CN115805922A

CN115805922A - Control method for engineering machinery leveling, processor and engineering machinery

Info

Publication number: CN115805922A
Application number: CN202211429621.2A
Authority: CN
Inventors: 蒋贵春; 张远波; 唐宁东
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2022-11-15
Filing date: 2022-11-15
Publication date: 2023-03-17

Abstract

The application relates to the field of engineering machinery. In particular to a control method and a processor for engineering machinery leveling and engineering machinery. The method comprises the following steps: under the condition that the attitude of the engineering machinery is in a preset attitude, a support reaction force value of a target support leg is obtained through a support reaction force sensor; under the condition that the thrust force value of the target supporting leg is smaller than a first threshold value, sequentially carrying out telescopic adjustment on the plurality of supporting legs according to a preset sequence so as to adjust the thrust force value of the target supporting leg; controlling the support leg to stop the telescopic adjustment when the support reaction force value of the target support leg is greater than or equal to a first threshold value; under the condition that the thrust force value is larger than a second threshold value, sequentially carrying out telescopic adjustment on the plurality of supporting legs according to a preset sequence so as to adjust the thrust force value of the target supporting leg again; controlling the support leg to stop the telescopic adjustment when the support reaction force value is smaller than or equal to a second threshold value; and determining that the engineering machinery completes leveling when the support reaction force value is greater than or equal to the first threshold and less than or equal to the second threshold.

Description

Control method for engineering machinery leveling, processor and engineering machinery

Technical Field

The application relates to the field of engineering machinery. In particular to a control method for engineering machinery leveling, a processor, engineering machinery and a storage medium.

Background

Engineering machinery supported by the supporting legs, such as a pump truck, an automobile crane, a fire fighting truck, an overhead cleaning truck, a bridge maintenance truck, a supporting leg overhead operation platform and the like, needs to be unfolded, supported and leveled first during parking operation. When supporting the engineering machinery, a horizontal tilt sensor of a vehicle body is usually used for detecting the horizontal state of the vehicle body, the vehicle body can be roughly adjusted to the horizontal state through the feedback, after the engineering machinery is adjusted through the horizontal tilt sensor of the vehicle body, the landing legs of the engineering machinery need to be leveled again, at present, when the landing legs of the engineering machinery are leveled, the supporting force value of each landing leg on the engineering machinery needs to be obtained, then each landing leg is respectively adjusted, and the adjusting system is complex and the cost is too high.

Disclosure of Invention

The application aims to provide a control method, a processor, engineering machinery and a storage medium for leveling engineering machinery, wherein the control method, the processor, the engineering machinery and the storage medium can level supporting legs without acquiring supporting force of all the supporting legs.

In order to achieve the above object, the present application provides a control method for leveling a working machine, the working machine including a plurality of outriggers, the control method including:

under the condition that the attitude of the engineering machinery is in a preset attitude, acquiring a thrust reaction value of a target supporting leg through a thrust reaction sensor, wherein the target supporting leg is provided with the thrust reaction sensor;

under the condition that the thrust force value of the target supporting leg is smaller than a first threshold value, sequentially carrying out telescopic adjustment on the plurality of supporting legs according to a preset sequence so as to adjust the thrust force value of the target supporting leg;

after any one supporting leg is subjected to telescopic adjustment, detecting the counterforce value of the target supporting leg again;

when the reaction force value of the target outrigger is greater than or equal to the first threshold value, controlling the outrigger to stop the telescopic adjustment, and detecting whether the reaction force value of the target outrigger is greater than a second threshold value;

under the condition that the thrust force value is larger than a second threshold value, sequentially carrying out telescopic adjustment on the plurality of supporting legs according to a preset sequence so as to adjust the thrust force value of the target supporting leg again;

after the telescopic length of any one supporting leg is adjusted, detecting the thrust value of the target supporting leg again, and controlling the supporting leg to stop telescopic adjustment under the condition that the thrust value is less than or equal to a second threshold value;

and determining that the engineering machinery completes leveling when the support reaction force value is greater than or equal to the first threshold and less than or equal to the second threshold.

In the embodiment of the application, a target supporting leg, a first supporting leg positioned at the diagonal position of the target supporting leg, a second supporting leg positioned on the first supporting leg in the clockwise direction by taking the engineering machinery as a circle center, and a third supporting leg positioned on the first supporting leg in the counterclockwise direction by taking the engineering machinery as a circle center are sequentially arranged in advance; carry out the telescopic adjustment to a plurality of landing legs in proper order according to predetermineeing and include: after the telescopic adjustment is carried out on any one supporting leg, under the condition that the duration that the supporting reaction force value is kept unchanged reaches the preset duration and the adjusted supporting reaction force value is smaller than the first threshold value, the next supporting leg is subjected to telescopic adjustment according to the preset sequence until the supporting reaction force value of the target supporting leg is larger than or equal to the first threshold value.

In the embodiment of the application, when the multiple support legs are sequentially adjusted in a telescopic manner according to the preset sequence, each support leg is adjusted in a telescopic manner according to the following mode: controlling the target leg extension; controlling the first leg to extend; controlling the second support leg to contract; and controlling the third support leg to contract.

In the embodiment of the application, a target supporting leg, a first supporting leg positioned at the diagonal position of the target supporting leg, a second supporting leg positioned on the first supporting leg in the clockwise direction by taking the engineering machinery as a circle center, and a third supporting leg positioned on the first supporting leg in the counterclockwise direction by taking the engineering machinery as a circle center are sequentially arranged in advance; carry out telescopic adjustment to a plurality of landing legs in proper order according to predetermineeing includes: after the telescopic adjustment is carried out on any one supporting leg, under the condition that the duration that the supporting reaction force value is kept unchanged reaches the preset duration and the adjusted supporting reaction force value is greater than the second threshold value, the next supporting leg is subjected to telescopic adjustment according to the preset sequence until the supporting reaction force value of the target supporting leg is less than or equal to the second threshold value.

In the embodiment of the application, when the multiple support legs are sequentially adjusted in a telescopic manner according to the preset sequence, each support leg is adjusted in a telescopic manner according to the following mode: controlling the target support leg to contract; controlling the first leg to contract; controlling the second leg to extend; controlling the third leg to elongate.

In an embodiment of the application, the engineering machinery further includes an arm support, an arm support folding signal sensor, and a leg opening sensor, and the control method further includes: determining the folding posture of the arm support through an arm support folding signal sensor, and determining the opening state of the supporting leg through a supporting leg opening sensor; determining that the posture of the engineering machinery is in a preset posture under the condition that the folding posture is a preset folding posture and the opening states of all supporting legs of the engineering machinery are in full opening; and under the condition that the folding state does not reach the preset folding state and/or the opening state of at least one supporting leg is not in the full-open state, determining that the posture of the engineering machinery is not in the preset posture.

In an embodiment of the application, the construction machine includes a body tilt sensor, and the control method further includes: under the condition that the attitude of the engineering machinery is in a preset attitude, acquiring the inclination angle of the body of the engineering machinery through a body inclination angle sensor; under the condition that the absolute value of the inclination angle of the vehicle body is smaller than or equal to the first numerical value, acquiring a supporting reaction value of a target supporting leg; under the condition that the absolute value of the vehicle body inclination angle is larger than a first numerical value, acquiring a first component and a second component of the vehicle body inclination angle; the leg is adjusted according to the first component and the second component so that the absolute value of the body inclination angle is less than or equal to a first value.

In an embodiment of the application, the construction machine includes a cab, and adjusting the outriggers according to the first component and the second component so that an absolute value of the inclination angle of the vehicle body is smaller than or equal to a preset value includes: when the first component and the second component are both larger than a second value, controlling the support leg positioned at the left front part of the cab to contract or the support leg positioned at the right rear part of the cab to extend; when the first component is larger than a second value and the second component is smaller than or equal to the second value, controlling a support leg positioned at the right front part of the cab to perform contraction operation or a support leg positioned at the left rear part of the cab to perform extension operation; when the first component is smaller than or equal to a second value and the second component is larger than the second value, controlling the leg at the front right of the cab to extend or the leg at the rear left of the cab to retract; and under the condition that the first component and the second component are both smaller than or equal to a second value, controlling the left front leg of the cab to extend or controlling the right rear leg of the cab to retract.

In the embodiment of the application, after the telescopic adjustment is performed on any one supporting leg, the step of obtaining the inclination angle of the body of the engineering machine through the body inclination angle sensor is returned to, so that the engineering machine is continuously controlled until the engineering machine is determined to finish the leveling.

In the embodiment of the application, after all the supporting legs are subjected to telescopic adjustment, the counterforce value of the target supporting leg is detected again; and determining that the engineering machinery is failed to level under the condition that the support reaction force value is smaller than the first threshold value or larger than the second threshold value.

A second aspect of the present application provides a processor configured to perform any one of the above-mentioned control methods for leveling a work machine.

A third aspect of the present application provides a construction machine, including:

the supporting legs are used for supporting the engineering machinery;

the support reaction force sensor is used for acquiring a support reaction force value of the support leg; and the processor described above.

In an embodiment of the application, the work machine further comprises: a boom; a cab; the arm support folding signal sensor is used for determining the folding posture of the arm support; the landing leg opening sensor is used for determining the opening state of the landing leg; and the inclination angle sensor is used for acquiring the inclination angle of the vehicle body of the engineering machinery.

A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to be configured to perform the control method for leveling a work machine of any one of the above.

Through the technical scheme, the supporting reaction value of the target supporting leg is obtained, the supporting legs are sequentially adjusted in a telescopic mode according to the supporting reaction value of the target supporting leg and the preset sequence, so that the leveling of the engineering machinery is achieved.

Additional features and advantages of the present application will be described in detail in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not to limit the application. In the drawings:

fig. 1 schematically shows a flow diagram of a control method for leveling a work machine according to an embodiment of the present application;

FIG. 2 schematically illustrates an example diagram of a control method for leveling a work machine according to an embodiment of the present application;

FIG. 3 schematically illustrates a flow diagram of a control method for leveling a work machine according to an embodiment of the present application;

FIG. 4 schematically illustrates a flow diagram of a control method for leveling a work machine according to yet another embodiment of the present application;

FIG. 5 schematically shows a construction diagram of a work machine according to an embodiment of the present application;

fig. 6 schematically shows an internal structure diagram of a computer device according to an embodiment of the present application.

Detailed Description

The following detailed description of embodiments of the present application will be made with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present application, are given by way of illustration and explanation only, and are not intended to limit the present application.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present application, the directional indications are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indication is changed accordingly.

In addition, if there is a description of "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 various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.

Fig. 1 schematically shows a flow diagram of a control method for leveling a work machine according to an embodiment of the present application. As shown in fig. 1, in one embodiment of the present application, there is provided a control method for leveling a construction machine, including the steps of:

step 101, under the condition that the posture of the engineering machinery is in a preset posture, a support reaction force value of a target support leg is obtained through a support reaction force sensor, wherein the support reaction force sensor is installed on the target support leg;

102, under the condition that the thrust force value of the target supporting leg is smaller than a first threshold value, sequentially performing telescopic adjustment on a plurality of supporting legs according to a preset sequence to adjust the thrust force value of the target supporting leg;

103, detecting the counter-thrust value of the target supporting leg again after performing telescopic adjustment on any one supporting leg;

104, controlling the support leg to stop telescopic adjustment and detecting whether the support force value of the target support leg is greater than a second threshold value or not when the support force value of the target support leg is greater than or equal to the first threshold value;

step 105, under the condition that the thrust force value is larger than a second threshold value, sequentially performing telescopic adjustment on the plurality of supporting legs according to a preset sequence so as to adjust the thrust force value of the target supporting leg again;

step 106, after the telescopic length of any one supporting leg is adjusted, detecting the counter force value of the target supporting leg again, and controlling the supporting leg to stop telescopic adjustment under the condition that the counter force value is less than or equal to a second threshold value;

and step 107, determining that the engineering machinery completes leveling when the support reaction force value is greater than or equal to the first threshold value and less than or equal to the second threshold value.

The work machine may comprise a plurality of legs and a reaction force sensor, wherein the reaction force sensor may be mounted on a target leg of the work machine. The processor can determine the attitude of the engineering machinery through mechanical parameters of the engineering machinery, and when the processor determines that the attitude of the engineering machinery is in the preset attitude set by the processor, the processor can acquire the supporting force value of the target supporting leg through the supporting force sensor. For example, it is assumed that the processor sets the preset posture such that the boom of the engineering machine is in the arm support in-position state, and all the legs of the engineering machine are in the fully-open state. When the processor determines that the engineering machinery is in the preset posture set by the processor by acquiring the related parameters of the engineering machinery, the processor can acquire the counter-force value of the target supporting leg.

After the processor obtains the thrust reaction value of the target support leg, the processor can judge the thrust reaction value, when the processor determines that the thrust reaction value of the target support leg is smaller than a first threshold value set by the processor, the processor can sequentially adjust the plurality of support legs of the engineering machinery according to a rated preset sequence set by the processor, so that the thrust reaction value of the target support leg is adjusted, when the processor is used for adjusting the support legs in a telescopic mode, after the processor is used for adjusting any support leg in a telescopic mode, the processor can detect the thrust reaction value of the target support leg again through the thrust reaction sensor, when the processor is used for adjusting the plurality of support legs of the engineering machinery in a telescopic mode, so that the thrust reaction value of the target support leg is larger than or equal to the first threshold value set by the processor, the processor can control the support legs to stop the telescopic adjustment, and detect whether the thrust reaction value of the target support leg is larger than a second threshold value set by the processor.

When the processor determines that the reaction force value of the target support leg is greater than the second threshold value set by the processor, the processor may sequentially perform telescopic adjustment on the plurality of support legs of the construction machine according to a preset sequence so as to adjust the reaction force value of the target support leg again. When the processor performs the telescopic adjustment on the support legs, the processor can detect the support reaction force value of the target support leg again through the support reaction force sensor after performing the telescopic adjustment on any support leg, and when the processor determines that the support reaction force value is smaller than or equal to a second threshold value set by the processor, the processor controls the support legs to stop the telescopic adjustment. When the processor determines that the support reaction force value of the target support leg is greater than or equal to the first threshold value set by the processor and is less than or equal to the second threshold value set by the processor, the processor can determine that the engineering machinery completes leveling.

In one embodiment, the engineering machinery further comprises an arm support, an arm support folding signal sensor and a support leg opening sensor, and the control method further comprises: determining the folding posture of the arm support through an arm support folding signal sensor, and determining the opening state of the support through a support opening sensor; determining that the attitude of the engineering machinery is in a preset attitude under the condition that the folding attitude is a preset folding attitude and the opening states of all the supporting legs of the engineering machinery are in full opening; and under the condition that the folding state does not reach the preset folding state and/or the opening state of at least one supporting leg is not in the full-open state, determining that the posture of the engineering machinery is not in the preset posture.

The engineering machinery also comprises an arm support, an arm support folding signal sensor and a supporting leg opening sensor. Before the processor levels the engineering machinery, the attitude of the engineering machinery can be detected through the arm support folding signal sensor and the supporting leg opening sensor.

The processor can determine the folding gesture of the arm support of the engineering machinery through the arm support folding signal sensor and determine the opening state of the supporting legs of the engineering machinery through the supporting leg opening sensor. When the processor determines that the folding gesture of the engineering machinery arm support is the preset folding gesture set by the processor through the folding signal sensor, and the processor determines that the opening degrees of all the supporting legs of the engineering machinery are unfolded to the maximum position where the supporting legs can be unfolded through the supporting leg sensor, namely under the condition that the opening degrees of all the supporting legs are fully opened, the processor can determine that the gesture of the engineering machinery is in the preset gesture set by the processor. When the processor determines that the folding gesture of the engineering machinery arm support does not reach the preset folding gesture set by the processor through the folding signal sensor, and/or the processor determines that the opening degree of at least one supporting leg of the engineering machinery is not in the full-open state through the supporting leg sensor, the processor can determine that the gesture of the engineering machinery is not in the preset gesture set by the processor.

When the processor determines that the engineering machinery is in the preset posture set by the processor, the processor can obtain the support reaction force value of the target support leg through the support reaction force sensor, so that the support leg is adjusted to level the engineering machinery.

In one embodiment, a target supporting leg, a first supporting leg positioned at the diagonal angle of the target supporting leg, a second supporting leg positioned on the first supporting leg in the clockwise direction by taking the engineering machinery as the center of circle, and a third supporting leg positioned on the first supporting leg in the counterclockwise direction by taking the engineering machinery as the center of circle are sequentially arranged in advance; carry out telescopic adjustment to a plurality of landing legs in proper order according to predetermineeing includes: after the telescopic adjustment is carried out on any one supporting leg, under the condition that the duration that the supporting reaction force value is kept unchanged reaches the preset duration and the adjusted supporting reaction force value is smaller than the first threshold value, the next supporting leg is subjected to telescopic adjustment according to the preset sequence until the supporting reaction force value of the target supporting leg is larger than or equal to the first threshold value.

The processor may set the preset sequence as a target leg, a first leg located at a diagonal of the target leg, a second leg of the first leg located clockwise of the target leg with the engineering machine as a center of circle, and a third leg of the first leg located counterclockwise of the target leg with the engineering machine as a center of circle. The processor can sequentially carry out telescopic adjustment on the plurality of supporting legs of the engineering machinery according to a preset sequence. When the processor performs telescopic adjustment on the supporting legs according to a preset sequence, after the telescopic adjustment is performed on any one supporting leg, the length of time that the supporting force value of the target supporting leg is kept unchanged reaches the preset length of time set by the processor, and the adjusted target supporting force value is still smaller than the first threshold value set by the processor, the processor can perform telescopic adjustment on the next supporting leg according to the preset sequence until the supporting force value of the target supporting leg is larger than or equal to the first threshold value set by the processor.

For example, assuming that the processor obtains a thrust reaction value of the target leg through the thrust reaction sensor, and determines that the current thrust reaction value is smaller than the first threshold set by the processor, the processor may sequentially perform telescopic adjustment on a plurality of legs of the construction machine according to a preset sequence, the processor may first adjust the target leg to adjust the thrust reaction value, and when a duration during which the thrust reaction value remains unchanged in the adjustment process reaches the preset duration set by the processor, the adjusted thrust reaction value is smaller than the first threshold set by the processor. For example, assuming that the preset duration is 3 seconds, when the processor adjusts the target leg, the duration in which the thrust force value stops changing reaches 3 seconds, and the thrust force value of the target leg is still smaller than the first threshold, the processor may perform telescopic adjustment on the second leg located at the diagonal position of the target leg according to a preset sequence, and if the telescopic adjustment on the second leg is performed on the second leg, and the duration in which the thrust force value remains unchanged reaches the preset duration, and the adjusted thrust force value is still smaller than the first threshold, the processor may continue to perform telescopic adjustment on the second leg of the first leg located clockwise with the engineering machine as the center of the circle, until the thrust force value of the target leg is greater than or equal to the first threshold.

In one embodiment, when the plurality of legs are sequentially adjusted in a preset sequence, the telescopic adjustment is performed for each leg in the following manner: controlling the target leg extension; controlling the first leg to extend; controlling the second support leg to contract; and controlling the third support leg to contract.

In a case where the processor determines that the value of the reaction force of the target leg is smaller than the first threshold value set by the processor, when the legs are sequentially adjusted to be telescopic in a preset order, the processor may perform telescopic adjustment for each leg in the following manner: the control method comprises the steps of controlling a target supporting leg to perform extension operation, controlling a first supporting leg to perform extension operation, controlling a second supporting leg to perform contraction operation and controlling a third supporting leg to perform contraction operation.

In one embodiment, a target supporting leg, a first supporting leg positioned at the opposite angle of the target supporting leg, a second supporting leg positioned at the first supporting leg in the clockwise direction by taking the engineering machinery as a circle center, and a third supporting leg positioned at the first supporting leg in the anticlockwise direction by taking the engineering machinery as a circle center are arranged in advance; carry out telescopic adjustment to a plurality of landing legs in proper order according to predetermineeing includes: after the telescopic adjustment is carried out on any one supporting leg, under the condition that the duration that the supporting reaction force value is kept unchanged reaches the preset duration and the adjusted supporting reaction force value is greater than the second threshold value, the next supporting leg is subjected to telescopic adjustment according to the preset sequence until the supporting reaction force value of the target supporting leg is less than or equal to the second threshold value.

The processor may set the preset sequence as a target leg, a first leg located at a diagonal of the target leg, a second leg of the first leg located clockwise of the target leg with the engineering machine as a center of circle, and a third leg of the first leg located counterclockwise of the target leg with the engineering machine as a center of circle. The processor can sequentially perform telescopic adjustment on the plurality of supporting legs of the engineering machinery according to a preset sequence. When the processor performs telescopic adjustment on the supporting legs according to a preset sequence, after the telescopic adjustment is performed on any one supporting leg, the length of time that the reaction force value of the target supporting leg remains unchanged reaches the preset length of time set by the processor, and the processor can perform telescopic adjustment on the next supporting leg according to the preset sequence under the condition that the adjusted target reaction force value is still greater than a second threshold value set by the processor until the reaction force value of the target supporting leg is less than or equal to the second threshold value set by the processor.

In one embodiment, when the telescopic adjustment is performed on the plurality of support legs in sequence according to the preset sequence, the telescopic adjustment is performed on each support leg according to the following mode: controlling the target support leg to contract; controlling the first leg to contract; controlling the second leg to elongate; controlling the third leg to elongate.

In a case where the processor determines that the reaction force value of the target leg is greater than the second threshold value set by the processor, when the legs are sequentially adjusted in a preset order, the processor may perform the telescopic adjustment for each leg in the following manner: controlling the target leg to perform a retracting operation, controlling the first leg to perform a retracting operation, controlling the second leg to perform an extending operation, and controlling the third leg to perform an extending operation.

In one embodiment, the working machine comprises a body inclination angle sensor, and the control method further comprises: under the condition that the attitude of the engineering machinery is in a preset attitude, acquiring the inclination angle of the body of the engineering machinery through a body inclination angle sensor; under the condition that the absolute value of the inclination angle of the vehicle body is smaller than or equal to the first numerical value, acquiring a supporting reaction value of a target supporting leg; under the condition that the absolute value of the vehicle body inclination angle is larger than a first numerical value, acquiring a first component and a second component of the vehicle body inclination angle; the leg is adjusted according to the first component and the second component so that the absolute value of the inclination angle of the vehicle body is smaller than or equal to a first value.

The engineering machine further comprises a vehicle body inclination angle sensor, the processor can acquire the vehicle body inclination angle of the engineering machine through the vehicle body wall angle sensor when the processor determines that the posture of the engineering machine is in the preset posture, the processor can acquire the counter force value of the target supporting leg under the condition that the absolute value of the vehicle body inclination angle of the engineering machine is smaller than or equal to a first numerical value set by the processor, and the processor can acquire a first component and a second component of the vehicle body inclination angle under the condition that the absolute value of the vehicle body inclination angle is larger than the first numerical value set by the processor. And adjusting the support legs according to the first component and the second component so that the absolute value of the inclination angle of the vehicle body is smaller than or equal to the first value set by the processor.

In one embodiment, the work machine includes a cab, and adjusting the outriggers according to the first component and the second component so that the absolute value of the inclination angle of the vehicle body is less than or equal to a preset value includes: when the first component and the second component are both larger than a second value, controlling the support leg positioned at the left front part of the cab to perform contraction operation or the support leg positioned at the right rear part of the cab to perform extension operation; when the first component is larger than a second value and the second component is smaller than or equal to the second value, controlling a support leg positioned at the right front part of the cab to perform contraction operation or a support leg positioned at the left rear part of the cab to perform extension operation; when the first component is smaller than or equal to a second value and the second component is larger than the second value, controlling the leg at the front right of the cab to extend or the leg at the rear left of the cab to retract; and under the condition that the first component and the second component are both smaller than or equal to a second value, controlling the left front leg of the cab to extend or controlling the right rear leg of the cab to retract.

The working machine may further comprise a cab, and the processor may adjust the outrigger of the working machine according to the first component and the second component of the body inclination angle so that an absolute value of the body inclination angle is less than or equal to a preset value. The processor may control the leg located at the left front of the cab to perform a retracting operation or control the leg located at the right rear of the cab to perform an extending operation in a case where it is determined that both the first component and the second component of the vehicle body inclination angle are greater than a second value set by the processor. When the processor determines that the first component of the vehicle body inclination angle is greater than the second value set by the processor and the second component of the vehicle body inclination angle is less than or equal to the second value set by the processor, the processor may control the leg positioned at the front right of the cab to perform a retracting operation or the leg positioned at the rear left of the cab to perform an extending operation. When the processor determines that the first component of the vehicle body inclination angle is less than or equal to the second value set by the processor and the second component of the vehicle body inclination angle is greater than the second value set by the processor, the processor may control the leg positioned at the front right of the cab to perform the extension operation or the leg positioned at the rear left of the cab to perform the retraction operation. When the processor determines that the first component and the second component of the vehicle body inclination angle are both smaller than the second value set by the processor, the processor may control the leg positioned at the left front of the cab to perform the extending operation or control the leg positioned at the right rear of the cab to perform the retracting operation.

For example, as shown in fig. 2, assuming that Ax is the first component of the vehicle body inclination angle and Ay is the second component of the vehicle body inclination angle, and assuming that the processor sets the second value to 0, the leg adjustment method may be that, when the first component Ax and the second component Ay are both greater than 0, the processor may control the front left leg of the construction machine to contract, i.e., the leg located at the front left of the cab to perform a contraction operation, or the rear right leg of the construction machine to extend, i.e., the leg located at the rear right of the cab to perform an extension operation. When Ax is greater than or equal to 0 and Ay is less than or equal to 0, the processor can control the right front leg or the left rear leg of the engineering machine to contract, when Ax is less than or equal to 0 and Ay is greater than 0, the processor can control the right front leg or the left rear leg of the engineering machine to contract, and when Ax and Ay are less than or equal to 0, the processor can control the left front leg or the right rear leg of the engineering machine to contract.

In one embodiment, after the telescopic adjustment is carried out on any one supporting leg, the step of obtaining the inclination angle of the body of the engineering machine through the body inclination angle sensor is returned to, so that the engineering machine is controlled continuously until the engineering machine is determined to be leveled.

When the processor adjusts the supporting legs, after the processor performs telescopic adjustment on any one supporting leg, the processor can return to the step of acquiring the inclination angle of the vehicle body of the engineering machinery through the vehicle body inclination angle sensor to continue to control the engineering machinery until the fact that the engineering machinery completes leveling is determined.

In one embodiment, after telescopic adjustment is completed on all the supporting legs, the counterforce value of the target supporting leg is detected again; and determining that the engineering machinery is failed to level under the condition that the support reaction force value is smaller than the first threshold value or larger than the second threshold value.

After the processor completes the telescopic adjustment of all the support legs, the processor can detect the counter force value of the target support leg obtained by the counter force sensor again, and after the telescopic adjustment of the support legs is completed, if the counter force value of the target support leg is still smaller than the first threshold value set by the processor or larger than the second threshold value set by the processor, the processor can determine that the leveling of the engineering machinery fails.

In one embodiment, a processor is provided and configured to execute the control method for leveling a construction machine in any one of the above embodiments.

As shown in fig. 3, a flow chart of a control method for leveling a work machine according to an embodiment of the present application is schematically shown, and the method includes the following steps:

301, acquiring a vehicle body inclination angle of the engineering machinery;

step 302, judging whether the absolute value of the inclination angle of the vehicle body is larger than a first numerical value, if so, executing step 303; if not, go to step 305;

step 303, determining a first component and a second component of a vehicle body inclination angle;

step 304, adjusting the supporting legs according to the first component and the second component of the inclination angle of the vehicle body;

305, determining that the rough adjustment of the engineering machinery is finished, and adjusting the support reaction force;

step 306, acquiring a thrust and reaction value of the target supporting leg;

step 307, comparing the counterforce value with a first threshold value and a second threshold value;

step 308, judging whether the support force value is smaller than a first threshold value, if so, executing step 309; if not, go to step 310

Step 309, contracting any adjacent leg of the target leg, or extending the target leg or a diagonal leg of the target leg;

step 310, judging whether the support force value is larger than a second threshold value, if so, executing step 311; if not, go to step 312;

step 311, contracting the target leg or a diagonal leg of the target leg, or extending any adjacent leg of the target leg;

and step 312, determining that the engineering machinery is leveled.

The engineering machine may include a body inclination angle sensor, the processor may obtain a body inclination angle of the engineering machine through the body wall angle sensor, the processor may determine whether an absolute value of the body inclination angle of the engineering machine is greater than a first numerical value set by the processor, the processor may determine a first component and a second component of the body inclination angle and adjust the outriggers according to the first component and the second component when the absolute value of the body inclination angle is greater than the first numerical value set by the processor, the processor may adjust the outriggers according to the first component and the second component of the body inclination angle according to the adjustment method shown in fig. 2, and the processor may return to step 301 again to detect the body inclination angle after adjusting any one of the outriggers.

The work machine may comprise a plurality of legs and a reaction force sensor, wherein the reaction force sensor may be mounted on a target leg of the work machine. When the processor determines that the absolute value of the inclination angle of the body of the construction machine is smaller than or equal to the first value set by the processor, the processor may determine that the rough adjustment of the construction machine is completed, and may adjust the reaction force. The processor can acquire the supporting force value of the target supporting leg through the supporting force sensor. And detecting the counter force value, comparing the counter force value of the target leg with a first threshold and a second threshold set by the processor, and determining whether the counter force value is smaller than the first threshold set by the processor, if the counter force value is smaller than the first threshold set by the processor, the processor may retract any adjacent leg of the target leg, or extend the target leg or a diagonal leg of the target leg, for example, the processor may retract the leg adjacent to the target leg on the left side of the target leg, or retract the leg adjacent to the target leg on the right side of the target leg, or extend the leg diagonal leg of the target leg, thereby adjusting the counter force value of the target leg so that the counter force value of the target leg is greater than or equal to the first threshold set by the processor, and further, the processor may sequentially adjust the legs according to a preset sequence. After the processor adjusts any one of the legs, the process returns to step 301 again to detect the inclination angle of the vehicle body.

If the processor determines that the target leg is greater than or equal to the first threshold set by the processor, the processor may determine whether the leg reaction force value is greater than a second threshold set by the processor, and if the processor determines that the leg reaction force value of the target leg is greater than the second threshold set by the processor, the processor may extend the target leg or a diagonal leg of the target leg, or extend any adjacent leg of the target leg, for example, the processor may extend a leg adjacent to the target leg on the left side of the target leg, or extend a leg adjacent to the target leg on the right side of the target leg, or retract a leg on a diagonal leg of the target leg, thereby adjusting the leg reaction force value of the target leg so that the leg reaction force value of the target leg is less than or equal to the second threshold set by the processor, and further, the processor may sequentially adjust the legs in a preset order. After the processor adjusts any one of the legs, the process returns to step 301 again to detect the inclination angle of the vehicle body.

When the processor determines that the support reaction force value of the target support leg is greater than or equal to the first threshold value set by the processor and less than or equal to the second threshold value set by the processor, the processor can determine that the engineering machinery has finished leveling.

As shown in fig. 4, a flow chart of a control method for leveling a work machine according to another embodiment of the present application is schematically shown, and the method includes the following steps:

step 401, acquiring the attitude of the engineering machinery;

step 402, judging whether the engineering machinery is in a preset posture, and if not, executing step 403; if yes, go to step 404;

step 403, reminding the engineering machinery that the engineering machinery is not in a preset posture;

step 404, acquiring a vehicle body inclination angle of the engineering machinery;

step 405, judging whether the absolute value of the vehicle body inclination angle is larger than a first numerical value, if so, executing step 406; if not, go to step 408;

step 406, determining a first component and a second component of the inclination angle of the vehicle body;

step 407, adjusting the supporting legs according to the first component and the second component of the inclination angle of the vehicle body;

step 408, determining that the rough adjustment of the engineering machinery is completed, and adjusting the support reaction force;

step 409, acquiring a thrust reaction value of the target supporting leg;

step 410, carrying out reference comparison on the counterforce value with a first threshold value and a second threshold value;

step 411, determining whether the thrust force value is smaller than a first threshold value, if yes, executing step 412; if not, go to step 413;

step 412, shrinking any adjacent legs of the target leg, or extending the target leg or diagonal legs of the target leg;

step 413, determining whether the support force value is greater than a second threshold value, if yes, executing step 414; if not, go to step 415;

step 414, contracting the target leg or the diagonal leg of the target leg, or extending any adjacent leg of the target leg;

and 415, determining that the engineering machinery is leveled.

The engineering machinery comprises an arm support, an arm support folding signal sensor and a supporting leg opening sensor. Before the processor levels the engineering machinery, the attitude of the engineering machinery can be detected through the arm support folding signal sensor and the supporting leg opening sensor. The processor can determine the folding gesture of the arm support of the engineering machinery through the arm support folding signal sensor and determine the opening state of the supporting legs of the engineering machinery through the supporting leg opening sensor, so that whether the engineering machinery is in the preset gesture or not is judged. And/or the processor can determine that the posture of the engineering machinery is not in the preset posture set by the processor under the condition that the processor determines that the opening degree of at least one supporting leg of the engineering machinery is not in the full-open state through the supporting leg sensor. Therefore, the processor can send related instructions to remind an operator that the engineering machinery is not in the preset posture. When the processor determines that the folding gesture of the engineering machinery arm support is the preset folding gesture set by the processor through the folding signal sensor, and the processor determines that the opening degrees of all the supporting legs of the engineering machinery are all fully opened through the supporting leg sensor, the processor can determine that the gesture of the engineering machinery is the preset gesture set by the processor, the processor can acquire the inclination angle of the vehicle body of the engineering machinery, and sequentially perform the subsequent steps, wherein the content of the steps 404 to 415 is consistent with the content of the steps 301 to 312 in fig. 3. Namely, under the condition that the equipment posture of the engineering machinery is determined to be in accordance with the preset posture set by the processor, the engineering machinery is roughly adjusted by acquiring the inclination angle of the vehicle body, and after the rough adjustment is finished, the supporting legs are adjusted by acquiring the supporting reaction value of the target supporting legs, so that the supporting reaction value of the target supporting legs is greater than or equal to a first threshold value set by the processor and is less than or equal to a second threshold value set by the processor, and the leveling of the engineering machinery is finished.

According to the technical scheme, under the condition that the engineering machinery is determined to be in the preset posture, the inclination angle of the vehicle body is obtained through the vehicle body sensor, the rough adjustment of the inclination angle of the vehicle body is completed through the adjustment of the supporting legs, when the rough adjustment of the engineering machinery is completed and the supporting reaction force value of the supporting legs is adjusted, only the supporting reaction force value of one target supporting leg needs to be obtained, and therefore other supporting legs can be adjusted according to the supporting reaction force value of the target supporting leg, and the whole engineering machinery can be leveled. The supporting force value of each supporting leg does not need to be obtained, each supporting leg is respectively adjusted according to the supporting force value of each supporting leg, the leveling of the whole engineering vehicle can be realized only by obtaining the supporting force value of one supporting leg, and the adjusting system of the engineering machinery is simplified.

In one embodiment, as shown in fig. 5, a schematic diagram of a construction machine 500 is schematically illustrated, where the construction machine 500 includes: a plurality of support legs 501 for supporting the working machine 500; a support reaction force sensor 502 for acquiring a support reaction force value of the support leg; and the processor 503 described above.

In one embodiment, as shown in fig. 5, the work machine 500 further includes: an arm support 504; a cab 505; a boom fold signal sensor 506 for determining a fold attitude of the boom 504; a leg opening sensor 507 for determining an opening state of the leg; the tilt sensor 508 is configured to acquire a vehicle body tilt angle of the construction machine 500.

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

In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 6. The computer apparatus includes a processor a01, a network interface a02, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Wherein the processor a01 of the computer device is arranged to provide computing and control capabilities. The memory of the computer apparatus includes an internal memory a03 and a nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory a03 provides an environment for running the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used for storing relevant data of the engineering machine and relevant data input by an operator. The network interface a02 of the computer apparatus is used for communicating with an external terminal through a network connection. The computer program B02 is executed by the processor a01 to implement a control method for leveling a work machine.

Fig. 1 is a flow chart illustrating a control method for leveling a construction machine according to an embodiment. It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

The embodiment of the application provides equipment, the equipment comprises a processor, a memory and a program which is stored on the memory and can run on the processor, and the following steps are realized when the processor executes the program: under the condition that the attitude of the engineering machinery is in a preset attitude, acquiring a support reaction force value of a target support leg through a support reaction force sensor, wherein the target support leg is provided with the support reaction force sensor; under the condition that the thrust force value of the target supporting leg is smaller than a first threshold value, sequentially carrying out telescopic adjustment on the plurality of supporting legs according to a preset sequence so as to adjust the thrust force value of the target supporting leg; after telescopic adjustment is carried out on any one supporting leg, the counterforce value of the target supporting leg is detected again; when the reaction force value of the target outrigger is greater than or equal to the first threshold value, controlling the outrigger to stop the telescopic adjustment, and detecting whether the reaction force value of the target outrigger is greater than a second threshold value; under the condition that the thrust force value is larger than a second threshold value, sequentially carrying out telescopic adjustment on the plurality of supporting legs according to a preset sequence so as to adjust the thrust force value of the target supporting leg again; after the telescopic length of any one supporting leg is adjusted, detecting the thrust value of the target supporting leg again, and controlling the supporting leg to stop telescopic adjustment under the condition that the thrust value is less than or equal to a second threshold value; and determining that the engineering machinery completes leveling when the support reaction force value is greater than or equal to the first threshold and less than or equal to the second threshold.

In one embodiment, a target supporting leg, a first supporting leg positioned at the opposite angle of the target supporting leg, a second supporting leg positioned at the first supporting leg in the clockwise direction by taking the engineering machinery as a circle center, and a third supporting leg positioned at the first supporting leg in the anticlockwise direction by taking the engineering machinery as a circle center are arranged in advance; carry out telescopic adjustment to a plurality of landing legs in proper order according to predetermineeing includes: after the telescopic adjustment is carried out on any one supporting leg, under the condition that the duration that the supporting reaction force value is kept unchanged reaches the preset duration and the adjusted supporting reaction force value is smaller than the first threshold value, the next supporting leg is subjected to telescopic adjustment according to the preset sequence until the supporting reaction force value of the target supporting leg is larger than or equal to the first threshold value.

In one embodiment, when the multiple support legs are sequentially adjusted in a preset sequence, the telescopic adjustment is performed on each support leg in the following manner: controlling the target leg extension; controlling the first leg to extend; controlling the second support leg to contract; and controlling the third support leg to contract.

In one embodiment, when the multiple support legs are sequentially adjusted in a preset sequence, the telescopic adjustment is performed on each support leg in the following manner: controlling the target support leg to contract; controlling the first leg to contract; controlling the second leg to elongate; controlling the third leg to elongate.

In one embodiment, the engineering machinery further comprises an arm support, an arm support folding signal sensor and a support leg opening sensor, and the control method further comprises: determining the folding posture of the arm support through an arm support folding signal sensor, and determining the opening state of the supporting leg through a supporting leg opening sensor; determining that the posture of the engineering machinery is in a preset posture under the condition that the folding posture is a preset folding posture and the opening states of all supporting legs of the engineering machinery are in full opening; and under the condition that the folding state does not reach the preset folding state and/or the opening state of at least one supporting leg is not in the full-open state, determining that the posture of the engineering machinery is not in the preset posture.

In one embodiment, the work machine includes a cab, and adjusting the outriggers according to the first component and the second component such that the absolute value of the body inclination is less than or equal to a preset value includes: when the first component and the second component are both larger than a second value, controlling the support leg positioned at the left front part of the cab to perform contraction operation or the support leg positioned at the right rear part of the cab to perform extension operation; when the first component is larger than a second value and the second component is smaller than or equal to the second value, controlling a support leg positioned at the right front part of the cab to perform contraction operation or a support leg positioned at the left rear part of the cab to perform extension operation; when the first component is smaller than or equal to a second value and the second component is larger than the second value, controlling the leg at the front right of the cab to extend or the leg at the rear left of the cab to retract; and under the condition that the first component and the second component are both smaller than or equal to a second value, controlling the left front leg of the cab to extend or controlling the right rear leg of the cab to retract.

In one embodiment, after the telescopic adjustment is performed on any one supporting leg, the step of obtaining the inclination angle of the body of the engineering machine through the body inclination angle sensor is returned to, so that the engineering machine is continuously controlled until the engineering machine is determined to be leveled.

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

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element 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

1. A control method for leveling a work machine, the work machine including a plurality of legs, the control method comprising:

under the condition that the attitude of the engineering machinery is in a preset attitude, acquiring a support reaction force value of a target support leg through a support reaction force sensor, wherein the support reaction force sensor is installed on the target support leg;

after the telescopic adjustment is carried out on any one supporting leg, the counterforce value of the target supporting leg is detected again;

when the support reaction force value of the target support leg is larger than or equal to the first threshold value, controlling the support leg to stop telescopic adjustment, and detecting whether the support reaction force value of the target support leg is larger than a second threshold value;

under the condition that the thrust force value is larger than a second threshold value, sequentially carrying out telescopic adjustment on the plurality of supporting legs according to the preset sequence so as to adjust the thrust force value of the target supporting leg again;

after the telescopic length of any one support leg is adjusted, detecting the counterforce value of the target support leg again, and controlling the support leg to stop telescopic adjustment when the counterforce value is smaller than or equal to the second threshold value;

2. The control method for leveling of the engineering machine according to claim 1, wherein the predetermined sequence is the target leg, the first leg located at a diagonal of the target leg, the second leg of the first leg located clockwise with respect to the engineering machine as a center of circle of the target leg, the third leg of the first leg located counterclockwise with respect to the engineering machine as a center of circle of the target leg;

the telescopic adjustment of the plurality of supporting legs in sequence according to the preset sequence comprises the following steps:

after the telescopic adjustment is carried out on any one supporting leg, under the condition that the duration that the supporting reaction force value is kept unchanged reaches the preset duration and the adjusted supporting reaction force value is smaller than the first threshold value, carrying out telescopic adjustment on the next supporting leg according to the preset sequence until the supporting reaction force value of the target supporting leg is larger than or equal to the first threshold value.

3. The control method for leveling of a construction machine according to claim 2, wherein when the plurality of legs are telescopically adjusted in sequence in a preset order, the telescopic adjustment is performed for each leg in the following manner:

controlling the target leg extension;

controlling the first leg to elongate;

controlling the second leg to retract;

controlling the third leg to contract.

4. The control method for leveling of the engineering machine according to claim 1, wherein the predetermined sequence is the target leg, the first leg located at a diagonal of the target leg, the second leg of the first leg located clockwise with respect to the engineering machine as a center of circle of the target leg, the third leg of the first leg located counterclockwise with respect to the engineering machine as a center of circle of the target leg;

the sequentially carrying out telescopic adjustment on the plurality of supporting legs according to the preset sequence comprises the following steps:

after the telescopic adjustment is carried out on any one supporting leg, under the condition that the duration that the supporting reaction force value is kept unchanged reaches the preset duration and the adjusted supporting reaction force value is larger than the second threshold value, carrying out telescopic adjustment on the next supporting leg according to the preset sequence until the supporting reaction force value of the target supporting leg is smaller than or equal to the second threshold value.

5. The control method for leveling of a construction machine according to claim 4, wherein when the plurality of legs are adjusted in telescoping manner in turn in the preset order, the telescoping adjustment is performed for each leg in the following manner:

controlling the target leg to contract;

controlling the first leg to contract;

controlling the second leg to elongate;

controlling the third leg to elongate.

6. The control method for leveling of the engineering machinery as claimed in claim 1, wherein the engineering machinery further comprises a boom, a boom folding signal sensor and a leg opening sensor, and the control method further comprises:

determining the folding posture of the arm support through the arm support folding signal sensor, and determining the opening state of the supporting leg through the supporting leg opening sensor;

determining that the attitude of the engineering machinery is in a preset attitude when the folding attitude is a preset folding attitude and the opening states of all the supporting legs of the engineering machinery are in full opening;

and under the condition that the folding state is not reached to the preset folding state and/or the opening state of at least one supporting leg is not fully opened, determining that the posture of the engineering machinery is not in the preset posture.

7. The control method for leveling a work machine according to claim 1, wherein the work machine includes a body tilt sensor, the control method further comprising:

under the condition that the attitude of the engineering machinery is in a preset attitude, acquiring the inclination angle of the body of the engineering machinery through the body inclination angle sensor;

under the condition that the absolute value of the vehicle body inclination angle is smaller than or equal to a first numerical value, acquiring a counterforce value of the target supporting leg;

under the condition that the absolute value of the vehicle body inclination angle is larger than the first numerical value, acquiring a first component and a second component of the vehicle body inclination angle;

and adjusting the support leg according to the first component and the second component so that the absolute value of the inclination angle of the vehicle body is smaller than or equal to the first value.

8. The control method for leveling a work machine according to claim 7, wherein the work machine includes a cab, and the adjusting the outrigger according to the first component and the second component so that the absolute value of the inclination angle of the vehicle body is less than or equal to the preset value includes:

when the first component and the second component are both larger than a second value, controlling a support leg positioned at the left front part of the cab to perform contraction operation or a support leg positioned at the right rear part of the cab to perform extension operation;

when the first component is larger than the second value and the second component is smaller than or equal to the second value, controlling a leg at the front right of the cab to perform contraction operation or a leg at the rear left of the cab to perform extension operation;

when the first component is smaller than or equal to the second value and the second component is larger than the second value, controlling the leg at the front right of the cab to extend or the leg at the rear left of the cab to retract;

and under the condition that the first component and the second component are both smaller than or equal to the second numerical value, controlling the support leg at the left front of the cab to extend or the support leg at the right rear of the cab to retract.

9. The control method for leveling a construction machine according to any one of claims 1 to 8, wherein the control method further comprises:

and after the telescopic adjustment is carried out on any one supporting leg, returning to the step of acquiring the inclination angle of the body of the engineering machine through the body inclination angle sensor so as to continuously control the engineering machine until the engineering machine is determined to finish the leveling.

10. The control method for leveling a work machine according to claim 9, further comprising:

after telescopic adjustment of all the supporting legs is completed, detecting the counterforce value of the target supporting leg again;

and determining that the engineering machinery is failed to level when the support force value is smaller than the first threshold value or larger than the second threshold value.

11. A processor configured to execute the control method for leveling a work machine according to any one of claims 1 to 10.

12. A work machine, comprising:

a plurality of support legs for supporting the construction machine;

the support reaction force sensor is used for acquiring a support reaction force value of the support leg; and

the processor of claim 11.

13. The work machine of claim 12, further comprising:

a boom;

a cab;

the arm support folding signal sensor is used for determining the folding posture of the arm support;

the supporting leg opening sensor is used for determining the opening state of the supporting leg;

and the inclination angle sensor is used for acquiring the inclination angle of the vehicle body of the engineering machinery.

14. A machine-readable storage medium having instructions stored thereon, wherein the instructions, when executed by a processor, cause the processor to be configured to perform a control method for work machine leveling according to any one of claims 1-10.