CN113306530A - Method, device and equipment for leveling carrying trolley and readable storage medium - Google Patents
Method, device and equipment for leveling carrying trolley and readable storage medium Download PDFInfo
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- CN113306530A CN113306530A CN202110715883.4A CN202110715883A CN113306530A CN 113306530 A CN113306530 A CN 113306530A CN 202110715883 A CN202110715883 A CN 202110715883A CN 113306530 A CN113306530 A CN 113306530A
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- carrying trolley
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
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Abstract
The application discloses a carrying trolley leveling method, a carrying trolley leveling device, carrying trolley leveling equipment and a readable storage medium, wherein the method comprises the following steps: acquiring a first inclination angle value of an inclination angle sensor arranged on a carrying trolley; calculating the height variation quantity required for leveling the carrying trolley based on the first inclination angle value; and generating a horizontal adjustment instruction corresponding to the height variation, so as to level the carrying trolley based on the horizontal adjustment instruction. The carrying trolley is automatically leveled through the inclination angle sensor without manual intervention, and the leveling process is a full-automatic process, so that the problems of troublesome leveling process, high difficulty and long time are solved, and the leveling process is simplified, the leveling difficulty is reduced, and the leveling time is shortened.
Description
Technical Field
The application relates to the technical field of engineering equipment, in particular to a carrying trolley leveling method, a carrying trolley leveling device, carrying trolley leveling equipment and a readable storage medium.
Background
With the rapid development of national capital construction, the use of precast beams is more and more extensive.
The precast beam needs to be sprayed with waterproof paint before use, the waterproof paint is sprayed by the waterproof paint automatic spraying equipment, the waterproof paint automatic spraying equipment is used as a carrying platform through a carrying trolley to finish transfer, and after the carrying trolley moves to the beam end of the precast beam, a jack is usually needed to be used for supporting, stabilizing and leveling, so that the precast beam can work.
The conventional leveling method is that the traditional leveling method is manually adjusted by naked eyes or a level meter, the leveling process is troublesome, difficult and long in time, the leveling method is suitable for equipment which is fixedly installed in a certain place for a long time, and obviously, the use requirement of a carrying trolley which only stays in the fixed place for less than half an hour is difficult to meet.
That is, the leveling process of the existing leveling method is troublesome, difficult and long in time.
Disclosure of Invention
The application mainly aims to provide a carrying trolley leveling method, a carrying trolley leveling device, carrying trolley leveling equipment and a readable storage medium, and aims to solve the technical problems of how to simplify the leveling process, reduce the leveling difficulty and reduce the leveling time in the prior art.
In order to achieve the above object, the present application provides a method for leveling a carrying trolley, which comprises the steps of:
acquiring a first inclination angle value of an inclination angle sensor arranged on a carrying trolley;
calculating the height variation quantity required for leveling the carrying trolley based on the first inclination angle value;
and generating a horizontal adjustment instruction corresponding to the height variation, so as to level the carrying trolley based on the horizontal adjustment instruction.
Optionally, before the obtaining the first inclination value of the inclination sensor disposed on the carrying trolley, the method includes:
controlling a jack arranged on the carrying trolley to extend outwards at a first preset extending speed;
acquiring a real-time pressure value of a pressure sensor arranged on a carrying trolley;
and if the real-time pressure value is greater than or equal to a preset pressure value, controlling the jack to stop extending outwards.
Optionally, the controlling is arranged after the jack of the carrying trolley extends at the first preset extension speed, and comprises:
acquiring a real-time displacement value of a displacement sensor arranged on the carrying trolley;
if the real-time displacement value is larger than or equal to a preset displacement value, controlling the jack to extend outwards at a second preset extending speed;
wherein the second predetermined overhang speed is less than the first predetermined overhang speed.
Optionally, the jacks include at least three jacks, and the calculating an amount of height change required to level the carrying trolley based on the first inclination value includes:
and calculating the height variation of each jack required for leveling the carrying trolley based on the first inclination angle value.
Optionally, the generating a leveling instruction corresponding to the height change amount to level the carrying trolley based on the leveling instruction includes:
comparing the height variation of each jack to obtain the minimum height variation;
calculating a variation difference between the height variation of each jack and the minimum height variation;
and generating a horizontal adjustment instruction corresponding to the variation difference so as to adjust the carrying trolley horizontally based on the horizontal adjustment instruction.
Optionally, before the obtaining the first inclination value of the inclination sensor disposed on the carrying trolley, the method includes:
receiving a jack extending command input by a worker, and controlling the jack to extend outwards;
receiving a jack extension stopping instruction input by the worker, and controlling the jack to stop extending;
and receiving an inclination angle sensor initialization instruction input by the worker, and initializing the inclination angle sensor.
Optionally, the initializing the tilt sensor includes:
and acquiring a second inclination angle value of the inclination angle sensor, and zeroing the second inclination angle value.
In addition, in order to realize above-mentioned purpose, this application still provides a carrying trolley levelling device, carrying trolley levelling device includes:
the first acquisition module is used for acquiring a first inclination angle value of an inclination angle sensor arranged on the carrying trolley;
the calculation module is used for calculating the height variation required for leveling the carrying trolley based on the first inclination angle value;
and the generating module is used for generating a horizontal adjustment instruction corresponding to the height variation.
Optionally, the carrying trolley leveling device further comprises:
the first control module is used for controlling a jack arranged on the carrying trolley to extend outwards at a first preset extending speed;
the second acquisition module is used for acquiring a real-time pressure value of a pressure sensor arranged on the carrying trolley;
and the second control module is used for controlling the jack to stop extending outwards if the real-time pressure value is greater than or equal to a preset pressure value.
Optionally, the carrying trolley leveling device further comprises:
the third acquisition module is used for acquiring a real-time displacement value of a displacement sensor arranged on the carrying trolley;
and the third control module is used for controlling the jack to extend outwards at a second preset extending speed if the real-time displacement value is greater than or equal to a preset displacement value.
Optionally, the jack comprises at least three jacks, and the computing module comprises:
and the first calculation unit is used for calculating the height variation of each jack required for leveling the carrying trolley based on the first inclination angle value.
Optionally, the generating module includes:
the comparison unit is used for comparing the height variation of the jacks to obtain the minimum height variation;
a second calculation unit for calculating a variation difference between the variation in height of each of the jacks and the minimum variation in height;
and the generating unit is used for generating a horizontal adjustment instruction corresponding to the variation difference so as to adjust the carrying trolley horizontally based on the horizontal adjustment instruction.
Optionally, the carrying trolley leveling device further comprises:
the fourth control module is used for receiving a jack extending instruction input by a worker and controlling the jack to extend outwards;
the fifth control module is used for receiving a jack extending stopping instruction input by the worker and controlling the jack to stop extending;
and the initialization module is used for receiving the inclination angle sensor initialization instruction input by the worker and initializing the inclination angle sensor.
Optionally, the initialization module includes:
and the acquisition unit is used for acquiring a second inclination angle value of the inclination angle sensor and zeroing the second inclination angle value.
In addition, to achieve the above object, the present application also provides a carrier leveling device, which includes a memory, a processor and a carrier leveling program stored in the memory and operable on the processor, wherein the carrier leveling program, when executed by the processor, implements the steps of the carrier leveling method as described above.
Further, to achieve the above object, the present application also provides a computer readable storage medium having stored thereon a carrier leveling program, which when executed by a processor, implements the steps of the carrier leveling method as described above.
Compared with the prior art that the leveling process is troublesome, difficult and long in time due to manual adjustment by naked eyes or a level meter, the method and the device have the advantages that the first inclination angle value of the inclination angle sensor arranged on the carrying trolley is obtained; calculating the height variation quantity required for leveling the carrying trolley based on the first inclination angle value; and generating a horizontal adjustment instruction corresponding to the height variation, so as to level the carrying trolley based on the horizontal adjustment instruction. The carrying trolley is automatically leveled through the inclination angle sensor without manual intervention, and the leveling process is a full-automatic process, so that the problems of troublesome leveling process, high difficulty and long time are solved, and the leveling process is simplified, the leveling difficulty is reduced, and the leveling time is shortened.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of a leveling method for a carrying cart according to the present application;
FIG. 2 is a functional block diagram of a preferred embodiment of the leveling device for the carrying cart according to the present application;
fig. 3 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The application provides a method for leveling a carrying trolley, and referring to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of the method for leveling the carrying trolley.
While a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different than presented herein. The method for adjusting the level of the carrying trolley can be applied to the carrying trolley or automatic spraying equipment of waterproof paint. For convenience of description, the following description of the respective steps of the carrier leveling method by the subject will be omitted. The carrying trolley leveling method comprises the following steps:
step S10, a first inclination value of an inclination sensor provided to the carrier cart is acquired.
In this embodiment, leveling of the carrying trolley is realized by an inclination sensor, and specifically, a first inclination value of the inclination sensor arranged on the carrying trolley is obtained. Wherein the tilt sensor may detect a change of angle, such as an angle of rotation around a horizontal axis of the coordinate system, an angle of rotation around a vertical axis of the coordinate system, etc., the first tilt value being an angle value of rotation around an axis of the coordinate system.
Wherein, obtain first inclination value through inclination sensor, need establish under the prerequisite that the jack has already taken one's place (has fallen to the ground and atress), specifically:
before the first inclination value of the inclination sensor arranged on the carrying trolley is obtained, the method comprises the following steps:
step a, controlling a jack arranged on the carrying trolley to extend outwards at a first preset extending speed.
In this embodiment, the jack provided on the carrying trolley is controlled to extend at the first preset extension speed, so that the jack falls to the ground and is stressed, thereby completing the preparation action of leveling the carrying trolley.
Step b, acquiring a real-time pressure value of a pressure sensor arranged on the carrying trolley;
and c, if the real-time pressure value is greater than or equal to a preset pressure value, controlling the jack to stop extending outwards.
In this embodiment, the process of determining whether the jack has fallen to the ground and is stressed is realized by the pressure sensor arranged on the carrying trolley, the real-time pressure value of the pressure sensor is zero before the jack falls to the ground, and the real-time pressure value gradually increases along with the outward extension of the jack after the jack falls to the ground. When the real-time pressure value is smaller than the preset pressure value, the jack is controlled to extend outwards continuously, so that the real-time pressure value is close to the preset pressure value; and if the real-time pressure value is greater than or equal to the preset pressure value, controlling the jack to stop extending outwards, and completing the preparation action of leveling the carrying trolley. For example, the preset pressure value is 20N, if the acquired real-time pressure value is 15N, the jack is controlled to continue to extend, and when the real-time pressure value reaches 20N, the jack is controlled to stop extending.
The preset pressure value may be set according to specific needs, and this embodiment is not particularly limited.
Before the jack extends outwards, a certain height exists between the jack and the ground, and if the extending speed is too high, the jack is easy to cause larger impact on the carrying trolley when falling to the ground; if the overhang speed is too slow, the time for waiting for landing is very long. Therefore, in the process of controlling the jack to extend and fall to the ground, the extending speed of the jack needs to be controlled through a certain control strategy, so that the time for falling to the ground is reduced while large impact is avoided when the jack falls to the ground.
Specifically, the control device is arranged after the jack of the carrying trolley extends at a first preset extension speed, and comprises:
and d, acquiring a real-time displacement value of a displacement sensor arranged on the carrying trolley.
In this embodiment, a real-time displacement value of a displacement sensor provided on the carrying trolley is obtained, and it should be noted that the displacement sensor is used for detecting an overhang amount of the jack.
Step e, if the real-time displacement value is larger than or equal to a preset displacement value, controlling the jack to extend outwards at a second preset extending speed;
wherein the second predetermined overhang speed is less than the first predetermined overhang speed.
In this embodiment, if the real-time displacement value is smaller than the preset displacement value, the jack is controlled to extend outward at a first preset extension speed; and if the real-time displacement value is greater than or equal to the preset displacement value, controlling the jack to extend outwards at a second preset extending speed. It will be appreciated that the predetermined displacement is less than the height of the jack to the ground to avoid the jack extending only at a first predetermined extension speed, wherein the second predetermined extension speed is lower than the first predetermined extension speed.
It can be understood that in the stage of controlling the jack to extend outwards at the first preset extending speed, the jack is in a suspended state, and the worry that the jack is contacted with the ground is avoided, so that the jack can extend outwards at a higher extending speed; in the stage of controlling the jack to extend outwards at the second preset extending speed, the jack is close to the ground, so that the jack does not impact the carrying trolley when falling to the ground, and therefore the jack needs to extend outwards at a lower extending speed. For example, the height of the jack from the ground is 50cm, the preset displacement value is 40cm, the first preset extending speed is 20cm/s, and the second preset extending speed is 5cm/s, after the jack is controlled to extend for 40cm at the speed of 20cm/s, the jack continues to extend at the speed of 5cm/s, and when the real-time pressure value reaches the preset pressure value, the jack is controlled to stop extending.
The preset displacement value may be set as required, and this embodiment is not limited specifically.
And step S20, calculating the height variation required for leveling the carrying trolley based on the first inclination angle value.
In the present embodiment, the height variation amount required for leveling the carrier vehicle is calculated from the first inclination angle value, and it can be understood that the first inclination angle value reflects the inclination amount of the carrier vehicle, which is adjustable by controlling the jack overhang, and the height variation amount of the overhang is related to the inclination amount. It can be understood that even if the carrying trolley can be leveled by extending the jack inwards, and the carrying trolley is also leveled by extending the jack inwards because the inner extending allowance is insufficient, and the inner extending allowance is the amount of extension of the jack after falling to the ground.
The position of the tilt sensor is taken as a coordinate origin in a coordinate system, the angle of rotation of the jack around a horizontal axis of the coordinate system is alpha, the angle of rotation of the jack around a vertical axis of the coordinate system is beta, and the height variation delta Z can be obtained by the following formula:
ΔZ＝Ytg(α)-Xtg(β)；
wherein, Y is the coordinate of the jack on the vertical axis of the coordinate system, and X is the coordinate of the jack on the horizontal axis of the coordinate system.
The process of leveling the carrying trolley is a process of adjusting the level of a plane where the carrying trolley is located, and for a plane, at least three points need to be determined, so that the number of the jacks should be at least three, and the height variation corresponds to at least three height variations, specifically, the height variation required for leveling the carrying trolley is calculated based on the first inclination value, and the process includes:
and f, calculating the height variation of each jack required for leveling the carrying trolley based on the first inclination angle value.
In this embodiment, the amount of height change of each jack required for leveling the carrier vehicle is calculated based on the first inclination value, and it can be understood that the carrier vehicle may incline to one side with its inclination when the ground is unevenThe height variation of the jack on the obliquely facing side is smaller than that of the other jacks. For example, four jacks are used for leveling the carrying trolley, the four jacks are respectively a jack 1, a jack 2, a jack 3 and a jack 4, wherein the ground on one side of the jack 4 is lower than the ground on one side of the jacks 1, 2 and 3, therefore, in the leveling process, the height variation corresponding to the jack 4 is larger than the height variation corresponding to the jack 1, 2 and 3, therefore, due to the uneven ground, the height variations corresponding to the jack 1, 2, 3 and 4 may be different, wherein each height variation is Δ Z1＝Y1tg(α)-X1tg(β)、ΔZ2＝-Y2tg(α)-X2tg(β)、ΔZ3＝Y3tg(α)+X3tg (. beta.) and Δ Z4＝-Y4tg(α)+X4tg(β)。
And step S30, generating a horizontal adjustment instruction corresponding to the height variation, so as to level the carrying trolley based on the horizontal adjustment instruction.
In this embodiment, a horizontal adjustment command is generated by the height variation, that is, the height variation corresponding to the outward extension of each jack is controlled, so as to level the carrying trolley based on the horizontal adjustment command.
In the leveling process of the carrying trolley, each obtained height variation is greater than zero, so each jack needs to be extended, and if the carrying trolley is leveled based on one of the height variations, the jack corresponding to the reference height variation does not need to be extended, specifically, the generating of the horizontal adjustment instruction corresponding to the height variation is performed to level the carrying trolley based on the horizontal adjustment instruction includes:
and g, comparing the height variation of the jacks to obtain the minimum height variation.
In this embodiment, the height variation of each jack is compared, and the minimum height variation among the height variations is determined, so as to obtain the minimum height variation.
H, calculating a variation difference value between the height variation of each jack and the minimum height variation;
and i, generating a horizontal adjustment instruction corresponding to the variation difference value so as to adjust the carrying trolley horizontally based on the horizontal adjustment instruction.
In this embodiment, the minimum height variation is used as a reference, and a difference between the height variation of each jack and the reference is calculated to obtain a variation difference, where the difference between the minimum height variation and the reference is zero; and generating a corresponding horizontal adjustment instruction based on each variable difference value, so as to control a corresponding jack based on the horizontal adjustment instruction, and realize leveling of the carrying trolley.
The inclination angle sensor is used as the reference for adjusting the carrying trolley in the leveling process, so that the inclination angle sensor needs to be adjusted before the carrying trolley is leveled to be used as the reference.
Specifically, before acquiring a first inclination value of an inclination sensor disposed on the carrying trolley, the method includes:
j, receiving a jack extension instruction input by a worker, and controlling the jack to extend outwards;
step k, receiving a jack extension stopping instruction input by the worker, and controlling the jack to stop extending;
and step l, receiving an inclination angle sensor initialization instruction input by the worker, and initializing the inclination angle sensor.
In this embodiment, the process of adjusting the tilt sensor needs a worker to perform related operations to complete, specifically, when the worker performs initial installation on the tilt sensor, a standard level is placed on a plane (for example, a plane of a numerical control mobile platform) where the carrying trolley is located, and the worker can perform initial installation on the tilt sensor by using the standard level, which includes the following specific processes: receiving a jack extension instruction input by a worker, and controlling the jack to extend outwards; receiving an input jack extending stopping instruction when a worker determines that the plane where the carrying trolley is located is horizontal through a standard level gauge, and controlling the jack to stop extending through the jack extending stopping instruction; and receiving an inclination angle sensor initialization instruction input by a worker, and initializing the inclination angle sensor so as to complete the initialization and installation of the inclination angle sensor.
Wherein the initializing the tilt sensor comprises:
and m, acquiring a second inclination angle value of the inclination angle sensor, and zeroing the second inclination angle value.
In this embodiment, the process of initializing the tilt sensor is to acquire a second tilt value of the tilt sensor at this time, and zero-clearing the second tilt value.
Compared with the prior art that the leveling process is troublesome, difficult and long due to manual adjustment by naked eyes or a level meter, the embodiment obtains the first inclination angle value of the inclination angle sensor arranged on the carrying trolley; calculating the height variation quantity required for leveling the carrying trolley based on the first inclination angle value; and generating a horizontal adjustment instruction corresponding to the height variation, so as to level the carrying trolley based on the horizontal adjustment instruction. The carrying trolley is automatically leveled through the inclination angle sensor without manual intervention, and the leveling process is a full-automatic process, so that the problems of troublesome leveling process, high difficulty and long time are solved, and the leveling process is simplified, the leveling difficulty is reduced, and the leveling time is shortened.
In addition, this application still provides a carrying trolley levelling device, as shown in fig. 2, the carrying trolley levelling device includes:
the first acquisition module 10 is used for acquiring a first inclination angle value of an inclination angle sensor arranged on the carrying trolley;
a calculating module 20, configured to calculate, based on the first inclination value, an amount of height change required for leveling the carrying trolley;
and a generating module 30, configured to generate a horizontal adjustment instruction corresponding to the height variation.
Optionally, the carrying trolley leveling device further comprises:
the first control module is used for controlling a jack arranged on the carrying trolley to extend outwards at a first preset extending speed;
the second acquisition module is used for acquiring a real-time pressure value of a pressure sensor arranged on the carrying trolley;
and the second control module is used for controlling the jack to stop extending outwards if the real-time pressure value is greater than or equal to a preset pressure value.
Optionally, the carrying trolley leveling device further comprises:
the third acquisition module is used for acquiring a real-time displacement value of a displacement sensor arranged on the carrying trolley;
and the third control module is used for controlling the jack to extend outwards at a second preset extending speed if the real-time displacement value is greater than or equal to a preset displacement value.
Optionally, the jacks include at least three jacks, and the computing module 20 includes:
and the first calculation unit is used for calculating the height variation of each jack required for leveling the carrying trolley based on the first inclination angle value.
Optionally, the generating module 30 includes:
the comparison unit is used for comparing the height variation of the jacks to obtain the minimum height variation;
a second calculation unit for calculating a variation difference between the variation in height of each of the jacks and the minimum variation in height;
and the generating unit is used for generating a horizontal adjustment instruction corresponding to the variation difference so as to adjust the carrying trolley horizontally based on the horizontal adjustment instruction.
Optionally, the carrying trolley leveling device further comprises:
the fourth control module is used for receiving a jack extending instruction input by a worker and controlling the jack to extend outwards;
the fifth control module is used for receiving a jack extending stopping instruction input by the worker and controlling the jack to stop extending;
and the initialization module is used for receiving the inclination angle sensor initialization instruction input by the worker and initializing the inclination angle sensor.
Optionally, the initialization module includes:
and the acquisition unit is used for acquiring a second inclination angle value of the inclination angle sensor and zeroing the second inclination angle value.
The specific implementation of the carrying trolley leveling device of the application is basically the same as that of each embodiment of the carrying trolley leveling method, and is not described herein again.
In addition, this application still provides a carrying trolley levelling equipment. As shown in fig. 3, fig. 3 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present application.
It should be noted that fig. 3 is a schematic structural diagram of a hardware operating environment of the leveling device of the carrying cart.
As shown in fig. 3, the carrier leveling device may include: a processor 1001, such as a CPU, a memory 1005, a user interface 1003, a network interface 1004, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the cart leveling device may further include RF (Radio Frequency) circuitry, sensors, audio circuitry, WiFi modules, and the like.
Those skilled in the art will appreciate that the carrier leveling device configuration shown in fig. 3 does not constitute a limitation of carrier leveling devices and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 3, a memory 1005, which is one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and a cart leveling program. The operating system is a program for managing and controlling hardware and software resources of the carrying trolley leveling device and supports the running of the carrying trolley leveling program and other software or programs.
In the carrying trolley leveling device shown in fig. 3, the user interface 1003 is mainly used for connecting a terminal and performing data communication with the terminal, such as receiving user signaling data sent by the terminal; the network interface 1004 is mainly used for the background server and performs data communication with the background server; the processor 1001 may be used to invoke the carrier leveling program stored in the memory 1005 and perform the steps of the carrier leveling method described above.
The specific implementation of the carrying trolley leveling device of the application is basically the same as that of each embodiment of the carrying trolley leveling method, and is not described herein again.
Furthermore, an embodiment of the present application also provides a computer-readable storage medium, on which a carrier leveling program is stored, and when being executed by a processor, the carrier leveling program implements the steps of the carrier leveling method as described above.
The specific implementation of the computer-readable storage medium of the present application is substantially the same as the embodiments of the method for leveling a carrier cart, and will not be described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a device, or a network device) to execute the method according to the embodiments of the present application.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (10)
1. The carrying trolley leveling method is characterized by comprising the following steps:
acquiring a first inclination angle value of an inclination angle sensor arranged on a carrying trolley;
calculating the height variation quantity required for leveling the carrying trolley based on the first inclination angle value;
and generating a horizontal adjustment instruction corresponding to the height variation, so as to level the carrying trolley based on the horizontal adjustment instruction.
2. The method of leveling a carrier cart as recited in claim 1, wherein the obtaining a first tilt angle value of a tilt sensor disposed on the carrier cart comprises:
controlling a jack arranged on the carrying trolley to extend outwards at a first preset extending speed;
acquiring a real-time pressure value of a pressure sensor arranged on a carrying trolley;
and if the real-time pressure value is greater than or equal to a preset pressure value, controlling the jack to stop extending outwards.
3. A method for leveling a carrier cart as recited in claim 2, wherein said controlling the jacks disposed on said carrier cart after they are extended at a first predetermined extension speed comprises:
acquiring a real-time displacement value of a displacement sensor arranged on the carrying trolley;
if the real-time displacement value is larger than or equal to a preset displacement value, controlling the jack to extend outwards at a second preset extending speed;
wherein the second predetermined overhang speed is less than the first predetermined overhang speed.
4. A method for leveling a carrier as in claim 2 wherein the jacks comprise at least three, and wherein calculating the amount of change in elevation required to level the carrier based on the first angle of inclination comprises:
and calculating the height variation of each jack required for leveling the carrying trolley based on the first inclination angle value.
5. The method of leveling a carrier cart of claim 4, wherein the generating a leveling command corresponding to the amount of height change to level the carrier cart based on the leveling command comprises:
comparing the height variation of each jack to obtain the minimum height variation;
calculating a variation difference between the height variation of each jack and the minimum height variation;
and generating a horizontal adjustment instruction corresponding to the variation difference so as to adjust the carrying trolley horizontally based on the horizontal adjustment instruction.
6. The method of leveling a carrier cart as claimed in any one of claims 1 to 5, wherein said obtaining a first tilt angle value of a tilt angle sensor disposed on the carrier cart comprises:
receiving a jack extending command input by a worker, and controlling the jack to extend outwards;
receiving a jack extension stopping instruction input by the worker, and controlling the jack to stop extending;
and receiving an inclination angle sensor initialization instruction input by the worker, and initializing the inclination angle sensor.
7. The method of leveling a carrier cart of claim 6 wherein said initializing said tilt sensor comprises:
and acquiring a second inclination angle value of the inclination angle sensor, and zeroing the second inclination angle value.
8. The carrying trolley leveling device is characterized by comprising:
the first acquisition module is used for acquiring a first inclination angle value of an inclination angle sensor arranged on the carrying trolley;
the calculation module is used for calculating the height variation required for leveling the carrying trolley based on the first inclination angle value;
and the generating module is used for generating a horizontal adjustment instruction corresponding to the height variation.
9. A carriage leveling device comprising a memory, a processor and a carriage leveling program stored on said memory and executable on said processor, said carriage leveling program when executed by said processor implementing the steps of the carriage leveling method of any of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a carrier leveling program which, when executed by a processor, implements the steps of the carrier leveling method according to any one of claims 1 to 7.
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