TWI485536B - Automation ground-landing and automation leveling method for auto leveling system - Google Patents

Description

Four-foot automatic landing and automatic leveling method for top leveling system

The invention relates to a control method for a top leveling system, in particular to a method for automatically landing and automatically leveling four feet of a leveling system.

Auto-Leveling Mechanism is generally used for positioning and erecting of heavy-duty tools, such as fire-fighting ladder trucks, construction cranes and other tool vehicles or launching launchers, mobile radar vehicles and terrain exploration vehicles. Among them, in the control of the topping system carried by the conventional tool cart, the height of the grounding and leveling mechanism must be adjusted by manual visual means to control the vertical landing of each landing and leveling mechanism, and then Further, the height of the four feet is further controlled by referring to the offset angle displayed by the bubble level mounted on the tool cart to eliminate the offset angle. As we all know, the control method of the topping system of the traditional tool car is not only inefficient, but also not accurate enough, and it is quite criticized.

In view of this, the relevant R&D unit has developed an automatic leveling system; and, for the automatic leveling system, the automatic landing judgment of the vertical foot of the system landing and leveling mechanism is the real technical core, Connect the bridge between the "automatic elongation before landing" stage and the "automatic leveling after landing" stage. Therefore, for a system or algorithm for automatic landing judgment of the vertical foot of the system landing and leveling mechanism, it is necessary to have a resistance to the working environment. Disturbance and robustness to system control will not allow the system to affect the information integration of the back-end sensor and the automatic leveling of the system due to the different vertical landing environment.

In addition, in the automatic leveling system currently used, in order to complete the function of automatic ground detection, various sensors are installed on the bottom of each vertical foot of the grounding and leveling mechanism to sense the vertical foot. Physical changes before and after landing, such as using a pressure gauge to sense pressure, using a distance sensor to detect distance, or a touch switch to detect vertical foot bottom and ground contact; and driving a vertical foot drive motor The inner part is provided with an encoder and a retractor, so as to judge the change of the vertical foot before and after the ground by the torque and speed of the feedback when the foot is perpendicular to the ground, so as to facilitate the subsequent automatic leveling operation.

Even in the automatic leveling system currently used, a pressure gauge, a distance measuring sensor, or a touch switch is used to assist the automatic grounding judgment of the vertical foot of the leveling mechanism; however, in reality In operation, the following conditions have occurred:

1. When used on rough concrete floors, pressure gauges are often damaged by rough concrete floors and must be regularly reviewed or replaced.

2. When used on the sludge floor, the infrared distance measuring sensor is often soiled by the sludge and loses its ranging accuracy. Therefore, the automatic leveling system equipped with the infrared distance measuring sensor cannot be used for pollution. Mud ground.

3. Limited by the geological environment of various grounds and the characteristics of each landing and leveling mechanism, the encoder/retractor of the drive motor will be due to the motor itself. The characteristics and the difference in characteristics between the geological environment, the grounding and the leveling mechanism lead to the failure of the torque and speed detection, so that it is impossible to effectively judge the changes before and after the vertical foot landing, and finally the subsequent automatic leveling operation cannot be performed. Therefore, when designing the encoder/resolver for driving the motor, it is necessary to consider all the coupling effects of the vertical foot and the leveling mechanism of the leveling mechanism, and further decoupling to calculate the exact amount of movement.

Therefore, as can be seen from the above, since the pressure gauge is damaged by the rough concrete floor, the automatic leveling system of the pressure gauge is mounted on the bottom of the vertical foot, which is bound to increase the equipment cost due to the frequent replacement of the pressure gauge; In order to accurately calculate the coupling effect of the ground and the vertical foot of the leveling mechanism, and to make the results of the automatic leveling work accurate, the common practice is to install two or more parts of the body of the automatic leveling system. A horizontal sensor; this approach also increases the equipment cost of the automatic leveling system.

Through the above, we can know that the automatic topping system currently used still has obvious shortcomings and shortcomings; in view of this, the inventor of the present case tried to research and create, and finally developed a four-foot automatic system of the topping system. Ground and automatic leveling methods to overcome the shortcomings of the currently used automatic leveling systems.

The main object of the present invention is to provide a method for automatically landing and automatically leveling four feet of a leveling system by using a tilt sensor. Enables a leveling system to perform automated grounding operations on level ground, uphill or downhill surfaces without the need to carry any pressure gauges, distance sensors, or touch switches, etc. It is also not necessary to use a drive motor with a codec, so that the equipment cost of the leveling system can be effectively saved.

Therefore, in order to achieve the above object of the present invention, the inventor of the present invention proposes a method for automatic landing and automatic leveling of a four-foot flat system, which is applied to a flat system mounted on a tool cart, wherein The topping system comprises at least one body and four sets of landing and leveling mechanisms, and the method for automatically landing and automatically leveling the four feet of the leveling system comprises the following steps: (1) landing the four groups Extending the horizontal arm to one limit with one of the leveling mechanisms; (2) simultaneously stretching the four sets of ground perpendicular to one of the leveling mechanisms; (3) stopping the two sets of landing and leveling mechanisms at the rear end of the body Extending the vertical foot and continuing to extend the vertical foot of the two sets of landing and leveling mechanisms at the front end of the body; and (4) tilting a signal according to the body detected by the tilt sensor A roll angle signal performs automatic landing and automatic leveling operations.

In order to more clearly describe the method of automatic landing and automatic leveling of the four-foot flat system of the present invention, the embodiments of the present invention will be described in detail below with reference to the drawings.

For the description of the four-foot automatic landing and automatic of a topping system of the present invention Before the leveling method, the basic structure of a flat system must be explained. Please refer to the first A diagram and the first B diagram, which are a perspective view of a top leveling system and a side view thereof. As shown in FIG. 1A and FIG. B, the topping system 1 includes: a body 11 and a tilt sensor (the first A picture and the first B picture not showing the tilt sensor), Landing and leveling control module 13, and four sets of landing and leveling mechanism 12; wherein the two-axis three-dimensional electronic level is installed at the center of the shaft of the body 11, and a front ground wheel 111 and a plurality of rear The wheel 112 is disposed at the bottom of the body 11. The grounding and leveling control module 13 includes a touch computer 131 and a programmable logic control system 132. The touch computer 131 is mounted on the body 11. There is a touch screen on the top, and the touch computer 131 is used for engineering personnel to control. Usually, such a leveling system 1 is often mounted on a heavy crane, a semi-trailer, a radar car, a missile launcher, or a fire ladder truck.

Through the above, we have a preliminary understanding of the basic structure of the topping system 1; next, the method of automatically landing and automatically leveling the four feet of the topping system of the present invention will be continued. Please refer to FIG. 2A and FIG. 2B, which are flowcharts of a method for automatically landing and automatically leveling four feet of the topping system of the present invention, as shown in FIG. 2A and FIG. The method mainly includes an 8-step process (in particular, the embodiment of the following method uses a level as a tilt sensor): Please refer to the third to third C diagrams at the same time, which is a schematic diagram of the operation of the topping system. The flow chart of the method of Figure A and the action of the third figure A As shown, first, the method flow first performs the step (S1) to extend the four sets of grounding of the leveling system 1 and the horizontal arm 121 of the leveling mechanism 12 to the limit; then, as in the second A and third B As shown, step (S2) is performed while elongating the four sets of ground and one of the vertical feet 122 of the leveling mechanism 12. Here, it must be additionally noted that the step (S2) extends the four vertical feet 122 at the same time, but does not extend the four vertical feet 122 to the limit; and, in the step (S2), the four branches are advanced first. The vertical foot 122 series helps to shorten the time course of the automatic landing and automatic leveling of the leveling system 1.

In the above, after the step (S2) is completed, as shown in the second A diagram and the third C diagram, the steps (S3) and (S4) are performed to stop the two groups of landing and leveling at the rear end of the main body 11. The vertical foot 122 of the mechanism 12 is elongated, and the two sets of the grounding and the vertical foot 122 of the leveling mechanism 12 at the front end of the main body 11 are continuously extended, and the horizontal position of the main body 11 is determined by the level provided on the main body 11. If yes, step (S5) is performed to determine the grounding condition of the two vertical feet 122 at the front end of the main body 11 according to the change of the roll angle of the main body 11 detected by the level, and the corresponding compensation is performed; otherwise, if not, then Continue with steps (3) and (4).

After the elongation and the ground adjustment of the two vertical feet 122 at the front end of the main body 11 are completed, then, as shown in the second B and the third C, the steps (S6) and (S7) are performed, and the extension is located behind the main body 11. The two sets of the ground and the vertical foot 122 of the leveling mechanism 12 are simultaneously judged by the level provided on the main body 11 whether the main body 11 has tilted, and if so, the step (S8) is performed. According to the change of the roll angle of the main body 11 detected by the level to determine the grounding condition of the two vertical feet 122 at the rear end of the main body 11, and corresponding compensation is performed; otherwise, if not, proceed to step (6) and the step. (7). Thus, the eight-step flow of the four-foot automatic landing and automatic leveling method of the topping system of the present invention can easily control the automatic landing of a topping system, and the topping system does not need to be mounted. Pressure gauges, ranging sensors, or touch switches, etc., do not require the use of a drive motor with a encoder/decoder, thus effectively saving equipment costs for the leveling system.

The four-legged automatic landing and automatic leveling method of the topping system of the invention not only can control the topping system on the horizontal ground for automatic landing work, but also is suitable for an uphill ground, a sloped ground, and unevenness. The horizontal ground of the surface, the uneven surface above the slope surface, or the uneven surface of the ground surface control topping system for automatic landing operations. In the following, through the presentation of the simulation data, it is proved that the four-legged automatic landing and automatic leveling method of the topping system of the present invention is suitable for the automatic landing operation of the up-slope or down-slope ground control leveling system. Please refer to the fourth figure, the initial situation simulation diagram of the topping system placed on the slope surface. As shown in the fourth figure, when a flat system 1 is on a slope (uphill slope), the level system displays the top. The tilt angle of the main body 11 of the flat system 1 is 2.0001°, and the roll of the main body 11 is -1.9999°; wherein the icon A1 represents the two horizontal arms 121 in front of the main body 11, and the icon A2 represents the main body 11 The rear two horizontal arms 121.

Next, please refer to the fifth A to fifth E drawings, the topping system is on the slope The simulation of the vertical foot landing operation before the surface is performed, wherein the icon B1 in the fifth to fifth E diagrams represents the two vertical feet 122 in front of the main body 11. As shown in FIGS. 5A to 5D, the two vertical feet 122 in front of the main body 11 are gradually elongated, and since the vertical feet 122 of any one of them have not touched the ground, the inclination angle of the main body 11 displayed by the level is as shown. (picth) and roll remain unchanged. In particular, as shown in the fifth E diagram, when the two vertical feet 122 in front of the main body 11 are in contact with the ground, the picth angle is changed from 2.0001° to 4.427°; at this time, the roll angle displayed by the level (roll) ) remains unchanged, indicating that the two vertical feet 122 in front of the main body 11 are simultaneously landed, so no compensation or adjustment is required.

In view of the above, it must be additionally added that when the two vertical feet 122 in front of the main body 11 are not at the same time, the value of the roll angle displayed by the level can be determined to determine whether the left front vertical foot first land or the right front vertical foot first. Then, the right front vertical foot or the left front vertical foot is separately adjusted to complete the automatic landing operation of the two vertical feet 122 in front of the main body 11.

Next, please refer to the sixth A to sixth figure, which is a simulation diagram of the vertical landing operation after the top leveling system is executed on the slope surface, wherein the icon B2 in the sixth to sixth E diagrams represents the main body. 11 rear two vertical feet 122. As shown in FIGS. 6A to 6D, the two vertical feet 122 behind the main body 11 are gradually elongated, and since the vertical foot 122 of any one of them has not touched the ground, the inclination angle of the main body 11 displayed by the level is as shown. (picth) and roll remain unchanged. In particular, as shown in the sixth E diagram, when the main body 11 When the rear two vertical feet 122 touch the ground, the pitch is changed from 4.427° to 2.0001°; at this time, the roll displayed by the level remains unchanged, indicating the two vertical feet in front of the main body 11. The 122 series is grounded at the same time, so no compensation or adjustment is required.

In view of the above, it must be additionally added that when the two vertical feet 122 behind the main body 11 are not at the same time, the left rear vertical foot or the right rear vertical foot can be determined by the roll angle value displayed by the level. First, the right rear vertical foot or the left rear vertical foot is adjusted separately to complete the automatic landing operation of the two vertical feet 122 behind the main body 11. Finally, please refer to the seventh A to seventh D drawings, which is a simulation diagram of the automatic leveling operation performed on the slope surface by the top leveling system; and, referring to the eighth figure, the curve of the inclination angle and the rolling angle of the main body. After all the vertical footing operations are completed, as shown in FIG. 2B, in step (S9), and in step (S10), it is determined whether the inclination angle change and the roll angle change value of the main body are greater than 0.1. If the value of the tilt angle change or the roll angle change is greater than 0.1, the corresponding vertical foot is adjusted according to the change of the tilt angle or the roll angle of the main body detected by the level, thereby completing the automatic leveling operation. As shown in the seventh to seventh C charts, after all the vertical footing operations are completed, since the value of the pitch change and the roll change of the main body are both greater than 0.1, the system will According to the change of the inclination angle of the main body and the change of the roll angle, the highest vertical foot and the lowest vertical foot are found, and the change of the inclination angle and the change of the roll angle respectively give different compensation driving speeds of the highest vertical foot and the lowest vertical foot; finally, Automatic leveling result Then, as shown in the seventh D diagram, the value of the inclination angle change and the roll angle change of the main body are both less than 0.1.

It must be additionally noted that, in the foregoing step (S10), the adjustment (correction) of the vertical foot height is performed by the system according to the following formula (5.7.1): P _FR = K _angle (S _FR / Sum _feet ) P _FL =K _angle (S _FL /Sum _feet ) P _BR =K _angle (S _BR /Sum _feet ) P _BL =K _angle (S _BL /Sum _feet )

Where K _angle =K(|Ptich|+|Roll|), and K is a constant coefficient; in addition, the relationship between each vertical foot compensation speed weights S _FR , S _FL , S _BR , and S _BL and Sum _feet It is determined by the following formula (5.7.2): If Pitch<0, S _FR +1 and S _FL +1 If Pitch>0, S _BR +1 and S _BL +1 If Roll<0, S _FR +1 and S _BR +1 If Roll>0, S _FL +1 and S _BR +1

Thus, by the above description, the method of automatically landing and automatically leveling the four feet of the topping system of the present invention has been completely and clearly disclosed; and, through the above, we can know that the present invention has the following Advantages:

1. The method of automatic landing and automatic leveling of the four-foot flat system of the present invention is not only applicable to the automatic landing operation of the top leveling system on the horizontal ground, but also suitable for an uphill or downhill ground control top. The flat system performs the work of automatic landing, and the application surface is quite extensive.

2. In view of the above, therefore, when a top leveling system is applied to the method of the present invention, The topping system does not need to be equipped with a pressure gauge, a distance measuring sensor, or a touch switch, so that the equipment cost of the topping system can be effectively saved.

It is to be understood that the foregoing detailed description of the preferred embodiments of the invention are not intended to It should be included in the patent scope of this case.

1‧‧‧Topping system

11‧‧‧Ontology

111‧‧‧前地轮

112‧‧‧ Rear wheel

12‧‧‧ Land and leveling agency

121‧‧‧ horizontal arm

122‧‧‧Vertical foot

13‧‧‧ Landing and Leveling Control Module

131‧‧‧Touch computer

132‧‧‧Programmable logic control system

S1~S5‧‧‧ method steps

S6~S10‧‧‧ method steps

A1‧‧‧ icon

A2‧‧‧ icon

B1‧‧‧ icon

B2‧‧‧ icon

The first A picture is a perspective view of a top leveling system; the first B picture is a side view of the top leveling system; the second A picture and the second B picture are the four feet automatic landing and automatic adjustment of the topping system of the present invention The flat method flow chart; the third A to the third C diagram is the schematic diagram of the operation of the top leveling system; the fourth picture is the initial situation simulation diagram of the topping system placed on the slope surface; the fifth A to fifth E diagrams The top planing system performs the simulation of the vertical foot landing operation on the slope surface; the sixth A figure to the sixth E figure is the simulation diagram of the vertical foot landing operation after the slope level is executed; the seventh A to the The 7D diagram is a simulation diagram of the automatic leveling operation performed on the slope surface; and the curve of the inclination angle and the rolling angle of the main body of the eighth diagram.

S1~S5‧‧‧ method steps

S6~S10‧‧‧ method steps

Claims (7)

A four-foot automatic landing and automatic leveling method for a top leveling system is applied to control a top leveling system for automatic landing and automatic leveling operations on a specific ground, wherein the leveling system is mounted on a professional Above the machine, and comprising at least a main body, a tilt sensor, a programmable logic control system, and four sets of landing and leveling mechanisms, the method comprises the following steps: (1) landing the four groups Extending the horizontal arm to one limit with one of the leveling mechanisms; (2) simultaneously stretching the four sets of ground perpendicular to one of the leveling mechanisms; (3) stopping the two sets of landing and leveling mechanisms at the rear end of the body Extending the vertical foot and continuing to extend the vertical foot of the two sets of landing and leveling mechanisms at the front end of the body; and (4) tilting a signal according to a body detected by the tilt sensor A roll angle signal performs automatic landing and automatic leveling operations. The method for automatically leveling and automatically leveling a four-foot flat system according to claim 1, wherein the topping system further comprises a touch computer having a touch screen for engineering Personnel control. The method for automatically landing and automatically leveling a four-legged flat roof system according to claim 1, wherein the body further comprises at least one front ground wheel and a plurality of rear wheels. The four-foot automatic landing and automatic leveling method of the topping system according to claim 1, wherein the tilt sensor can be any of the following: an electronic level, a gyroscope and an accelerometer sensor. . The method for automatically landing and automatically leveling four feet of the topping system according to claim 1, wherein the professional machine can be any of the following: heavy crane, semi-trailer, radar car, missile launcher. Car, and fire ladder truck. The method for automatically landing and automatically leveling a four-legged flat roof system according to claim 1, wherein the specific ground may be any of the following: horizontal ground, uphill ground, downhill ground, with or The horizontal surface of the flat surface, the sloped surface above the uneven surface, and the sloped surface with the uneven surface. The method for automatically landing and automatically leveling four feet of the topping system according to claim 1, wherein the step (4) comprises the following detailed steps: (41) passing the level set on the main body Determining whether the body has tilted, if yes, performing step (42); if not, repeating the foregoing step (3); (42) determining a body front end according to a tilt signal of the body detected by the tilt sensor The grounding situation of the two vertical feet, and corresponding compensation; (43) extending the vertical foot of the two sets of landing and leveling mechanisms at the rear end of the body; (44) determining whether the body has tilted, and if so, performing step (45), and if not, repeating the steps (43); (45) determining the landing condition of the two vertical feet of the main body at the back end of the main body according to the change of the inclination angle of the main body detected by the inclination sensor, and performing corresponding compensation; (46) judging Whether the value of the inclination angle change and the roll angle change of the main body is greater than 0.1, and if so, executing step (47), if not, the step ends; and (47) changing the inclination angle and the roll angle of the main body detected by the level Change the value to adjust the corresponding vertical foot.