The invention discloses an automatic transfer control method for a self-propelled sugarcane transfer trolley. The method comprises the following stepsthat 1) posture information of a trolley body is obtained; 2) whether the trolley body tilts or not is judged according to the acquired trolley body posture information; 3) if the trolley body inclines, the trolley body posture needs to be adjusted,the trolley body posture adjusting direction and the adjusting amplitude are calculated, and a power executing mechanism is controlled to correspondingly adjust the supporting legs; 4) after the posture of the trolley body is adjusted to be balanced, whether the stress of each supporting legis within a threshold range or not is detected, and stress adjustment on the supporting legs of which the stress is not within a threshold range is carried out; and 5) after the trolley body is stabilized, the carriage is lifted to transfer cargos. The sugarcane transfer trolley can automatically adjust thestate of the trolley body and complete cargo transfer, the deviation degree of the gravity center of the trolley body in the cargo transfer process is reduced, the efficiency and the safety of the sugarcane transfer trolley in complex working environments such as hilly areas are improved to a large extent, and meanwhile the labor intensity of workers is relieved.

    本发明公开了自走式甘蔗转运车转运自动控制方法,包括以下步骤:1)获取车身姿态信息;2)根据获取的车身姿态信息,判断车身是否倾斜;3)如车身倾斜则需调整车身姿态,计算出车身姿态调整方向及调整幅度;控制动力执行机构对支撑腿进行对应的调整;4)车身姿态调整至平衡后,检测各个支撑腿受力是否在阈值范围内;针对受力不在阈值范围内的支撑腿进行受力调整;5)车身稳定后提升车厢进行货物转运。本发明通可以自动调整车身状态并完成货物转运,减小货物在转运过程中车身重心的偏移程度,很大程度提高甘蔗转运车在丘陵地区等复杂工作环境下的效率和安全性,同时减少人工的工作劳动强度。


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    Title :

    Automatic transfer control method and system for self-propelled sugarcane transfer trolley


    Additional title:

    一种自走式甘蔗转运车转运自动控制方法及系统


    Contributors:
    LI SHANGPING (author) / YAN YUXIAO (author) / WEN CHUNMING (author) / CHEN YUANLING (author) / LIAO YIKUI (author) / LI KAIHUA (author) / PENG ZHUO (author) / LI WEI (author) / LI KECHANG (author) / XU BING (author)

    Publication date :

    2020-10-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen



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