Control Method, Controller, Device and Engineering Equipment for Outriggers of Engineering Equipment

Abstract

The present invention relates to the technical field of construction machinery, and discloses a control method, a controller, a device and a construction equipment for the outriggers of construction equipment. The construction equipment includes a boom and outriggers, and the control method includes: in response to a received outrigger control instruction, obtaining the attitude of the boom, wherein the outrigger control instruction includes a horizontal control instruction for swinging or extending / retracting the outrigger and a vertical control instruction for adjusting the elongation of the outrigger; obtaining the force state of the outrigger corresponding to the outrigger control instruction; and restricting the vertical control and horizontal control of the corresponding outrigger when the attitude is that the boom is not fully retracted and the force state is that the force value is greater than a preset threshold. It can avoid the safety hazards caused by the outrigger valve responding to the outrigger control instruction, use the machine to make judgments and restrictions, avoid human subjective judgments and unrestricted operations, the reliability of the equipment control response is higher, improve the operation safety of the equipment, and meet the requirements of the industry standards for the operation safety of the equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and particularly relates to a control method, a controller, a device and a construction equipment for the outriggers of construction equipment. Background Art

[0002] When a construction equipment is operating, outriggers can be used to support the equipment to keep the whole machine stable. Taking a concrete pump truck as an example, a concrete pump truck is a construction machinery that can continuously transport concrete along a pipeline under pressure. A concrete pump truck generally consists of five parts: a boom, a pumping system, a hydraulic system, a support system, and an electric control system. When the concrete pump truck is operating, there is a working condition where only three outriggers support the truck while one outrigger is suspended. Although the concrete pump truck will not tip over at this time, when supported by three outriggers, the anti-vibration stability of the concrete pump truck will be severely reduced. Even sometimes, the outriggers repeatedly bounce from the ground (which can be understood as the outrigger leaving the ground being in a repeated state of "contacting the ground - leaving the ground", and the reason is caused by the vibration of the boom and the flexibility of the vehicle body), which is equivalent to periodically introducing an external force, making it easier to cause excitation to the vehicle body and being reflected as large vibrations of the boom and the placing point. This process seriously affects the operation safety. For example, there may be adverse consequences such as the boom hitting people, the placing point being unstable, throwing materials, and wasting materials due to spilling. In order to avoid the situation of three-outrigger support during operation, the operator of the concrete pump truck will readjust the elongation of the outriggers after the boom is unfolded, and it is easy to break the force balance during the adjustment process, resulting in operation risks. Summary of the Invention

[0003] In order to overcome the deficiencies of the prior art, embodiments of the present invention provide a control method, a controller, a device and a construction equipment for the outriggers of construction equipment.

[0004] To achieve the above object, a first aspect of the present invention provides a control method for the outriggers of construction equipment. The construction equipment includes a boom and outriggers, and the control method includes:

[0005] In response to receiving an outrigger control instruction, obtain the attitude of the boom, where the outrigger control instruction includes a horizontal control instruction for swinging or extending the outrigger and a vertical control instruction for adjusting the elongation of the outrigger;

[0006] Obtain the force state of the outrigger corresponding to the outrigger control instruction;

[0007] When the attitude is that the boom is not fully retracted and the force state is that the force value is greater than a preset threshold, restrict the vertical control and horizontal control of the corresponding outrigger.

[0008] In an embodiment of the present invention, the control method further includes:

[0009] Release the restriction on the vertical control of the corresponding outrigger under any of the following circumstances:

[0010] The attitude is that the boom is fully retracted;

[0011] The posture is that the boom is not fully retracted, and the force state is that the force value is not greater than the preset threshold.

[0012] In an embodiment of the present invention, the control method further includes:

[0013] The horizontal control of the corresponding outrigger is restricted in any of the following situations:

[0014] The posture is that the boom is not fully retracted;

[0015] The posture is a state where the boom is fully retracted, and the force state is a state where the force value is greater than the preset threshold.

[0016] In an embodiment of the present invention, the control method further includes:

[0017] When the posture is in the fully retracted arm state and the force state is that the force value is not greater than a preset threshold, the restriction on the horizontal control of the corresponding outrigger is released.

[0018] A second aspect of the present invention provides a controller configured to execute the above-mentioned control method for an outrigger of engineering equipment.

[0019] A third aspect of the present invention provides a control device for engineering equipment, comprising:

[0020] Boom sensor, used to detect the posture of the boom;

[0021] The outrigger controller is used to generate outrigger control instructions, wherein the outrigger control instructions include: horizontal control instructions for swinging or extending and retracting the outriggers, and vertical control instructions for adjusting the outrigger extension;

[0022] Outrigger sensor, used to detect the stress state of the outrigger;

[0023] An outrigger valve, used to drive the outrigger to perform an action in response to an outrigger control instruction; and

[0024] The controller described above.

[0025] In an embodiment of the present invention, the boom sensor includes a travel switch, and the controller is further configured to:

[0026] When the travel switch detects that the boom is in the folded position, the posture is determined to be in the fully folded state of the boom.

[0027] In an embodiment of the present invention, the boom sensor includes a rotary encoder and an inclination sensor, and the controller is further configured to:

[0028] Determine the angle of the turntable of the engineering equipment based on the rotary encoder;

[0029] Determine the angle of the boom according to the inclination sensor;

[0030] Identify the posture based on the angle of the turntable and the angle of the boom.

[0031] In the embodiment of the present invention, the outrigger sensor includes a pressure switch, and the controller is further configured to:

[0032] Determine the force state according to the outrigger oil pressure detected by the pressure switch;

[0033] In the embodiment of the present invention, the outrigger sensor includes a proximity switch, and the controller is further configured to:

[0034] Determine the off - ground state of the outrigger according to the dead - band of the outrigger pedal detected by the proximity switch;

[0035] When the off - ground state is that the outrigger has not left the ground, determine that the force value of the outrigger is greater than a preset threshold.

[0036] The fourth aspect of the present invention provides an engineering device, including:

[0037] A boom;

[0038] Outriggers;

[0039] The above - mentioned control device for engineering equipment.

[0040] In the embodiment of the present invention, the engineering device includes a pump truck.

[0041] The fifth aspect of the present invention provides a machine - readable storage medium, on which instructions are stored, and these instructions are used to make a machine execute the above - mentioned control method for the outriggers of engineering equipment.

[0042] During the manual adjustment of the outriggers (horizontal control and / or vertical control), misoperations may occur. It is possible that the outriggers of the engineering equipment execute actions without ensuring that the engineering equipment reaches a relatively safe state, which can easily lead to danger. In the embodiment of the present invention, the outrigger control instructions include horizontal control instructions and / or vertical control instructions. The horizontal control instructions can be understood as the swing or expansion / retraction of the outriggers in the horizontal direction, and the vertical control instructions can be understood as the adjustment of the elongation amount of the outriggers in the vertical direction.

[0043] When a outrigger control instruction is received, obtain the attitude of the boom and the force state of the outrigger corresponding to the outrigger control instruction; in the case where the attitude is that the boom is not fully retracted and the force state is that the force value is greater than a preset threshold, at this time, it can be determined that there are risks in both the vertical control and the horizontal control of the outrigger. Therefore, both the vertical control and the horizontal control of the corresponding outrigger are restricted, which can avoid potential safety hazards caused by the outrigger valve responding to the outrigger control instruction. Using a machine for judgment and restriction avoids subjective human judgment and unrestricted operations, and the reliability of the equipment control response is higher, improving the safety of equipment operation and meeting the requirements of industry standards for equipment operation safety. Description of the Drawings

[0044] The drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation to the embodiments of the present invention. In the drawings:

[0045] Figure 1 Schematically shows one of the flowcharts of the control method for the outriggers of an engineering equipment according to an embodiment of the present invention;

[0046] Figure 2 Schematically shows one of the schematic diagrams of an engineering equipment according to an embodiment of the present invention;

[0047] Figure 3 Schematically shows a second schematic diagram of an engineering equipment according to an embodiment of the present invention;

[0048] Figure 4 Schematically shows a third schematic diagram of an engineering equipment according to an embodiment of the present invention;

[0049] Figure 5 Schematically shows the hardware block diagram of an engineering equipment according to an embodiment of the present invention;

[0050] Figure 6 Schematically shows a second flowchart of the control method for the outriggers of an engineering equipment according to an embodiment of the present invention;

[0051] Figure 7 Schematically shows one of the state diagrams of the outrigger pedal according to an embodiment of the present invention;

[0052] Figure 8 Schematically shows a second state diagram of the outrigger pedal according to an embodiment of the present invention;

[0053] Figure 9 Schematically shows a third flowchart of the control method for the outriggers of an engineering equipment according to an embodiment of the present invention;

[0054] Figure 10Schematically shows the fourth flowchart of the control method for the outriggers of an engineering device according to an embodiment of the present invention.

[0055] Description of Reference Numerals

[0056] 10 - Boom; 11 - Outrigger

[0057] 17 - Outrigger piston connecting rod; 18 - Outrigger pedal Detailed Embodiment

[0058] The following details the specific embodiments of the embodiments of the present invention in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only for the purpose of illustrating and explaining the embodiments of the present invention, and are not used to limit the embodiments of the present invention.

[0059] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present application, then such directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0060] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, then such descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those skilled in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0061] Figure 1 Schematically shows the first flowchart of the control method for the outriggers of an engineering device according to an embodiment of the present invention. The engineering device includes a boom 10 and outriggers 11. As Figure 1 shown, in an embodiment of the present invention, a control method for the outriggers of an engineering device is provided, including the following steps:

[0062] Step 101, in response to receiving an outrigger control instruction, obtain the posture of the boom 10, where the outrigger control instruction includes a horizontal control instruction for swinging or extending / retracting the outrigger and a vertical control instruction for adjusting the outrigger elongation;

[0063] Step 102, obtain the force state of the outrigger 11 corresponding to the outrigger control instruction;

[0064] Step 103: When the posture is that the boom is not fully retracted and the stress state is that the stress value is greater than the preset threshold, restrict the vertical control and horizontal control of the corresponding outrigger 11.

[0065] Figure 2 FIG. 1 schematically shows one of the schematic diagrams of the engineering equipment according to an embodiment of the present invention. Refer to Figure 2 , the engineering equipment includes a boom 10 and outriggers 11. In Figure 2 , the engineering equipment is taken as a concrete pump truck as an example for illustration. When the engineering equipment is operating, the outriggers 11 can be used to support and keep the whole machine stable. Generally, the engineering equipment includes multiple outriggers 11. It should be noted that Figure 2 the posture of the boom 10 in FIG. 2 is the fully retracted state of the boom, that is, a relatively safe state where the boom 10 is completely retracted in place. Figure 3 FIG. 3 schematically shows a second schematic diagram of the engineering equipment according to an embodiment of the present invention. Figure 4 FIG. 4 schematically shows a third schematic diagram of the engineering equipment according to an embodiment of the present invention. Figure 3 and Figure 4 the posture of the boom 10 in FIG. 4 is the state where the boom is not fully retracted.

[0066] When the concrete pump truck is operating, there is a working condition where only three outriggers 11 support and one outrigger 11 is suspended. Although the concrete pump truck will not tip over at this time, when it is supported by three outriggers, the anti-vibration stability of the concrete pump truck will be severely reduced. Sometimes, the outriggers repeatedly bounce from the ground (which can be understood as the outrigger leaving the ground being in a repeated state of "contacting the ground - leaving the ground", and the reason is caused by the vibration of the boom and the flexibility of the vehicle body), which is equivalent to periodically introducing an external force, making it easier to generate excitation on the vehicle body and resulting in large vibrations of the boom and the placing point. This process seriously affects the operation safety. For example, there may be adverse consequences such as the boom hitting people, the instability of the placing point, throwing materials, and wasting materials by scattering. At this time, the elongation of the suspended outrigger 11 (i.e., the vertical control of the outrigger 11) can be adjusted to achieve support by four outriggers 11 to ensure operation safety.

[0067] When the outrigger 11 is supporting, the stress value of the outrigger 11 is greater than the preset threshold. The range of the preset threshold can be from 0 to 1 ton, or 0% to 2% of the total mass of the equipment. Exemplarily, the preset threshold can be 0.2 ton. When the outrigger 11 is suspended, the stress value of the outrigger 11 is not greater than the preset threshold, and at this time the outrigger 11 may be in a state of leaving the ground.

[0068] During the manual adjustment of the outrigger 11 (horizontal control and / or vertical control), incorrect operations may occur. It is possible that the outrigger 11 of the construction equipment is made to act without ensuring that the construction equipment reaches a relatively safe state, which can easily lead to danger. In the embodiment of the present invention, the outrigger control instruction includes a horizontal control instruction and / or a vertical control instruction. The horizontal control instruction can be understood as the swing or expansion / retraction of the outrigger 11 in the horizontal direction, and the vertical control instruction can be understood as the adjustment of the elongation amount of the outrigger 11 in the vertical direction.

[0069] When a leg control command is received, obtain the attitude of the boom 10 and the force state of the corresponding leg 11 of the leg control command; in the case where the attitude is the state where the boom is not fully retracted and the force state is that the force value is greater than the preset threshold, at this time, it can be determined that both the vertical control and the horizontal control of the leg 11 are risky. Therefore, both the vertical control and the horizontal control of the corresponding leg 11 are restricted, which can avoid potential safety hazards caused by the leg valve responding to the leg control command. Using a machine for judgment and restriction avoids subjective human judgment and unrestricted operations, and the reliability of the equipment control response is higher, improving the equipment operation safety and meeting the requirements of industry standards for equipment operation safety.

[0070] In the embodiment of the present invention, sensors can be added to detect the force state of the outrigger 11 and the attitude of the boom 10. The electronic control system can assist the operator in identifying the operable outriggers and performing safety interventions, and can also be used as a safety control guarantee technology when the equipment automatically adjusts the outrigger 11.

[0071] Figure 5 Schematically shows a hardware block diagram of a construction equipment according to an embodiment of the present invention. Refer to Figure 5 , the outrigger controller can be a handle or a remote control for manually operating the outrigger. The outrigger controller is used to generate outrigger control instructions, which can be outrigger control instructions generated by computer operations or other local or remote outrigger operation signals. The outrigger sensor is used to detect the outrigger state and is the main basis for judging whether it is safe to respond to the outrigger control instruction. The boom sensor is used to detect the state of the boom 10 (including the turntable) and is an important basis for judging whether it is safe to respond to the outrigger control instruction. The controller, as an arithmetic unit, is used to identify safety so that the response of the outrigger valve to the outrigger control instruction meets safety requirements. The outrigger valve is a device that drives the outrigger 11 to act. The outrigger valve is not limited to a hydraulic valve. If the outrigger 11 is driven by an electric cylinder, the outrigger valve can also be an electric cylinder drive device.

[0072] First, introduce the vertical control of the outrigger 11, that is, the control of the movement of the outrigger vertical cylinder. Figure 6 Schematically shows a second flowchart of a control method for a construction equipment outrigger according to an embodiment of the present invention. Refer to Figure 6, in one embodiment, the restriction on the vertical control of the corresponding outrigger 11 is released under any of the following circumstances:

[0073] The posture is the fully retracted state of the boom;

[0074] The posture is the state where the boom is not fully retracted, and the stress state is that the stress value is not greater than the preset threshold.

[0075] When the outrigger controller has an outrigger control instruction, the Figure 6 process starts. First, it is identified whether the boom posture is in the fully retracted state of the boom; if so, the vertical control of the outrigger 11 is not restricted; otherwise, it is further identified whether the stress state of the outrigger 11 is in the situation where the stress value is greater than the preset threshold. If so, the vertical control of the outrigger 11 is restricted; otherwise, the vertical control of the outrigger 11 is not restricted. It should be noted that there are multiple outriggers 11 in the engineering equipment. When performing the Figure 6 control process, it is to determine the bearing stress state of the outrigger 11 that receives the outrigger control instruction, and the restricted outrigger 11 is also the corresponding outrigger 11 in the outrigger control instruction.

[0076] In one embodiment, the boom sensor includes a limit switch, and the controller is further configured to:

[0077] When the limit switch detects that the boom is in the retracted position state, it is determined that the posture is the fully retracted state of the boom.

[0078] In one embodiment, the boom sensor includes a rotary encoder and an inclination sensor, and the controller is further configured to:

[0079] Determine the angle of the turntable of the engineering equipment according to the rotary encoder;

[0080] Determine the angle of the boom 10 according to the inclination sensor;

[0081] Identify the posture according to the angle of the turntable and the angle of the boom 10.

[0082] There are the following two composition schemes for the boom sensor:

[0083] Table 1

[0084]

[0085]

[0086] In Scheme 1 of Table 1 above, if the in-position signal of the folding boom is detected as true by the proximity switch, it is the fully retracted state of the boom. In Scheme 2 of Table 1 above, the boom posture can be calculated according to each sensor. According to the comprehensive consideration and design of the equipment manufacturer, there can be other schemes to identify the boom posture, which will not be elaborated here.

[0087] In one embodiment, the outrigger sensor includes a pressure switch, and the controller is further configured to:

[0088] Determine the force-bearing state according to the outrigger oil pressure detected by the pressure switch;

[0089] In one embodiment, the outrigger sensor includes a proximity switch, and the controller is further configured to:

[0090] Determine the off-ground state of the outrigger 11 according to the dead band of the outrigger pedal detected by the proximity switch;

[0091] When the off-ground state is that the outrigger 11 has not left the ground, determine that the force value of the outrigger is greater than a preset threshold.

[0092] The outrigger sensor has the following two composition schemes:

[0093] Table 2

[0094]

[0095] In Scheme 1 of Table 2 above, if F > F0, the outrigger 11 is in a pressure-bearing force state, where F0 is the judgment threshold for state recognition, and the range of this value can be from 0 to 1 ton, or the range of F0 is from 0% to 2% of the total mass of the equipment. Exemplarily, the selected value of F0 can be 0.2 ton. When the outrigger 11 bears weight, the vertical outrigger cylinder rod is locked hydraulically, and the outrigger oil pressure includes two parameters: the hydraulic oil pressure in the rod chamber and the hydraulic oil pressure in the rodless chamber of the vertical outrigger.

[0096] In Scheme 2 of Table 2 above, the detection object can be a structure that generates a relative position change under compaction, such as an outrigger pedal. The outrigger pedal has a certain "dead band" before landing, and the dead band disappears after landing. The proximity switch can detect different signal states before and after the dead band section. Figure 7 Schematically shows one of the state diagrams of the outrigger pedal according to an embodiment of the present invention, Figure 7 in which the outrigger 11 has left the ground, and the force value of the outrigger 11 is not greater than the preset threshold. Figure 8 Schematically shows another state diagram of the outrigger pedal according to an embodiment of the present invention, Figure 8 in which the outrigger 11 has not left the ground, the outrigger 11 is in a weight-bearing force state, and the force value of the outrigger 11 is greater than the preset threshold.

[0097] In the embodiment of the present invention, in the safe state where the boom 10 is fully retracted in place, the normal vertical control of the outrigger is not restricted, and the maximum flexibility of the normal vertical control of the outrigger is retained; in the case where the outrigger control may cause danger, the control of the vertical outrigger cylinder is restricted; in this way, the equipment can be protected from tipping over.

[0098] The following is an introduction combined with the horizontal control of the outriggers, expanding the functional effects and increasing the restrictions on the horizontal control of the outriggers so as to more fully meet the safety standards. Figure 9 Schematically shows a flow chart of a control method for an engineering equipment outrigger according to an embodiment of the present invention, which can be seen in FIG. Figure 9 In one embodiment, the control method further includes:

[0099] The horizontal manipulation of the corresponding leg 11 is restricted in any of the following cases:

[0100] The posture is that the boom is not fully retracted;

[0101] The posture is the arm fully retracted state, and the force state is that the force value is greater than the preset threshold.

[0102] In one embodiment, the control method further includes:

[0103] When the posture is in the fully retracted arm state and the force state is that the force value is not greater than a preset threshold, the restriction on the horizontal control of the corresponding outrigger is released.

[0104] If the horizontal / vertical control limit is false, the corresponding control is not limited. The horizontal control limit is controlled by the vertical leg state recognition, which refers to the same leg 11. For example, if the left front leg is pressed on the ground, the response to the horizontal control of the left front leg is limited. If multiple legs 11 are pressed on the ground, the horizontal control of these legs is limited. This can protect the structure (especially the horizontal legs) and avoid tipping.

[0105] In the embodiment of the present invention, "restriction" can be understood as prohibiting the outrigger 11 from executing the action in the outrigger control instruction, prohibiting the operator from freely operating in a dangerous state. "Restriction" can also be simply understood as "alarm", which does not affect the operator's free operation, but can serve as a warning. The alarm method can be sound, voice, light, vibration or a combination of them.

[0106] Figure 10 A fourth flowchart of a control method for an engineering equipment outrigger according to an embodiment of the present invention is schematically shown. Figure 10 In the figure, the boom 10 is in the fully retracted state. A control logic only for horizontal control is shown in FIG. Figure 10 , which has nothing to do with the safety standards and technical overview description, but is still of great significance to the safety of operation; its control purpose is to prevent the load-bearing legs 11 that have been supported to the ground from accepting horizontal control instructions for swinging or extending and retracting, thereby avoiding structural damage.

[0107] In the embodiments of the present invention, the flowchart of the control method for the outriggers of construction equipment only describes the identification and control of a single outrigger. For construction equipment with multiple support legs, the control method for the outriggers in the embodiments of the present invention should be applied to each outrigger separately for safety control or warning.

[0108] During the manual adjustment of outrigger 11 (horizontal control and / or vertical control), misoperations may occur, and the outrigger 11 of the construction equipment may be made to act without ensuring that the construction equipment reaches a relatively safe state, which can easily lead to danger. In the embodiments of the present invention, the outrigger control instruction includes a horizontal control instruction and / or a vertical control instruction. The horizontal control instruction can be understood as the swing or expansion / retraction of the outrigger in the horizontal direction, and the vertical control instruction can be understood as the adjustment of the elongation amount of the outrigger in the vertical direction.

[0109] When receiving an outrigger control instruction, obtain the attitude of the boom 10 and obtain the force state of the outrigger 11 corresponding to the outrigger control instruction; in the case where the attitude is that the boom is not fully retracted and the force state is that the force value is greater than the preset threshold, at this time, it can be determined that both the vertical control and the horizontal control of the outrigger 11 are risky. Therefore, both the vertical control and the horizontal control of the corresponding outrigger 11 are restricted, which can avoid potential safety hazards caused by the outrigger valve responding to the outrigger control instruction. Using a machine for judgment and restriction avoids subjective human judgment and unrestricted operations, making the reliability of the equipment control response higher, improving the safety of equipment operation, and meeting the requirements of industry standards for equipment operation safety.

[0110] The embodiments of the present invention provide a controller configured to execute the above-mentioned control method for the outriggers of construction equipment.

[0111] The construction equipment includes a boom. Specifically, the controller is configured to:

[0112] In response to the received outrigger control instruction, obtain the attitude of the boom, where the outrigger control instruction includes a horizontal control instruction for swinging or expanding / retracting and a vertical control instruction for adjusting the elongation amount of the outrigger;

[0113] Obtain the force state of the outrigger corresponding to the outrigger control instruction;

[0114] In the case where the attitude is that the boom is not fully retracted and the force state is that the force value is greater than the preset threshold, restrict the vertical control and the horizontal control of the corresponding outrigger.

[0115] In the embodiments of the present invention, the controller is further configured to:

[0116] Release the restriction on the vertical control of the corresponding outrigger under any of the following circumstances:

[0117] The attitude is that the boom is fully retracted;

[0118] The posture is that the boom is not fully retracted, and the force state is that the force value is not greater than the preset threshold.

[0119] In an embodiment of the present invention, the controller is further configured to:

[0120] The horizontal control of the corresponding outrigger is restricted in any of the following situations:

[0121] The posture is that the boom is not fully retracted;

[0122] The posture is a state where the boom is fully retracted, and the force state is a state where the force value is greater than the preset threshold.

[0123] In an embodiment of the present invention, the controller is further configured to:

[0124] When the posture is in the fully retracted arm state and the force state is that the force value is not greater than a preset threshold, the restriction on the horizontal control of the corresponding outrigger is released.

[0125] An embodiment of the present invention provides a control device for engineering equipment, comprising:

[0126] Boom sensor, used to detect the posture of the boom;

[0127] The outrigger controller is used to generate outrigger control instructions, wherein the outrigger control instructions include: horizontal control instructions for swinging or extending and retracting the outriggers, and vertical control instructions for adjusting the outrigger extension;

[0128] Outrigger sensor, used to detect the stress state of the outrigger;

[0129] An outrigger valve, used to drive the outrigger to perform an action in response to an outrigger control instruction; and

[0130] The controller described above.

[0131] In an embodiment of the present invention, the boom sensor includes a travel switch, and the controller is further configured to:

[0132] When the travel switch detects that the boom is in the folded position, the posture is determined to be in the fully folded state of the boom.

[0133] In an embodiment of the present invention, the boom sensor includes: a rotary encoder and an inclination sensor, and the controller is further configured to:

[0134] Determine the angle of the turntable of the engineering equipment based on the rotary encoder;

[0135] Determine the angle of the boom according to the inclination sensor;

[0136] The posture is identified based on the angle of the turntable and the angle of the arm.

[0137] In an embodiment of the present invention, the outrigger sensor includes a pressure switch, and the controller is further configured to:

[0138] Determine the force state according to the outrigger oil pressure detected by the pressure switch;

[0139] In an embodiment of the present invention, the outrigger sensor includes a proximity switch, and the controller is further configured to:

[0140] Determine the off - ground state of the outrigger according to the dead - band travel of the outrigger pedal detected by the proximity switch;

[0141] When the off - ground state is that the outrigger has not left the ground, determine that the force value of the outrigger is greater than a preset threshold.

[0142] An embodiment of the present invention provides an engineering device, including:

[0143] A boom;

[0144] Outriggers;

[0145] The above - mentioned control device.

[0146] In an embodiment of the present invention, the engineering device includes a concrete pump truck.

[0147] An embodiment of the present invention provides a machine - readable storage medium, on which instructions are stored, and the instructions are used to cause a machine to execute the above - mentioned control method for the outriggers of an engineering device.

[0148] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer - usable storage media (including but not limited to disk storage, CD - ROM, optical storage, etc.) containing computer - usable program code.

[0149] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general - purpose computer, a special - purpose computer, an embedded processor, or other programmable data - processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data - processing devices generate means for realizing the functions specified in one Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0150] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction means that implements the functions specified in one or more of the processes Figure 1 or processes and / or blocks Figure 1 or blocks specified.

[0151] These computer program instructions can 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, so that the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more of the processes Figure 1 or processes and / or blocks Figure 1 or blocks specified.

[0152] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0153] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM) and / or non-volatile memory such as read only memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

[0154] Computer-readable media includes both permanent and non-permanent, removable and non-removable media implemented by any method or technology for storing information. The information can be computer-readable instructions, data structures, program modules, 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 technologies, 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 media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0155] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, commodity or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising the element.

[0156] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A control method for outriggers of engineering equipment, characterized in that, The engineering equipment includes a boom and outriggers, and the control method includes: In response to receiving an outrigger control instruction, acquiring the posture of the boom, wherein the outrigger control instruction includes a horizontal control instruction for swinging or extending and retracting the outrigger, and a vertical control instruction for adjusting the extension of the outrigger; Obtaining the force state of the outrigger corresponding to the outrigger control instruction; When the posture is a state where the boom is not fully retracted, and the force state is a state where the force value is greater than a preset threshold, the vertical control and horizontal control of the corresponding leg are restricted. When the force state is a state where the force value is greater than the preset threshold, it indicates that the leg is not off the ground, so as to avoid destroying the force balance when the operator readjusts the extension of the leg when the leg is suspended in the air.

2. The control method according to claim 1, wherein Also includes: The restriction on the vertical control of the corresponding leg is released in any of the following cases: The posture is the state where the boom is fully retracted; The posture is a state where the boom is not fully retracted, and the force state is a state where the force value is not greater than the preset threshold.

3. The control method according to claim 1, characterized in that Also includes: The horizontal control of the corresponding leg is restricted in any of the following cases: The posture is a state where the boom is not fully retracted; The posture is a state where the boom is fully retracted, and the force state is a state where the force value is greater than the preset threshold.

4. The control method according to claim 3, wherein Also includes: When the posture is a state in which the boom is fully retracted and the force state is a state in which the force value is not greater than the preset threshold, the restriction on the horizontal control of the corresponding leg is released.

5. A controller, characterized in that, The method is configured to execute the control method for an engineering equipment leg according to any one of claims 1 to 4.

6. A control device for engineering equipment, characterized in that, The engineering equipment includes a boom and outriggers, and the control device includes: Boom sensor, used to detect the posture of the boom; The outrigger controller is used to generate outrigger control instructions, wherein the outrigger control instructions include: horizontal control instructions for swinging or extending and retracting the outriggers, and vertical control instructions for adjusting the extension of the outriggers; Outrigger sensor, used to detect the stress state of the outrigger; An outrigger valve, used for driving the outrigger to move in response to the outrigger control instruction; and A controller according to claim 5.

7. The control device according to claim 6, wherein The arm sensor includes a travel switch, and the controller is further configured to: When the travel switch detects that the boom is folded in place, the posture is determined to be a boom fully folded state.

8. The control device according to claim 6, characterized in that The arm sensor includes a rotary encoder and an inclination sensor, and the controller is further configured to: Determining the angle of the engineering equipment turntable according to the rotary encoder; Determine the angle of the boom according to the inclination sensor; The posture is identified according to the angle of the turntable and the angle of the arm.

9. The control device according to claim 6, characterized in that, The outrigger sensor includes a pressure switch, and the controller is further configured to: The force state is determined according to the outrigger oil pressure detected by the pressure switch.

10. The control device according to claim 6, characterized in that The outrigger sensor comprises a proximity switch, and the controller is further configured to: Determining the ground-lift state of the outrigger according to the idle travel of the outrigger pedal detected by the proximity switch; When the ground-lift state is that the supporting leg is not off the ground, it is determined that the force value of the supporting leg is greater than a preset threshold.

11. An engineering device, characterized in that, include: Boom; Outriggers; A control device for engineering equipment according to any one of claims 6 to 10.

12. The engineering device according to claim 11, characterized in that, The engineering equipment includes a pump truck.

13. A machine-readable storage medium having instructions stored thereon, characterized in that, This instruction is used to cause the machine to execute the control method for outriggers of construction equipment according to any one of claims 1 to 4.

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