Country Status (1)

Country Link
CN (1) CN111301091A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112849896A (en) * 2021-04-23 2021-05-28 苏州天准科技股份有限公司 Inclination angle adjusting method and device based on shuttle and shuttle
CN113306530A (en) * 2021-06-25 2021-08-27 中铁十一局集团桥梁有限公司 Method, device and equipment for leveling carrying trolley and readable storage medium
WO2021169670A1 (en) * 2020-02-27 2021-09-02 广州思智科技有限公司 Method and system for leveling recreational vehicle
CN115685737A (en) * 2022-11-10 2023-02-03 桂林星辰科技股份有限公司 Electric measurement and control leveling system for leveling leg to touch ground

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040049330A1 (en) * 2002-09-09 2004-03-11 Fiorletta Carl A. Automated control system for vehicle leveling and elimination of torsion in a vehicle chassis
CN102278072A (en) * 2011-07-12 2011-12-14 中国地质大学（武汉） Hydraulic automatic leveling system and leveling method for seabed drilling machine
CN103287402A (en) * 2013-06-21 2013-09-11 浙江树人大学 Vehicle leveling control method
CN103558870A (en) * 2013-11-18 2014-02-05 西华大学 System and method for eliminating virtual legs of electrical vehicle platform of four-point supporting machine
US20160124437A1 (en) * 2013-05-20 2016-05-05 Harbin Institute Of Technology Measurement Control System for Multi-Shaft Supported Air Floatation Platform
CN205721391U (en) * 2016-06-08 2016-11-23 成都师范学院 A kind of High Precision Automatic levelling control system of vehicular platform
CN109699624A (en) * 2019-02-28 2019-05-03 湖南农业大学 A kind of chassis structure and its road clearance adjusting method of high-clearance fog machine
CN109997826A (en) * 2019-04-11 2019-07-12 湖南农业大学 The leveling control method and system of high-clearance fog machine
CN110764522A (en) * 2019-10-30 2020-02-07 贵州航天特种车有限责任公司 Leveling control system and method based on inclination angle compensation

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040049330A1 (en) * 2002-09-09 2004-03-11 Fiorletta Carl A. Automated control system for vehicle leveling and elimination of torsion in a vehicle chassis
CN102278072A (en) * 2011-07-12 2011-12-14 中国地质大学（武汉） Hydraulic automatic leveling system and leveling method for seabed drilling machine
US20160124437A1 (en) * 2013-05-20 2016-05-05 Harbin Institute Of Technology Measurement Control System for Multi-Shaft Supported Air Floatation Platform
CN103287402A (en) * 2013-06-21 2013-09-11 浙江树人大学 Vehicle leveling control method
CN103558870A (en) * 2013-11-18 2014-02-05 西华大学 System and method for eliminating virtual legs of electrical vehicle platform of four-point supporting machine
CN205721391U (en) * 2016-06-08 2016-11-23 成都师范学院 A kind of High Precision Automatic levelling control system of vehicular platform
CN109699624A (en) * 2019-02-28 2019-05-03 湖南农业大学 A kind of chassis structure and its road clearance adjusting method of high-clearance fog machine
CN109997826A (en) * 2019-04-11 2019-07-12 湖南农业大学 The leveling control method and system of high-clearance fog machine
CN110764522A (en) * 2019-10-30 2020-02-07 贵州航天特种车有限责任公司 Leveling control system and method based on inclination angle compensation

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021169670A1 (en) * 2020-02-27 2021-09-02 广州思智科技有限公司 Method and system for leveling recreational vehicle
CN112849896A (en) * 2021-04-23 2021-05-28 苏州天准科技股份有限公司 Inclination angle adjusting method and device based on shuttle and shuttle
CN112849896B (en) * 2021-04-23 2021-08-17 苏州天准科技股份有限公司 Inclination angle adjusting method and device based on shuttle and shuttle
CN113306530A (en) * 2021-06-25 2021-08-27 中铁十一局集团桥梁有限公司 Method, device and equipment for leveling carrying trolley and readable storage medium
CN115685737A (en) * 2022-11-10 2023-02-03 桂林星辰科技股份有限公司 Electric measurement and control leveling system for leveling leg to touch ground

Similar Documents

Publication Publication Date Title
CN111301091A (en) Chassis leveling method and device, transport vehicle and storage medium
US9840403B2 (en) Lateral stability system
WO2016181733A1 (en) Forklift
CN109789971B (en) Conveying device and conveying method
CN110985465B (en) Landing detection method for leveling legs
EP4339132A1 (en) Adjustment method, apparatus, and device for goods retrieval and placement apparatus, robot, and warehouse system
JP2021024728A (en) Position/posture estimation device
CN115018895A (en) Goods placing method, device, equipment and storage medium for high-level goods shelf of unmanned forklift
CN104678998A (en) Autonomous Moving Object, Control Method Thereof
CN105470184A (en) Safety transportation method for silicon wafers
CN114940371B (en) Conveying system and conveying method
WO2014103027A1 (en) Working machine and positional deviation data acquisition method
JP4941728B2 (en) Article conveying device
JP6365345B2 (en) Industrial vehicle
JP6879022B2 (en) Automated warehouse system
KR101957678B1 (en) High place works car having safety-zone displaying function
CN110498369A (en) Special vehicle chassis leveling method
CN113845064B (en) Positioning method and system for material bearing device with round support legs
CN108455492B (en) Method for correcting errors caused by inclination of camera of forklift due to load and forklift
JPH09156716A (en) Operating method for stacker crane
CN111665829B (en) Automatic guided vehicle with load stability determination
CN113654727A (en) Method, system and device for measuring gravity center position, computer device and storage medium
CN114697534B (en) Lifting platform and control method thereof
WO2019073456A1 (en) A predictive stability control method and system for truck-mounted cranes
CN112758823A (en) Crane control method and system and crane

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20200619

WD01 Invention patent application deemed withdrawn after publication