Boom slewing control method, device and working machine of a working machine

Abstract

The present invention provides a boom slewing control method, device and working machine for a working machine. The method includes obtaining the inclination angle of the first boom of the boom relative to the horizontal plane and the position parameters of each outrigger; determining the support state of the outrigger according to the position parameters; and when the outrigger is not in the full support state, determining the slewing area of the boom according to the inclination angle and the position parameters, and controlling the boom to rotate within the slewing area. The present invention can realize convenient control of the safe slewing of the boom based on the postures of the outrigger and the boom, which is not only simple and convenient to control and has high reliability, but also the operator can obtain greater support flexibility within a safe and controllable range, expanding the construction scope.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and in particular, to a boom slewing control method, device and construction machinery for construction machinery. Background Art

[0002] Construction machinery is an important part of the equipment industry, mainly used for earth and stone construction, road maintenance, lifting and loading operations, etc. For construction machinery that needs to perform slewing operations, construction machinery generally includes concrete pumps, cranes, fire trucks, etc.

[0003] When the boom performs slewing operations, in order to ensure the stability of the body of the construction machinery, a plurality of outriggers are provided on the chassis of the construction machinery. For example, a concrete pump is provided with four outriggers, namely two telescopic outriggers arranged on the front side and two swing outriggers arranged on the rear side. In this way, based on the auxiliary support provided by the outriggers, it can be ensured that the body of the construction machinery will not overturn when the boom slews, so as to ensure the slewing safety of the boom.

[0004] In the related art, when calculating the safe slewing range of the boom, it is necessary to measure the center of gravity of the whole vehicle under various extreme working conditions of the construction machinery and input it into the three-dimensional model of the construction machinery in advance for real-time calculation. This calculation method is not only time-consuming and laborious, has high requirements for the working environment of the construction machinery, and is difficult to measure the center of gravity of the whole vehicle, but also it is difficult to conveniently control the safe slewing of the boom based on the postures of the outriggers and the boom. Summary of the Invention

[0005] The present invention provides a boom slewing control method, device and construction machinery for construction machinery, which are used to solve or improve the problem that it is currently difficult to conveniently control the safe slewing of the boom based on the postures of the outriggers and the boom.

[0006] The present invention provides a boom slewing control method for construction machinery, including: obtaining the inclination angle of the first section of the boom relative to the horizontal plane, and the position parameters of each outrigger; determining the support state of the outrigger according to the position parameters; when the outrigger is not in the full support state, determining the slewing area of the boom according to the inclination angle and the position parameters, and controlling the boom to rotate within the slewing area.

[0007] A boom slewing control method for a construction machine according to the present invention. The step of determining the slewing area of the boom based on the inclination angle and the position parameter and controlling the boom to rotate within the slewing area includes: determining the vertical state of the first boom according to the inclination angle; determining the radiation angle of the support area formed by each outrigger relative to the slewing center of the boom according to the position parameter; when the first boom is in the vertical state and the radiation angle is less than 360°, determining the slewing area according to the support area and controlling the boom to rotate within the slewing area; wherein, the radiation angle is the included angle between the head and the tail of the sequential connection of each outrigger relative to the slewing center, the support area is located within the slewing area, and the slewing angle corresponding to the slewing area is the sum of the radiation angle and the angle increment.

[0008] A boom slewing control method for a construction machine according to the present invention. The step of determining the slewing area according to the support area when the first boom is in the vertical state and the radiation angle is less than 360° includes: when the first boom is in the vertical state and the radiation angle is less than 180°, determining that the slewing angle corresponding to the slewing range is 180°.

[0009] A boom slewing control method for a construction machine according to the present invention. The step of determining the slewing area according to the support area when the first boom is in the vertical state and the radiation angle is less than 360° includes: when it is determined that the two ends of the sequential connection of each outrigger are a telescopic outrigger and a swinging outrigger respectively, the part of the slewing range that extends beyond the support area is located near the position where the telescopic outrigger is located; or, when it is determined that the two ends of the sequential connection of each outrigger are both telescopic outriggers, the part of the slewing range that extends beyond the support area is located near at least one of the two telescopic outriggers.

[0010] A boom slewing control method for a construction machine according to the present invention. The step of determining the slewing area of the boom based on the inclination angle and the position parameter and controlling the boom to rotate within the slewing area further includes: when the first boom is in the inclined state and the radiation angle is less than 360°, determining that the slewing area coincides with the support area and controlling the boom to slewing within the support area; when the first boom is in the inclined state and the radiation angle is equal to 360°, controlling the boom to rotate at any angle without limitation.

[0011] A boom slewing control method for a construction machine provided by the present invention further includes: when the outriggers are in the full support state, controlling the boom to rotate at any angle without limitation.

[0012] The present invention also provides a boom slewing control device for a construction machine, including:

[0013] An acquisition module for acquiring the inclination angle of the first section of the boom relative to the horizontal plane and the position parameters of each outrigger;

[0014] A determination module for determining the support state of the outrigger according to the position parameters;

[0015] A control module for, when the outrigger is not in the full support state, determining the slewing area of the boom according to the inclination angle and the position parameters, and controlling the boom to rotate within the slewing area.

[0016] The present invention also provides a construction machine, including: an inclination angle sensor, a position sensor and a controller; the inclination angle sensor and the position sensor are respectively connected to the controller, and the controller is connected to the slewing mechanism of the construction machine; a computer program is stored on the controller, and when the computer program is executed by the controller, the steps of the boom slewing control method for the construction machine described in any one of the above are implemented; wherein, the inclination angle sensor is used to detect the inclination angle of the first section of the boom relative to the horizontal plane, and the position sensor is used to detect the position parameters of each outrigger.

[0017] The present invention also provides an electronic device, including a memory, a processor and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the steps of the boom slewing control method for the construction machine described in any one of the above are implemented.

[0018] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the boom slewing control method for the construction machine described in any one of the above are implemented.

[0019] A boom slewing control method, device and construction machine provided by the present invention comprehensively consider the influence of the distribution state of each outrigger and the inclination state of the first boom on the overall vehicle stability. According to the position parameters of each outrigger, the support state of each outrigger can be determined. When it is determined that the outriggers are not in the full support state, according to the inclination angle of the first boom and the position parameters of each outrigger, the slewing area of the boom is determined, and the boom is controlled to rotate within the slewing area, so as to realize convenient control of the safe slewing of the boom based on the postures of the outriggers and the boom. It is not only simple and convenient to control, but also has high reliability. Moreover, the operator can obtain greater support flexibility within the safe and controllable range, expanding the construction scope. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 is one of the flow schematic diagrams of the boom slewing control method of the construction machine provided by the present invention;

[0022] Figure 2 is the second of the flow schematic diagrams of the boom slewing control method of the construction machine provided by the present invention;

[0023] Figure 3 is the front view structural schematic diagram of the construction machine provided by the present invention;

[0024] Figure 4 is the top view structural schematic diagram of the construction machine provided by the present invention when each outrigger is in the full support state;

[0025] Figure 5 is the first of the top view structural schematic diagrams of the construction machine provided by the present invention when each outrigger is in the single-side support state;

[0026] Figure 6 is the second of the top view structural schematic diagrams of the construction machine provided by the present invention when each outrigger is in the single-side support state;

[0027] Figure 7 is the structural schematic diagram of the boom slewing control device of the construction machine provided by the present invention;

[0028] Figure 8 is the structural schematic diagram of the electronic device provided by the present invention;

[0029] Reference numerals:

[0030] 1: Chassis; 2: Outriggers; 3: Slewing mechanism;

[0031] 4: Boom; 11: Inclination sensor; 12: Position sensor. Specific implementation mode

[0032] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts belong to the scope of protection of the present invention.

[0033] The following is combined with Figures 1 - 8 Describe a boom slewing control method, device and working machine of the present invention.

[0034] As Figure 1 shown, this embodiment provides a boom slewing control method for a working machine. The execution subject of this method can be the travel controller on the working machine or a server. The server is communicatively connected to the travel controller. This method includes the following steps:

[0035] Step 110, obtain the inclination angle of the first section of the boom relative to the horizontal plane, and the position parameters of each outrigger.

[0036] Among them, the first section of the boom shown in this embodiment refers to a section of the boom directly connected to the slewing mechanism of the working machine. Since the first section of the boom is larger in volume and weight than other sections of the boom, and the first section of the boom is a key component connecting other sections of the boom to the slewing mechanism, when the boom is in the unfolded state, compared with other sections of the boom except the first section of the boom, the inclination state of the first section of the boom will directly affect the overall stability of the working machine.

[0037] As Figure 3 shown, in this embodiment, the inclination angle α of the first section of the boom relative to the horizontal plane can be detected by the inclination sensor S3 installed on the first section of the boom to obtain the inclination state information of the first section of the boom.

[0038] At the same time, in this embodiment, the position parameters of each outrigger can be obtained by a visual acquisition device, such as an industrial camera, to obtain the position parameters of each outrigger based on the image processing of the overhead view picture. Here, the position parameters of each outrigger are specifically the position information of each outrigger relative to the slewing center of the boom.

[0039] As Figure 4As shown in the figure, for a concrete pump truck, since the pump truck has four outriggers, namely two telescopic outriggers provided at the front side and two swing outriggers provided at the rear side, in this embodiment, the distance that the telescopic outrigger extends can be detected by a wire rope sensor S1 to obtain the position information of the end of the telescopic outrigger relative to the slewing center. At the same time, in this embodiment, the angle β of the swing outrigger swinging relative to the body of the working machine can be detected by an angle sensor S2 to obtain the position information of the end of the swing outrigger relative to the slewing center.

[0040] Step 120: Determine the support state of the outrigger according to the position parameter.

[0041] Among them, the support states of the outriggers of the working machine include full support state, single-side support state, front support state, rear support state, etc. For example, when the working machine is a concrete pump truck, since the pump truck has four outriggers, when the four outriggers are fully extended and provide support for the body of the pump truck, the pump truck is in the full support state. When two outriggers on the left or right side of the pump truck are put into use, the pump truck is in the single-side support state. When two outriggers on the front side of the pump truck are put into use, the pump truck is in the front support state. When two outriggers on the rear side of the pump truck are put into use, the pump truck is in the rear support state. Obviously, when the pump truck is in other support states except the full support state, the outriggers of the pump truck are not in the full support state.

[0042] Step 130: In the case that the outrigger is not in the full support state, determine the slewing area of the boom according to the inclination angle and the position parameter, and control the boom to rotate within the slewing area.

[0043] Here, in this embodiment, considering the influence of the distribution state of each outrigger and the inclination state of the first section of the boom on the overall vehicle stability, the support state of each outrigger can be determined according to the position parameter of each outrigger. When it is determined that the outrigger is not in the full support state, since the body of the working machine is not in a stable support state, in order to ensure the safety of the boom slewing, in this embodiment, the slewing area of the boom can be determined according to the inclination angle of the first section of the boom and the position parameter of each outrigger, and the boom is controlled to rotate within the slewing area, so as to realize the convenient control of the safe slewing of the boom based on the postures of the outrigger and the boom. It is not only simple and convenient to control and has high reliability, but also the operator can obtain greater support flexibility within a safe and controllable range, expanding the construction scope.

[0044] Further, when the outrigger is not in the full support state, in order to more conveniently control the safe slewing of the boom and control the boom to perform slewing operations within a larger slewing range within the safe range as much as possible, determining the slewing area of the boom according to the inclination angle and the position parameter and controlling the boom to rotate within the slewing area shown in this embodiment includes but is not limited to the following steps:

[0045] Determine the vertical state of the first boom section according to the inclination angle of the first boom section; determine the radiation angle of the support area formed by each outrigger relative to the slewing center of the boom according to the position parameters of each outrigger.

[0046] When the first boom section is in the vertical state and the radiation angle is less than 360°, determine the slewing area according to the support area, and control the boom to rotate within the slewing area.

[0047] Among them, the radiation angle is the included angle between the head and the tail of the sequential connection of each outrigger relative to the slewing center. The support area is located within the slewing area, and the slewing angle corresponding to the slewing area is the sum of the radiation angle and the angle increment.

[0048] Specifically, when the working machine has multiple outriggers, in this embodiment, each outrigger can be sequentially connected. Then, the first connection line formed by the head of the sequential connection and the slewing center, the sequential connection of each outrigger, and the second connection line formed by the tail of the sequential connection and the slewing center enclose the support area shown in this embodiment. For example, when only one telescopic outrigger and one swing outrigger are used during the operation of the working machine, the fan-shaped area formed between the telescopic outrigger and the swing outrigger is the support area shown in this embodiment, and the central angle corresponding to the fan-shaped area is the radiation angle shown in this embodiment.

[0049] Here, the support area shown in this embodiment is located within the slewing range. It can be understood that the projection area of the support area formed by each outrigger on the horizontal plane is located within the projection area of the slewing range of the boom on the horizontal plane.

[0050] Among them, in order to ensure the slewing safety of the working machine, the angle increment shown in this embodiment is specifically determined according to the area of the support area, the number of actually used outriggers, and the types of outriggers corresponding to the head and the tail of the sequential connection of each outrigger. In this embodiment, the size of the angle increment can be set to 30° - 90°. For example, the angle increment can specifically be 30°, 45°, 60°, 75°, 90°, etc., and no specific limitation is made here.

[0051] Specifically, by obtaining the inclination state information of the first boom section of the boom and the position information of each outrigger relative to the slewing center of the boom, in this embodiment, when the first boom section is in the vertical state and each outrigger forms a single-sided support for the working machine, the slewing range of the boom can be appropriately expanded on the basis of the support area, so as to realize controlling the boom to perform slewing operations within a large slewing range within the safe range as much as possible. This is not only simple and convenient to control and highly reliable, but also the operator can obtain greater support flexibility within the safe and controllable range, expanding the construction range.

[0052] Further, when the first boom is in a vertical state and the radiation angle is less than 360°, determining the slewing range of the boom according to the support area includes, but is not limited to, the following steps:

[0053] When the first boom is in a vertical state and the radiation angle is less than 180°, determine that the slewing angle corresponding to the slewing range is 180°.

[0054] Such as Figure 2 、 Figure 5 and Figure 6 As shown, when the radiation angle is less than 180°, the outriggers actually used on the working machine form a unilateral support for the body of the working machine. Since the first boom of the working machine is in a vertical state in this support state, it can be determined that the center of gravity of the working machine is near the body. Therefore, in this embodiment, based on the support area formed by the outriggers, the slewing range of the boom of the working machine can be increased to 180°, and it is ensured that the working machine does not tip over during the slewing of the boom.

[0055] Further, based on the form of the unilateral support formed by the outriggers on the body of the working machine, when the first boom is in a vertical state and the radiation angle is less than 360°, determining the slewing range of the boom according to the support area includes, but is not limited to, the following steps:

[0056] When it is determined that the two ends of the sequential connection of each outrigger are a telescopic outrigger and a swing outrigger respectively, the part of the slewing range outside the support area is located near the position where the telescopic outrigger is located; or, when it is determined that the two ends of the sequential connection of each outrigger are telescopic outriggers, the part of the slewing range outside the support area is located near the position where at least one of the two telescopic outriggers is located.

[0057] For the convenience of understanding, taking the actual application scenario of the unilateral support formed by the outriggers on the concrete pump truck as an example, the solution shown in the above embodiment is specifically described as follows.

[0058] Such as Figure 5 As shown, when the concrete pump truck is in use and is restricted by the working area and only the telescopic outrigger and the swing outrigger on the left side of the concrete pump truck are allowed to support, this embodiment can determine the support area according to the telescopic length of the telescopic outrigger and the swing angle of the swing outrigger relative to the body. Since the support force of the telescopic outrigger on the body is often greater than the support force of the swing outrigger on the body, this embodiment can make the part of the slewing range outside the support area be located near the position where the telescopic outrigger is located.

[0059] Among them, Figure 5 in, the triangular area filled with horizontal lines represents the support area K11 formed by the two outriggers, and the fan-shaped area filled with diagonal lines represents the slewing range K21 of the boom.

[0060] As Figure 6 shown, when the concrete pump truck is in use, due to the limitation of the working area, only the telescopic outriggers on the left side and the right side of the concrete pump truck are allowed to support. In this embodiment, the support area can be determined according to the telescopic lengths of the two telescopic outriggers. Since the two telescopic outriggers can both form a large supporting force on the vehicle body, in this embodiment, the parts of the slewing range that exceed the support area can be respectively arranged near the positions where the two telescopic outriggers are located.

[0061] Among them, Figure 6 in, the triangular area filled with horizontal lines represents the support area K12 formed by the two outriggers, and the fan-shaped area filled with diagonal lines represents the slewing range K22 of the boom. Here, in this embodiment, the parts of the slewing range that exceed the support area can also be arranged near the positions where the left or right telescopic outriggers are located.

[0062] Preferably, the method shown in this embodiment further includes: when the first section of the boom is in the vertical state and the radiation angle is equal to 360°, controlling the boom to rotate at any angle without limitation.

[0063] As Figure 2 and Figure 4 shown, when the radiation angle is equal to 360°, it indicates that all the outriggers of the working machine are in use to stably support the vehicle body of the working machine. Here, based on the supporting effect of each outrigger, the vehicle body of the working machine has good stability, so that the boom can be controlled to rotate at any angle without limitation.

[0064] Preferably, the method shown in this embodiment further includes: when the first section of the boom is in the inclined state and the radiation angle is less than 360°, determining that the slewing range of the boom coincides with the support area, and controlling the boom to slewing within the support area.

[0065] Specifically, since when the radiation angle is less than 360°, the outriggers in use form a unilateral support on the vehicle body of the working machine, and when the first section of the boom is in the inclined state, the center of gravity of the working machine may deviate from the vehicle body. To ensure the safety of the slewing of the boom of the working machine, in this embodiment, the boom can only be controlled to slewing within the range defined by the support area.

[0066] Preferably, the method shown in this embodiment further includes: when the first section of the boom is in the inclined state and the radiation angle is equal to 360°, controlling the boom to rotate at any angle without limitation.

[0067] Specifically, when the radiation angle is equal to 360°, all outriggers of the working machine are put into use and fully support the vehicle body. Although the first boom is in an inclined state, based on the stable support provided by each outrigger to the vehicle body, in this embodiment, the boom can be controlled to rotate at any angle without limitation, and the working machine can be prevented from tipping over.

[0068] Preferably, the method shown in this embodiment further includes: when the outriggers are in a fully supported state, regardless of whether the first boom is in a vertical state or an inclined state, the boom can be controlled to rotate at any angle without limitation.

[0069] Next, the boom slewing control device of the working machine provided by the present invention will be described. The boom slewing control device of the working machine described below can be correspondingly referred to the boom slewing control method of the working machine described above.

[0070] As Figure 7 shown, this embodiment also provides a boom slewing control device of a working machine, including:

[0071] An acquisition module 710, configured to acquire the inclination angle of the first boom of the boom relative to the horizontal plane, and the position parameters of each outrigger;

[0072] A determination module 720, configured to determine the support state of the outrigger according to the position parameters;

[0073] A control module 730, configured to determine the slewing area of the boom according to the inclination angle and the position parameters when the outrigger is not in a fully supported state, and control the boom to rotate within the slewing area.

[0074] Specifically, the device shown in this embodiment comprehensively considers the influence of the distribution state of each outrigger and the inclination state of the first boom of the boom on the overall vehicle stability. It can determine the support state of each outrigger according to the position parameters of each outrigger. When it is determined that the outrigger is not in a fully supported state, it determines the slewing area of the boom according to the inclination angle of the first boom and the position parameters of each outrigger, and controls the boom to rotate within the slewing area, so as to realize the convenient and safe slewing control of the boom based on the postures of the outrigger and the boom. It is not only simple and convenient to control, but also has high reliability. Moreover, the operator can obtain greater support flexibility within a safe and controllable range, expanding the construction scope.

[0075] As Figure 3 And Figure 4 shown, this embodiment also provides a working machine, including a chassis 1, a plurality of outriggers 2, a slewing mechanism 3 and a boom 4; the plurality of outriggers 2 are respectively connected to the chassis 1, the slewing mechanism 3 is arranged on the chassis 1, and the first boom of the boom 4 is connected to the slewing mechanism 3.

[0076] Furthermore, the construction machine shown in this embodiment further includes: an inclination sensor 11, a position sensor 12, and a controller; the inclination sensor 11 and the position sensor 12 are respectively connected to the controller, and the controller is communicatively connected to the slewing mechanism 3 of the construction machine for controlling the slewing of the slewing mechanism 3; a computer program is stored on the controller, and when the computer program is executed by the controller, the steps of the boom slewing control method of the construction machine described in any one of the above are implemented. The controller shown in this embodiment can be the travel controller or the server of the construction machine, and no specific limitation is made here.

[0077] Among them, the inclination sensor 11 is used to detect the inclination angle of the first section of the boom 4 relative to the horizontal plane, and the position sensor 12 is used to detect the position parameters of each outrigger. In the case where the outrigger is a telescopic outrigger, the position sensor can be a wire rope sensor well known in the art for detecting the telescopic length of the telescopic outrigger; in the case where the outrigger is a swing-type outrigger, the position sensor can be an angle sensor well known in the art for detecting the swing angle of the swing-type outrigger relative to the body of the construction machine.

[0078] Specifically, since the construction machine shown in this embodiment can implement the boom slewing control method of the construction machine as described above, the construction machine includes all the technical solutions of the above embodiment. Therefore, it has at least all the beneficial effects brought by all the above technical solutions, which will not be elaborated here one by one.

[0079] Here, it should be noted that the construction machine shown in this embodiment includes a concrete pump truck, a crane, a fire truck, etc., and no specific limitation is made here.

[0080] Figure 8 An example of the physical structure diagram of an electronic device is shown as Figure 8 shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840. Among them, the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 can call the logical instructions in the memory 830 to execute the boom slewing control method of the construction machine, and the method includes: obtaining the inclination angle of the first section of the boom relative to the horizontal plane, and the position parameters of each outrigger; determining the support state of the outrigger according to the position parameters; in the case where the outrigger is not in the full support state, determining the slewing area of the boom according to the inclination angle and the position parameters, and controlling the boom to rotate within the slewing area.

[0081] In addition, when the logical instructions in the above-mentioned memory 830 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0082] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the boom slewing control method of the working machine provided by the above-mentioned various methods. The method includes: obtaining the inclination angle of the first boom of the boom relative to the horizontal plane and the position parameters of each outrigger; determining the support state of the outriggers according to the position parameters; and when the outriggers are not in the full support state, determining the slewing area of the boom according to the inclination angle and the position parameters, and controlling the boom to rotate within the slewing area.

[0083] On another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the boom slewing control method of the working machine provided by the above-mentioned various methods. The method includes: obtaining the inclination angle of the first boom of the boom relative to the horizontal plane and the position parameters of each outrigger; determining the support state of the outriggers according to the position parameters; and when the outriggers are not in the full support state, determining the slewing area of the boom according to the inclination angle and the position parameters, and controlling the boom to rotate within the slewing area.

[0084] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0085] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can 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 can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A boom slewing control method for a work machine, characterized in that, Including: Obtaining the inclination angle of the first section of the boom relative to the horizontal plane and the position parameters of each outrigger; Determining the support state of the outriggers according to the position parameters; When the outriggers are not in the full support state, determining the slewing area of the boom according to the inclination angle and the position parameters, and controlling the boom to rotate within the slewing area; The step of determining the slewing area of the boom according to the inclination angle and the position parameters and controlling the boom to rotate within the slewing area includes: Determining the vertical state of the first section of the boom according to the inclination angle; Determining the radiation angle of the support area formed by each outrigger relative to the slewing center of the boom according to the position parameters; When the first section of the boom is in the vertical state and the radiation angle is less than 360°, determining the slewing area according to the support area and controlling the boom to rotate within the slewing area; Wherein, the radiation angle is the included angle between the head and the tail of the sequential connection line of each outrigger relative to the slewing center, the support area is located within the slewing area, and the slewing angle corresponding to the slewing area is the sum of the radiation angle and the angle increment.

2. The boom slewing control method of the construction machine according to claim 1, wherein, The step of determining the slewing area according to the support area when the first section of the boom is in the vertical state and the radiation angle is less than 360° includes: When the first section of the boom is in the vertical state and the radiation angle is less than 180°, determining that the slewing angle corresponding to the slewing area is 180°.

3. The boom slewing control method of the construction machine according to claim 1, wherein The step of determining the slewing area according to the support area when the first section of the boom is in the vertical state and the radiation angle is less than 360° includes: When it is determined that the two ends of the sequential connection line of each outrigger are a telescopic outrigger and a swing outrigger respectively, the part of the slewing area exceeding the support area is located near the position where the telescopic outrigger is located; Or, when it is determined that the two ends of the sequential connection line of each outrigger are both telescopic outriggers, the part of the slewing area exceeding the support area is located near the position of at least one of the two telescopic outriggers.

4. The boom slewing control method of the construction machine according to claim 1, characterized in that, The step of determining the slewing area of the boom according to the inclination angle and the position parameters and controlling the boom to rotate within the slewing area further includes: When the first section of the boom is in the inclined state and the radiation angle is less than 360°, determining that the slewing area coincides with the support area and controlling the boom to slewing within the support area; When the first section of the boom is in the inclined state and the radiation angle is equal to 360°, controlling the boom to rotate at any angle without limitation.

5. The boom slewing control method of the construction machine according to any one of claims 1 to 4, characterized in that, Also including: When the outriggers are in the full support state, controlling the boom to rotate at any angle without limitation.

6. An arm slewing control device for a working machine, characterized in that, Including: An acquisition module for acquiring the inclination angle of the first section of the boom relative to the horizontal plane and the position parameters of each outrigger; A determination module for determining the support state of the outriggers according to the position parameters; A control module, configured to determine a slewing area of the boom according to the inclination angle and the position parameter when the outrigger is not in the full support state, and control the boom to rotate within the slewing area; The step of determining the slewing area of the boom according to the inclination angle and the position parameter and controlling the boom to rotate within the slewing area includes: Determining the vertical state of the first boom section according to the inclination angle; Determining a radiation angle of a support area formed by each outrigger relative to the slewing center of the boom according to the position parameter; When the first boom section is in the vertical state and the radiation angle is less than 360°, determining the slewing area according to the support area and controlling the boom to rotate within the slewing area; Wherein, the radiation angle is an included angle between the head and the tail of the sequential connection of each outrigger relative to the slewing center, the support area is located within the slewing area, and a slewing angle corresponding to the slewing area is the sum of the radiation angle and an angle increment.

7. An earth moving machinery, characterized in that Including: An inclination angle sensor, a position sensor and a controller; The inclination angle sensor and the position sensor are respectively connected to the controller, and the controller is connected to a slewing mechanism of the earth moving machinery; A computer program is stored on the controller, and when the computer program is executed by the controller, the steps of the boom slewing control method of the earth moving machinery according to any one of claims 1 to 5 are implemented; Wherein, the inclination angle sensor is used to detect an inclination angle of the first boom section relative to a horizontal plane, and the position sensor is used to detect position parameters of each outrigger.

8. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, the steps of the boom slewing control method of the earth moving machinery according to any one of claims 1 to 5 are implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the boom slewing control method of the earth moving machinery according to any one of claims 1 to 5 are implemented.

Images