TWI573003B - Auto leveling system capable of executing automation ground-landing and automation leveling operations - Google Patents

Description

Top leveling system that can perform automatic landing and automatic leveling

The present invention relates to a leveling system, in particular to an executable automatic landing and automatic leveling that can smoothly perform automatic landing and automatic leveling operations only by the use of a tilt sensor and PLC control. The topping system of the job.

Leveling Mechanism is generally used for positioning and erecting of heavy machinery, such as fire-fighting ladder trucks, construction cranes and other tool vehicles or missile launchers, mobile radar vehicles and terrain exploration vehicles. Among them, in the control of the top leveling system carried by the traditional tool cart, the height of the ground and the leveling must be adjusted by manual visual means to control the grounding of each landing and leveling, and then The four-foot height is further controlled to eliminate the offset angle by referring to the offset angle displayed by the bubble level mounted on the tool cart. 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 units have developed an Auto Leveling Mechanism; and for the automatic leveling system, the automatic landing judgment of the system's vertical and horizontal feet is a real technology. The core is used as a bridge between the stage of "automatic elongation before landing" and the stage of "automatic leveling after landing". Therefore, for a system or algorithm for automatic landing judgment of the vertical landing of the system and the leveling, it is necessary to have anti-interference to the working environment and robustness to the system control. It can make the system not affect the information integration of the back-end sensor and the automatic leveling of the system because of the vertical foot-land 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 that is grounded and leveled to sense vertical footing. Physical changes before and after the ground, such as using a pressure gauge to sense pressure, using a distance sensor to detect the distance, or a touch switch to detect the vertical foot and the ground, etc.; and driving the vertical foot in the drive motor The encoder and the retractor are installed to determine the front and rear changes of the vertical foot landing by the torque and speed of the feedback when the ground 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 in the automatic landing judgment of the vertical foot with the leveling; however, in the actual operation On the other hand, the following conditions have been created:

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, the encoder/resolver for driving the motor will be due to the characteristics of the motor itself and the geological environment, between the ground and the leveling The difference in characteristics causes the torque and speed detection to fail, so it is impossible to effectively judge the change before and after the vertical foot landing, and finally the subsequent automatic can not be performed. Leveling the job. Therefore, when designing the encoder/resolver for driving the motor, it is necessary to simultaneously consider the coupling effects of all the ground and the leveling vertical feet, and further decouple them to calculate the exact amount of movement of the foot.

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 and dynamic effects of the ground and the leveling vertical foot, 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. 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 in use still has obvious shortcomings and shortcomings; in view of this, the inventor of the present case vigorously researched and created, and finally developed an executable automatic landing and automatic adjustment. Flat topping system to overcome the shortcomings of the currently used automatic leveling system.

The main object of the present invention is to provide a topping system capable of performing automatic landing and automatic leveling operations, which enables a flattening system to pass through a PLC (Programmable Logic Controller) module by using a tilt sensor. The group's control smoothly completes the automatic landing and automatic leveling operations on the horizontal ground, the uphill ground or the downhill ground without the need to carry any pressure gauges, distance measuring sensors, or touch switches and other equipment. It also does not require the use of a drive motor with a codec, so it can effectively save the top Equipment cost of the flat system.

Therefore, in order to achieve the above object of the present invention, the inventor of the present invention proposes a topping system capable of performing automatic landing and automatic leveling operations, comprising: a body for carrying a professional machine; and an inclination sensing The device is disposed at the center of the shaft of the body for measuring an obliquity and a rolling angle of the body; four sets of landing and leveling mechanisms are installed at the front end of the body a rear end for grounding on a specific ground and thereby adjusting the inclination angle and the roll angle of the body, and further supporting the body to maintain the horizontal state; and a grounding and leveling control module mounted on the body And coupling the tilt sensor and the grounding and leveling mechanism to control the landing and leveling mechanism according to the tilt angle and the roll angle of the body measured by the tilt sensor to perform a Automatic landing and automatic leveling operation, thereby maintaining the horizontal state of the body, wherein the landing and leveling control module comprises: a main control computer coupled to the tilt sensor to receive the tilt sensor Measuring the tilt angle of the body a programmable logic controller (PLC) coupled to the main control computer; a plurality of motor drivers coupled to the programmable logic controller; and a plurality of motors coupled to each other The motor drivers are simultaneously connected to the grounding and leveling mechanism to be driven by the driving of the motor driver, thereby providing the ground and leveling mechanism to perform the automatic landing and automatic leveling operations.

In order to more clearly describe the topping system of the present invention which is capable of performing automatic landing and automatic leveling operations, embodiments of the present invention will be described in detail below with reference to the drawings.

Please refer to the first A diagram and the first B diagram, which are a perspective view and a side view of a topping system of the present invention which can perform automatic landing and automatic leveling operations. As shown in FIG. 1A and FIG. B, the topping system 1 of the present invention capable of performing automatic landing and automatic leveling operations includes: a body 11 and a tilt sensor (first A picture and A B diagram does not show the tilt sensor), four sets of landing and leveling mechanisms 12, and a landing and leveling control module 13. The body 11 is used to carry a professional implement, such as a hanging machine, a radar detection machine, a missile transmitter, or a ladder machine; here, the inclination sensor can be an electronic level, a gyroscope or an accelerometer The detector is disposed at the center of the shaft of the body 11 for measuring the obliquity and the rolling angle of the body 11.

The four sets of landing and leveling mechanisms 12 are respectively disposed at the front end and the rear end of the body 11, and each set of the grounding and leveling mechanism 12 has a horizontal arm 121 and a vertical foot 122; In the topping system 1 for performing automatic landing and automatic leveling operations, the four sets of landing and leveling mechanisms 12 can be automatically landed on a specific basis by the control of the grounding and leveling control module 13. Ground, and further adjust the inclination angle and the roll angle of the body 11, so that the body 11 maintains a horizontal state; here, the specific ground refers to a horizontal ground, an uphill ground, a downslope ground, a horizontal ground having an uneven surface, and The uneven surface is above the sloped ground, or has an uneven surface below the sloped ground. In addition, this The body 11 further includes a front ground wheel 111 and a plurality of rear wheels 112 for supporting the professional implements carried by the body 11 and the body 11 in an initial state. (Additional explanation: The initial state means that the landing and leveling mechanism 12 has not been grounded and leveled.)

Please continue to refer to the first A picture and the first B picture, and please refer to the second picture at the same time, the structure diagram of the grounding and leveling control module. As shown in the figure, the grounding and leveling control module 13 is mounted on the body 11 and coupled to the tilt sensor 10 and the ground and leveling mechanism 12 for use according to the tilt sensor 10 The grounding and leveling mechanism 12 is controlled by measuring the inclination angle and the roll angle of the body 11 to perform an automatic landing and automatic leveling operation, thereby maintaining the horizontal state of the body 11, wherein the landing and leveling control The module 13 includes a main control computer 131, a programmable logic controller 132, a plurality of motor drivers 133, and a plurality of motors 134. The main control computer 131 is a touch computer with a touch screen. In addition, the tilt sensor can be an electronic level, a gyroscope or an accelerometer sensor.

The programmable logic controller 132 is coupled to the main control computer 131, and the plurality of motor drivers 133 are coupled to the programmable logic controller 132. Moreover, the plurality of motors 134 are respectively servo motors, which are respectively coupled to the motor drivers 133 and simultaneously connected to the grounding and leveling mechanism 12 to be driven by the driving of the motor driver 133, thereby providing the The ground and leveling mechanism 12 performs the power of the automatic landing and automatic leveling operations.

Thus, the above-mentioned system has clearly and completely explained the basic structure of the topping system of the present invention which can perform automatic landing and automatic leveling operations; The operation of the top leveling system of the present invention which can perform automatic landing and automatic leveling operations will be described. Please also refer to the third to third C drawings, which is a schematic diagram of the operation of the top leveling system that can perform automatic landing and automatic leveling operations.

As shown in FIG. 3A, first, the top leveling system 1 for performing the automatic landing and automatic leveling operation is located on a specific ground; and then, as shown in FIG. 3A, an automatic landing is performed. And the automatic leveling operation, firstly, the first arm and the rear end of the main body 11 and the horizontal arm 121 of the leveling mechanism 12 are extended to the limit; then, as shown in the third B, the main body is installed at the same time. The front end and the rear end are extended to the vertical foot 122 of the leveling mechanism 12. Next, as shown in FIG. C, the elongation of the two vertical feet 122 at the rear end of the main body 11 is stopped, and the two vertical feet 122 located at the front end of the main body 11 are continuously extended; The tilt sensor 10 on the main body 11 determines whether the main body 11 has tilted (the tilt of the tilt angle can be used to know whether the main body 11 is tilted); after that, the main control computer 131 detects the main body 11 according to the tilt sensor 10 The roll angle is changed, and the grounding of the two vertical feet 122 at the front end of the main body 11 is determined, and corresponding compensation is performed to complete the automatic landing of the two vertical feet 122 at the front end of the main body 11.

Next, as shown in FIG. 3C, the two vertical feet 122 located at the rear end of the main body 11 are elongated; then, the inclination sensor 10 provided on the main body 11 determines whether the main body 11 has been tilted (by the inclination angle) The change can be made to know whether the main body 11 is tilted or not; after that, the main control computer 131 determines the landing of the two vertical feet 122 at the rear end of the main body 11 according to the change of the roll angle of the main body 11 detected by the tilt sensor 10; Situation and conduct Corresponding compensation is performed to complete the automatic landing of the two vertical feet 122 at the rear end of the main body 11. Further, after the operation of all the vertical feet 122 is completed, the main control computer 131 changes the roll angle and the tilt angle of the main body 11 detected by the tilt sensor 10, wherein the initial state of the main body 11 In comparison, if the roll angle change and the tilt angle of the main body 11 change by more than 0.1, the main control computer 131 can adjust the vertical foot 122 which should be further compensated through the programmable logic controller 132, so that the main body 11 can reach a near full level. status.

Thus, by the above description, the topping system of the present invention capable of performing automatic landing and automatic leveling operations has been completely and clearly disclosed; and, through the above, we can know that the present invention has the following advantage:

1. The top leveling system of the present invention capable of performing automatic landing and automatic leveling operations, in addition to automatic landing and automatic leveling operations on horizontal ground, is also suitable for automatic operation on an uphill or downhill ground. The application of land and automatic leveling is quite extensive.

2. In view of the above, and the topping system of the present invention does not need to be equipped with a pressure gauge, a distance measuring sensor, or a touch switch, and does not need to use a drive motor with a encoder/decoder, so that it can effectively save Equipment cost of the leveling system.

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 for automatic landing and automatic leveling

10‧‧‧ inclination sensor

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‧‧‧Master computer

132‧‧‧Programmable Logic Controller

133‧‧‧Motor drive

134‧‧‧ motor

The first A is a perspective view of a topping system capable of performing automatic landing and automatic leveling operations of the present invention; the first B is a side view of a topping system capable of performing automatic landing and automatic leveling operations; The second figure is an architectural diagram of the grounding and leveling control module; and the third to third C diagrams are diagrams of the operation of the topping system for automatic landing and automatic leveling operations.

1‧‧‧Topping system for automatic landing and automatic leveling

10‧‧‧ inclination sensor

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‧‧‧Master computer

132‧‧‧Programmable Logic Controller

Claims (7)

A top leveling system capable of performing automatic landing and automatic leveling operations includes: a body for carrying a professional implement; and a tilt sensor disposed at a center of the shaft of the body for measuring the An obliquity and a rolling angle of the body; four sets of landing and leveling mechanisms are mounted on the front end and the rear end of the body for landing on a specific ground and thereby adjusting the body a tilting angle and a roll angle, and further supporting the body to maintain the horizontal state; and a grounding and leveling control module is mounted on the body and coupled to the tilt sensor and the a grounding and leveling mechanism for controlling the landing and leveling mechanism according to the tilt angle and the roll angle of the body measured by the tilt sensor to perform an automatic landing and automatic leveling operation, thereby maintaining The horizontal state of the body, wherein the grounding and leveling control module comprises: a main control computer coupled to the tilt sensor to receive the tilt angle of the body measured by the tilt sensor And a roll angle; a programmable logic controller coupled The main control computer; a plurality of motor drivers coupled to the programmable logic controller; and a plurality of motors coupled to the motor drivers and simultaneously connected to the ground and leveling mechanism to accept the Actuated by the driving of the motor driver, thereby providing the ground and leveling mechanism to perform the automatic landing and automatic leveling operation; wherein the landing and leveling mechanism comprises: a horizontal arm; and a vertical foot, Connected to the horizontal arm, wherein when the automatic landing and automatic leveling operations are performed, The horizontal arm is configured to extend horizontally from the body, and when the horizontal arm is extended to the limit, the vertical foot extends downward to land. The top leveling system capable of performing automatic landing and automatic leveling operations as described in claim 1 further includes at least one front ground wheel and a plurality of rear wheels. The top leveling system capable of performing automatic landing and automatic leveling operations as described in claim 1, wherein the tilt sensor can be any of the following: an electronic level, a gyroscope, and an accelerometer sensor. The top leveling system capable of performing automatic landing and automatic leveling operations as described in claim 1, wherein the main control computer is a touch type computer having a touch screen. The top leveling system capable of performing automatic landing and automatic leveling operations as described in claim 1, wherein the professional machine tool can be any one of the following: a hanging machine, a radar detection machine, a missile transmitter, and Cloud ladder machine. A top leveling system capable of performing automatic landing and automatic leveling operations as described in claim 1 wherein the motor is a servo motor. The top leveling system capable of performing automatic landing and automatic leveling operations as described in claim 1, wherein the specific ground may be any of the following: horizontal ground, uphill ground, downhill ground, with unevenness The horizontal surface of the surface, the uneven surface above the slope surface, and the uneven surface with the uneven surface.