Outrigger control system, method and crane

Abstract

The application relates to a support leg control system, method and crane, and relates to the technical field of engineering machinery. The support leg control system comprises a cylinder configured to drive the support leg to move, the cylinder being provided with a rodless cavity and a rod cavity; a pressure sensor arranged in the rodless cavity, the pressure sensor being configured to send a pressure signal representing the pressure in the rodless cavity; a balance valve connected to the rodless cavity, the balance valve being configured to adjust the pressure in the rodless cavity by changing the opening degree of the balance valve; and a controller in communication connection with the pressure sensor, the controller being configured to receive the pressure signal and send a control signal representing that the opening degree of the balance valve is in a first range when the pressure represented by the pressure signal is greater than a pressure threshold. The support leg control system, method and crane can improve the problem of cylinder pressure retention, improve the accuracy of the pressure in the rodless cavity, and thus improve the calculation accuracy of the support reaction force on the support leg.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to an outrigger control system, method, and crane. Background Technology

[0002] Outriggers of a crane are used to support the crane, reduce the burden on the tires, and improve the overall stability of the crane. If the outriggers experience an imbalance of forces while providing support, the crane is prone to tipping over. Therefore, during operation, it is necessary to monitor the forces acting on the outriggers and take measures accordingly to prevent the crane from tipping over. Generally, the outriggers are driven by hydraulic cylinders. A common method is to monitor the pressure in the rodless chamber of the hydraulic cylinder, and calculate the forces acting on the crane's outriggers using the pressure and the effective area of ​​the rodless chamber, thereby inferring the reaction force of the crane's weight acting on the outriggers.

[0003] However, in existing technology, if the hydraulic cylinder fully extends the outrigger and then stops, the hydraulic oil in the rodless chamber of the cylinder will be locked by the one-way valve in the hydraulic lock, creating pressure buildup. This means the pressure in the rodless chamber will significantly exceed the force exerted on the outrigger by the vehicle's weight. This leads to a large deviation in the subsequent estimation of the reaction force exerted on the outrigger by the vehicle's weight based on the pressure in the rodless chamber. Consequently, the reaction force becomes inaccurate, making it difficult for operators to accurately assess the force on the outrigger and increasing the risk of accidents due to misjudgment. Summary of the Invention

[0004] To address the aforementioned technical problems, embodiments of this application provide a leg control system, method, and crane that can improve the problem of cylinder pressure buildup, increase the accuracy of pressure in the rodless chamber, and thereby improve the accuracy of calculating the support reaction force on the leg.

[0005] According to one aspect of this application, a leg control system is provided, comprising:

[0006] The hydraulic cylinder is configured to drive the outrigger to move, and the hydraulic cylinder has a rodless chamber and a rod chamber;

[0007] A pressure sensor is disposed within the rodless cavity, and the pressure sensor is configured to emit a pressure signal characterizing the pressure within the rodless cavity;

[0008] A balancing valve, connected to the rodless chamber, is configured to adjust the pressure within the rodless chamber by changing its own opening degree; and

[0009] The controller is communicatively connected to the pressure sensor and is configured to receive the pressure signal and, when the pressure represented by the pressure signal is greater than a pressure threshold, issue a control signal indicating that the opening of the balance valve is within a first range.

[0010] According to one aspect of this application, the outrigger control system further includes:

[0011] An overflow valve is connected to the balance valve and is communicatively connected to the controller. The overflow valve is configured to receive the control signal and adjust the inlet pressure of the balance valve to adjust the opening degree of the balance valve.

[0012] According to one aspect of this application, the outrigger control system further includes:

[0013] A reversing valve, which connects the rodless chamber and the rod chamber via the balancing valve.

[0014] According to one aspect of this application, the directional valve includes an electro-proportional directional valve configured to adjust the flow rate and direction of hydraulic oil between the rodless chamber and the rod chamber.

[0015] According to another aspect of this application, a leg control method is also provided, applied to a controller of the leg control system as described above, the leg control method comprising:

[0016] Obtain the pressure inside the rodless cavity; and

[0017] If the pressure inside the rodless chamber is greater than the pressure threshold, adjust the opening of the balance valve to be within the first range.

[0018] According to another aspect of this application, after adjusting the opening of the balance valve to be within the first range, the outrigger control method further includes:

[0019] If the pressure inside the rodless chamber is less than or equal to the pressure threshold, the balance valve is closed to lock the pressure inside the rodless chamber.

[0020] According to another aspect of this application, the outrigger control system further includes an overflow valve connected to the balance valve, and the overflow valve is communicatively connected to the controller;

[0021] If the pressure inside the rodless chamber is greater than the pressure threshold, adjusting the opening of the balancing valve to be within the first range includes:

[0022] If the pressure inside the rodless chamber is greater than the pressure threshold, adjust the overflow pressure of the overflow valve so that the opening of the balance valve is within the first range.

[0023] According to another aspect of this application, after adjusting the overflow pressure of the overflow valve, the outrigger control method further includes:

[0024] If the pressure inside the rodless chamber is less than or equal to the pressure threshold, the overflow pressure of the overflow valve is controlled to be within the second range, and the balance valve is controlled to close.

[0025] According to another aspect of this application, prior to acquiring the pressure within the rodless cavity, the outrigger control method further includes:

[0026] Obtain a signal indicating that the button has stopped being pressed; wherein the button is configured to control the hydraulic cylinder to operate when pressed.

[0027] According to another aspect of this application, a crane is also provided, comprising:

[0028] Organism;

[0029] Outriggers, connected to the body; and

[0030] As described above in the outrigger control system, the piston rod of the hydraulic cylinder is connected to the outrigger.

[0031] The outrigger control system, method, and crane provided in this application embodiment acquire the pressure inside the rodless chamber and then determine whether the pressure inside the rodless chamber is greater than a pressure threshold. If the pressure inside the rodless chamber is greater than the pressure threshold, the opening of the balance valve is adjusted to a first range. This releases part of the pressure inside the rodless chamber, eliminates the pressure buildup in the rodless chamber, and makes the subsequent data on the support reaction force of the crane weight acting on the outriggers, which is inferred from the pressure inside the rodless chamber, more accurate. This allows workers to more accurately determine the current stress on the outriggers based on the support reaction force, effectively reducing the risk of safety accidents. Attached Figure Description

[0032] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0033] Figure 1 This is a schematic diagram of the structure of an outrigger control system provided in an exemplary embodiment of this application.

[0034] Figure 2 A flowchart illustrating an exemplary embodiment of this application shows a method for controlling outriggers.

[0035] Figure 3 A flowchart illustrating a leg control method provided for another exemplary embodiment of this application.

[0036] Figure 4A flowchart illustrating a leg control method provided for another exemplary embodiment of this application.

[0037] Figure 5 A flowchart illustrating a leg control method provided for another exemplary embodiment of this application.

[0038] Figure 6 A flowchart illustrating a leg control method provided for another exemplary embodiment of this application.

[0039] Figure 7 A structural block diagram of a crane provided for an exemplary embodiment of this application.

[0040] Figure 8 A structural block diagram of a controller provided for an exemplary embodiment of this application.

[0041] Reference numerals: 100-Outrigger control system; 110-Hydraulic cylinder; 111-Rodless chamber; 112-Rod chamber; 120-Pressure sensor; 130-Balance valve; 131-Bypass branch; 140-Controller; 141-Processor; 142-Memory; 143-Input device; 144-Output device; 150-Relief valve; 160-Directional valve; 600-Crane; 610-Body; 620-Outrigger. Detailed Implementation

[0042] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0043] Figure 1 This is a schematic diagram of the structure of an outrigger control system provided in an exemplary embodiment of this application. Figure 1 As shown, the outrigger control system 100 provided in this application may include a hydraulic cylinder 110, which can serve as a drive source to move the outrigger. The hydraulic cylinder 110 is provided with a rodless chamber 111 and a rod chamber 112. It should be understood that during the extension of the piston rod of the hydraulic cylinder 110, the piston rod of the hydraulic cylinder 110 drives the outrigger to extend, and correspondingly, the pressure in the rodless chamber 111 increases, while the pressure in the rod chamber 112 decreases; during the retraction of the piston rod of the hydraulic cylinder 110, the piston rod of the hydraulic cylinder 110 drives the outrigger to retract, and correspondingly, the pressure in the rodless chamber 111 decreases, while the pressure in the rod chamber 112 increases.

[0044] It should be noted that the "pressure inside the rodless chamber 111" involved in the embodiments of this application can be understood as the pressure of the hydraulic oil inside the rodless chamber 111 on the inner wall of the rodless chamber 111. Similarly, the "pressure inside the rod chamber 112" involved in the embodiments of this application can be understood as the pressure of the hydraulic oil inside the rod chamber 112 on the inner wall of the rod chamber 112.

[0045] like Figure 1 As shown, the outrigger control system 100 may also include a pressure sensor 120, which is located in the rodless cavity 111. The pressure sensor 120 can be used to detect the pressure in the rodless cavity 111 and can emit a pressure signal characterizing the pressure in the rodless cavity 111.

[0046] like Figure 1 As shown, the outrigger control system 100 may further include a balance valve 130, which is connected to the rodless chamber 111. When the balance valve 130 is closed, it can lock the pressure inside the rodless chamber 111, maintaining the state of the cylinder 110. When the balance valve 130 is open, it can release part of the pressure inside the rodless chamber 111.

[0047] Specifically, during the extension of the outrigger driven by the hydraulic cylinder 110, the balance valve 130 is in the closed state, and the hydraulic oil in the rod chamber 112 enters the rodless chamber 111 through the bypass branch 131 of the balance valve 130. After the hydraulic cylinder 110 stops moving, the closed balance valve 130 can lock the pressure in the rodless chamber 111, allowing the outrigger to bear the corresponding load in the current state.

[0048] It should be noted that after the hydraulic cylinder 110 drives the outrigger to fully extend, the pressure inside the rodless chamber 111 is relatively high, resulting in pressure buildup. In this situation, the balance valve 130 is opened, which releases some of the hydraulic oil inside the rodless chamber 111, thereby appropriately reducing the pressure inside the rodless chamber 111 and eliminating the pressure buildup. This makes the subsequent data on the support reaction force of the crane 600 acting on the outrigger, which is inferred from the pressure inside the rodless chamber 111, more accurate. This allows the operators to more accurately determine the current stress on the outrigger based on the support reaction force, effectively reducing the risk of safety accidents.

[0049] In one embodiment, a dual-balance valve structure can be adopted, that is, there can be two balance valves, one of which is connected to the rodless chamber 111 and the other is connected to the rod chamber 112.

[0050] like Figure 1As shown, the outrigger control system 100 may also include a controller 140, which is communicatively connected to the pressure sensor 120. The controller 140 can be used to receive the pressure signal emitted by the pressure sensor 120 and obtain the pressure inside the rodless cavity 111.

[0051] In practical applications, if the pressure in the rodless chamber 111 represented by the pressure signal is greater than the pressure threshold, the controller 140 can issue a control signal indicating that the opening of the balancing valve 130 is within a first range.

[0052] It should be noted that, taking the maximum opening of the balance valve 130 as a reference, the first range can be understood as the opening of the balance valve 130 being between 0 and 10% of the maximum opening.

[0053] It should be understood that when the rodless chamber 111 is under pressure, adjusting the opening of the balance valve 130 to the first range will cause the cylinder 110 to drive the outrigger to retract slightly. This not only releases the pressure in the rodless chamber 111 through the balance valve 130 and eliminates the pressure buildup, but also, because the opening of the balance valve 130 is small, the hydraulic oil flows more slowly during the process of eliminating the pressure buildup, making the outrigger retraction smoother and more stable, thus ensuring the overall stability of the crane 600.

[0054] In one embodiment, the balancing valve 130 may be equipped with a signal receiving device, and the control signal may be directly transmitted to the balancing valve 130. The balancing valve 130 may adjust its opening according to the control signal to reduce the pressure in the rodless chamber 111 and eliminate the pressure buildup in the rodless chamber 111.

[0055] In one embodiment, the balance valve 130 can be a pilot-operated valve. The control signal is used to adjust the pilot pressure of the balance valve 130 by controlling the internal pressure of the hydraulic line, thereby adjusting the opening degree of the balance valve 130. It should be understood that a decrease in pilot pressure can control a decrease in the opening degree of the balance valve 130, and a decrease in the pressure in the rodless chamber 111. The pilot pressure can be controlled by other components in the outrigger control system 100 of this application embodiment, or it can be controlled by other external hydraulic systems.

[0056] It should be understood that the pressure threshold can be set according to the actual situation, and this application does not make specific limitations on the pressure threshold.

[0057] The outrigger control system 100 provided in this application includes a hydraulic cylinder 110, a pressure sensor 120, a balance valve 130, and a controller 140. The pressure sensor 120 detects the pressure inside the rodless chamber 111 and sends a pressure signal representing the pressure inside the rodless chamber 111. The controller 140 receives the pressure signal sent by the pressure sensor 120. If the pressure inside the rodless chamber 111 represented by the pressure signal is greater than a pressure threshold, the controller 140 can send a control signal representing that the opening of the balance valve 130 is within a first range. In this way, the balance valve 130 can release part of the pressure inside the rodless chamber 111, eliminating the pressure buildup in the rodless chamber 111. This makes the subsequent data on the support reaction force of the crane 600 acting on the outrigger, which is inferred from the pressure inside the rodless chamber 111, more accurate. This allows the operator to more accurately determine the current stress condition of the outrigger based on the support reaction force, effectively reducing the risk of safety accidents.

[0058] like Figure 1 As shown, the outrigger control system 100 provided in this application may further include an overflow valve 150, which is connected to the balance valve 130 and is communicatively connected to the controller 140.

[0059] Specifically, in practical applications, the relief valve 150 can be an electromagnetic relief valve. After receiving the control signal from the controller 140, the relief valve 150 can adjust the relief pressure according to the control signal, thereby changing the pressure inside the hydraulic pipeline. In this way, the inlet pressure of the balance valve 130 ( Figure 1 The pressure at point A2 will change, and since the inlet pressure of the balance valve 130 serves as the pilot pressure of the balance valve 130, the opening degree of the balance valve 130 will also change accordingly when the inlet pressure of the balance valve 130 changes.

[0060] In other words, in one embodiment, by sending a control signal to the relief valve 150, the overflow pressure of the relief valve 150 can be reduced, so that the oil inlet pressure of the balance valve 130 is in a smaller state, thereby making the opening of the balance valve 130 within a first range, thereby releasing part of the pressure inside the rodless chamber 111 and eliminating the pressure buildup state inside the rodless chamber 111.

[0061] It should be understood that, due to the high accuracy of electro-hydraulic control, the overflow pressure of the overflow valve 150 can be controlled relatively accurately through the control signal, thereby releasing the pressure inside the rodless chamber 111 relatively accurately. This not only effectively eliminates the pressure buildup in the rodless chamber 111 by releasing the pressure inside the rodless chamber 111, but also prevents the piston rod of the hydraulic cylinder 110 from jerking during the process of eliminating the pressure buildup, making the outrigger retraction process smoother and more stable, and ensuring the overall stability of the crane 600.

[0062] like Figure 1 As shown, the outrigger control system 100 may further include a directional valve 160, which connects the rodless chamber 111 and the rod chamber 112 via a balance valve 130. It should be understood that the directional valve 160 can adjust the flow direction of hydraulic oil between the rodless chamber 111 and the rod chamber 112. When the cylinder 110 needs to extend the outrigger, adjusting the directional valve 160 allows hydraulic oil to flow into the rodless chamber 111 and outflow from the rod chamber 112; when the cylinder 110 needs to retract the outrigger, adjusting the directional valve 160 allows hydraulic oil to flow into the rod chamber 112 and outflow from the rodless chamber 111.

[0063] In one embodiment, the directional valve 160 can be an electro-proportional directional valve. The electro-proportional directional valve can not only adjust the flow direction of hydraulic oil between the rodless chamber 111 and the rod chamber 112, but also adjust the flow rate of hydraulic oil between the rodless chamber 111 and the rod chamber 112. This can change the movement speed of the piston rod of the cylinder 110, thereby changing the speed at which the outrigger extends or retracts.

[0064] In one embodiment, the electro-proportional directional valve can be used to adjust the pilot pressure of the balance valve 130. This allows for more accurate adjustment of the balance valve 130's opening degree under the combined action of the electro-proportional directional valve and the relief valve 150. Specifically, when pressure buildup occurs in the rodless chamber 111, the relief pressure of the relief valve 150 is adjusted, energizing and opening the electro-proportional directional valve. Hydraulic oil enters the pilot chamber of the balance valve 130. Based on the opening degree of the electro-proportional valve, the hydraulic oil pressure in the pilot chamber of the balance valve 130 is adjusted, thereby adjusting the opening degree of the balance valve 130 to be within a first range. Thus, through the combined effect of the electro-proportional valve and the relief valve 150, the opening degree of the balance valve 130 can be made more accurate, and the pressure within the rodless chamber 111 can be released more smoothly and stably, ensuring stable, small-amplitude retraction of the outrigger.

[0065] Figure 2 This is a flowchart illustrating an exemplary embodiment of the outrigger control method provided in this application. Figure 2 As shown, the outrigger control method provided in this application embodiment can be applied to the controller in the aforementioned outrigger control system. The controller runs executable instructions to implement the outrigger control method.

[0066] Specifically, such as Figure 2 As shown, the outrigger control method may include:

[0067] S410: Obtain the pressure inside the rodless chamber.

[0068] Specifically, the aforementioned pressure sensor can be placed inside the rodless cavity. The pressure inside the rodless cavity is detected by the pressure sensor, and the pressure inside the rodless cavity can be obtained by receiving the pressure signal emitted by the pressure sensor.

[0069] S420: If the pressure in the rodless chamber is greater than the pressure threshold, adjust the opening of the balance valve to be within the first range.

[0070] Specifically, if the pressure inside the rodless chamber exceeds the pressure threshold, it can be considered that the rodless chamber is in a pressurized state, requiring partial release of the pressure. Therefore, by opening the balance valve, some pressure inside the rodless chamber can be released, causing the hydraulic cylinder to slightly retract the outriggers and eliminate the pressurization. This allows for more accurate data on the crane's weight acting on the outriggers, derived from the pressure inside the rodless chamber. This enables operators to more accurately determine the current stress on the outriggers based on the reaction force, effectively reducing the risk of accidents.

[0071] In one embodiment, the opening of the balance valve is adjusted to be within a first range. The meaning of the first range can be found in the description of the outrigger control system in the foregoing embodiment. In this way, since the opening of the balance valve is small, the hydraulic oil flows more slowly during the process of eliminating the pressure buildup, and the outrigger retracts more smoothly and stably, thus ensuring the overall stability of the crane.

[0072] In one embodiment, the opening degree of the balancing valve can be adjusted by a control signal.

[0073] In one embodiment, the opening degree of the balance valve can be adjusted by adjusting the pilot pressure of the balance valve through a control signal.

[0074] The outrigger control method provided in this application acquires the pressure inside the rodless chamber and then determines whether the pressure inside the rodless chamber is greater than a pressure threshold. If the pressure inside the rodless chamber is greater than the pressure threshold, the opening of the balance valve is adjusted to a first range. This releases part of the pressure inside the rodless chamber, eliminating the pressure buildup in the rodless chamber. This makes the subsequent data on the support reaction force of the crane weight acting on the outrigger, which is inferred from the pressure inside the rodless chamber, more accurate. This allows operators to more accurately determine the current stress on the outrigger based on the support reaction force, effectively reducing the risk of safety accidents.

[0075] Figure 3 A flowchart illustrating a leg control method provided as another exemplary embodiment of this application. (See attached diagram.) Figure 3 As shown, after step S420, the outrigger control method may further include:

[0076] S430: If the pressure in the rodless chamber is less than or equal to the pressure threshold, the control balance valve is closed to lock the pressure in the rodless chamber.

[0077] Specifically, after executing step S420, the pressure buildup in the rodless chamber can be eliminated, reducing the pressure within the rodless chamber. During this process, the pressure sensor continuously monitors the pressure in the rodless chamber, and the controller can continuously obtain the pressure within the rodless chamber. If the pressure in the rodless chamber is less than or equal to the pressure threshold, it can be considered that the rodless chamber no longer has pressure buildup and has returned to normal operating conditions. In normal operating conditions, to ensure the hydraulic cylinder's support for the outrigger, it is necessary to lock the pressure in the rodless chamber. Therefore, at this time, the balance valve can be closed to lock the pressure in the rodless chamber, ensuring the overall stability of the hydraulic cylinder and outrigger.

[0078] Figure 4 A flowchart illustrating a leg control method provided as another exemplary embodiment of this application. (See attached diagram.) Figure 4 As shown, step S420 may include:

[0079] S421: If the pressure in the rodless chamber is greater than the pressure threshold, adjust the overflow pressure of the relief valve so that the opening of the balance valve is within the first range.

[0080] Specifically, the relationship between the relief valve and the balancing valve, and the relationship between the relief valve and the controller, can be referred to the description of the relevant embodiments above. Therefore, by adjusting the relief pressure of the relief valve, the opening degree of the balancing valve can be changed so that the opening degree of the balancing valve is within a first range, and then part of the pressure in the rodless chamber can be released to eliminate the pressure buildup.

[0081] Figure 5 A flowchart illustrating a leg control method provided as another exemplary embodiment of this application. (See attached diagram.) Figure 5 As shown, after step S421, the outrigger control method may further include:

[0082] S422: If the pressure in the rodless chamber is less than or equal to the pressure threshold, control the overflow pressure of the relief valve to be within the second range, and control the balance valve to close.

[0083] Specifically, if the pressure in the rodless chamber is less than or equal to the pressure threshold, it can be considered that the pressure buildup in the rodless chamber has been eliminated. At this time, the overflow pressure is adjusted to the second range by controlling the overflow valve, so that the outrigger control system is in normal working condition. In normal working condition, in order to ensure the supporting effect of the hydraulic cylinder on the outrigger, it is necessary to lock the pressure in the rodless chamber. Therefore, it is also necessary to control the balance valve to close to lock the pressure in the rodless chamber and ensure the overall stability of the hydraulic cylinder and the outrigger.

[0084] In one embodiment, the specific value of the second range of overflow pressure can be determined based on the current extension length of the outrigger. This application does not specifically limit the second range.

[0085] Figure 6 A flowchart illustrating a leg control method provided as another exemplary embodiment of this application. (See attached diagram.) Figure 6 As shown, prior to step S410, the outrigger control method further includes:

[0086] S430: Receives a signal indicating that the button has stopped being pressed.

[0087] Specifically, pressing the button controls the hydraulic cylinder to operate, which in turn moves the outrigger. When the button is no longer pressed, the hydraulic cylinder and outrigger also stop operating. In other words, after executing step S430, information is obtained that the hydraulic cylinder and outrigger have completed their actions and stopped. Then, step S410 is executed to determine whether there is a pressure buildup in the rodless chamber by judging whether the pressure inside the rodless chamber is greater than the pressure threshold. If there is no pressure buildup, the normal pressure will be maintained; if there is pressure buildup, the opening of the balance valve will be adjusted to the first range to release part of the pressure inside the rodless chamber, and the hydraulic cylinder will move the outrigger to retract slightly to eliminate the pressure buildup.

[0088] Figure 7 A structural block diagram of a crane provided for an exemplary embodiment of this application. (See diagram below.) Figure 7 As shown, the crane 600 provided in this application embodiment may include a body 610; outriggers 620 connected to the body 610; and an outrigger control system 100 as described above, wherein the piston rod of the cylinder of the outrigger control system 100 is connected to the outriggers 620.

[0089] The crane provided in this application embodiment acquires the pressure inside the rodless cavity and then determines whether the pressure inside the rodless cavity is greater than a pressure threshold. If the pressure inside the rodless cavity is greater than the pressure threshold, the opening of the balance valve is adjusted to be within a first range. In this way, the pressure inside the rodless cavity can be appropriately reduced, eliminating the state of pressure buildup in the rodless cavity. This makes it more accurate to infer the support reaction force data of the crane weight acting on the outriggers based on the pressure inside the rodless cavity. This allows the operator to more accurately determine the current stress condition of the outriggers based on the support reaction force, effectively reducing the risk of safety accidents.

[0090] Figure 8 This is a structural block diagram of a controller provided for an exemplary embodiment of this application. Figure 8 As shown, the controller 140 can be either or both of the first device and the second device, or a standalone device independent of them, which can communicate with the first device and the second device to receive the acquired input signals from them.

[0091] like Figure 8 As shown, the controller 140 includes one or more processors 141 and memory 142.

[0092] The processor 141 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the controller 140 to perform desired functions.

[0093] The memory 142 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 141 may execute the program instructions to implement the control methods and / or other desired functions of the various embodiments of this application described above. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0094] In one example, controller 140 may also include input device 143 and output device 144, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0095] When the controller is a standalone device, the input device 143 can be a communication network connector for receiving the acquired input signals from the first device and the second device.

[0096] In addition, the input device 143 may also include, for example, a keyboard, a mouse, etc.

[0097] The output device 144 can output various information to the outside, including determined distance information, direction information, etc. The output device 144 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0098] Of course, for the sake of simplicity, Figure 8 Only some of the components of the controller 140 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the controller 140 may include any other suitable components depending on the specific application.

[0099] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0100] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0101] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0102] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0103] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0104] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0105] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A leg control system, characterized in that, include: The hydraulic cylinder is configured to drive the outrigger to move, and the hydraulic cylinder has a rodless chamber and a rod chamber; A pressure sensor is disposed within the rodless cavity, and the pressure sensor is configured to emit a pressure signal characterizing the pressure within the rodless cavity; A balancing valve is connected to the rodless chamber, and the balancing valve is configured to adjust the pressure inside the rodless chamber by changing its own opening degree; as well as The controller is communicatively connected to the pressure sensor. The controller is configured to receive the pressure signal after acquiring the signal that the button has stopped being pressed, and to issue a control signal indicating that the opening of the balance valve is within a first range when the pressure represented by the pressure signal is greater than a pressure threshold. The button is configured to control the hydraulic cylinder to work when it is pressed, and to stop the hydraulic cylinder from working when it is stopped being pressed.

2. The outrigger control system according to claim 1, characterized in that, The outrigger control system also includes: An overflow valve is connected to the balance valve and is communicatively connected to the controller. The overflow valve is configured to receive the control signal and adjust the inlet pressure of the balance valve to adjust the opening degree of the balance valve.

3. The outrigger control system according to claim 1, characterized in that, The outrigger control system also includes: A reversing valve, which connects the rodless chamber and the rod chamber via the balancing valve.

4. The outrigger control system according to claim 3, characterized in that, The directional valve includes an electro-proportional directional valve configured to adjust the flow rate and direction of hydraulic oil between the rodless chamber and the rod chamber.

5. A method for controlling an outrigger, applied to the controller of the outrigger control system according to any one of claims 1 to 4, characterized in that, The outrigger control method includes: Obtain a signal indicating that the button has stopped being pressed; wherein the button is configured to control the hydraulic cylinder to operate when pressed and to stop the hydraulic cylinder from operating when the button is stopped. Obtain the pressure inside the rodless cavity; and If the pressure inside the rodless chamber is greater than the pressure threshold, adjust the opening of the balance valve to be within the first range.

6. The outrigger control method according to claim 5, characterized in that, After adjusting the opening of the balance valve to be within the first range, the outrigger control method further includes: If the pressure inside the rodless chamber is less than or equal to the pressure threshold, the balance valve is closed to lock the pressure inside the rodless chamber.

7. The outrigger control method according to claim 5, characterized in that, The outrigger control system also includes an overflow valve connected to the balance valve, and the overflow valve is communicatively connected to the controller; If the pressure inside the rodless chamber is greater than the pressure threshold, adjusting the opening of the balancing valve to be within the first range includes: If the pressure inside the rodless chamber is greater than the pressure threshold, adjust the overflow pressure of the overflow valve so that the opening of the balance valve is within the first range.

8. The outrigger control method according to claim 7, characterized in that, After adjusting the overflow pressure of the overflow valve, the outrigger control method further includes: If the pressure inside the rodless chamber is less than or equal to the pressure threshold, the overflow pressure of the overflow valve is controlled to be within the second range, and the balance valve is controlled to close.

9. A crane, characterized in that, include: Organism; The outriggers are connected to the main body; as well as In the outrigger control system according to any one of claims 1 to 4, the piston rod of the hydraulic cylinder is connected to the outrigger.

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