CN115195674A - Control method, controller and device for engineering equipment supporting leg and engineering equipment - Google Patents

Abstract

The invention relates to the technical field of engineering machinery, and discloses a control method, a controller and a device for an engineering equipment support leg and engineering equipment. The engineering equipment comprises an arm support and supporting legs, and the control method comprises the following steps: responding to a received leg control instruction, and acquiring the posture of the arm support, wherein the leg control instruction comprises a horizontal control instruction for swinging or unfolding and folding the leg and a vertical control instruction for adjusting the elongation of the leg; acquiring a stress state of a supporting leg corresponding to the supporting leg control instruction; and under the condition that the posture is the arm support not fully retracted state and the stress state is that the stress value is greater than a preset threshold value, limiting the vertical control and the horizontal control of the corresponding supporting leg. The potential safety hazard that the landing leg valve responded the landing leg and controlled the instruction and lead to can be avoided, judge and restrict with the machine, avoided people's subjective judgement and unrestricted operation, the reliability of equipment control response is higher, has improved equipment operation security, has satisfied the requirement of industry standard to equipment operation safety.

Description

Control method, controller, device and engineering equipment for outriggers of engineering equipment

technical field

The invention relates to the technical field of construction machinery, in particular to a control method, a controller, a device and an engineering equipment used for an engineering equipment outrigger.

Background technique

When the engineering equipment is working, it can be supported by outriggers to keep the whole machine stable. Take the pump truck as an example. The pump truck is a construction machine that can continuously transport concrete along the pipeline by using pressure. The pump truck generally consists of five parts: boom, pumping, hydraulic pressure, support and electric control. When the pump truck is working, there are only three outriggers supported and one outrigger is suspended. Although the pump truck will not tip over at this time, the anti-vibration stability of the pump truck will be seriously reduced when it is supported by three legs. Even sometimes, the outrigger bounces from the ground repeatedly (it can be understood that the outrigger is a repeated state of "contacting the ground - leaving the ground", which is caused by the vibration of the boom and the flexibility of the body), which is equivalent to periodically introducing external force, It is more likely to cause vibration to the car body, which is reflected as a large vibration of the boom and the distribution point. This process seriously affects the safety of the operation. For example, the boom may hit people, the distribution point is unstable, the material is thrown, and the material is wasted. as a result of. In order to avoid three-leg support during operation, the operator of the pump truck will re-adjust the extension of the outrigger after the boom is unfolded. During the adjustment process, the force balance is easily damaged, resulting in dangerous operation.

SUMMARY OF THE INVENTION

In order to overcome the deficiencies of the prior art, the embodiments of the present invention provide a control method, a controller, a device and an engineering equipment for a support leg of an engineering equipment.

In order to achieve the above object, a first aspect of the present invention provides a control method for an engineering equipment support leg, the engineering equipment includes a boom and a support leg, and the control method includes:

In response to receiving the outrigger manipulation instruction, the attitude of the boom is obtained, wherein the outrigger manipulation instruction includes a horizontal manipulation instruction for swinging or extending the outrigger, and a vertical manipulation instruction for adjusting the extension of the outrigger;

Obtain the force state of the outrigger corresponding to the outrigger manipulation command;

When the posture is that the boom is not fully retracted, and the force state is that the force value is greater than the preset threshold, the vertical manipulation and horizontal manipulation of the corresponding outrigger are restricted.

In the embodiment of the present invention, the control method further includes:

Unrestrict vertical manipulation of the corresponding outrigger in any of the following cases:

The attitude is that the boom is fully retracted;

The attitude is that the boom is not fully retracted, and the force state is that the force value is not greater than the preset threshold.

In the embodiment of the present invention, the control method further includes:

Limit the horizontal manipulation of the corresponding outrigger in any of the following cases:

The attitude is that the boom is not fully retracted;

The attitude is that the boom is fully retracted, and the force state is that the force value is greater than the preset threshold.

In the embodiment of the present invention, the control method further includes:

When the posture is in the fully retracted state of the boom, and the stress state is that the stress value is not greater than the preset threshold, the restriction on the horizontal manipulation of the corresponding outrigger is lifted.

A second aspect of the present invention provides a controller configured to perform the above-described control method for an engineering equipment leg.

A third aspect of the present invention provides a control device for engineering equipment, comprising:

The boom sensor is used to detect the attitude of the boom;

The outrigger manipulator is used to generate outrigger manipulation instructions, wherein the outrigger manipulation instructions include: horizontal manipulation instructions for swinging or extending the outriggers, and vertical manipulation instructions for adjusting the extension of the outriggers;

The outrigger sensor is used to detect the force state of the outrigger;

an outrigger valve for driving the outrigger to perform an action in response to an outrigger manipulation command; and

the above controller.

In this embodiment of the present invention, the boom sensor includes a travel switch, and the controller is further configured to:

When the travel switch detects that the boom is in the retracted position, it is determined that the posture is the boom fully retracted state.

In this embodiment of the present invention, the boom sensor includes a rotary encoder and an inclination sensor, and the controller is further configured to:

Determine the angle of the turntable of the engineering equipment according to the rotary encoder;

Determine the angle of the boom according to the inclination sensor;

The attitude is recognized based on the angle of the turntable and the angle of the boom.

In this embodiment of the present invention, the outrigger sensor includes a pressure switch, and the controller is further configured to:

Determine the force state according to the oil pressure of the outrigger detected by the pressure switch;

In this embodiment of the present invention, the outrigger sensor includes a proximity switch, and the controller is further configured to:

Determine the ground clearance state of the outrigger according to the free travel of the outrigger pedal detected by the proximity switch;

In the case where the outrigger is not out of the ground, it is determined that the force value of the outrigger is greater than the preset threshold.

A fourth aspect of the present invention provides a kind of engineering equipment, comprising:

boom;

outriggers;

The above-mentioned control device for engineering equipment.

In the embodiment of the present invention, the engineering equipment includes a pump truck.

A fifth aspect of the present invention provides a machine-readable storage medium, on which instructions are stored, the instructions are used to cause a machine to execute the above-mentioned control method for an engineering equipment leg.

In the process of manually adjusting the outriggers (horizontal control and/or vertical control), misoperation may occur, and the outriggers of the engineering equipment may be allowed to perform actions without ensuring that the engineering equipment reaches a relatively safe state. This is extremely easy. cause danger. In this embodiment of the present invention, the outrigger manipulation commands include horizontal manipulation commands and/or vertical manipulation commands, the horizontal manipulation commands may be understood as for swinging or retraction of the outriggers in the horizontal direction, and the vertical manipulation commands may be understood as for the vertical manipulation of the outriggers Elongation adjustment in the direction.

When receiving the outrigger control command, obtain the posture of the boom, and obtain the force state of the outrigger corresponding to the outrigger control command; in the posture, the arm is not fully retracted, and the force state is that the force value is greater than the preset value In the case of the threshold value, it can be determined that both the vertical and horizontal manipulation of the outrigger are at risk, so the vertical and horizontal manipulation of the corresponding outrigger are restricted to avoid the safety caused by the outrigger valve responding to the outrigger manipulation command. hidden danger. Using machines to make judgments and restrictions avoids human subjective judgments and unrestricted operations. The reliability of equipment control response is higher, the safety of equipment operations is improved, and the requirements of industry standards for equipment operation safety are met.

Description of drawings

The accompanying drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification, and are used to explain the embodiments of the present invention together with the following specific embodiments, but do not constitute limitations to the embodiments of the present invention. In the attached image:

Fig. 1 schematically shows one of the flow charts of a control method for an engineering equipment outrigger according to an embodiment of the present invention;

FIG. 2 schematically shows one of the schematic diagrams of engineering equipment according to an embodiment of the present invention;

FIG. 3 schematically shows the second schematic diagram of the engineering equipment according to the embodiment of the present invention;

Fig. 4 schematically shows the third schematic diagram of the engineering equipment according to the embodiment of the present invention;

5 schematically shows a hardware block diagram of an engineering device according to an embodiment of the present invention;

FIG. 6 schematically shows the second flow chart of the control method for engineering equipment legs according to an embodiment of the present invention;

FIG. 7 schematically shows one of the state diagrams of the outrigger pedal according to an embodiment of the present invention;

FIG. 8 schematically shows the second schematic diagram of the state of the outrigger pedal according to the embodiment of the present invention;

Fig. 9 schematically shows the third flow chart of the control method for the engineering equipment outrigger according to the embodiment of the present invention;

FIG. 10 schematically shows a fourth flowchart of a control method for an engineering equipment outrigger according to an embodiment of the present invention.

Description of reference numerals

10-arm; 11-outrigger;

17- Outrigger piston connecting rod; 18- Outrigger pedal.

Detailed ways

The specific implementations of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of the present invention, and are not used to limit the embodiments of the present invention.

It should be noted that if there are directional indications (such as up, down, left, right, front, back, etc.) involved in the embodiments of the present application, the directional indications are only used to explain a certain posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly.

In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for the purpose of description, and should not be construed as an indication or suggestion Its relative importance or implicitly indicates the number of technical features indicated. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that the combination of technical solutions does not exist. , is not within the scope of protection claimed in this application.

FIG. 1 schematically shows one of the flow charts of a control method for an engineering equipment outrigger according to an embodiment of the present invention. The engineering equipment includes a boom 10 and an outrigger 11. As shown in FIG. 1, in an embodiment of the present invention, a control method for an engineering equipment outrigger is provided, including the following steps:

Step 101, in response to receiving the outrigger manipulation instruction, obtain the posture of the boom 10, wherein the outrigger manipulation instruction includes a horizontal manipulation instruction for swinging or extending the outrigger, and a vertical manipulation instruction for adjusting the extension of the outrigger. ;

Step 102, obtaining the force state of the outrigger 11 corresponding to the outrigger manipulation instruction;

Step 103 , when the posture is that the boom is not fully retracted, and the force state is that the force value is greater than a preset threshold, limit the vertical manipulation and horizontal manipulation of the corresponding outrigger 11 .

Fig. 2 schematically shows one of the schematic diagrams of the engineering equipment according to an embodiment of the present invention. Referring to Fig. 2, the engineering equipment includes a boom 10 and a supporting leg 11. In Fig. 2, the engineering equipment is a pump truck as an example It should be noted that during operation, the engineering equipment can be supported by the outriggers 11 to maintain the stability of the whole machine. Usually, the engineering equipment includes a plurality of outriggers 11 . It should be noted that the posture of the boom 10 in FIG. 2 is a fully retracted state of the boom, that is, a relatively safe state in which the boom 10 is fully retracted. FIG. 3 schematically shows the second schematic diagram of the engineering equipment according to the embodiment of the present invention, and FIG. 4 schematically shows the third schematic diagram of the engineering equipment according to the embodiment of the present invention. The attitude is that the boom is not fully retracted.

When the pump truck is working, there is a working condition where only three outriggers 11 are supported and one outrigger 11 is suspended. Although the pump truck will not tip over at this time, the anti-vibration stability of the pump truck will be serious when it is supported by three legs. decline. Even sometimes, the outrigger bounces from the ground repeatedly (it can be understood that the outrigger is a repeated state of "contacting the ground - leaving the ground", which is caused by the vibration of the boom and the flexibility of the body), which is equivalent to periodically introducing external force, It is more likely to cause vibration to the car body, which is reflected as a large vibration of the boom and the distribution point. This process seriously affects the safety of the operation. For example, the boom may hit people, the distribution point is unstable, the material is thrown, and the material is wasted. as a result of. At this time, the four outriggers 11 can be supported by adjusting the elongation of the suspended outriggers 11 (ie, the vertical manipulation of the outriggers 11 ), so as to ensure the safety of the operation.

When the outriggers 11 are supported, the force value of the outriggers 11 is greater than a preset threshold, and the range of the preset threshold may be 0 to 1 ton, or 0% to 2% of the total mass of the equipment, for example, the preset threshold Can be 0.2 tons. When the outrigger 11 is suspended in the air, the force value of the outrigger 11 is not greater than the preset threshold, and at this time the outrigger 11 may be in a state of being off the ground.

In the process of manually adjusting the outriggers 11 (horizontal control and/or vertical control), misoperation may occur, and the outriggers 11 of the engineering equipment may be allowed to perform actions without ensuring that the engineering equipment reaches a relatively safe state, so that Very easy to cause danger. In the embodiment of the present invention, the outrigger manipulation command is a horizontal manipulation command and/or a vertical manipulation command. The horizontal manipulation command can be understood as a swing or retraction in the horizontal direction of the outrigger 11 , and the vertical manipulation command can be understood as an outrigger 11 . Elongation adjustment in the vertical direction.

When receiving the outrigger manipulation command, obtain the posture of the boom 10, and obtain the force state of the outrigger 11 corresponding to the outrigger manipulation command; in the posture, the arm frame is not fully retracted, and the force state is that the force value is greater than In the case of the preset threshold, it can be determined that both the vertical and horizontal manipulation of the outrigger 11 are at risk, so the vertical and horizontal manipulations of the corresponding outrigger 11 are restricted to prevent the outrigger valve from responding to the outrigger manipulation. Security risks caused by instructions. Using machines to make judgments and restrictions avoids human subjective judgments and unrestricted operations. The reliability of equipment control response is higher, the safety of equipment operations is improved, and the requirements of industry standards for equipment operation safety are met.

In the embodiment of the present invention, a sensor can be added to detect the stress state of the outrigger 11 and the posture of the boom 10, and the electronic control system can assist the operator to identify and safely intervene the operable outrigger, and it can also be used as a device to automatically adjust Safety control guarantee technology when the outrigger is 11.

FIG. 5 schematically shows a hardware block diagram of an engineering device according to an embodiment of the present invention. Referring to Figure 5, the outrigger manipulator can be a handle or a remote controller for manually operating outriggers. The outrigger manipulator is used to generate outrigger manipulation instructions, which can be outrigger manipulation instructions generated by computer operations, or other local or remote control instructions. outrigger operation signal. The outrigger sensor is used to detect the outrigger status and is the main basis for judging whether it is safe to respond to the outrigger manipulation command. The boom sensor is used to detect the state of the boom 10 (including the turntable), and is an important basis for judging whether it is safe to respond to the outrigger manipulation command. As an arithmetic unit, the controller is used to identify safety, so that the response of the outrigger valve to the outrigger control command meets the safety requirements. The outrigger valve is a device that drives the outrigger 11 to perform actions. The outrigger valve is not limited to a hydraulic valve. If the outrigger 11 is driven by an electric cylinder, the outrigger valve can also be an electric cylinder drive device.

First, the vertical manipulation of the outrigger 11, that is, the manipulation of the vertical cylinder movement of the outrigger, will be introduced. Fig. 6 schematically shows the second flow chart of a method for controlling a leg of an engineering equipment according to an embodiment of the present invention. Referring to Fig. 6, in an embodiment, the corresponding support is released in any of the following cases Limitations of vertical manipulation of leg 11:

The attitude is that the boom is fully retracted;

The attitude is that the boom is not fully retracted, and the force state is that the force value is not greater than the preset threshold.

When the outrigger manipulator has an outrigger manipulation command, the process of FIG. 6 is started. First, identify whether the boom posture is in the fully retracted state of the boom; if so, the vertical manipulation of the outrigger 11 is not restricted; on the contrary, further identify whether the stress state of the outrigger 11 is in a situation where the force value is greater than the preset threshold, If so, the vertical manipulation of the outrigger 11 is restricted, otherwise, the vertical manipulation of the outrigger 11 is not restricted. It should be noted that the engineering equipment includes a plurality of outriggers 11. When the control process of FIG. 6 is performed, it is to determine the pressure-bearing state of the outrigger 11 that has received the outrigger manipulation command, and the limitation is also the outrigger manipulation command. Corresponding legs 11 in .

In one embodiment, the boom sensor includes a travel switch, and the controller is further configured to:

When the travel switch detects that the boom is in the retracted position, it is determined that the posture is the boom fully retracted state.

In one embodiment, the boom sensor includes a rotary encoder and an inclination sensor, and the controller is further configured to:

Determine the angle of the turntable of the engineering equipment according to the rotary encoder;

Determine the angle of the boom 10 according to the inclination sensor;

The attitude is recognized according to the angle of the turntable and the angle of the boom 10 .

The boom sensor has the following two components:

Table 1

In Scheme 1 of Table 1 above, if the proximity switch detects that the presence signal of the folding boom is true, the boom is fully retracted. In Scheme 2 of Table 1 above, the boom posture can be calculated according to each sensor. According to the comprehensive consideration and design of the equipment manufacturer, there are other solutions to identify the boom posture, which will not be expanded here.

In one embodiment, the outrigger sensor includes a pressure switch, and the controller is further configured to:

Determine the force state according to the oil pressure of the outrigger detected by the pressure switch;

In one embodiment, the outrigger sensor includes a proximity switch, and the controller is further configured to:

Determine the ground clearance state of the outrigger 11 according to the free travel of the outrigger pedal detected by the proximity switch;

In the case that the ground-lifting state is that the outrigger 11 has not left the ground, it is determined that the force value of the outrigger is greater than the preset threshold.

The outrigger sensor has the following two components:

Table 2

In Scheme 1 of Table 2 above, if F>F0, the outrigger 11 is in a state of being under pressure and force, where F0 is the judgment threshold for state identification, and the value can range from 0 to 1 ton, or, F0 The range of F0 is 0% to 2% of the total mass of the equipment. Exemplarily, the selected value of F0 may be 0.2 tons. When the outrigger 11 bears the load, the vertical outrigger cylinder rod is hydraulically locked, and the outrigger oil pressure includes two parameters of the vertical outrigger's hydraulic oil pressure with rod cavity and hydraulic oil pressure without rod cavity.

In Scheme 2 of Table 2 above, the detection object may be a structure that changes relative position under the condition of compaction, such as outrigger pedals. Before the outrigger pedal hits the ground, there is a certain "air travel", and the free travel disappears after landing, and the proximity switch can detect different signal states before and after the free travel section. FIG. 7 schematically shows one of the state diagrams of the outrigger pedal according to an embodiment of the present invention. In FIG. 7 , the outrigger 11 has left the ground, and the force value of the outrigger 11 is not greater than a preset threshold. FIG. 8 schematically shows the second state diagram of the outrigger pedal according to the embodiment of the present invention. In FIG. 8 , the outrigger 11 is not off the ground, the outrigger 11 is in a load-bearing state, and the force value of the outrigger 11 is greater than Preset threshold.

In the embodiment of the present invention, in a safe state in which the boom 10 is fully retracted, the normal vertical manipulation of the outrigger is not restricted, and the maximum flexibility of the normal vertical manipulation of the outrigger is preserved; in the case that the manipulation of the outrigger may lead to danger , to limit the manipulation of the vertical cylinders of the response outriggers; in this way, the equipment can be protected from tipping over.

The following is an introduction based on the horizontal control of the outriggers, to expand the functional effect, and to increase the restrictions on the horizontal control of the outriggers, so as to more fully meet the safety standards. Fig. 9 schematically shows the third flow chart of the control method for engineering equipment legs according to an embodiment of the present invention. Referring to Fig. 9, in an embodiment, the control method further includes:

The horizontal manipulation of the corresponding outrigger 11 is restricted in any of the following cases:

The attitude is that the boom is not fully retracted;

The attitude is that the boom is fully retracted, and the force state is that the force value is greater than the preset threshold.

In one embodiment, the control method further includes:

When the posture is in the fully retracted state of the boom, and the stress state is that the stress value is not greater than the preset threshold, the restriction on the horizontal manipulation of the corresponding outrigger is lifted.

If the horizontal/vertical manipulation restricted is false, the corresponding manipulation is not restricted. The horizontal control is limited by the status recognition of the vertical outrigger, which refers to the same outrigger 11 . For example, if the left front outrigger is pressed against the ground, the response to the horizontal manipulation of the left front outrigger is limited. If a plurality of legs 11 are compacted on the ground, the horizontal manipulation of these legs is limited, which can protect the structure (especially the horizontal legs) and avoid tipping.

In the embodiment of the present invention, "restriction" can be understood as prohibiting the outrigger 11 from performing the action in the outrigger manipulation instruction, and prohibiting the operator from freely operating in a state determined to be dangerous. "Restriction" can also be simply understood as "alarm", so although it does not affect the free operation of the operator, it can play a warning role. The alarm mode can be sound, voice, light, vibration or a combination of them.

Fig. 10 schematically shows the fourth flowchart of the control method for engineering equipment outriggers according to an embodiment of the present invention. In Fig. 10, the posture of the boom 10 is the boom fully retracted state, and one is only for horizontal manipulation The control logic is shown in Figure 10, which has nothing to do with the description of safety standards and technical overview, but is still of great significance to the safety of operation; its control purpose is to make the force-bearing outriggers 11 that have been supported to the ground not accept swinging or unfolding Steering commands horizontally to avoid structural damage.

In the embodiment of the present invention, the flowchart of the control method for the outrigger of the engineering equipment only describes the identification and control of a single leg. If the engineering equipment includes multiple supporting legs, the embodiment of the present invention should be applied to each leg. The control method of the middle outrigger is used for safety control or warning.

In the process of manually adjusting the outriggers 11 (horizontal control and/or vertical control), misoperation may occur, and the outriggers 11 of the engineering equipment may be allowed to perform actions without ensuring that the engineering equipment reaches a relatively safe state, so that Very easy to cause danger. In this embodiment of the present invention, the outrigger manipulation commands include horizontal manipulation commands and/or vertical manipulation commands, the horizontal manipulation commands may be understood as for swinging or retraction of the outriggers in the horizontal direction, and the vertical manipulation commands may be understood as for the vertical manipulation of the outriggers Elongation adjustment in the direction.

When receiving the outrigger manipulation command, obtain the posture of the boom 10, and obtain the force state of the outrigger 11 corresponding to the outrigger manipulation command; in the posture, the arm frame is not fully retracted, and the force state is that the force value is greater than In the case of the preset threshold, it can be determined that both the vertical and horizontal manipulation of the outrigger 11 are at risk, so the vertical and horizontal manipulations of the corresponding outrigger 11 are restricted to prevent the outrigger valve from responding to the outrigger manipulation. Security risks caused by instructions. Using machines to make judgments and restrictions avoids human subjective judgments and unrestricted operations. The reliability of equipment control response is higher, the safety of equipment operations is improved, and the requirements of industry standards for equipment operation safety are met.

An embodiment of the present invention provides a controller configured to execute the above-described control method for an engineering equipment leg.

The engineering equipment includes a boom, and specifically, the controller is configured to:

Acquire the attitude of the boom in response to the received outrigger manipulation instruction, wherein the outrigger manipulation instruction includes a horizontal manipulation instruction for swinging or retracting, and a vertical manipulation instruction for adjusting the extension of the outrigger;

Obtain the force state of the outrigger corresponding to the outrigger manipulation command;

When the posture is that the boom is not fully retracted, and the force state is that the force value is greater than the preset threshold, the vertical manipulation and horizontal manipulation of the corresponding outrigger are restricted.

In this embodiment of the present invention, the controller is further configured to:

Unrestrict vertical manipulation of the corresponding outrigger in any of the following cases:

The attitude is that the boom is fully retracted;

The attitude is that the boom is not fully retracted, and the force state is that the force value is not greater than the preset threshold.

In this embodiment of the present invention, the controller is further configured to:

Limit the horizontal manipulation of the corresponding outrigger in any of the following cases:

The attitude is that the boom is not fully retracted;

The attitude is that the boom is fully retracted, and the force state is that the force value is greater than the preset threshold.

In this embodiment of the present invention, the controller is further configured to:

When the posture is in the fully retracted state of the boom, and the stress state is that the stress value is not greater than the preset threshold, the restriction on the horizontal manipulation of the corresponding outrigger is lifted.

An embodiment of the present invention provides a control device for engineering equipment, including:

The boom sensor is used to detect the attitude of the boom;

The outrigger manipulator is used to generate outrigger manipulation instructions, wherein the outrigger manipulation instructions include: horizontal manipulation instructions for swinging or extending the outriggers, and vertical manipulation instructions for adjusting the extension of the outriggers;

The outrigger sensor is used to detect the force state of the outrigger;

an outrigger valve for driving the outrigger to perform an action in response to an outrigger manipulation command; and

the above controller.

In this embodiment of the present invention, the boom sensor includes a travel switch, and the controller is further configured to:

When the travel switch detects that the boom is in the retracted position, it is determined that the posture is the boom fully retracted state.

In this embodiment of the present invention, the boom sensor includes: a rotary encoder and an inclination sensor, and the controller is further configured to:

Determine the angle of the turntable of the engineering equipment according to the rotary encoder;

Determine the angle of the boom according to the inclination sensor;

The attitude is recognized based on the angle of the turntable and the angle of the boom.

In this embodiment of the present invention, the outrigger sensor includes a pressure switch, and the controller is further configured to:

Determine the force state according to the oil pressure of the outrigger detected by the pressure switch;

In this embodiment of the present invention, the outrigger sensor includes a proximity switch, and the controller is further configured to:

Determine the ground-lifting state of the outrigger according to the free travel of the outrigger pedal detected by the proximity switch;

In the case that the outrigger is not out of the ground, it is determined that the force value of the outrigger is greater than the preset threshold.

An embodiment of the present invention provides an engineering device, including:

boom;

outriggers;

The aforementioned control device.

In the embodiment of the present invention, the engineering equipment includes a pump truck.

An embodiment of the present invention provides a machine-readable storage medium, where instructions are stored on the machine-readable storage medium, and the instructions are used to cause a machine to execute the above-mentioned control method for an engineering equipment leg.

As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a 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, etc.) having computer-usable program code embodied therein.

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

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-persistent memory in computer readable media, random access memory (RAM) and/or non-volatile memory in the form of, for example, read only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media includes both persistent and non-permanent, removable and non-removable media, and storage of information may be implemented by any method or technology. Information may be computer readable instructions, data structures, modules of programs, 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 Disc (DVD) or other optical storage, Magnetic tape cartridges, 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, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

It should also be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a series of elements includes not only those elements, but also Other elements not expressly listed, or which are inherent to such a process, method, article of manufacture, or apparatus are also included. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article of manufacture or apparatus that includes the element.

The above are only examples of the present application, and are not intended to limit the present application. Various modifications and variations of this application are possible for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims (13)

1. A control method for an engineering equipment supporting leg is characterized in that the engineering equipment comprises an arm support and a supporting leg, and the control method comprises the following steps:

the method comprises the steps that a supporting leg control instruction is received, and the posture of the arm support is obtained, wherein the supporting leg control instruction comprises a horizontal control instruction used for swinging or unfolding and folding a supporting leg and a vertical control instruction used for adjusting the elongation of the supporting leg;

acquiring the stress state of the supporting leg corresponding to the supporting leg control instruction;

and limiting the vertical control and the horizontal control of the corresponding supporting leg under the condition that the posture is the state that the arm support is not fully retracted and the stress state is that the stress value is greater than a preset threshold value.

2. The control method according to claim 1, characterized by further comprising:

releasing the restriction on vertical manipulation of the corresponding leg in either of:

the gesture is a fully-retracted state of the arm support;

the gesture is the state that the arm support is not fully retracted, and the stress state is that the stress value is not greater than the preset threshold value.

3. The control method according to claim 1, characterized by further comprising:

limiting horizontal manipulation of the corresponding leg in either of:

the gesture is the state that the arm support is not fully folded;

the gesture is a fully-retracted state of the arm support, and the stress state is that the stress value is greater than the preset threshold value.

4. The control method according to claim 3, characterized by further comprising:

and when the posture is the fully-retracted state of the arm support and the stress state is that the stress value is not greater than the preset threshold value, removing the limitation on the horizontal control of the corresponding support leg.

5. A controller characterized by being configured to execute the control method for a construction equipment leg according to any one of claims 1 to 4.

6. A control device for engineering equipment is characterized in that the engineering equipment comprises an arm support and a support leg, and the control device comprises:

the boom sensor is used for detecting the attitude of the boom;

a leg manipulator for generating leg manipulation instructions, wherein the leg manipulation instructions comprise: the control device comprises a horizontal control instruction for swinging or unfolding and folding a supporting leg and a vertical control instruction for adjusting the extension amount of the supporting leg;

the landing leg sensor is used for detecting the stress state of the landing leg;

the support leg valve is used for responding to the support leg control command to drive the support leg to act; and

the controller of claim 5.

7. The control device of claim 6, wherein the boom sensor comprises a travel switch, the controller further configured to:

and under the condition that the travel switch detects that the arm support is folded in place, determining that the gesture is the fully-folded state of the arm support.

8. The control device of claim 6, wherein the boom sensor comprises a rotary encoder and a tilt sensor, the controller further configured to:

determining the angle of the engineering equipment rotary table according to the rotary encoder;

determining the angle of the arm support according to the tilt angle sensor;

and recognizing the gesture according to the angle of the rotary table and the angle of the arm support.

9. The control device of claim 6, wherein the leg sensor comprises a pressure switch, the controller further configured to:

and determining the stress state according to the oil pressure of the support leg detected by the pressure switch.

10. The control device of claim 6, wherein the leg sensor comprises a proximity switch, the controller further configured to:

determining the ground-off state of the leg according to the idle stroke of the leg pedal detected by the proximity switch;

and under the condition that the ground-off state is that the supporting leg is not lifted off the ground, determining that the stress value of the supporting leg is greater than a preset threshold value.

11. An engineering apparatus, comprising:

a boom;

a support leg;

the control device for construction equipment according to any one of claims 6 to 10.

12. The work equipment of claim 11, characterized in that the work equipment comprises a pump truck.

13. A machine-readable storage medium having instructions stored thereon for causing a machine to perform the control method for a leg of a construction equipment according to any one of claims 1 to 4.

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