CN115384458A

CN115384458A - Control method and system for supporting device of engineering machinery

Info

Publication number: CN115384458A
Application number: CN202211097991.0A
Authority: CN
Inventors: 佘田茂; 刘强; 陈东
Original assignee: Sany Energy Equipment Co ltd
Current assignee: Sany Energy Equipment Co ltd
Priority date: 2022-09-08
Filing date: 2022-09-08
Publication date: 2022-11-25

Abstract

The invention provides a control method and a control system for a supporting device of engineering machinery. The method comprises the following steps: determining a target supporting leg to be adjusted according to the characteristic of the inclination angle of the engineering machinery in the preset direction under the condition that the supporting device of the engineering machinery reaches the target position state; determining a target current value of a proportional valve of a target supporting leg according to the size relation between a first inclination angle of the engineering machinery and the horizontal plane in a first preset direction and a second inclination angle of the engineering machinery and the horizontal plane in a second preset direction; leveling control operation is carried out on the target supporting leg based on the target current value; the first preset direction and the second preset direction are perpendicular to each other to form a plane rectangular coordinate system with the center of gravity of the engineering machinery as an origin. The control method provided by the invention can adjust the direction with larger deviation in a targeted manner, and effectively improves the efficiency and stability of the leveling control of the supporting device, thereby improving the safety of the engineering machinery during operation.

Description

Control method and system for supporting device of engineering machinery

Technical Field

The invention relates to the technical field of intelligent control, in particular to a control method and a control system for a supporting device of engineering machinery. In addition, an electronic device and a processor-readable storage medium are also related.

Background

In the construction process of a construction machine (such as a concrete pump truck, a crane, a fire engine, etc.), the center of gravity of the construction machine is usually changed, and a support device is usually arranged to ensure the stability of the operation of the construction machine. The supporting device comprises a movable supporting arm, a supporting leg connected to the end of the supporting arm and the like. Before the construction of the engineering machinery, the supporting arm is required to be horizontally extended, and then the supporting leg is vertically extended to support the engineering machinery. In practice, the engineering machinery generally needs to work in a horizontal state, and in order to balance stress of each supporting leg and better ensure the stability of operation of the engineering machinery, the leveling control operation needs to be performed on the engineering machinery through a supporting device so that the engineering machinery always works in the horizontal state.

However, at present, in the operation process of engineering machinery, the movable supporting arm and the supporting leg are usually controlled by manual operation, and the implementation mode has the defects of complex operation, low accuracy and the like. Therefore, how to design a simple and efficient control scheme for the supporting device of the engineering machinery to improve the leveling efficiency and stability becomes a technical problem to be solved urgently.

Disclosure of Invention

Therefore, the invention provides a control method and a control system for a support device of an engineering machine, which aim to solve the problems of poor operation stability and efficiency of the engineering machine caused by poor control scheme precision of the support device of the engineering machine in the prior art.

The invention provides a control method of a supporting device of engineering machinery, which comprises the following steps:

determining a target supporting leg to be adjusted according to the characteristic of the inclination angle of the engineering machinery in the preset direction under the condition that the supporting device of the engineering machinery reaches the target position state;

determining a target current value for adjusting a proportional valve of the target supporting leg according to the size relation between a first inclination angle of the engineering machinery and the horizontal plane in a first preset direction and a second inclination angle of the engineering machinery and the horizontal plane in a second preset direction; carrying out leveling control operation on the target supporting leg based on the target current value;

the first preset direction and the second preset direction are perpendicular to each other to form a plane rectangular coordinate system with the center of gravity of the engineering machinery as an origin.

Further, before determining a target support leg to be adjusted according to a characteristic of an inclination angle of the engineering machine in a preset direction, the method further comprises:

generating a PWM signal in response to a control operation input by a user; the PWM signal is used for unfolding a supporting device of the engineering machinery to a target position state;

and sending the PWM signal to a horizontal oil cylinder electromagnetic valve corresponding to the supporting device, controlling the supporting device to move horizontally through the horizontal oil cylinder electromagnetic valve, detecting the actual position to which the supporting device moves based on a preset proximity switch, and controlling the supporting device to execute vertical descending action until the target position state is reached after the supporting device is detected to move to the target position.

Further, according to the characteristics of the inclination angle of the engineering machine in the preset direction, the target supporting leg to be adjusted is determined, and the method specifically comprises the following steps:

detecting a first inclination angle between the engineering machinery and the horizontal plane in a first preset direction and a second inclination angle between the engineering machinery and the horizontal plane in a second preset direction;

under the condition that the first inclination angle and the second inclination angle are both located in a target threshold interval and correspond to a first quadrant, judging that the position of a first supporting leg in the first quadrant is the highest, and determining a third supporting leg corresponding to a third quadrant as a supporting leg to be adjusted; or,

under the condition that the first inclination angle and the second inclination angle are both located in a target threshold interval and correspond to a second quadrant, judging that the position of a second supporting leg in the second quadrant is the highest, and determining a fourth supporting leg corresponding to a fourth quadrant as a supporting leg to be adjusted; or,

under the condition that the first inclination angle and the second inclination angle are both located in a target threshold interval and correspond to a third quadrant, judging that the position of a third supporting leg in the third quadrant is the highest, and determining a first supporting leg corresponding to the first quadrant as a supporting leg to be adjusted; or,

under the condition that the first inclination angle and the second inclination angle are both located in the target threshold interval and correspond to a fourth quadrant, judging that the position of a fourth supporting leg in the fourth quadrant is the highest, and determining a second supporting leg corresponding to the second quadrant as a supporting leg to be adjusted;

a diagonal relationship is formed between the first supporting leg corresponding to the first quadrant and the third supporting leg corresponding to the third quadrant; and a diagonal relation is formed between the second supporting leg corresponding to the second quadrant and the fourth supporting leg corresponding to the fourth quadrant.

Further, the target threshold interval is a threshold interval composed of a first threshold and a second threshold, and the first threshold is smaller than the second threshold; after the leveling control operation is carried out on the target supporting leg based on the target current value, the method further comprises the following steps: and when the first inclination angle and the second inclination angle are both smaller than or equal to the first threshold value, controlling to end the leveling control operation.

Further, based on the target current value, the leveling control operation is performed on the target support leg, and the method specifically includes: controlling a proportional valve of a target supporting leg in the supporting device based on the target current value to adjust the flow of a vertical oil cylinder of the target supporting leg so as to adjust the speed of the vertical oil cylinder of the supporting leg for executing the supporting operation; wherein the support device comprises at least one support leg.

Further, after the target position state is reached, the method further includes:

detecting whether wheels of the engineering machinery are completely lifted off, detecting the weight of the engineering machinery based on a preset pin sensor under the condition that the engineering machinery is lifted off, and stopping the downward supporting action of a target supporting leg after the measured value of the pin sensor corresponding to the target supporting leg in the supporting device reaches a preset weight threshold value; and when the measured values of the pin shaft sensors of all the supporting legs in the supporting device reach a preset weight threshold value, triggering to execute leveling control operation.

Further, the method for controlling a supporting device of a construction machine, which controls the supporting device to perform a vertical lowering operation until the target position state is reached, specifically includes: in the process of vertical descending of the supporting device, when the situation that at least one supporting leg in the supporting device is stopped is detected, a first inclination angle of the engineering machinery in the first preset direction and a second inclination angle of the engineering machinery in the second preset direction are detected, and if the first inclination angle is larger than a first threshold value and/or the second inclination angle is larger than a first threshold value, emergency leveling control operation is triggered; if the first inclination angle is larger than a second threshold value and/or the second inclination angle is larger than a second threshold value, triggering alarm information, and controlling the support legs which are not stopped to be lowered so as to enable the first inclination angle of the engineering machinery in a first preset direction and the second inclination angle of the engineering machinery in a second preset direction to be reduced to be within the second threshold value; wherein the second threshold is greater than the first threshold.

The present invention also provides a control system for a support device of an engineering machine, including:

the target supporting leg determining unit is used for determining a target supporting leg to be adjusted according to the characteristic of the inclination angle of the engineering machinery in the preset direction under the condition that the supporting device of the engineering machinery reaches a target position state;

the leveling control unit is used for determining and adjusting a target current value of a proportional valve of the target supporting leg according to the size relation between a first inclination angle of the engineering machinery and the horizontal plane in a first preset direction and a second inclination angle of the engineering machinery and the horizontal plane in a second preset direction; carrying out leveling control operation on the target supporting leg based on the target current value;

a PWM signal generation unit for generating a PWM signal in response to a control operation input by a user; the PWM signal is used for unfolding a supporting device of the engineering machinery to a target position state;

and the position state control unit is used for sending the PWM signal to a horizontal oil cylinder electromagnetic valve corresponding to the supporting device, controlling the supporting device to move horizontally through the horizontal oil cylinder electromagnetic valve, detecting the actual position to which the supporting device moves based on a preset proximity switch, and controlling the supporting device to execute vertical descending action until the target position state is reached after the supporting device is detected to move to the target position.

Further, the target support leg determination unit is specifically configured to:

a diagonal relationship is formed between the first supporting leg corresponding to the first quadrant and the third supporting leg corresponding to the third quadrant; and a diagonal relationship is formed between the second supporting leg corresponding to the second quadrant and the fourth supporting leg corresponding to the fourth quadrant.

Further, the target threshold interval is a threshold interval composed of a first threshold and a second threshold, and the first threshold is smaller than the second threshold; after the leveling control operation is carried out on the target support leg based on the target current value, the method further comprises the following steps: and when the first inclination angle and the second inclination angle are both smaller than or equal to the first threshold value, controlling to end the leveling control operation.

Further, the leveling control unit is specifically configured to: controlling a proportional valve of a target supporting leg in the supporting device based on the target current value to adjust the flow of a vertical oil cylinder of the target supporting leg so as to adjust the speed of the vertical oil cylinder of the supporting leg for executing a supporting operation; wherein the support device comprises at least one support leg.

the leveling control detection unit is used for detecting whether wheels of the engineering machinery are completely lifted off, detecting the weight of the engineering machinery based on a preset pin sensor under the condition that the engineering machinery is lifted off, and stopping the downward supporting action of a target supporting leg after the measured value of the pin sensor corresponding to the target supporting leg in the supporting device reaches a preset weight threshold value; and when the measured values of the pin shaft sensors of all the supporting legs in the supporting device reach a preset weight threshold value, triggering to execute leveling control operation.

Further, the position state control unit is specifically configured to: in the process of vertical descending of the supporting device, when the situation that at least one supporting leg in the supporting device is stopped is detected, a first inclination angle of the engineering machinery in the first preset direction and a second inclination angle of the engineering machinery in the second preset direction are detected, and if the first inclination angle is larger than a first threshold value and/or the second inclination angle is larger than a first threshold value, emergency leveling control operation is triggered; if the first inclination angle is larger than a second threshold value and/or the second inclination angle is larger than a second threshold value, triggering alarm information, and controlling the support legs which are not stopped to be lowered so as to enable the first inclination angle of the engineering machinery in a first preset direction and the second inclination angle of the engineering machinery in a second preset direction to be reduced to be within the second threshold value; wherein the second threshold is greater than the first threshold.

The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the control method of the supporting device of the engineering machinery.

The invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of controlling a support device of a working machine as claimed in any one of the above.

The control method of the supporting device of the engineering machinery provided by the invention determines a target supporting leg to be adjusted according to the characteristic of the inclination angle of the engineering machinery in the preset direction under the condition that the supporting device of the engineering machinery reaches the target position state; then determining a target current value for adjusting a proportional valve of a target supporting leg according to the size relation between a first inclination angle of the engineering machinery and the horizontal plane in a first preset direction and a second inclination angle of the engineering machinery and the horizontal plane in a second preset direction; finally, leveling control operation is carried out on the target supporting leg based on the target current value; the first preset direction and the second preset direction are perpendicular to each other to form a plane rectangular coordinate system with the center of gravity of the engineering machinery as an origin. The direction with larger deviation can be adjusted in a targeted manner, and the efficiency and the stability of the leveling control of the supporting device are effectively improved, so that the safety of the engineering machinery during operation is improved.

Drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic flowchart of a method for controlling a supporting device of a construction machine according to the present invention;

FIG. 2 is a schematic structural diagram of a construction machine and a supporting device thereof according to the present disclosure;

FIG. 3 is a schematic diagram of a control system for a support apparatus of a construction machine according to the present disclosure;

fig. 4 is a schematic structural diagram of an electronic device provided in the present invention.

Wherein 201 is a pin sensor arranged on the first support leg, 202 is a pin sensor arranged on the second support leg, 203 is a pin sensor arranged on a third supporting leg, and 204 is a pin sensor arranged on a fourth supporting leg; 205 is a support arm connected to the first support leg, 206 is a support arm connected to the second support leg, 207 is a support arm connected to the third support leg, 208 is a support arm connected to the fourth support leg, 209 is a proximity switch on the support arm connected to the first support leg, and 210 is a proximity switch on the support arm connected to the second support leg.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

The following describes an embodiment of a method for controlling a support device of a construction machine according to the present invention in detail. As shown in fig. 1, which is a schematic flow chart of a control method for a supporting device of a construction machine according to an embodiment of the present invention, a specific implementation process includes the following steps:

step 101: and under the condition that the supporting device of the engineering machinery reaches the target position state, determining a target supporting leg to be adjusted according to the characteristic of the inclination angle of the engineering machinery in the preset direction.

The engineering machinery can be a concrete pump truck, a crane, a fire engine and the like. The supporting device comprises a movable supporting arm, a supporting leg connected to the end of the supporting arm and the like. The target position state is a state that the supporting arm is horizontally extended firstly and then the supporting leg is vertically extended to support the engineering machinery before the construction of the engineering machinery. In order to balance the stress of each supporting leg and better ensure the operation stability of the engineering machinery, and reach a horizontal working state, the leveling control operation needs to be carried out on the engineering machinery through a supporting device, namely, a target supporting leg to be adjusted needs to be determined according to the characteristic that the engineering machinery inclines at an angle in a preset direction.

Specifically, a first inclination angle of the construction machine between a first preset direction and a horizontal plane and a second inclination angle of the construction machine between a second preset direction and the horizontal plane are detected. Then, under the condition that the first inclination angle and the second inclination angle are both located in a target threshold interval and correspond to a first quadrant, judging that the position of a first supporting leg in the first quadrant is the highest, and determining a third supporting leg corresponding to a third quadrant as a supporting leg to be adjusted; and/or under the condition that the first inclination angle and the second inclination angle are both positioned in a target threshold interval and correspond to a second quadrant, judging that the position of a second supporting leg in the second quadrant is the highest, and determining a fourth supporting leg corresponding to a fourth quadrant as a supporting leg to be adjusted; and/or under the condition that the first inclination angle and the second inclination angle are both located in a target threshold interval and correspond to a third quadrant, judging that the position of a third supporting leg in the third quadrant is the highest, and determining a first supporting leg corresponding to the first quadrant as a supporting leg to be adjusted; and/or under the condition that the first inclination angle and the second inclination angle are both located in the target threshold interval and correspond to a fourth quadrant, judging that the position of a fourth supporting leg in the fourth quadrant is highest, and determining a second supporting leg corresponding to the second quadrant as a supporting leg to be adjusted. A diagonal relationship is formed between the first supporting leg corresponding to the first quadrant and the third supporting leg corresponding to the third quadrant; and a diagonal relation is formed between the second supporting leg corresponding to the second quadrant and the fourth supporting leg corresponding to the fourth quadrant.

It should be noted that, in the embodiment of the present invention, before determining the target support leg to be adjusted according to the characteristic of the inclination angle of the engineering machine in the preset direction, the method further includes: in response to a control operation input by a user, a PWM (Pulse width modulation) signal is generated. And sending the PWM signal to a horizontal oil cylinder electromagnetic valve corresponding to the supporting device, controlling the supporting device to move horizontally through the horizontal oil cylinder electromagnetic valve, detecting the actual position to which the supporting device moves based on a preset proximity switch, and controlling the supporting device to execute vertical descending action until the target position state is reached after the supporting device is detected to move to the target position. Wherein the PWM signal is used for unfolding a supporting device of the engineering machinery to a target position state.

For example, after a one-key leveling key is operated, the engineering machinery starts to execute the unfolding action of the supporting device, and the controller outputs a specific PWM signal to 4 horizontal oil cylinder electromagnetic valves to control 4 supporting legs to horizontally stretch out. And each supporting leg is provided with a proximity switch in the horizontal direction for detecting that the horizontal supporting leg extends in place, and the signal of the proximity switch is connected with the input of the controller. And after the controller detects that the 4 support legs stretch out in place in the horizontal direction, delaying for 2 seconds to start to execute the vertical descending action of the 4 support legs until the target position state is reached. It should be noted that the collected values of the pin shaft sensors of the front left support leg and the front right support leg are not different and are within a preset threshold interval, the collected values of the pin shaft sensors of the back left support leg and the back right support leg are not different and are within the preset threshold interval, the electronic level meter monitors that the inclination angle values in the X-axis direction and the Y-axis direction are within the preset threshold and the hydraulic system overflows, the pressure value reaches the maximum value, and the vertical oil cylinder is judged to be in place to prop downwards. The 4 vertical oil cylinders are controlled to descend for a preset distance by a time timer, and the supporting legs are leveled in place.

Further, after the target position state is reached, the method further includes: detecting whether wheels of the engineering machinery are completely lifted off, detecting the weight of the engineering machinery based on a preset pin sensor under the condition that the engineering machinery is lifted off, and stopping the downward supporting action of a target supporting leg after the measured value of the pin sensor corresponding to the target supporting leg in the supporting device reaches a preset weight threshold value; and when the measured values of the pin shaft sensors of all the supporting legs in the supporting device reach a preset weight threshold value, triggering to execute leveling control operation.

For example, the output of the controller is connected with the proportional valves of 4 supporting legs, and the controller controls the proportional valves to adjust the flow of the supporting leg oil cylinders through output current signals so as to enable the 4 supporting legs to be vertically propped down by the oil cylinders. In the process of descending the vertical supporting leg, the magnitude of the current signal is increased and decreased. The proportional valve has a dead zone, and the target current value given by the proportional valve of the supporting leg is controlled to slowly rise or fall and quickly avoid the dead zone so that the supporting leg of the overhead working truck can be supported downwards in the process, the action is stable, and the truck body does not shake. And when the engineering machinery is lifted off the ground, the pin shaft sensor can detect the weight of the whole vehicle. And when the value of the pin shaft sensor of a certain supporting leg reaches a threshold value, stopping the action of the supporting leg. And when the measured values of the pin shaft sensors of the four legs reach the threshold value, the leveling control action is started.

Besides, it should be noted that the pin sensor may be replaced by a tension sensor, and the tension sensor is used to detect whether the support leg extends in place in the vertical direction. When the support legs are automatically unfolded, the support legs are opposite in the horizontal direction, and after the support legs extend to a certain threshold value in the vertical direction, leveling work is started.

Step 102: determining a target current value for adjusting a proportional valve of the target supporting leg according to the size relation between a first inclination angle of the engineering machinery and the horizontal plane in a first preset direction and a second inclination angle of the engineering machinery and the horizontal plane in a second preset direction; and carrying out leveling control operation on the target supporting leg based on the target current value. The first preset direction and the second preset direction are perpendicular to each other, and a plane rectangular coordinate system with the center of gravity of the engineering machinery as an origin is formed.

Specifically, a first inclination angle between the engineering machine and a horizontal plane in a first preset direction and a second inclination angle between the engineering machine and the horizontal plane in a second preset direction need to be detected. Under the condition that the first inclination angle and the second inclination angle are both located in a preset target threshold interval and correspond to a first quadrant, judging that the position of a first supporting leg in the first quadrant is the highest, determining a third supporting leg corresponding to a third quadrant as a supporting leg to be adjusted, and then generating a target current value for adjusting a proportional valve of the third supporting leg according to the size relationship between the first inclination angle and the second inclination angle; and/or under the condition that the first inclination angle and the second inclination angle are both located in the target threshold interval and correspond to a second quadrant, judging that the position of a second supporting leg in the second quadrant is the highest, determining a fourth supporting leg corresponding to a fourth quadrant as a supporting leg to be adjusted, and then generating a target current value for adjusting a proportional valve of the fourth supporting leg according to the size relationship between the first inclination angle and the second inclination angle; and/or under the condition that the first inclination angle and the second inclination angle are both located in the target threshold interval and correspond to a third quadrant, judging that the position of a third supporting leg in the third quadrant is the highest, determining a first supporting leg corresponding to the first quadrant as a supporting leg to be adjusted, and then generating a target current value for adjusting a proportional valve of the first supporting leg according to the size relationship between the first inclination angle and the second inclination angle; and/or under the condition that the first inclination angle and the second inclination angle are both located in the target threshold interval and correspond to a fourth quadrant, the position of a fourth supporting leg in the fourth quadrant is judged to be the highest, a second supporting leg corresponding to the second quadrant is determined as a supporting leg to be adjusted, and at the moment, the target current value of a proportional valve of the second supporting leg can be generated and adjusted according to the size relation between the first inclination angle and the second inclination angle.

As shown in fig. 2, the first preset direction is an X-axis direction of the construction machine, and the second preset direction is a Y-axis direction of the construction machine. Specifically, a target supporting leg to be adjusted is determined according to the difference of inclination angles of the engineering machinery in the X-axis direction and the Y-axis direction under the condition that the supporting leg in the supporting device reaches a target position state by detecting the supporting state of the supporting device in the engineering machinery. The X-axis direction and the Y-axis direction are perpendicular to each other to form a plane rectangular coordinate system with the engineering machinery emphasis as an origin. And generating a target current value for adjusting a proportional valve of the target supporting leg according to the magnitude relation between a first inclination angle of the engineering machinery and the horizontal plane in the X-axis direction and a second inclination angle of the engineering machinery and the horizontal plane in the Y-axis direction.

Wherein the target threshold interval is a threshold interval composed of a first threshold and a second threshold, and the first threshold is smaller than the second threshold; after the leveling control operation is carried out on the target support leg based on the target current value, the method further comprises the following steps: and when the first inclination angle and the second inclination angle are both smaller than or equal to the first threshold value, controlling to end the leveling control operation.

Based on the target current value, the leveling control operation is carried out on the target supporting leg, and the corresponding specific implementation process comprises the following steps: and controlling a proportional valve of a supporting leg in the supporting device to regulate the flow of a vertical oil cylinder of the supporting leg through the output target current value so as to enable the vertical oil cylinder of the supporting leg to execute a lower supporting leveling operation until the engineering machinery is lifted off the ground. Wherein the support device comprises at least one support leg.

Further, under the condition that the engineering machinery is lifted off the ground, the weight of the engineering machinery is detected based on a preset pin shaft sensor, and when the measured value of the pin shaft sensor corresponding to a target supporting leg in the supporting device reaches a preset weight threshold value, the downward supporting action of the target supporting leg is stopped; and when the measured values of the pin shaft sensors of all the supporting legs in the supporting device reach a preset weight threshold value, triggering to execute leveling operation.

Performing the leveling control operation may include: and detecting a first inclination angle of the engineering machinery between the X-axis direction and the horizontal plane and a second inclination angle of the engineering machinery between the Y-axis direction and the horizontal plane. Under the condition that the first inclination angle and the second inclination angle are both located in a preset target threshold interval and correspond to a first quadrant, judging that the position of a first supporting leg in the first quadrant is the highest, determining a third supporting leg corresponding to a third quadrant as a supporting leg to be adjusted, and generating a target current value for adjusting a proportional valve of the third supporting leg according to the size relation between the first inclination angle and the second inclination angle; under the condition that the first inclination angle and the second inclination angle are both located in the target threshold interval and correspond to a second quadrant, judging that the position of a second supporting leg in the second quadrant is the highest, determining a fourth supporting leg corresponding to a fourth quadrant as a supporting leg to be adjusted, and generating a target current value for adjusting a proportional valve of the fourth supporting leg according to the size relation between the first inclination angle and the second inclination angle; under the condition that the first inclination angle and the second inclination angle are both located in the target threshold interval and correspond to a third quadrant, judging that the position of a third supporting leg in the third quadrant is the highest, determining the first supporting leg corresponding to the first quadrant as a supporting leg to be adjusted, and generating a target current value for adjusting a proportional valve of the first supporting leg according to the size relation between the first inclination angle and the second inclination angle; under the condition that the first inclination angle and the second inclination angle are both located in the target threshold interval and correspond to the fourth quadrant, the position of the fourth supporting leg in the fourth quadrant is judged to be the highest, the second supporting leg corresponding to the second quadrant is determined as the supporting leg to be adjusted, and the target current value of the proportional valve of the second supporting leg is generated and adjusted according to the size relation between the first inclination angle and the second inclination angle. The plane rectangular coordinate system comprises an X axis and a Y axis, and forms the first quadrant, the second quadrant, the third quadrant and the fourth quadrant; a diagonal relationship is formed between the first supporting leg corresponding to the first quadrant and the third supporting leg corresponding to the third quadrant; a diagonal relationship is formed between a second supporting leg corresponding to the second quadrant and a fourth supporting leg corresponding to the fourth quadrant; the support device includes the first support leg, the second support leg, the third support leg, and a fourth support leg.

For example, a first inclination angle α in the X-axis direction and a second inclination angle β in the Y-axis direction are detected in real time, and if the first inclination angle α in the X-axis direction and the second inclination angle β in the Y-axis direction both exceed a first threshold but are smaller than a second threshold and are in a first quadrant.

When α = β, the right front leg (i.e., the first leg) is highest at this time, the target current value of the proportional valve of the left rear leg (i.e., the third leg) is adjusted to be (1 + γ) I, and the target current value of the proportional valve of the other legs (e.g., the second leg and/or the fourth leg) is still I, so that the left rear leg rapidly rises. And when alpha and beta are detected to be within the first threshold value in real time, determining that the support leg leveling action is finished.

When alpha is larger than beta, the current value of the proportional valve of the front right supporting leg is adjusted to be (1 + gamma 1) I, the current value of the proportional valve of the front left supporting leg is adjusted to be (1 + gamma 2) I, and the current values of the other supporting legs are adjusted to be I, wherein 1 is larger than gamma 1 and larger than gamma 2, and 0 is obtained. Therefore, the left rear supporting leg is lifted at the fastest speed, the left front supporting leg is lifted at the next highest speed, and other supporting legs are lifted at the same time. And when alpha and beta are detected to be within the first threshold value in real time, determining that the support leg leveling action is finished.

When alpha < beta, the right front supporting leg is the highest at this time, the target current value of the proportional valve of the left rear supporting leg is adjusted to be (1 + gamma 1) I, the target current value of the proportional valve of the right rear supporting leg is adjusted to be (1 + gamma 2) I, and the target current values of other supporting legs are adjusted to be I, wherein 1> gamma 2 >. Thus, the left front supporting leg is lifted at the fastest speed, the right rear supporting leg is lifted at the next highest speed, and other supporting legs are lifted at the same time. And when the alpha and the beta are detected to be within the first threshold value in real time, determining that the support leg leveling action is finished.

If the first inclination angle α in the X-axis direction, the second inclination angle β in the Y-axis direction each exceeds the first threshold value but is smaller than the second threshold value and in the second quadrant.

When | α | = β, at this time, the left front support leg (i.e., the second support leg in the second quadrant) is the highest, the target current value of the proportional valve of the right rear support leg (i.e., the fourth support leg in the fourth quadrant) is adjusted to be (1 + γ) I, and the target current values of the proportional valves of the other support legs (e.g., the third support leg and/or the first support leg) are still I, so that the right rear support leg is raised quickly. And when the alpha and the beta are detected to be within the first threshold value in real time, determining that the support leg leveling action is finished.

When the value of | alpha | > beta is the highest, the target current value of the proportional valve of the right rear supporting leg is adjusted to be (1 + gamma 1) I, the target current value of the proportional valve of the right front supporting leg is adjusted to be (1 + gamma 2) I, and the target current values of other supporting legs are adjusted to be I, wherein 1> gamma 2>0. Thus, the right rear support leg rises the fastest and the right front support leg rises the next, and the other support legs rise simultaneously. And when alpha and beta are detected to be within the first threshold value in real time, determining that the support leg leveling action is finished.

When | α | < β, the left front support leg is the highest at this time, the target current value for adjusting the proportional valve of the right rear support leg is (1 + γ 1) I, the target current value for the proportional valve of the left rear support leg is (1 + γ 1) I, and the target current values for the other support legs are I, where 1> γ 1> γ > γ 2 >. Thus, the right rear support leg is raised the fastest and the right front support leg is raised the second, and the other support legs are raised at the same time. And when alpha and beta are detected to be within the first threshold value in real time, determining that the support leg leveling action is finished.

If the first inclination angle α in the X-axis direction, the second inclination angle β in the Y-axis direction each exceeds the first threshold value but is smaller than the second threshold value and in the third quadrant.

When | α | = | β |, at this time the left rear support leg (i.e., the third support leg in the third quadrant) is highest, the target current value of the proportional valve of the right front support leg (i.e., the first support of the first quadrant) is adjusted to be (1 + γ) I, and the target current values of the proportional valves of the other support legs (e.g., the second support leg and/or the fourth support leg) are still I, so that the right front support leg is raised quickly. And when alpha and beta are detected to be within the first threshold value in real time, determining that the support leg leveling action is finished.

When | α | > | β | is highest at this time, the target current value of the proportional valve of the right front support leg is adjusted to be (1 + γ 1) I, the target current value of the proportional valve of the right front support leg is adjusted to be (1 + γ 2) I, and the target current values of the other support legs are adjusted to be I, wherein 1> γ 1> γ > γ 2>0. Thus, the right rear support leg rises the fastest and the right front support leg rises the next, and the other support legs rise simultaneously. And when the alpha and the beta are detected to be within the first threshold value in real time, determining that the support leg leveling action is finished.

When | α | < β, the left rear support leg is the highest at this time, the target current value of the proportional valve of the right front support leg is adjusted to be (1 + γ 1) I, the target current value of the proportional valve of the right rear support leg is adjusted to be (1 + γ 2) I, and the target current values of the other support legs are adjusted to be I, where 1> γ 1> γ > γ 2 >. Thus, the right front supporting leg has the fastest lifting speed, the right rear supporting leg has the second highest lifting speed, and other supporting legs are lifted simultaneously. And when the alpha and the beta are detected to be within the first threshold value in real time, determining that the support leg leveling action is finished.

If the first inclination angle α in the X-axis direction, the second inclination angle β in the Y-axis direction each exceeds the first threshold value but is smaller than the second threshold value and in the fourth quadrant.

When | α | = | β |, at this time, the right rear support leg (i.e., the fourth support leg in the fourth quadrant) is the highest, the target current value of the proportional valve of the left front support leg (i.e., the second support leg in the second quadrant) is adjusted to be (1 + γ) I, and the target current values of the proportional valves of other support legs (e.g., the third support leg and/or the first support leg) are still I, so that the left front support leg is rapidly raised. And when alpha and beta are detected to be within the first threshold value in real time, determining that the support leg leveling action is finished.

When | α | > | β | is the highest, the target current value of the proportional valve of the left front support leg is adjusted to be (1 + γ 1) I, the target current value of the proportional valve of the left rear support leg is adjusted to be (1 + γ 2) I, and the target current values of the other support legs are adjusted to be I, wherein 1> γ 1> γ > γ 2 >.0. Thus, the left front supporting leg is lifted at the fastest speed, the left rear supporting leg is lifted at the second highest speed, and other supporting legs are lifted at the same time. And when the alpha and the beta are detected to be within the first threshold value in real time, determining that the support leg leveling action is finished.

When | α | < β, the left front support leg is the highest at this time, the target current value of the proportional valve of the left front support leg is adjusted to be (1 + γ 1) I, the target current value of the proportional valve of the left rear support leg is adjusted to be (1 + γ 2) I, and the target current values of the other support legs are adjusted to be I, wherein 1> γ 1> γ > γ 2> < 0. Thus, the left front supporting leg is lifted at the fastest speed, the left rear supporting leg is lifted at the second highest speed, and other supporting legs are lifted at the same time. And when alpha and beta are detected to be within the first threshold value in real time, determining that the support leg leveling action is finished.

Wherein, I is a preset current value, and γ 1, γ, and γ 2 are respectively preset coefficients larger than 0 and smaller than 1.

The invention has stronger pertinence when automatically leveling, subdivides different conditions of the inclination angle of the X-axis/Y-axis engineering machinery (namely the characteristic of the inclination angle of the engineering machinery in the preset direction), and pertinently adjusts the supporting legs, thereby realizing the pertinence adjustment of the direction with larger deviation (namely the current is larger when the supporting legs are adjusted in the direction with larger deviation), and improving the control efficiency.

In addition, the embodiment of the invention also comprises a fault diagnosis function, namely, the input and output signal abnormality of the controller can be diagnosed. In the unfolding process, the action can be suspended to facilitate emergency treatment when the abnormity occurs. In the process of vertical descending of the supporting device, when at least one supporting leg in the supporting device is detected to be stopped, detecting a first inclination angle of the engineering machinery in a first preset direction (namely an X-axis direction) and a second inclination angle of the engineering machinery in a second preset direction (namely a Y-axis direction), and if the first inclination angle is larger than a first threshold value and/or the second inclination angle is larger than a first threshold value, triggering emergency leveling control operation; if the first inclination angle is larger than a second threshold value and/or the second inclination angle is larger than a second threshold value, triggering alarm information, and controlling the support legs which are not stopped to be lowered so as to enable the first inclination angle of the engineering machinery in a first preset direction and the second inclination angle of the engineering machinery in a second preset direction to be reduced to be within the second threshold value; the second threshold value is larger than the first threshold value (when the vehicle body is in danger of overturning in the automatic leveling process, a horn gives an alarm suddenly, meanwhile, the control system can automatically lower the supporting legs without abnormal conditions, once the first inclination angle and the second inclination angle are smaller than the second threshold value, the system can stop prompting an operator to check abnormal reasons), the supporting leg action is stopped to check faults after the emergency leveling operation is finished, and if the angles are normal, the supporting leg action is stopped to check fault reasons.

According to the control method of the supporting device of the engineering machinery, the target supporting leg to be adjusted is determined according to the characteristic that the engineering machinery inclines in the preset direction by the angle under the condition that the supporting device of the engineering machinery reaches the target position state; then determining a target current value for adjusting a proportional valve of a target supporting leg according to the size relation between a first inclination angle of the engineering machinery and the horizontal plane in a first preset direction and a second inclination angle of the engineering machinery and the horizontal plane in a second preset direction; finally, leveling control operation is carried out on the target supporting leg based on the target current value; the first preset direction and the second preset direction are perpendicular to each other to form a plane rectangular coordinate system with the center of gravity of the engineering machinery as an origin. The direction with larger deviation can be adjusted in a targeted manner, and the efficiency and the stability of the leveling control of the supporting device are effectively improved, so that the safety of the engineering machinery during operation is improved.

Corresponding to the control method of the support device of the engineering machinery, the invention also provides a control system of the support device of the engineering machinery. Since the embodiment of the system is similar to the above method embodiment, it is relatively simple to describe, and please refer to the description of the above method embodiment, and the following description of the embodiment of the control system of the support device of the construction machine is only schematic. Fig. 3 is a schematic structural diagram of a control system of a supporting device of a construction machine according to an embodiment of the present invention.

The control system of the support device of the engineering machinery specifically comprises:

a target support leg determining unit 301, configured to determine a target support leg to be adjusted according to a feature of an inclination angle of the engineering machine in a preset direction when the supporting device of the engineering machine reaches a target position state;

the leveling control unit 302 is configured to determine a target current value for adjusting a proportional valve of the target support leg according to a magnitude relationship between a first inclination angle of the engineering machine in a first preset direction and a horizontal plane and a second inclination angle of the engineering machine in a second preset direction and the horizontal plane; carrying out leveling control operation on the target supporting leg based on the target current value;

the first preset direction and the second preset direction are perpendicular to each other, and a plane rectangular coordinate system with the center of gravity of the engineering machinery as an origin is formed.

Further, the leveling control unit is specifically configured to:

under the condition that the first inclination angle and the second inclination angle are both located in a preset target threshold interval and correspond to a first quadrant, judging that the position of a first supporting leg in the first quadrant is the highest, determining a third supporting leg corresponding to a third quadrant as a supporting leg to be adjusted, and generating a target current value for adjusting a proportional valve of the third supporting leg according to the size relation between the first inclination angle and the second inclination angle; and/or the presence of a gas in the atmosphere,

under the condition that the first inclination angle and the second inclination angle are both located in the target threshold interval and correspond to a second quadrant, judging that the position of a second supporting leg in the second quadrant is the highest, determining a fourth supporting leg corresponding to a fourth quadrant as a supporting leg to be adjusted, and generating a target current value for adjusting a proportional valve of the fourth supporting leg according to the size relation between the first inclination angle and the second inclination angle; and/or the presence of a gas in the gas,

under the condition that the first inclination angle and the second inclination angle are both located in the target threshold interval and correspond to a third quadrant, judging that the position of a third supporting leg in the third quadrant is the highest, determining the first supporting leg corresponding to the first quadrant as a supporting leg to be adjusted, and generating a target current value for adjusting a proportional valve of the first supporting leg according to the size relation between the first inclination angle and the second inclination angle; and/or the presence of a gas in the gas,

under the condition that the first inclination angle and the second inclination angle are both located in the target threshold interval and correspond to a fourth quadrant, judging that the position of a fourth supporting leg in the fourth quadrant is the highest, determining a second supporting leg corresponding to the second quadrant as a supporting leg to be adjusted, and generating a target current value for adjusting a proportional valve of the second supporting leg according to the size relation between the first inclination angle and the second inclination angle;

Further, the leveling control unit is specifically configured to: controlling a proportional valve of a target supporting leg in the supporting device based on the target current value to adjust the flow of a vertical oil cylinder of the target supporting leg so as to adjust the speed of the vertical oil cylinder of the supporting leg for executing the supporting operation; wherein the support device comprises at least one support leg.

the leveling control detection unit is used for detecting whether wheels of the engineering machinery are completely lifted off the ground, detecting the weight of the engineering machinery based on a preset pin shaft sensor under the condition that the engineering machinery is lifted off the ground, and stopping the downward supporting action of a target supporting leg when the measured value of the pin shaft sensor corresponding to the target supporting leg in the supporting device reaches a preset weight threshold value; and when the measured values of the pin shaft sensors of all the supporting legs in the supporting device reach a preset weight threshold value, triggering to execute leveling control operation.

Further, the position state control unit is specifically configured to: in the process of vertical descending of the supporting device, when at least one supporting leg in the supporting device is detected to be stopped, detecting a first inclination angle of the engineering machinery in the first preset direction and a second inclination angle of the engineering machinery in the second preset direction, and if the first inclination angle is larger than a first threshold value and/or the second inclination angle is larger than a first threshold value, triggering emergency leveling control operation; if the first inclination angle is larger than a second threshold value and/or the second inclination angle is larger than a second threshold value, triggering alarm information, and controlling the support legs which are not stopped to be lowered, so that the first inclination angle of the engineering machinery in the first preset direction and the second inclination angle of the engineering machinery in the second preset direction are reduced to be within the second threshold value; wherein the second threshold is greater than the first threshold.

According to the control system of the supporting device of the engineering machinery, the target supporting leg to be adjusted is determined according to the characteristic that the engineering machinery inclines in the preset direction by the angle under the condition that the supporting device of the engineering machinery reaches the target position state; then determining a target current value of a proportional valve of the target supporting leg to be adjusted according to the size relation between a first inclination angle of the engineering machinery and the horizontal plane in the first preset direction and a second inclination angle of the engineering machinery and the horizontal plane in the second preset direction; finally, leveling control operation is carried out on the target supporting leg based on the target current value; the first preset direction and the second preset direction are perpendicular to each other to form a plane rectangular coordinate system with the center of gravity of the engineering machinery as an origin. The direction with larger deviation can be adjusted in a targeted manner, and the efficiency and the stability of the leveling control of the supporting device are effectively improved, so that the safety of the engineering machinery during operation is improved.

Corresponding to the control method of the supporting device of the engineering machinery, the invention also provides electronic equipment. Since the embodiment of the electronic device is similar to the above method embodiment, the description is simple, and please refer to the description of the above method embodiment, and the electronic device described below is only schematic. Fig. 4 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention. The electronic device may include: a processor (processor) 401, a memory (memory) 402 and a communication bus 403, wherein the processor 401 and the memory 402 communicate with each other through the communication bus 403, and communicate with the outside through a communication interface 404. The processor 401 may invoke logic instructions in the memory 402 to perform a method of controlling a support device of a work machine, the method comprising: determining a target supporting leg to be adjusted according to the characteristic of the inclination angle of the engineering machinery in the preset direction under the condition that the supporting device of the engineering machinery reaches the target position state; determining a target current value for adjusting a proportional valve of the target supporting leg according to a size relation between a first inclination angle of the engineering machinery and the horizontal plane in a first preset direction and a second inclination angle of the engineering machinery and the horizontal plane in a second preset direction; leveling control operation is carried out on the target supporting leg based on the target current value; the first preset direction and the second preset direction are perpendicular to each other, and a plane rectangular coordinate system with the center of gravity of the engineering machinery as an origin is formed.

Furthermore, the logic instructions in the memory 402 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a method of controlling a support device of a work machine provided by the above methods, the method comprising: determining a target supporting leg to be adjusted according to the characteristic of the inclination angle of the engineering machinery in the preset direction under the condition that the supporting device of the engineering machinery reaches the target position state; determining a target current value for adjusting a proportional valve of the target supporting leg according to a size relation between a first inclination angle of the engineering machinery and the horizontal plane in a first preset direction and a second inclination angle of the engineering machinery and the horizontal plane in a second preset direction; carrying out leveling control operation on the target supporting leg based on the target current value; the first preset direction and the second preset direction are perpendicular to each other to form a plane rectangular coordinate system with the center of gravity of the engineering machinery as an origin.

In still another aspect, the present disclosure provides a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform the method of controlling a supporting device of a construction machine provided in the above aspects, the method including: determining a target supporting leg to be adjusted according to the characteristic of the inclination angle of the engineering machinery in a preset direction under the condition that a supporting device of the engineering machinery reaches a target position state; determining a target current value for adjusting a proportional valve of the target supporting leg according to a size relation between a first inclination angle of the engineering machinery and the horizontal plane in a first preset direction and a second inclination angle of the engineering machinery and the horizontal plane in a second preset direction; leveling control operation is carried out on the target supporting leg based on the target current value; the first preset direction and the second preset direction are perpendicular to each other to form a plane rectangular coordinate system with the center of gravity of the engineering machinery as an origin.

The above-described system embodiments are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A method of controlling a support device for a construction machine, comprising:

determining a target current value for adjusting a proportional valve of the target supporting leg according to a size relation between a first inclination angle of the engineering machinery and the horizontal plane in a first preset direction and a second inclination angle of the engineering machinery and the horizontal plane in a second preset direction; carrying out leveling control operation on the target supporting leg based on the target current value;

2. The method for controlling a supporting apparatus of a construction machine according to claim 1, further comprising, before determining a target supporting leg to be adjusted based on a characteristic of an inclination angle of the construction machine in a preset direction:

3. The method for controlling a supporting device of a construction machine according to claim 1, wherein determining a target supporting leg to be adjusted according to a feature of an inclination angle of the construction machine in a preset direction specifically comprises:

4. The method according to claim 3, wherein the target threshold interval is a threshold interval composed of a first threshold value and a second threshold value, and the first threshold value is smaller than the second threshold value;

after the leveling control operation is carried out on the target supporting leg based on the target current value, the method further comprises the following steps: and when the first inclination angle and the second inclination angle are both smaller than or equal to the first threshold value, controlling to end the leveling control operation.

5. The method for controlling the supporting device of the construction machine according to claim 1, wherein performing a leveling control operation on the target supporting leg based on the target current value specifically includes: controlling a proportional valve of a target supporting leg in the supporting device based on the target current value to adjust the flow of a vertical oil cylinder of the target supporting leg so as to adjust the speed of the vertical oil cylinder of the supporting leg for executing a supporting operation; wherein the support device comprises at least one support leg.

6. The method of controlling a supporting device of a working machine according to claim 2, further comprising, after reaching the target position state:

7. The method for controlling a supporting device of a construction machine according to claim 2, wherein controlling the supporting device to perform a vertical lowering operation until the target position state is reached specifically comprises: in the process of vertical descending of the supporting device, when the situation that at least one supporting leg in the supporting device is stopped is detected, a first inclination angle of the engineering machinery in the first preset direction and a second inclination angle of the engineering machinery in the second preset direction are detected, and if the first inclination angle is larger than a second threshold value and/or the second inclination angle is larger than the second threshold value, emergency leveling control operation is triggered; if the first inclination angle is larger than a second threshold value and/or the second inclination angle is larger than a second threshold value, triggering alarm information, and controlling the support legs which are not stopped to be lowered, so that the first inclination angle of the engineering machinery in the first preset direction and the second inclination angle of the engineering machinery in the second preset direction are reduced to be within the second threshold value; wherein the second threshold is greater than the first threshold.

8. A control system for a support device of a construction machine, comprising:

the device comprises a target supporting leg determining unit, a target supporting leg adjusting unit and a target adjusting unit, wherein the target supporting leg determining unit is used for determining a target supporting leg to be adjusted according to the characteristic that the engineering machinery inclines in a preset direction under the condition that a supporting device of the engineering machinery reaches a target position state;

9. An electronic device comprising a memory, a processor and a computer program stored on said memory and executable on said processor, characterized in that said processor, when executing said program, carries out the steps of a method for controlling a support device of a working machine according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, is adapted to carry out the steps of a method for controlling a support of a work machine according to any one of claims 1 to 7.