CN115195674A - Control method, controller and device for engineering equipment supporting leg and engineering equipment - Google Patents
Control method, controller and device for engineering equipment supporting leg and engineering equipment Download PDFInfo
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- CN115195674A CN115195674A CN202210846820.7A CN202210846820A CN115195674A CN 115195674 A CN115195674 A CN 115195674A CN 202210846820 A CN202210846820 A CN 202210846820A CN 115195674 A CN115195674 A CN 115195674A
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- 230000000670 limiting effect Effects 0.000 claims abstract description 17
- 238000010276 construction Methods 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 12
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- 238000010586 diagram Methods 0.000 description 16
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
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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
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a control method, a controller, a device and engineering equipment for an engineering equipment supporting leg.
Background
When the engineering equipment works, the supporting legs can be used for supporting so as to keep the stability of the whole machine. Taking a pump truck as an example, the pump truck is an engineering machine capable of continuously conveying concrete along a pipeline by using pressure, and the pump truck generally comprises five parts, namely an arm support, a pumping part, a hydraulic part, a support part and an electric control part. When the pump truck works, the working condition that only three support legs support and one support leg is suspended exists, and although the pump truck cannot tip over at the moment, the anti-vibration stability of the pump truck can be seriously reduced when the pump truck supports three support legs. Even sometimes, the supporting legs repeatedly bounce off the ground (the reason can be understood as that the supporting legs above the ground are in a repeated state of contacting the ground and leaving the ground, which is caused by the vibration of the arm support and the flexibility of the vehicle body), which is equivalent to that external force is periodically introduced, so that the vehicle body is more easily excited and the vibration is reflected as the large-amplitude vibration of the arm support and the material distribution point, and the process seriously affects the operation safety, for example, the adverse effects of smashing people by the arm support, unstable material distribution point, throwing material, scattering material waste and the like may occur. In order to avoid the three-leg support during operation, the pump truck operator can readjust the extension of the support legs after the arm support is unfolded, and stress balance is easily damaged in the adjustment process, so that operation danger is caused.
Disclosure of Invention
In order to overcome the defects in the prior art, the embodiment of the invention provides a control method, a controller, a device and engineering equipment for an engineering equipment support leg.
In order to achieve the above object, a first aspect of the present invention provides a control method for an engineering equipment support leg, where the engineering equipment includes an arm support and a support leg, and the control method includes:
the method comprises the steps of responding to a received supporting leg control instruction, and obtaining the posture of the arm support, wherein the supporting leg control instruction comprises a horizontal control instruction for swinging or unfolding and folding a supporting leg and a vertical control instruction for adjusting the elongation of the supporting leg;
acquiring the stress state of a supporting leg corresponding to the supporting leg control instruction;
and 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, limiting the vertical control and the horizontal control of the corresponding supporting leg.
In the embodiment of the present invention, the control method further includes:
releasing the restriction of the vertical manipulation of the corresponding leg in either of the following cases:
the posture is the fully-retracted state of the arm support;
the gesture is that the cantilever crane is not fully retracted, and the stress state is that the stress value is not more than the preset threshold value.
In the embodiment of the present invention, the control method further includes:
limiting horizontal manipulation of the corresponding leg in either of:
the posture is the state that the arm support is not fully folded;
the gesture is the fully-retracted state of the arm support, and the stress state is that the stress value is greater than the preset threshold value.
In the embodiment of the present invention, the control method further includes:
and under the condition that the posture is the fully-retracted state of the arm support and the stress value is not greater than the preset threshold value, releasing the limitation on the horizontal control of the corresponding support leg.
A second aspect of the present invention provides a controller configured to execute the control method for an engineering equipment leg described above.
A third aspect of the present invention provides a control apparatus for construction equipment, comprising:
the boom sensor is used for detecting the posture of the boom;
the landing leg controller is used for generating landing leg control instructions, wherein the landing leg control 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 a support leg control command to drive the support leg to execute actions; and
the controller is described above.
In an embodiment of the invention, the boom sensor comprises a travel switch, the controller is further configured to:
and under the condition that the travel switch detects that the arm support is folded in the in-place state, determining the posture to be the fully-folded state of the arm support.
In an embodiment of the invention, the boom sensor comprises a rotary encoder and a tilt sensor, the controller is further configured to:
determining the angle of a rotary table of the engineering equipment 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.
In an embodiment of the invention, the leg sensor comprises a pressure switch, the controller is further configured to:
determining a stress state according to the oil pressure of the supporting leg detected by the pressure switch;
in an embodiment of the invention, the leg sensor comprises a proximity switch, the controller is 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 determining that the stress value of the support leg is greater than a preset threshold value when the support leg is not lifted off the ground in the lift-off state.
A fourth aspect of the present invention provides an engineering apparatus, comprising:
a boom;
a support leg;
the control device for the engineering equipment is described above.
In an embodiment of the invention, the engineering equipment comprises a pump truck.
A fifth aspect of the present invention provides a machine-readable storage medium having stored thereon instructions for causing a machine to execute the above-described control method for a leg of a construction equipment.
During the manual adjustment of the supporting legs (horizontal operation and/or vertical operation), misoperation may occur, and the supporting legs of the engineering equipment may execute actions under the condition that the relative safety of the engineering equipment is not ensured, which is very easy to cause danger. In the embodiment of the present invention, the leg manipulation instruction includes a horizontal manipulation instruction and/or a vertical manipulation instruction, the horizontal manipulation instruction may be understood as a manipulation for swinging or expanding or contracting the leg in the horizontal direction, and the vertical manipulation instruction may be understood as a manipulation for expanding or contracting the leg in the vertical direction.
When a supporting leg control instruction is received, acquiring the posture of the arm support and acquiring the stress state of a supporting leg corresponding to the supporting leg control instruction; under the condition that the posture is the state that the arm support is not fully retracted and the stress value is greater than the preset threshold value, the vertical control and the horizontal control of the supporting leg can be judged to be risky at the moment, so that the vertical control and the horizontal control of the corresponding supporting leg are limited, and the potential safety hazard caused by the supporting leg valve responding to the supporting leg control instruction can be avoided. The machine is used for judging and limiting, so that artificial subjective judgment and unlimited operation are avoided, the reliability of equipment operation response is higher, the equipment operation safety is improved, and the requirement of industrial standards on equipment operation safety is met.
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 schematically shows one of flowcharts of a control method for a support leg of construction equipment according to an embodiment of the present invention;
figure 2 schematically shows one of the schematics of an engineering plant according to an embodiment of the invention;
fig. 3 schematically shows a second schematic view of a construction equipment according to an embodiment of the invention;
fig. 4 schematically shows a third schematic view of a working apparatus according to an embodiment of the invention;
FIG. 5 schematically shows a hardware block diagram of an engineering device according to an embodiment of the present invention;
fig. 6 schematically shows a second flowchart of a control method for a support leg of a construction equipment according to an embodiment of the present invention;
FIG. 7 schematically illustrates one of the state diagrams of a leg pedal according to an embodiment of the invention;
FIG. 8 schematically illustrates a second schematic view of a state of a leg rest according to an embodiment of the invention;
fig. 9 schematically illustrates a third flowchart of a control method for a support leg of construction equipment according to an embodiment of the present invention;
fig. 10 schematically shows the fourth flowchart of the control method for the engineering equipment leg according to the embodiment of the present invention.
Description of the reference numerals
10-arm support; 11-a leg;
17-a leg piston link; 18-leg pedal.
Detailed Description
The following describes in detail embodiments of the present invention with reference to the 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, if directional indications (such as upper, lower, left, right, front and rear \8230;) are referred to in the embodiments of the present application, the directional indications are only used for explaining the relative positional relationship between the components in a specific posture (as shown in the attached drawings), the motion situation, and the like, and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is 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, technical solutions between the various embodiments can 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 application.
Fig. 1 schematically shows one of flowcharts of a control method for a support leg of construction equipment according to an embodiment of the present invention. As shown in fig. 1, in an embodiment of the present invention, a control method for an engineering equipment leg is provided, including:
102, acquiring a stress state of the supporting leg 11 corresponding to the supporting leg control instruction;
and 103, limiting the vertical control and the horizontal control of the corresponding supporting leg 11 under the condition that the posture is the arm support non-fully-retracted state and the stress state is that the stress value is greater than a preset threshold value.
Fig. 2 schematically shows one of schematic diagrams of engineering equipment according to an embodiment of the present invention, and referring to fig. 2, the engineering equipment includes an arm support 10 and a support leg 11, in fig. 2, the engineering equipment is taken as a pump truck as an example for illustration, and when the engineering equipment is in operation, the engineering equipment can be supported by the support leg 11 to keep the whole machine stable, and generally, the engineering equipment includes a plurality of support legs 11. It should be noted that the posture of the arm support 10 in fig. 2 is a fully retracted state of the arm support, that is, a relatively safe state in which the arm support 10 is fully retracted in place. Fig. 3 schematically shows a second schematic diagram of the engineering equipment according to the embodiment of the present invention, fig. 4 schematically shows a third schematic diagram of the engineering equipment according to the embodiment of the present invention, and the posture of the boom 10 in fig. 3 and fig. 4 is the boom not fully retracted state.
When the pump truck works, the working condition that only three support legs 11 support and one support leg 11 is suspended exists, and although the pump truck cannot tip over at the moment, the anti-vibration stability of the pump truck is seriously reduced when the pump truck is supported by three support legs. Even sometimes, the supporting legs repeatedly bounce off the ground (the reason can be understood as that the supporting legs above the ground are in a repeated state of contacting the ground and leaving the ground, which is caused by the vibration of the arm support and the flexibility of the vehicle body), which is equivalent to that external force is periodically introduced, so that the vehicle body is more easily excited and the vibration is reflected as the large-amplitude vibration of the arm support and the material distribution point, and the process seriously affects the operation safety, for example, the adverse effects of smashing people by the arm support, unstable material distribution point, throwing material, scattering material waste and the like may occur. The four legs 11 can be supported by adjusting the elongation of the suspended legs 11 (i.e. the vertical operation of the legs 11), so as to ensure the operation safety.
When the support legs 11 are supporting, the force value of the support legs 11 is greater than a preset threshold value, which may range from 0 to 1 ton, or 0% to 2% of the total mass of the equipment, and may be 0.2 ton for example. When the supporting leg 11 is suspended, the stress value of the supporting leg 11 is not greater than the preset threshold value, and the supporting leg 11 may be in a state of being lifted off the ground.
During manual adjustment of the supporting legs 11 (horizontal operation and/or vertical operation), misoperation may occur, and the supporting legs 11 of the engineering equipment may perform actions under the condition that the engineering equipment is not ensured to be relatively safe, which is very dangerous. In the embodiment of the present invention, the leg manipulation instruction is a horizontal manipulation instruction and/or a vertical manipulation instruction, the horizontal manipulation instruction may be understood as a swing or an expansion/contraction instruction for the leg 11 in the horizontal direction, and the vertical manipulation instruction may be understood as an adjustment for an elongation of the leg 11 in the vertical direction.
When a supporting leg control instruction is received, acquiring the posture of the arm support 10 and acquiring the stress state of a supporting leg 11 corresponding to the supporting leg control instruction; under the condition that the posture is the state that the arm support is not fully retracted and the stress value is larger than the preset threshold value, the vertical control and the horizontal control of the supporting leg 11 can be judged to be risky at the moment, so that the vertical control and the horizontal control of the corresponding supporting leg 11 are limited, and the potential safety hazard caused by the supporting leg valve responding to the supporting leg control instruction can be avoided. The machine is used for judging and limiting, so that artificial subjective judgment and unlimited operation are avoided, the reliability of equipment operation response is higher, the equipment operation safety is improved, and the requirement of industrial standards on equipment operation safety is met.
In the embodiment of the invention, a sensor can be added to detect the stress state of the supporting leg 11 and the posture of the arm support 10, an electric control system assists an operator in identifying and safely intervening the operable supporting leg, and the device can also be used as a safety control guarantee technology when the supporting leg 11 is automatically adjusted by equipment.
Fig. 5 schematically shows a hardware block diagram of an engineering device according to an embodiment of the present invention. Referring to fig. 5, the leg manipulator may be a handle or a remote controller for manually operating the leg, and the leg manipulator is configured to generate a leg control command, may be a leg control command generated by computer operation, and may also be other local or remote leg operation signals. The landing leg sensor is used for detecting the state of the landing leg and is a main basis for judging whether a response landing leg control command is safe or not. The boom sensor is used for detecting the state of the boom 10 (including the turntable), and is an important basis for judging whether the response of the control command of the support leg is safe or not. The controller is used as an arithmetic unit for identifying safety, so that the response of the landing leg valve to the landing leg control command meets the safety requirement. The support leg valve is a device for driving the support leg 11 to perform an action, and the support leg valve is not limited to a hydraulic valve, and if the support leg 11 is driven by an electric cylinder, the support leg valve may also be driven by the electric cylinder.
First, the vertical operation of the leg 11, i.e., the operation of the vertical cylinder movement of the leg, will be described. Fig. 6 schematically shows a second flowchart of a control method for a leg of a construction equipment according to an embodiment of the present invention, and referring to fig. 6, in an embodiment, the limitation on the vertical manipulation of the corresponding leg 11 is removed in any one of the following cases:
the posture is the fully-retracted state of the arm support;
the gesture is that the cantilever crane is not fully retracted, and the stress state is that the stress value is not more than the preset threshold value.
When the leg manipulator has a leg manipulation command, the flow of fig. 6 is started. Firstly, identifying whether the arm support posture is in a fully-retracted state of the arm support; if so, the vertical handling of the legs 11 is not restricted; and conversely, further identifying whether the stress state of the supporting leg 11 is in a condition that the stress value is greater than a preset threshold value, if so, limiting the vertical operation of the supporting leg 11, and otherwise, not limiting the vertical operation of the supporting leg 11. It should be noted that the engineering equipment includes a plurality of support legs 11, and when the control flow shown in fig. 6 is performed, the pressure-bearing stress state of the support leg 11 receiving the support leg control instruction is determined, and what is limited is the support leg 11 corresponding to the support leg control instruction.
In an embodiment, 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 the gesture to be the fully-folded state of the arm support.
In an embodiment, the boom sensor comprises a rotary encoder and a tilt sensor, the controller is further configured to:
determining the angle of a rotary table of the engineering equipment according to the rotary encoder;
determining the angle of the arm support 10 according to the tilt angle sensor;
the gesture is recognized according to the angle of the turntable and the angle of the boom 10.
The arm support sensor has the following two composition schemes:
TABLE 1
In the scheme 1 of table 1, if the proximity switch detects that the on-position signal of the foldable boom is true, the fully-retracted state of the boom is assumed. In the scheme 2 in table 1, the boom posture can be calculated according to each sensor. According to the comprehensive consideration design of equipment manufacturers, other schemes can be used for identifying the posture of the arm support, and the arm support is not unfolded.
In an embodiment, the leg sensor includes a pressure switch, the controller is further configured to:
determining a stress state according to the oil pressure of the supporting leg detected by the pressure switch;
in an embodiment, the leg sensor includes a proximity switch, the controller is further configured to:
determining the ground-off state of the leg 11 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 11 is not lifted off the ground, determining that the stress value of the supporting leg is greater than a preset threshold value.
The landing leg sensor has the following two composition schemes:
TABLE 2
In the above scheme 1 in table 2, if F > F0, the outrigger 11 is in a pressure-bearing state, where F0 is a judgment threshold value for state recognition, and the value may range from 0 to 1 ton, or F0 may range from 0% to 2% of the total mass of the equipment, and the selected value of F0 may be 0.2 ton exemplarily. When the supporting legs 11 bear the load, the oil cylinder rods of the vertical supporting legs are locked through hydraulic pressure, and the oil pressure of the supporting legs comprises two parameters of the oil pressure of rod cavity hydraulic oil and the oil pressure of rodless cavity hydraulic oil of the vertical supporting legs.
In the above scheme 2 of table 2, the detection object may be a structure that generates a relative position change in the case of compaction, such as a leg step. The landing leg pedal has certain idle stroke before landing, the idle stroke disappears after landing, and the proximity switch can detect different signal states before and after the idle stroke section. Fig. 7 schematically shows one of the state diagrams of the leg pedal according to the embodiment of the invention, in fig. 7, the leg 11 has been lifted off the ground, and the stress value of the leg 11 is not greater than the preset threshold value. Fig. 8 schematically shows a second state diagram of the leg pedal according to the embodiment of the invention, in fig. 8, the leg 11 is not lifted off the ground, the leg 11 is in a load-bearing state, and the stress value of the leg 11 is greater than the preset threshold value.
In the embodiment of the invention, under the safety state that the arm support 10 is completely folded in place, the normal vertical control of the supporting leg is not limited, and the maximum flexibility of the normal vertical control of the supporting leg is reserved; limiting the control of the vertical oil cylinder of the response support leg under the condition that the control of the support leg can cause danger; in this way, the equipment can be protected from tipping over.
The following is introduced in combination with the horizontal control of the supporting leg, thereby expanding the functional effect, increasing the limitation on the horizontal control of the supporting leg and more fully meeting the safety standard. Fig. 9 schematically shows a third flowchart of a control method for a support leg of a construction equipment according to an embodiment of the present invention, and referring to fig. 9, in an embodiment, the control method further includes:
the horizontal handling of the corresponding leg 11 is limited in any of the following cases:
the posture is the state that the arm support is not fully folded;
the gesture is the cantilever crane full-retracting state, and the stress state is that the stress value is greater than the preset threshold value.
In one embodiment, the control method further comprises:
and under the condition that the posture is the fully-retracted state of the arm support and the stress value is not greater than the preset threshold value, releasing the limitation on the horizontal control of the corresponding support leg.
If the horizontal/vertical manipulation is restricted to false, the corresponding manipulation is not restricted. The control of horizontal manipulation by vertical leg state recognition is limited and refers to the same leg 11. For example, if the front left leg is compacted on the ground, the response to horizontal steering of the front left leg is limited. If a plurality of legs 11 are compacted on the ground, horizontal handling of these legs is limited, which protects the structure (particularly the horizontal legs) from tipping over.
In the embodiment of the present invention, "limiting" may be understood as prohibiting the leg 11 from executing an action in the leg manipulation command, and prohibiting an operator from freely operating in a state determined as dangerous. "limiting" can also be understood simply as "warning", which, although not affecting the free operation of the operator, can also serve as a warning. The alarm mode can be sound, voice, light, vibration or the combination of the sound, the voice, the light and the vibration.
Fig. 10 schematically illustrates a fourth flowchart of a control method for an engineering equipment leg according to an embodiment of the present invention, in fig. 10, the posture of the boom 10 is a fully retracted state of the boom, and a control logic only for horizontal manipulation is shown in fig. 10, which is not related to safety standards and technical overview description, but still has significance for the safety of operation; the control purpose is to make the stressed leg 11, which is already supported to the ground, not receive the horizontal control command of swinging or unfolding and folding, thereby avoiding the structural damage.
In the embodiment of the invention, the flow chart of the control method for the engineering equipment supporting leg only describes the identification and control of a single supporting leg, the engineering equipment comprises a plurality of supporting legs, and each supporting leg is respectively applied with the control method for the supporting leg in the embodiment of the invention to carry out safety control or warning.
During manual adjustment (horizontal operation and/or vertical operation) of the supporting leg 11, misoperation may occur, and the supporting leg 11 of the engineering equipment may perform actions under the condition that the engineering equipment is not ensured to be in a relatively safe state, which is very dangerous. In the embodiment of the present invention, the leg manipulation instruction includes a horizontal manipulation instruction and/or a vertical manipulation instruction, the horizontal manipulation instruction may be understood as a swing or an expansion and contraction of the leg in a horizontal direction, and the vertical manipulation instruction may be understood as an elongation adjustment of the leg in a vertical direction.
When a supporting leg control instruction is received, acquiring the posture of the arm support 10 and acquiring the stress state of a supporting leg 11 corresponding to the supporting leg control instruction; under the condition that the posture is the state that the arm support is not fully retracted and the stress value is larger than the preset threshold value, the vertical control and the horizontal control of the supporting leg 11 can be judged to be risky at the moment, so that the vertical control and the horizontal control of the corresponding supporting leg 11 are limited, and the potential safety hazard caused by the supporting leg valve responding to the supporting leg control instruction can be avoided. The machine is used for judging and limiting, so that artificial subjective judgment and unlimited operation are avoided, the reliability of equipment operation response is higher, the equipment operation safety is improved, and the requirement of industrial standards on equipment operation safety is met.
The embodiment of the invention provides a controller which is configured to execute the control method for the engineering equipment support leg.
The engineering equipment comprises an arm support, and specifically, the controller is configured to:
responding to a received supporting leg control instruction, and acquiring the posture of the arm support, wherein the supporting leg control instruction comprises a swinging or unfolding horizontal control instruction and a vertical control instruction for adjusting the elongation of the supporting 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 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, limiting the vertical control and the horizontal control of the corresponding supporting leg.
In an embodiment of the invention, the controller is further configured to:
releasing the restriction of the vertical manipulation of the corresponding leg in either of the following cases:
the posture is the fully-retracted state of the arm support;
the posture is the state that the arm support is not fully folded, and the stress state is that the stress value is not more than a preset threshold value.
In an embodiment of the invention, the controller is further configured to:
limiting horizontal manipulation of the corresponding leg in either of:
the posture is the state that the arm support is not fully folded;
the posture is the fully-retracted state of the arm support, and the stress state is that the stress value is greater than the preset threshold value.
In an embodiment of the invention, the controller is further configured to:
and under the condition that the posture is the fully-retracted state of the arm support and the stress value is not greater than the preset threshold value, releasing the limitation on the horizontal control of the corresponding support leg.
An embodiment of the present invention provides a control device for engineering equipment, including:
the boom sensor is used for detecting the posture of the boom;
the landing leg controller is used for generating landing leg control instructions, wherein the landing leg control 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 a support leg control command to drive the support leg to execute actions; and
the controller is described above.
In an embodiment of the invention, the boom sensor comprises a travel switch, the controller is further configured to:
and under the condition that the travel switch detects that the arm support is folded in place, determining the gesture to be the fully-folded state of the arm support.
In an embodiment of the present invention, the boom sensor includes: a rotary encoder and a tilt sensor, the controller further configured to:
determining the angle of a rotary table of the engineering equipment 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.
In an embodiment of the invention, the leg sensor comprises a pressure switch, the controller is further configured to:
determining a stress state according to the oil pressure of the support leg detected by the pressure switch;
in an embodiment of the invention, the leg sensor comprises a proximity switch, the controller is 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, determining that the stress value of the supporting leg is greater than a preset threshold value.
An embodiment of the present invention provides an engineering apparatus, including:
a boom;
a support leg;
the control device is described above.
In an embodiment of the invention, the engineering equipment comprises a pump truck.
The embodiment of the invention provides a machine-readable storage medium, wherein the machine-readable storage medium is stored with instructions, and the instructions are used for enabling a machine to execute the control method for the engineering equipment support leg.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, 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 (systems), 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), input/output interfaces, network interfaces, 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 permanent and non-permanent, removable and non-removable media, may implement the 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 phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a 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 (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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210846820.7A CN115195674A (en) | 2022-07-19 | 2022-07-19 | Control method, controller and device for engineering equipment supporting leg and engineering equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210846820.7A CN115195674A (en) | 2022-07-19 | 2022-07-19 | Control method, controller and device for engineering equipment supporting leg and engineering equipment |
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| CN115195674A true CN115195674A (en) | 2022-10-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210846820.7A Pending CN115195674A (en) | 2022-07-19 | 2022-07-19 | Control method, controller and device for engineering equipment supporting leg and engineering equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115593368A (en) * | 2022-10-17 | 2023-01-13 | 三一环境产业有限公司（Cn） | Vehicle supporting leg safety control system and method and vehicle |
-
2022
- 2022-07-19 CN CN202210846820.7A patent/CN115195674A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115593368A (en) * | 2022-10-17 | 2023-01-13 | 三一环境产业有限公司（Cn） | Vehicle supporting leg safety control system and method and vehicle |
| CN115593368B (en) * | 2022-10-17 | 2023-12-22 | 三一环境产业有限公司 | Vehicle landing leg safety control system and method and vehicle |
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