CN113371611A

CN113371611A - Control method and device for supporting leg assembly and engineering equipment

Info

Publication number: CN113371611A
Application number: CN202110476789.8A
Authority: CN
Inventors: 康禹乐; 吕永标; 周光元
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2021-04-29
Filing date: 2021-04-29
Publication date: 2021-09-10
Anticipated expiration: 2041-04-29
Also published as: CN113371611B

Abstract

The embodiment of the invention provides a control method and a control device for a supporting leg assembly and engineering equipment; the leg assembly comprises a first leg and a second leg, the second leg being connected to one end of the first leg, wherein the first leg moves in a horizontal direction and the second leg moves in a vertical direction; the control method comprises the following steps: triggering and controlling the first support leg to move at a first speed in response to a control instruction; detecting whether an obstacle exists in the second support leg in the moving process of the first support leg; in the presence of an obstacle, the speed of the first leg and/or the second leg is varied to prevent damage from the second leg and the obstacle. The scheme that provides with the help of this application can be through detecting whether there is the barrier at the in-process second landing leg that first landing leg removed to control the speed of first landing leg and/or second landing leg, can conveniently standardize the operation action more, avoid bringing irreversible damage to the second landing leg, thereby improve landing leg assembly's life.

Description

Control method and device for supporting leg assembly and engineering equipment

Technical Field

The invention relates to the technical field of engineering equipment, in particular to a control method and device for a supporting leg assembly and the engineering equipment.

Background

Along with the engineering mechanical equipment gradually gets into people's field of vision, heavy engineering equipment plays important effect in the operation in-process, all is provided with the landing leg in order to compromise its stability in most engineering equipment operation to increase automobile body width and improve the operating capability. As a crane is a common type of engineering equipment, generally, when the crane is switched between hoisting and running, the crane needs to perform operations of unfolding and retracting the support legs; when the supporting legs are unfolded, the horizontal supporting legs are generally firstly extended to the positions, then the vertical supporting legs are extended to the positions, the supporting legs are retracted, and the vertical supporting legs are generally firstly lifted for a certain distance and then the horizontal supporting legs are retracted.

Due to the inconsistency of the operating environment, the whole process is artificially judged and controlled, but the condition of each supporting leg cannot be known due to the limited visual field of a manipulator in operation, or when special attention is easily not paid, the condition of the ground is easy to change, the vertical supporting leg is not retracted or the retraction distance is not enough to directly perform the telescopic operation of the horizontal supporting leg, and the vertical supporting leg may rub and scratch the ground or other objects under the condition, so that the supporting leg is damaged, and further loss is brought.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide a control method and device for a support leg assembly and engineering equipment.

In order to achieve the above object, in a first aspect of the present invention, there is provided a control method for a leg assembly, characterized in that the leg assembly comprises a first leg and a second leg connected to one end of the first leg, wherein the first leg moves in a horizontal direction and the second leg moves in a vertical direction; the control method comprises the following steps: triggering and controlling the first support leg to move at a first speed in response to a control instruction; detecting whether an obstacle is present in the second leg during movement of the first leg; in the presence of an obstacle, the speed of the first leg and/or the second leg is varied to prevent damage from collision of the second leg with the obstacle. .

In an embodiment of the present application, the determining whether an obstacle exists in the second leg during the movement of the first leg includes: determining whether an obstacle is present by detecting a moment of the second leg; or determining whether an obstacle exists by performing image recognition on the working environment of the second leg; or detected by radar to determine if an obstacle is present.

In an embodiment of the present application, the determining whether an obstacle is present by detecting a moment of the second leg includes: acquiring the moment of the second supporting leg; and under the condition that the moment is larger than a preset moment threshold value, determining that the second support leg contacts an obstacle in the moving process.

In an embodiment of the application, said changing the speed of said first leg and/or said second leg comprises: controlling the first leg to switch from the first speed to a second speed, wherein a minimum value of the second speed is zero.

In an embodiment of the present application, the control method further includes: and outputting prompt information through display equipment under the condition that the moment is greater than a preset moment threshold value.

In an embodiment of the present application, the determining whether an obstacle exists by image recognition of the working environment of the second leg includes: acquiring a working environment image; simulating a motion track of the second support leg during moving; performing feature extraction on the working environment image to obtain an obstacle; and determining whether the obstacle exists in the moving process of the second supporting leg according to whether the coordinate points of the motion trail and the obstacle intersect.

In an embodiment of the application, said changing the speed of said first leg and/or said second leg comprises: determining a second speed and a fourth speed according to the coordinate point of the obstacle; controlling the first leg to switch from an initial first speed to the second speed while controlling the second leg to switch from an initial third speed to the fourth speed; wherein the minimum value of the second speed and the fourth speed is zero.

In a second aspect of the present application, there is also provided a control device for a leg assembly, the leg assembly comprising a first leg and a second leg, the second leg being connected to one end of the first leg, wherein the first leg is telescopic in a horizontal direction and the second leg is telescopic in a vertical direction, such that the leg assembly is deployed and retracted; the control device includes: the first control valve is used for controlling the extension and contraction of the first support leg; the second control valve is used for controlling the extension and contraction of the second supporting leg; an obstacle detection device for detecting whether an obstacle exists during the extension and retraction of the leg assembly; a controller configured to: triggering to control the first leg to retract at a first speed in response to a control instruction; determining whether an obstruction exists in the second leg during retraction of the first leg; controlling the first leg to switch from the first speed to a second speed in the presence of an obstacle, wherein a minimum value of the second speed is zero.

In an embodiment of the present application, the control device further includes: the display equipment is electrically connected with the controller; the controller is further configured to: and outputting prompt information through the display equipment under the condition that the obstacle exists.

In the embodiment of the present application, the obstacle detection device is any one of a torque sensor, an image acquisition device, and a radar; the controller being configured to determine whether an obstruction is present in the second leg during retraction of the first leg comprises the sensor being configured to: determining whether an obstacle is present by detecting a moment of the leg assembly; or by image recognition of the working environment of the leg assembly to determine whether an obstacle is present; or detected by radar to determine if an obstacle is present.

In an embodiment of the present application, the obstacle detecting device is a pressure sensor; the controller being configured to determine whether an obstacle is present by detecting a moment of the leg assembly comprises the controller being configured to: acquiring the moment of the second supporting leg; and under the condition that the moment is larger than a preset moment threshold value, determining that the second support leg contacts an obstacle in the moving process.

In an embodiment of the invention, the controller is configured to change the speed of the first leg and/or the second leg the controller is configured to: controlling the first leg to switch from the first speed to a second speed, wherein a minimum value of the second speed is zero.

In an embodiment of the invention, the obstacle detecting device is an image capturing device, the controller being configured to determine whether an obstacle is present by image recognition of a working environment of the leg assembly comprises the controller being configured to: acquiring a working environment image of the supporting leg assembly; simulating a motion track of the retraction of the leg assembly; performing feature extraction on the image to acquire an obstacle; and determining whether an obstacle exists in the retracting process of the leg assembly according to whether the coordinate points of the movement track and the obstacle intersect.

In an embodiment of the invention, the controller is configured to change the speed of the first leg and/or the second leg the controller is configured to: determining a second speed and a fourth speed according to the coordinate point of the obstacle; controlling the first leg to switch from an initial first speed to the second speed while controlling the second leg to switch from an initial third speed to the fourth speed.

An embodiment of the invention further provides engineering equipment comprising the control device for the support leg assembly according to any one of the above items.

In another aspect, a computer-readable storage medium is provided, having instructions stored thereon for enabling a processor to perform a control method for a leg assembly according to the above when executed by the processor.

Through the technical scheme, the scheme provided by the invention is combined with the characteristics of construction operation of engineering equipment, and according to the fact that in the past practice, an operator of a client often does not consider whether the second supporting leg in the supporting leg assembly is in contact with an obstacle or not to operate the supporting leg illegally due to manual misoperation, and the operator cannot track whether the supporting leg is damaged or not in real time and at any time in an operation environment.

Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:

fig. 1 shows a simple structure of the connection of a support leg and engineering equipment;

fig. 2 is a block schematic diagram of a monitoring apparatus for construction equipment according to an embodiment of the present invention;

FIG. 3 is a flowchart illustrating a step S1021 in the control method for the leg assembly according to the embodiment of the invention;

fig. 4 is another flowchart of step S102 in the control method for the leg assembly according to the embodiment of the present invention;

fig. 5 is a flowchart of step S103 in the control method for the leg assembly according to the embodiment of the present invention;

FIG. 6 is a connection topology of a control apparatus for a leg assembly provided by an embodiment of the present invention; and

fig. 7 is a circuit control diagram of a control device for a leg assembly provided by an embodiment of the present invention.

Description of the reference numerals

10. A support mechanism;	11. a leg assembly;
		111. a first leg;	112. a second leg;
200. a control device;	201. a first control valve;
		202. a second control valve;	203. a first flow proportional valve;
204. a second flow proportional valve;	205. an obstacle detection device;
		206. a controller;	207. a display device;
208. a moment limiter.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular device structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.

It should be noted that all the flow direction indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative geometrical relationship, movement, etc. of the components in a specific posture (as shown in the figure), and if the specific posture is changed, the flow direction indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B" including either scheme A, or scheme B, or a scheme in which both A and B are satisfied. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a simplified structural diagram illustrating a connection between a leg and a construction equipment; it will be appreciated by those skilled in the art that the ground is required to provide a greater support force during the operation of the construction equipment to increase the operational capacity of the construction equipment, thereby achieving safe operation.

In order to meet the above requirements, the heavy construction machinery support legs are generally provided with a support mechanism 10 (generally comprising a support leg assembly 11 and a base plate, the base plate is not labeled) to give better stability to the construction equipment, such as reducing the pressure of the ground to prevent the construction equipment from inclining during operation, or effectively avoiding the ground (especially on non-hardened ground, such as a soil surface) from sinking due to overload, which causes the construction equipment to be unable to work or causes safety accidents, and the like.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a leg assembly according to an embodiment of the present invention. As can be seen from the above, the support posture of the support mechanism 10 is an important factor related to the operation safety, and the leg assembly 11 generally includes a horizontal leg and a vertical leg, and in the embodiment of the present invention, a first leg 111 and a second leg 112 are used for illustration, wherein the first leg 111 is extended and retracted in the horizontal direction, the second leg 112 is extended and retracted in the vertical direction, the first leg 111 can be understood as a trunk leg, and the second leg 112 is connected to the far end of the first leg 111 facing away from the engineering equipment.

When the engineering equipment is switched between the operation state and the running state, the operation of unfolding the leg assembly 11 and folding and unfolding the leg assembly 11 is required; when the leg assembly 11 is deployed, the first leg 111 is generally horizontally extended to a predetermined position, and then the second leg 112 is gradually extended until the ground is supported, whereas when the second leg 112 is retracted, the second leg 112 is generally upwardly retracted, and then the first leg 111 is retracted. However, the above process is controlled manually and is influenced manually, and the second leg 112 may be damaged due to friction and rubbing against the ground during the retracting process and the unfolding process of the leg assembly 11.

Based on the above problem, the embodiment of the present invention provides a way to detect an obstacle during the extension and retraction of the second leg 112, which is to first detect and predict whether the second leg 112 will have an obstacle according to the first speed of the first leg 111 (which can be calculated by reading the rotation speed of the motor controlling the retraction of the first leg) during the retraction of the first leg 111, and to control the speed of the first leg 111 when the second leg 112 has an obstacle, so as to avoid the collision between the second leg 112 and the ground.

The relative movement of the first leg 111 and the second leg 112 is further in accordance with the following telescopic manner:

the first leg 111 and the second leg 112 do not move synchronously, the first leg 111 responds to the second leg 112 first when deployed, and then responds to the second leg 112 first when retracted, that is, each time the leg assembly 11 is deployed, the first leg 111 acts first, and then the second leg 112 begins to straighten downward to reach the ground after reaching a preset position. Conversely, when retracted, the second leg 112 is first moved upward and then the first leg 111 is retracted, thereby completing a full deployment and retraction.

Another way is that the first leg 111 and the second leg 112 move synchronously, the first leg 111 moves at a first speed when being unfolded, and the second leg 112 moves at a third speed, that is, the second leg 112 extends downwards simultaneously when the first leg 111 is unfolded outwards, and similarly, when being retracted, the first leg 111 and the second leg 112 are both retracted to preset positions simultaneously, so that the first leg 111 and the second leg 112 complete the complete unfolding and retraction synchronously.

Then, when the second leg 112 is used as the moving object, the motion locus of the second leg 112 is in an "L" shape in the former way by taking the lowest point of the second leg as the fulcrum, and the motion locus of the latter is a parabola, so that the first leg 111 and the second leg 112 do not synchronously move in a way of concentrating hydraulic pressure and simplifying the moving steps, and the synchronous movement can shorten the time for building the leg assembly 11, thereby realizing rapid transition and increasing the working efficiency.

Based on the two modes, whether the second supporting leg 112 has an obstacle in the moving process is detected, so that the speed of the first supporting leg 111 and the second supporting leg 112 is controlled according to the detected condition, the moving track of the second supporting leg 112 is changed through speed control, the second supporting leg 112 is prevented from colliding with the ground, and operation and safety in the operation process are guaranteed.

Further, the embodiments of the present invention are described as a contact type and a non-contact type for detecting whether the second leg 112 has an obstacle during the movement, and the moment applied to the second leg 112 can be detected in the contact type for determination.

It will be appreciated that the second leg 112 is only extendable and retractable up and down, and in itself only moves in the vertical direction of the work apparatus, so that under normal conditions, the second leg 112 will only receive forces from one end and the ground, the direction of which is along the radial direction of the second leg 112, and according to the calculation formula of the moment, the moment arm and the external force are on the same line, and the moment is zero or within an allowable range.

However, when the second leg 112 is abnormal, such as a hard object contacting the ground, an external force from the side is applied to the second leg 112, and the external force and the force arm of the second leg 112 form an included angle, and the moment is an abnormal value. With this characteristic, it can be determined whether the second leg 112 contacts an obstacle.

In an embodiment, image recognition of the working environment of the leg assembly 11 may be used in a non-contact manner to determine whether an obstacle exists, specifically, first, according to a preset initial mode, the first leg 111 moves at a default first speed, the second leg 112 moves at a second speed, whether the first leg 111 and the second leg 112 are synchronous or not, a motion trajectory of the second leg 112 may be estimated, and according to the motion trajectory of the second leg 112 and an environment image acquired by collecting the working environment, whether the second leg 112 collides with the motion in the current initial mode is calculated, so as to calculate the most reasonable speed, and a reasonable telescoping mode is formulated.

In another embodiment, a radar detection device is disposed at one end of the second leg 112, and whether the second leg 112 will contact an obstacle is determined according to the radar detection device, for example, if the radar detection device is disposed on the peripheral side of the second leg 112 and configured to detect that an obstacle exists in a distance in the horizontal direction of the second leg 112 that is smaller than a preset distance, the speed of the first leg 111 or the second leg 112 is controlled, so as to avoid the obstacle and ensure that the second leg 112 is not damaged.

In summary, according to the above-mentioned contents, there is a probability that the second leg 112 will collide with the ground and be damaged due to the influence of human factors in the prior art, the embodiment of the present invention can change the speed of the first leg 111 and the second leg 112 by detecting whether the second leg 112 has an obstacle, so as to change the motion trajectory of the second leg 112, so as to solve the above technical problems.

Accordingly, embodiments of the present invention are directed to a control method for a leg assembly. Referring to fig. 2, fig. 2 is a main flow chart of a control method for a leg assembly according to an embodiment of the present invention. The support leg assembly comprises a first support leg and a second support leg, wherein the second support leg is connected to one end of the first support leg, the first support leg extends and retracts in the horizontal direction, and the second support leg extends and retracts in the vertical direction; the method provided by the embodiment of the invention is a mode for controlling the second supporting leg to avoid obstacles. The control method comprises the following steps:

step S101, responding to the received control instruction, controlling the first support leg to move at a first speed;

step S102, detecting whether an obstacle aiming at a second supporting leg exists in the moving process of the first supporting leg;

and step S103, in the case of an obstacle, adjusting the speed of the first support leg and/or the speed of the second support leg to prevent the second support leg from colliding with the obstacle to cause damage.

Wherein, the above mentioned control command includes controlling the extension and retraction of the leg assembly, when the control command is controlling the extension of the leg assembly, the "first leg moves at a first speed" is characterized in that the first leg is extended outwards at the first speed, and when the control command is controlling the retraction of the leg assembly, the "first leg moves at the first speed" is characterized in that the first leg is retracted at the first speed.

As will be understood by those skilled in the art, since the second leg is disposed at one end of the first leg, the second leg is moved in the horizontal direction when the first leg moves, so as to change the motion track of the second leg in the horizontal direction. The movement of the first support leg and the second support leg can be realized by means of a hydraulic device and a multiway valve (such as a flow valve and a solenoid directional valve), the base kinetic energy is provided by the hydraulic device, the speed of the first support leg and the speed of the second support leg are controlled by the opening degree of the flow valve, the flow ratio of the first support leg and the second support leg is controlled by the solenoid directional valve, and the control of the first support leg and the second support leg is a common means of a person skilled in the art, and the embodiment of the invention is not excessively illustrated.

Further in step 102, detecting whether an obstacle exists in the second leg during the movement of the first leg is referred to the following situations:

under the mode that the first supporting leg and the second supporting leg move synchronously, the motion trail of the second supporting leg is a parabola, the motion trail depends on the speed of the first supporting leg in the horizontal direction, and under the mode that the first supporting leg and the second supporting leg move asynchronously, the motion trail of the second supporting leg is two straight lines. In the above two modes, different ways of detecting an obstacle need to be adapted, whereas in the case of an obstacle, the speed of the first leg and/or the second leg is adjusted subsequently, so as to modify the motion trajectory of the second leg, so as to prevent the second leg from being damaged by collision with the obstacle, thereby solving the technical problem.

The following are set forth in the specific examples: in the case of no obstacle, adjusting the speed of the first leg and/or the second leg is performed subsequently, so as to correct the motion track of the second leg, and prevent the collision damage of the second leg and the obstacle.

Further, the control method further comprises:

and step S104, outputting prompt information through a display device when the obstacle exists.

The display device is provided on the basis of engineering equipment, and an operation maintenance worker can observe the obstacle in the supporting leg assembly in which direction through the display device so as to observe the specific situation of the obstacle and manually process the obstacle. If the 'please check xx position leg' is displayed on the display device, the operator is given reference to apply manual judgment, and the obstacle is processed to avoid damage to the second leg.

Further, the following specific embodiments are provided for detecting the manner of determining whether an obstacle is present in the second leg during the retraction of the first leg:

wherein determining whether an obstacle is present in the second leg during retraction of the first leg may comprise the steps of:

step S1021, determining whether an obstacle exists or not by detecting the moment of the second support leg; or

Step S1022, determining whether an obstacle exists by carrying out image recognition on the working environment of the second support leg; or

Step S1023, detecting through a radar to determine whether an obstacle exists.

It can be understood that, in the embodiment of the present invention, whether the obstacle exists in the second leg may be determined through any one or more of the above manners, that is, in the actual design of the engineering equipment, multiple modes may be designed in the same engineering equipment, so as to take into account the above multiple manners, and the above different manners may also be designed according to the main working environment of the engineering equipment, such as: for the same crane, in the case that the temporary contact of the second leg with the obstacle is allowed, the operator may control the engineering equipment to determine whether the obstacle exists with the moment of the second leg as provided in step S1021, but when the working environment is special, and the contact of the second leg with the obstacle is prohibited, whether the obstacle exists in the second leg may be detected by the methods of step S1022 and step S1023.

Referring to fig. 3, fig. 3 is a flowchart illustrating step S1021 in the control method for the leg assembly according to the embodiment of the invention. In the scheme provided in step S1021, the method further includes:

step S1021a, acquiring the moment of the leg assembly;

and step S1021b, determining that an obstacle exists in the retracting process of the support leg assembly under the condition that the moment is larger than the moment threshold value.

It will be appreciated that, as can be seen from the above-described embodiments of the apparatus, the second leg is only extendable and retractable up and down, and in itself only moves in the vertical direction of the construction equipment, so that under normal conditions, the second leg is only subjected to forces from one end and the ground, the direction of the forces is radial along the second leg, and according to the calculation formula of the moment, the moment arm and the external force are on the same line, and the moment is zero or within an allowable range. And otherwise, when the second supporting leg is abnormal, if the second supporting leg is contacted with a hard object on the ground, an external force from the side surface is given to the second supporting leg, the external force and the force arm of the second supporting leg form an included angle, and the moment presents an abnormal value when the moment is greater than a preset moment threshold value, so that an obstacle exists in the retracting process of the supporting leg assembly.

When the method of step S1021 is used to determine whether there is an obstacle, the step S103 may change the speed of the first leg and/or the second leg by: changing the speed of the first leg switches from a first speed to a second speed, the second leg controlling the stationary. Wherein the second speed may be opposite to the first speed or zero.

It can be understood that the first support leg moves in the horizontal direction, after the second support leg contacts the obstacle, the first support leg is controlled to stop moving or move reversely for a certain distance in order to avoid the second support leg from continuing to contact the obstacle, and the operator is informed on the display device, and the operator can remove the obstacle according to the prompt and execute the movement instruction of the support leg assembly again.

In another embodiment, please refer to fig. 4, fig. 4 is another flowchart of step S102 in the control method for the leg assembly according to the embodiment of the present invention. In the scheme provided in step S1022, the method further includes:

step S1022a, acquiring a job environment image;

step S1022b, simulating a motion track of the second support leg during moving;

step S1022c, performing feature extraction on the work environment image to acquire an obstacle;

step S1022d, determining whether an obstacle exists in the process when the second leg moves according to whether the motion trajectory intersects with the coordinate point of the obstacle.

Specifically, firstly, an image acquisition device is arranged on the engineering equipment to acquire an operation environment image of the landing leg assembly, and then the landing leg assembly is in an initial mode: the first speed of the first supporting leg and the second speed of the second supporting leg are used for estimating the motion track of the supporting leg assembly, feature extraction is carried out on the operation environment image, and whether the second supporting leg contacts with the obstacle in the moving process is judged according to whether the motion track of the supporting leg assembly is intersected with the static obstacle or not.

Furthermore, the lowest point of the second leg may be used as a mass point, and a coordinate system is established in the working environment image to analyze the motion trajectory of the mass point, so as to determine whether the second leg has an obstacle according to whether the motion trajectory passes through a coordinate area where the obstacle is located. The method includes the steps of extracting features of an operation environment image to obtain an obstacle, analyzing three-dimensional coordinates of the obstacle through multi-view vision and performing three-dimensional segmentation on the obstacle by taking one method as an example, and accordingly determining a coordinate area of the obstacle.

Referring to fig. 5, fig. 5 is a flowchart of step S103 in the control method for the leg assembly according to the embodiment of the present invention. When determining whether there is an obstacle in the manner of step S1022, the step S103 may change the speed of the first leg and/or the second leg by:

step S1031, determining a second speed and a fourth speed according to the coordinate points of the obstacles;

step S1032 controls the first leg to switch from the initial first speed to the second speed, and controls the second leg to switch from the initial third speed to the fourth speed.

Specifically, the execution method in step S1031 is: namely, according to the coordinate area of the obstacle, the first speed of the first support leg and/or the second speed of the second support leg are/is continuously reduced, so that the corresponding movement track is changed, and the current speed is the second speed of the first support leg and the fourth speed of the second support leg when the movement track is not intersected with the coordinate area of the obstacle.

Further, in an embodiment, the flow valve ratio controlling the first leg and the second leg may be varied, e.g. by PWM controlling the hydraulic flow of the first leg and the second leg at 10%, thereby controlling the first speed of the first leg and/or the second speed of the second leg to decrease by 10% until the trajectory of its second leg and the coordinate area of the obstacle do not intersect.

The utility model provides a two kinds of ways that detect whether there is the barrier at the in-process second landing leg that first landing leg removed more than, to the former, it possesses high reliability, the moment that produces after taking place to contact through second landing leg and barrier, after second landing leg and barrier bump, the removal of first landing leg is stopped immediately, inform operating personnel people for judging and clear up the barrier, static barrier and dynamic barrier can be compromise to this mode, can guarantee to the comparatively complicated condition of operational environment that the second landing leg does not take place serious collision and scratches, to the latter, it need not to contact the barrier for the second landing leg, can prejudge the movement track of second landing leg in advance, and can guarantee that first landing leg and second landing leg stretch out and draw back with reasonable speed, guarantee the speed that the landing leg subassembly expandes, improve transition and operating efficiency.

To sum up, the scheme of the invention combines the characteristics of construction operation of engineering equipment, and according to the fact that in the past practice, operators of customers often do not consider whether a second supporting leg in a supporting leg assembly is in contact with an obstacle or not to illegally operate the supporting leg due to manual operation errors, and the operators cannot track whether the supporting leg is damaged or not in real time and at any time in an operation environment, by means of the scheme provided by the application, whether the obstacle exists in the second supporting leg in the moving process of the first supporting leg can be detected, the speed of the first supporting leg and/or the second supporting leg can be controlled, operation behaviors can be more conveniently specified, irreversible damage to the second supporting leg is avoided, and the service life of the supporting leg assembly is prolonged.

Referring to fig. 6 and 7, fig. 6 is a connection topology diagram of a control device for a leg assembly according to an embodiment of the present invention, and fig. 7 is a circuit control diagram of the control device for a leg assembly according to an embodiment of the present invention. The embodiment of the present invention further provides a control device 200 for a leg assembly, the leg assembly includes a first leg 111 and a second leg 112, the second leg 112 is connected to one end of the first leg 111, wherein the first leg 111 extends and retracts in a horizontal direction, and the second leg 112 extends and retracts in a vertical direction, so that the leg assembly is extended and retracted; the control device 200 includes:

a first control valve 201 for controlling the extension and contraction of the first leg 111;

a second control valve 202 for controlling the extension and retraction of the second leg 112;

a first flow proportional valve 203 for controlling a first speed of the first leg 111;

a second flow proportional valve 204 for controlling a second speed of the second leg 112;

an obstacle detection device 205 for detecting the presence of an obstacle during deployment and retraction of the leg assembly;

a controller 206, the controller 206 configured to: triggering to control the first leg 111 to move at a first speed in response to the control instruction; detecting whether an obstacle is present in the second leg 112 during the movement of the first leg 111; in the presence of an obstacle, varying the speed of the first leg 111 and/or the second leg 112 to prevent the second leg 112 from being damaged by the collision with the obstacle;

a display device 207, electrically coupled to the controller 206, the controller 206207 further configured to: the prompt information is output through the display device 206 in the presence of an obstacle.

The obstacle detection device 205 is any one of a torque sensor, an image capture device, and a radar.

When the obstacle detecting device 205 is a torque sensor, the pressure (torque) sensor 205 is disposed at a pressure detecting port of the control valve of the leg assembly, so that a first torque value (fixed value) when the leg is normally extended and a second torque value (indeterminate value) when the second leg 112 is rubbed and scratched can be obtained, and it can be understood that the second torque value in the abnormal extension and retraction is usually greater than the first torque value in the normal extension and retraction.

When the controller 206 controls the first supporting leg 111 to stretch and retract, the moment value of the second supporting leg 112 is controlled and read in real time, when the moment value is larger than the first moment value of the supporting leg assembly during stretching and retracting, the second supporting leg 112 is judged to be scratched to an obstacle, at the moment, the stretching and retracting output of the second supporting leg 112 is stopped immediately, an alarm command is sent to a display device electrically connected with the moment limiter, and the display device prompts 'please check the vertical supporting leg'; after an operator presses the confirmation key on the display screen, the telescopic operation of the leg assembly can be started again.

During normal use, the controller 206 can monitor the torque value collected by the pressure sensor from the pressure detection port of the leg assembly control valve on line, normal horizontal leg stretching operation is performed on the vehicle, and the change range of the torque value under the normal condition of the pressure detection port of the leg assembly control valve can be collected to be P1-P2, wherein P1 is the minimum value, and P2 is the maximum value.

The controller 206 is coupled to the first control valve 201, the second control valve 202, the first flow proportional valve 203, and the second flow proportional valve 204, and controls the extension and contraction of the first leg 111 and the second leg 112 by controlling the first control valve 201, the second control valve 202, the first flow proportional valve 203, and the second flow proportional valve 204 to be de-energized.

Specifically, when the controller 206 detects that the current engineering equipment is in a horizontal leg stretching state (a control instruction of a user), the moment value detected by the obstacle detection equipment 205 is read at the same time, and the chicken logically judges the actual pressure value P of the pressure detection port of the leg control valve:

if P < (P2+ delta P) (wherein delta P is an allowable error), the related air conditioning control is not carried out, and the leg assembly can normally operate;

if P > (P2 +. DELTA.P), the following control is performed:

the controller 206 immediately controls the first control valve 201 of the first leg 111 to lose power, and the telescopic operation of the first leg 111 is cut off, at this time, the first control valve 201 and the second control valve 202 can still be normally controlled to lose power through manual switches. At the same time, an alarm command is sent to the moment limiter 208, and the display device 207 of the moment limiter 208 responds and prompts "please check the vertical leg".

Meanwhile, after observing the prompt content on the display device 207, an operator checks the state of the second support leg 112, and if the second support leg 112 is found to be in contact with the ground or scratched to some obstacles, the second control valve 202 and the second flow proportional valve 204 are controlled to be powered on through manual switches, the second support leg 112 is raised, and after no danger is judged, a confirmation key can be pressed on the display screen of the display device 207.

In some embodiments, it may further be arranged that: when the actual pressure value is below P2, the display device 207 prompts normally; when the actual pressure value is between P2 and P2+ [ delta ] P, a buzzer on the torque limiter host starts to intermittently sound for early warning; when the actual pressure value exceeds P2+ delta P, the display device lights to output prompt information, and meanwhile, a buzzer on the moment limiter host starts to intermittently accelerate the sounding alarm; or a buzzer on the main machine of the moment limiter 208 sounds for alarming, the relay acts and the telescopic operation of the first supporting leg 111 is cut off, at the moment, the first control valve 201 and the second control valve 202 can still be normally controlled to be powered off through manual switches, and accidents caused by mistaken operation or rough operation of a driver are prevented.

After receiving the confirmation command sent by the display device 207 through the CAN bus, the controller 206 re-contacts the forced power-off control of the first control valve 201 of the first leg 111 and enters the normal control mode. At this time, the horizontal leg extension operation can be performed again by the leg operation switch.

The steps of the above controller 12 being configured have been described in the other embodiments above, and are not repeated here.

Examples of the controller 12 may include, but are not limited to, a programmable microcomputer, a PC terminal, a single chip microcomputer, or replaced by a digital/analog signal circuit.

It will also be understood by those skilled in the art that if the method or cleaning apparatus of the present invention is simply changed, or if the functions added to the above method are combined, or if the apparatus is replaced, the model materials of the components, the environment in which the components are used, the geometric relationships of the components, etc. are simply replaced; or the products formed by the components are integrally arranged; or a detachable design; it is within the scope of the present invention to replace the methods and apparatus of the present invention with any method/apparatus/device that combines the components to form a method/apparatus/device with specific functionality.

The device also comprises a memory, the control method for the leg assembly can be stored in the memory as a program unit, and the processor executes the program unit stored in the memory to realize corresponding functions.

The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the spraying arm of the gas water heater is controlled to clean the tableware according to the tableware image by adjusting the kernel parameters.

The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

An embodiment of the present invention provides a machine-readable storage medium on which a program is stored, the program implementing a control method for a leg assembly when executed by a processor.

The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes a control method for a leg assembly during running.

The embodiment of the invention also provides engineering equipment, which comprises the operation monitoring device for the engineering equipment described in the embodiment.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), an input/output interface, an internet of things interface, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that 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 identical elements in the process, method, article, or apparatus that comprises the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A control method for a leg assembly, the leg assembly comprising a first leg and a second leg, the second leg connected to one end of the first leg, wherein the first leg moves in a horizontal direction and the second leg moves in a vertical direction; the control method comprises the following steps:

controlling the first leg to move at a first speed in response to receiving a control instruction;

detecting whether an obstacle exists for the second leg during movement of the first leg;

in the presence of an obstacle, adjusting the speed of the first leg and/or the speed of the second leg to prevent damage caused by collision of the second leg with the obstacle.

2. The control method of claim 1, wherein the detecting whether an obstacle for the second leg exists during the movement of the first leg comprises:

determining whether an obstacle is present by detecting a moment of the second leg;

determining whether an obstacle exists by performing image recognition on the working environment of the second leg; or

Detected by radar to determine if an obstacle is present.

3. The control method of claim 2, wherein the determining whether an obstacle is present by detecting the moment of the second leg comprises:

acquiring the moment of the second supporting leg;

determining that the second leg is in contact with an obstacle if the moment is greater than a moment threshold.

4. The control method of claim 3, wherein the adjusting the speed of the first leg and/or the speed of the second leg comprises:

controlling the first leg to switch from the first speed to a second speed, wherein a minimum value of the second speed is zero.

5. The control method according to claim 1, characterized by further comprising: and outputting prompt information through the display equipment under the condition that the obstacle exists.

6. The control method according to claim 2, wherein the determining whether an obstacle is present by image-recognizing the working environment of the second leg comprises:

acquiring a working environment image;

simulating a motion track of the second support leg during moving;

performing feature extraction on the working environment image to obtain an obstacle;

and determining whether the obstacle exists in the moving process of the second supporting leg according to whether the coordinate points of the motion trail and the obstacle intersect.

7. The control method of claim 6, wherein the varying the speed of the first leg and/or the second leg comprises:

determining a second speed and a fourth speed according to the coordinate point of the obstacle;

controlling the first leg to switch from an initial first speed to the second speed while controlling the second leg to switch from an initial third speed to the fourth speed.

8. A control device for a leg assembly, the leg assembly comprising a first leg and a second leg, the second leg connected to one end of the first leg, wherein the first leg telescopes in a horizontal direction and the second leg telescopes in a vertical direction to allow the leg assembly to expand and retract; the control device includes:

the first control valve is used for controlling the extension and contraction of the first support leg;

the second control valve is used for controlling the extension and contraction of the second supporting leg;

a first flow proportional valve for controlling a first velocity of the first leg;

a second flow proportional valve for controlling a second speed of the second leg;

the obstacle detection device is used for acquiring obstacle information in the processes of unfolding and folding the supporting leg assembly;

a controller configured to:

detecting whether an obstacle exists for the second leg according to the obstacle information in the process of moving the first leg;

9. The control device according to claim 8, characterized by further comprising:

the display equipment is electrically connected with the controller;

the controller is further configured to:

and outputting prompt information through the display equipment under the condition that the obstacle exists.

10. The control apparatus according to claim 8, characterized in that the obstacle detecting device is any one of a torque sensor, an image pickup device, a radar;

the controller being configured to determine from the obstacle information whether an obstacle for the second leg exists comprises the sensor being configured to:

determining whether an obstacle is present by detecting a moment of the second leg; or

Detected by radar to determine if an obstacle is present.

11. The control apparatus according to claim 8, characterized in that the obstacle detecting device is a torque sensor; the controller being configured to determine whether an obstacle is present by detecting a moment of the second leg comprises the controller being configured to:

acquiring the moment of the second supporting leg;

12. The control device of claim 11, wherein the controller is configured to vary the speed of the first leg and/or the second leg, the controller configured to:

13. The control apparatus of claim 8, wherein the obstacle detection device is an image capture device, the controller being configured to determine whether an obstacle is present by image recognition of a working environment of the leg assembly comprises the controller being configured to:

acquiring a working environment image of the supporting leg assembly;

simulating a motion track of the retraction of the leg assembly;

performing feature extraction on the image to acquire an obstacle;

and determining whether an obstacle exists in the retracting process of the leg assembly according to whether the coordinate points of the movement track and the obstacle intersect.

14. The control device of claim 13, wherein the controller is configured to vary the speed of the first leg and/or the second leg, the controller configured to:

15. An engineering plant, characterized by comprising a control device according to any one of claims 8 to 14.