Control system, method, processor, and storage medium for a leg

Abstract

The application relates to the field of engineering machinery, in particular to a control system and method for a support leg, a processor and a storage medium. The method comprises the following steps: acquiring a side load pressure of a vertical support leg through a side load sensor; determining an initial angle between a current luffing oil cylinder and a horizontal direction; determining an execution length of the luffing oil cylinder according to the initial angle and a target angle, wherein the target angle is an angle between the luffing oil cylinder and the horizontal direction when the side load pressure is zero; comparing the side load pressure with a preset threshold value; and controlling the luffing oil cylinder to contract or extend the execution length according to the size between the side load pressure and the preset threshold value, so as to control the vertical support leg to rotate and adjust the side load pressure to zero. According to the side load pressure of the vertical support leg, the luffing oil cylinder is controlled to contract and extend, so that the vertical support leg can rotate relative to the horizontal support leg, thereby offsetting the side load pressure borne by the vertical support leg, effectively reducing the failure risk of the oil cylinder and greatly prolonging the service life of the oil cylinder.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engineering machinery, in particular, to a control system, method, processor and storage medium for outriggers. BACKGROUND

[0002] The telescopic outrigger is widely used in the engineering machinery industry, such as the wheel crane, pump truck, aerial working truck, etc. The outrigger type engineering machinery relies on multiple outriggers to support the entire working body during work, which increases the supporting moment and expands the working range. In the non-working state, the outriggers can be stored, which increases the mobility of the engineering machinery. The common outrigger mainly consists of horizontal outriggers and vertical outriggers. The horizontal outriggers are mainly divided into telescopic type and folding type according to the unfolding form. The horizontal outriggers extend the vertical outriggers under the action of the driving mechanism to provide sufficient tilting moment. The vertical outriggers are telescoped back and forth in the vertical direction to support the entire machine body and transmit the load to the ground through the outrigger disc.

[0003] When the vertical outrigger is subjected to side load or side impact, the sealing ring inside the outrigger cylinder will be subjected to severe extrusion and friction with the piston rod, and the wear caused by long-term friction will cause the outrigger cylinder to leak oil, resulting in outrigger failure and extremely high maintenance cost and safety risk. SUMMARY

[0004] The purpose of the present application is to provide a control system, method, processor and storage medium for outriggers by controlling the outriggers to overcome the side load received by the outriggers.

[0005] In order to achieve the above purpose, the first aspect of the present application provides a control system for outriggers, each outrigger comprising a horizontal outrigger and a vertical outrigger hingedly connected to each other, and each vertical outrigger being provided with a base, the control system comprising:

[0006] a plurality of amplitude cylinders, each end of each amplitude cylinder being hingedly connected to the horizontal outrigger and the vertical outrigger of the outrigger where the amplitude cylinder is located, for driving the vertical outrigger of the outrigger where the amplitude cylinder is located to rotate relative to the horizontal outrigger;

[0007] a plurality of side load sensors, each installed inside the base of each outrigger, for monitoring the side load pressure of the outrigger where the side load sensor is located in real time and sending a pressure signal to the control device; and

[0008] a control device, electrically connected to the plurality of amplitude cylinders and the plurality of side load sensors, the control device being configured to:

[0009] receive the pressure signal of each outrigger;

[0010] control the telescopic length of the corresponding amplitude cylinder according to the pressure signal.

[0011] In the embodiment of the present application, each vertical leg comprises a fixed vertical leg and a telescopic vertical leg, the telescopic vertical leg is movably embedded in the fixed vertical leg, and the leg control system further comprises: a plurality of telescopic vertical oil cylinders respectively electrically connected with the control device and used for driving the corresponding telescopic vertical leg to telescopically move in the fixed vertical leg; the control device is further configured to: for each luffing oil cylinder, control the telescopic vertical oil cylinder to telescopically move during the telescopic movement of the luffing oil cylinder until the base contacts the ground.

[0012] In the embodiment of the present application, each vertical leg comprises a fixed vertical leg and a telescopic vertical leg, the base comprises a leg disc pressing plate, a leg disc and a measuring plate connected in sequence from top to bottom, the telescopic vertical leg penetrates through the leg disc pressing plate and is embedded in the leg disc, and the side load sensor is installed in the leg disc and electrically connected with the measuring plate.

[0013] In the embodiment of the present application, a limiting block is arranged in each fixed vertical leg, the limiting block is arranged in interval with the telescopic end of the telescopic vertical oil cylinder, and is used for limiting the telescopic distance of the telescopic vertical oil cylinder.

[0014] In the embodiment of the present application, the hinge ears are installed on the horizontal leg and the fixed vertical leg, and the two ends of the luffing oil cylinder are respectively hinged with the two hinge ears.

[0015] In the embodiment of the present application, the control of the telescopic length of the corresponding luffing oil cylinder according to the pressure signal comprises: judging whether the side load pressure is in a preset range according to the pressure signal; when the side load pressure is not in the preset range, controlling the luffing oil cylinder to adjust the preset length to obtain an adjusted side load pressure; in the case that the adjusted side load pressure is not in the preset range, continuing to control the luffing oil cylinder to adjust the preset length until the adjusted side load pressure is in the preset range.

[0016] In the embodiment of the present application, the control of the telescopic length of the corresponding luffing oil cylinder according to the pressure signal comprises: determining the telescopic length of the luffing oil cylinder according to the initial angle and the target angle between the luffing oil cylinder and the horizontal direction, wherein the target angle is the angle between the luffing oil cylinder and the horizontal direction when the side load pressure is zero; comparing the side load pressure with a preset threshold according to the pressure signal; and controlling the luffing oil cylinder to contract or lengthen the telescopic length according to the size between the side load pressure and the preset threshold, so as to control the vertical leg to rotate and adjust the side load pressure to zero.

[0017] According to the technical scheme, the luffing cylinder is arranged on each leg, the vertical leg of the leg is rotated relative to the horizontal leg by the luffing cylinder, and the control device can control the extension length of the luffing cylinder according to the pressure signal sent by the side load sensor of each leg to control the rotation of the vertical leg. The vertical leg can reduce the side load pressure by rotation, and the structure of the luffing cylinder can provide a buffering effect for the vertical leg when the vertical leg is laterally impacted or collided.

[0018] The second aspect of the present application provides a control method for a leg, each leg comprising a horizontal leg and a vertical leg hingedly connected to each other, each vertical leg comprising a base, a side load sensor being arranged in the base, and a corresponding luffing cylinder being arranged on each leg, the control method comprising, for each leg:

[0019] obtaining the side load pressure of the vertical leg by the side load sensor;

[0020] determining an initial angle between the luffing cylinder and the horizontal direction;

[0021] determining an execution length of the luffing cylinder according to the initial angle and a target angle, wherein the target angle is an angle between the luffing cylinder and the horizontal direction when the side load pressure is zero;

[0022] comparing the side load pressure with a preset threshold value;

[0023] controlling the luffing cylinder to contract or extend the execution length according to the size between the side load pressure and the preset threshold value, so as to control the vertical leg to rotate and adjust the side load pressure to zero.

[0024] In the embodiments of the present application, the preset threshold value comprises a first preset threshold value and a second preset threshold value, the first preset threshold value is smaller than the second preset threshold value, and the controlling the luffing cylinder to contract or extend the execution length according to the size between the side load pressure and the preset threshold value comprises: in the case that the side load pressure is smaller than the first preset threshold value, controlling the luffing cylinder to contract the execution length; in the case that the side load pressure is greater than the second preset threshold value, controlling the luffing cylinder to extend the execution length; and in the case that the side load pressure is greater than or equal to the first preset threshold value and smaller than or equal to the second preset threshold value, not controlling the luffing cylinder.

[0025] In the embodiments of the present application, the control method further comprises: simultaneously controlling the vertical leg to perform an extension operation when the luffing cylinder is controlled to contract or extend, until the base contacts the ground.

[0026] In the embodiment of the present application, the variable amplitude oil cylinder is hinged at two ends with the horizontal leg and the vertical leg respectively, an oil pressure sensor is installed in the variable amplitude oil cylinder for real-time detection of the hydraulic oil pressure of the variable amplitude oil cylinder, and the control method further comprises: determining the cylinder force of the variable amplitude oil cylinder according to the hydraulic oil pressure; determining the target angle between the variable amplitude oil cylinder and the horizontal direction through formula (1), formula (2) and formula (3):

[0027] Formula (1)

[0028] Formula (2)

[0029] Formula (3)

[0030] wherein, is the cylinder force of the variable amplitude oil cylinder, is the target angle between the variable amplitude oil cylinder and the horizontal direction, is the vertical distance between the hinge point of the variable amplitude oil cylinder and the vertical leg and the hinge point of the variable amplitude oil cylinder and the horizontal leg, is the horizontal distance between the hinge point of the variable amplitude oil cylinder and the vertical leg and the center line of the vertical leg, is the horizontal distance between the hinge point of the horizontal leg and the vertical leg and the center line of the vertical leg, M is the mass of the vertical leg, and g is the acceleration of gravity, is the horizontal distance between the center of gravity of the vertical leg and the center line of the vertical leg, is the axial support reaction force of the vertical leg, is the vertical distance between the hinge point of the horizontal leg and the vertical leg and the mounting disc of the vertical leg, is the hinge point force of the horizontal leg and the vertical leg, is the hinge angle between the hinge point force of the hinge point of the horizontal leg and the vertical leg and the horizontal direction.

[0031] The third aspect of the present application provides a processor configured to execute the control method for the leg of any one of the above.

[0032] The fourth aspect of the present application provides a machine readable storage medium, the machine readable storage medium has instructions stored thereon, the instructions cause the processor to be configured to execute the control method for the leg of any one of the above when the processor executes the instructions.

[0033] By the technical scheme, the amplitude cylinder hinged to the vertical support leg and the horizontal support leg at two ends is used to drive the vertical support leg, so that the vertical support leg can rotate relative to the horizontal support leg, the side load pressure of the vertical support leg is obtained by the side load sensor, the extension length of the amplitude cylinder is determined according to the initial angle and the target angle between the amplitude cylinder and the horizontal direction, so as to control the extension of the amplitude cylinder, so that the vertical support leg can rotate relative to the horizontal support leg, thereby offsetting the side load pressure borne by the vertical support leg, effectively reducing the failure risk of the cylinder, and greatly improving the service life of the cylinder.

[0034] Other features and advantages of the present application will be described in detail in the following detailed description section. BRIEF DESCRIPTION OF DRAWINGS

[0035] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, and are used together with the following detailed description to explain the present application, but do not constitute a limitation on the present application. In the drawings:

[0036] Figure 1 A structural diagram of a control system for a support leg according to an embodiment of the present application is schematically shown;

[0037] Figure 2 An example diagram of a support leg according to an embodiment of the present application is schematically shown;

[0038] Figure 3 An example diagram of a support leg according to another embodiment of the present application is schematically shown;

[0039] Figure 4 A flowchart of a control method for a support leg according to an embodiment of the present application is schematically shown;

[0040] Figure 5 An example diagram for determining a target angle between an amplitude cylinder and a horizontal direction according to an embodiment of the present application is schematically shown;

[0041] Figure 6 An example diagram of a support leg according to still another embodiment of the present application is schematically shown;

[0042] Figure 7 An example diagram of an application of a support leg according to an embodiment of the present application is schematically shown;

[0043] Figure 8 An internal structural diagram of a computer device according to an embodiment of the present application is schematically shown.

[0044] REFERENCE SIGNS

[0045] 1, horizontal leg; 2, vertical leg; 3, base; 4, luffing cylinder; 5, fixed vertical leg; 6, telescopic vertical leg; 7, telescopic vertical cylinder; 8, leg disc pressing plate; 9, leg disc; 10, measuring plate; 11, side load sensor; 12, frame body; 13, hinge ear; 14, first working state of leg; 15, second working state of leg. DETAILED DESCRIPTION

[0046] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0047] It should be noted that if the present application has a direction indication (such as up, down, left, right, front, back, etc.) in the embodiments, the direction indication is only used to explain the relative position relationship, movement condition, etc. between the components in a certain posture (as shown in the drawings), and if the certain posture changes, the direction indication also changes accordingly.

[0048] In addition, if the present application has a description of "first", "second" and the like in the embodiments, the description of "first", "second" and the like is only for description purpose, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the present application.

[0049] In one embodiment, each leg includes a horizontal leg and a vertical leg hinged to each other, each vertical leg is provided with a base, and the control system includes: a plurality of luffing cylinders, both ends of each luffing cylinder are hinged to the horizontal leg and the vertical leg of the leg, respectively, for driving the vertical leg of the leg to rotate relative to the horizontal leg; a plurality of side load sensors, respectively installed inside the base of each leg, for monitoring the side load pressure of the leg in real time and sending the pressure signal to the control device; and a control device, electrically connected with the plurality of luffing cylinders and the plurality of side load sensors, the control device is configured to: receive the pressure signal of each leg; control the extension length of the corresponding luffing cylinder according to the pressure signal.

[0050] As shown in FIG. 1, a structural diagram of a control system for a leg according to an embodiment of the present application is schematically shown. Figure 1 Figure 1 ​As shown, taking one outrigger as an example, the outrigger includes a horizontal outrigger 1 and a vertical outrigger 2 hinged together. The vertical outrigger 2 is equipped with a base 3. The control system includes a luffing cylinder 4, whose two ends are hinged to the horizontal outrigger 1 and the vertical outrigger 2 respectively. The vertical outrigger 2 can be rotated relative to the horizontal outrigger 1 by the luffing cylinder 4. A side load sensor can be installed inside the base 3 to monitor the side load pressure of the outrigger in real time and send the pressure signal to the control device. The control device is electrically connected to the luffing cylinder 4 and the side load sensor. The control device can receive the pressure signal of each outrigger sent by the side load sensor of each outrigger and control the extension and retraction length of the corresponding luffing cylinder according to the pressure signal.

[0051] In one embodiment, each vertical outrigger includes a fixed vertical outrigger and a telescopic vertical outrigger, with the telescopic vertical outrigger movably embedded in the fixed vertical outrigger. The outrigger control system further includes: a plurality of telescopic vertical cylinders, each electrically connected to the control device, for driving the corresponding telescopic vertical outrigger to telescopically move within the fixed vertical outrigger; the control device is further configured to: for each luffing cylinder, during the extension and retraction of the luffing cylinder, control the telescopic vertical cylinder to perform extension and retraction movement until the base contacts the ground.

[0052] like Figure 2 As shown, taking a vertical outrigger as an example, the vertical outrigger includes a fixed vertical outrigger 5 and a telescopic vertical outrigger 6. The telescopic vertical outrigger 6 is movably embedded in the fixed vertical outrigger 5, and can telescopically move within the fixed vertical outrigger 5. The outrigger control system also includes a telescopic vertical cylinder 7, which is electrically connected to the control device and can be used to drive the telescopic vertical outrigger 6 to telescopically move within the fixed vertical outrigger 5. During the process of controlling the luffing cylinder 4 to extend and retract, the controller can control the telescopic vertical cylinder 6 to extend and retract, so that the length of the vertical outrigger can be adjusted accordingly based on the adjustment of the luffing cylinder 4 until the base 3 contacts the ground.

[0053] In one embodiment, each vertical support leg includes a fixed vertical support leg and a telescopic vertical support leg. The base includes a support leg plate, a support leg plate, and a measuring plate connected sequentially from top to bottom. The telescopic vertical support leg passes through the support leg plate and is embedded in the support leg plate. The side load sensor is installed in the support leg plate and is electrically connected to the measuring plate.

[0054] like Figure 3 As shown, taking one outrigger as an example, the base includes an outrigger plate pressure plate 8, an outrigger plate 9, and a measuring plate 10 connected sequentially from top to bottom. The telescopic vertical outrigger 7 of the vertical outrigger passes through the outrigger plate pressure plate 8 and is embedded within the outrigger plate 9. A side load sensor 11 is installed within the outrigger plate 9 and is electrically connected to the measuring plate 10. The side load sensor 11 can determine the side load pressure of the vertical outrigger through the measuring plate 10.

[0055] In one embodiment, a limiting block is arranged in each fixed vertical leg and is arranged in interval with the telescopic end of the telescopic vertical oil cylinder, and is used for limiting the telescopic distance of the telescopic vertical oil cylinder.

[0056] A limiting block is arranged in each fixed vertical leg and is arranged in interval with the telescopic end of the telescopic vertical oil cylinder, and is used for limiting the telescopic distance of the telescopic vertical oil cylinder. When the control device drives the telescopic vertical leg to perform telescopic movement in the fixed vertical leg by controlling the telescopic vertical oil cylinder, the limiting block in the fixed vertical leg can limit the telescopic distance of the telescopic vertical oil cylinder, thereby limiting the telescopic distance of the telescopic vertical leg in the fixed vertical leg.

[0057] In one embodiment, a hinge ear is arranged on the horizontal leg and the fixed vertical leg, and the two ends of the amplitude oil cylinder are respectively hinged with the two hinge ears.

[0058] A hinge ear is arranged on the horizontal leg and the fixed vertical leg, and the two ends of the amplitude oil cylinder are respectively hinged with the hinge ear arranged on the horizontal leg and the hinge ear arranged on the vertical leg. Thus, the amplitude oil cylinder can be used to drive the vertical leg to rotate relative to the horizontal leg by adjusting the telescopic length.

[0059] In one embodiment, controlling the telescopic length of the corresponding amplitude oil cylinder according to the pressure signal comprises: judging whether the side load pressure is in a preset range according to the pressure signal; when the side load pressure is not in the preset range, controlling the amplitude oil cylinder to adjust a preset length to obtain an adjusted side load pressure; and in the case that the adjusted side load pressure is not in the preset range, continuing to control the amplitude oil cylinder to adjust the preset length until the adjusted side load pressure is in the preset range.

[0060] The control device is electrically connected with the amplitude oil cylinder and the side load sensor, and the control device can receive the pressure signal of each leg sent by the side load sensor of each leg, and control the telescopic length of the corresponding amplitude oil cylinder according to the pressure signal. The controller can judge whether the side load pressure is in a preset range according to the pressure signal, wherein the preset range can be set and input by an operator. When the pressure signal obtained by the side load force sensor determines that the side load pressure is not in the preset range, the controller can control the amplitude oil cylinder to adjust a preset length. After the controller controls the amplitude oil cylinder to adjust the preset length, the adjusted side load pressure can be obtained by the side load sensor. In the case that the adjusted side load pressure is still not in the preset range, the controller can continue to control the amplitude oil cylinder to adjust the preset length until the adjusted side load pressure is in the preset range.

[0061] In one embodiment, controlling the telescopic length of the variable amplitude oil cylinder according to the pressure signal comprises: determining the telescopic length of the variable amplitude oil cylinder according to an initial angle between the variable amplitude oil cylinder and the horizontal direction and a target angle, wherein the target angle is an angle between the variable amplitude oil cylinder and the horizontal direction when the side load pressure of the vertical leg is zero; comparing the side load pressure with a preset threshold according to the pressure signal; and controlling the telescopic length of the variable amplitude oil cylinder to be contracted or extended according to the size between the side load pressure and the preset threshold, so as to control the vertical leg to rotate and adjust the side load pressure to be zero.

[0062] The controller can also determine the telescopic length of the variable amplitude oil cylinder according to an initial angle between the variable amplitude oil cylinder and the horizontal direction and a target angle, wherein the target angle is an angle between the variable amplitude oil cylinder and the horizontal direction when the side load pressure of the vertical leg is zero. The controller can compare the side load pressure with a preset threshold according to the obtained pressure signal, and control the telescopic length of the variable amplitude oil cylinder to be contracted or extended according to the comparison result, that is, the size between the side load pressure and the preset threshold, so as to control the vertical leg to rotate relative to the horizontal leg, and adjust the side load pressure of the vertical leg to be zero.

[0063] By the above technical solution, the variable amplitude oil cylinder hinged at two ends of the vertical leg and the horizontal leg is used to drive the vertical leg, so that the vertical leg can rotate relative to the horizontal leg. The control device can control the telescopic length of the variable amplitude oil cylinder according to the pressure signal sent by the side load sensor installed on the base of each leg, so as to control the rotation of the vertical leg, so that the vertical leg can reduce the side load pressure by rotating, and the structure of the variable amplitude oil cylinder can provide a buffer for the vertical leg when the vertical leg is laterally impacted or collided. Further, when the variable amplitude oil cylinder drives the vertical leg to rotate, the telescopic vertical oil cylinder in the vertical leg can drive the telescopic vertical leg to extend or retract in the fixed vertical leg, so that the base can contact the ground, thereby ensuring the safety of the leg.

[0064] In one embodiment, as shown in FIG. 1, a flowchart of a control method for a leg is schematically shown, as shown in FIG. 2, a control method for a leg is provided, comprising the following steps: Figure 4 Figure 4 Step 401: obtaining the side load pressure of the vertical leg by a side load sensor;

[0065] Step 402: determining an initial angle between the current variable amplitude oil cylinder and the horizontal direction;

[0066] Step 403: determining the telescopic length of the variable amplitude oil cylinder according to the initial angle and a target angle, wherein the target angle is an angle between the variable amplitude oil cylinder and the horizontal direction when the side load pressure is zero;

[0067] Step 403: determining the telescopic length of the variable amplitude oil cylinder according to the initial angle and a target angle, wherein the target angle is an angle between the variable amplitude oil cylinder and the horizontal direction when the side load pressure is zero;

[0068] ​Step 404, compare the side load pressure with a preset threshold value;

[0069] Step 405, control the telescopic cylinder to retract or extend the execution length according to the size between the side load pressure and the preset threshold value, so as to control the vertical leg to rotate and adjust the side load pressure to zero.

[0070] Taking one leg as an example, as shown in the figure, the leg includes a horizontal leg and a vertical leg which are hingedly connected, the vertical leg includes a base, a side load sensor is installed in the base, and a telescopic cylinder is installed on the leg. Figure 1

[0071] The processor can obtain the side load pressure of the vertical leg through the side load sensor, determine an initial angle between the telescopic cylinder and the horizontal direction, and determine a target angle between the telescopic cylinder and the horizontal direction, wherein the target angle is an angle between the telescopic cylinder and the horizontal direction when the side load pressure of the vertical leg is zero. The processor can determine the execution length of the telescopic cylinder according to the initial angle and the target angle between the telescopic cylinder and the horizontal direction.

[0072] The processor can compare the obtained side load pressure of the vertical leg with a preset threshold value set by the processor, wherein the preset threshold value can be set by an operator. After comparing the side load pressure with the preset threshold value, the processor can control the telescopic cylinder to retract or extend the execution length according to the size between the side load pressure and the preset threshold value, so as to control the vertical leg to rotate relative to the horizontal leg, and thereby adjust the side load pressure of the vertical leg to zero.

[0073] In one embodiment, the preset threshold value includes a first preset threshold value and a second preset threshold value, the first preset threshold value is smaller than the second preset threshold value, and controlling the telescopic cylinder to retract or extend the execution length according to the size between the side load pressure and the preset threshold value includes: in the case that the side load pressure is less than the first preset threshold value, controlling the telescopic cylinder to retract the execution length; in the case that the side load pressure is greater than the second preset threshold value, controlling the telescopic cylinder to extend the execution length; and in the case that the side load pressure is greater than or equal to the first preset threshold value and less than or equal to the second preset threshold value, not controlling the telescopic cylinder.

[0074] ​The processor obtains the side load pressure of the vertical leg through the side load sensor, and compares the side load pressure with a preset threshold set by the processor, wherein the preset threshold set by the processor includes a first preset threshold and a second preset threshold, and the first preset threshold is smaller than the second preset threshold. When the processor determines that the side load pressure of the vertical leg is less than the first preset threshold set by the processor, the processor can control the variable amplitude oil cylinder to retract a determined execution length, so that the vertical leg rotates relative to the horizontal leg, so that the side load pressure of the vertical leg is zero. In the case where the processor determines that the side load pressure of the vertical leg is greater than the second preset threshold set by the processor, the processor can control the variable amplitude oil cylinder to extend the execution length determined by the processor, so that the vertical leg rotates relative to the horizontal leg, so that the side load pressure of the vertical leg is zero. When the side load pressure is greater than or equal to the first preset threshold set by the processor and less than or equal to the second preset threshold, the side load pressure of the vertical leg may not be zero, but it is within a safe range, so the processor can not control the variable amplitude oil cylinder at this time.

[0075] In one embodiment, each vertical leg includes a base, and the control method further includes: when the variable amplitude oil cylinder is controlled to retract or extend, the vertical leg is simultaneously controlled to perform a telescopic operation until the base contacts the ground.

[0076] Each vertical leg includes a base, and when the processor controls the variable amplitude oil cylinder to retract or extend, the distance of the vertical leg relative to the ground may change. Therefore, when the processor controls the variable amplitude oil cylinder to retract or extend, the processor can control the vertical leg to perform a telescopic operation until the base of the vertical leg contacts the ground, so as to ensure that the vertical leg is always supported on the ground.

[0077] In one embodiment, the variable amplitude oil cylinder is hinged at both ends to the horizontal leg and the vertical leg, and an oil pressure sensor is installed in the variable amplitude oil cylinder to detect the hydraulic oil pressure of the variable amplitude oil cylinder in real time. The control method further includes: determining the cylinder force of the variable amplitude oil cylinder according to the hydraulic oil pressure; and determining the target angle between the variable amplitude oil cylinder and the horizontal direction by formulas (1), (2) and (3):

[0078] Formula (1)

[0079] Formula (2)

[0080] Formula (3)

[0081] Wherein, is the cylinder force of the variable amplitude oil cylinder, is the target angle between the variable amplitude oil cylinder and the horizontal direction, A vertical distance between the hinge point of the variable amplitude oil cylinder and the vertical leg and the hinge point of the variable amplitude oil cylinder and the horizontal leg, A horizontal distance between the hinge point of the variable amplitude oil cylinder and the vertical leg and the center line of the vertical leg, A horizontal distance between the hinge point of the horizontal leg and the vertical leg and the center line of the vertical leg, M is the mass of the vertical leg, and g is the acceleration of gravity, A horizontal distance between the center of gravity of the vertical leg and the center line of the vertical leg, An axial support reaction force of the vertical leg, A vertical distance between the hinge point of the horizontal leg and the vertical leg and the mounting disc of the vertical leg, A hinge point force of the horizontal leg and the vertical leg, A hinge angle of the hinge point of the horizontal leg and the vertical leg.

[0082] The variable amplitude oil cylinder of the leg is hingedly connected to the horizontal leg and the vertical leg at two ends, respectively. Figure 5 As shown, from top to bottom on the left side of the vertical leg, there are two hinge ears, the first hinge ear from top to bottom is the hinge ear for the hinge connection between the vertical leg and the variable amplitude oil cylinder, and the second hinge ear is the hinge ear for the hinge connection between the vertical leg and the horizontal leg. An oil pressure sensor is installed in the variable amplitude oil cylinder, and the processor can obtain the pressure of the hydraulic oil in the variable amplitude oil cylinder through the oil pressure sensor, and determine the cylinder force of the variable amplitude oil cylinder according to the hydraulic oil pressure. The target angle is the angle between the variable amplitude oil cylinder and the horizontal direction when the side load pressure of the vertical leg is zero, that is, when the angle between the variable amplitude oil cylinder and the horizontal direction is adjusted to the target angle, the side load pressure of the vertical leg is zero. The processor can determine the target angle between the variable amplitude oil cylinder and the horizontal direction when the side load pressure of the vertical leg is zero through formula (1), formula (2) and formula (3) after obtaining other related parameters of the vertical leg .

[0083] The processor can determine the execution length of the variable amplitude oil cylinder according to the initial angle between the variable amplitude oil cylinder and the horizontal direction and the target angle between the variable amplitude oil cylinder and the horizontal direction, and adjust the variable amplitude oil cylinder to be contracted or elongated according to the determined execution length according to the comparison result of the side load pressure of the vertical leg and the preset threshold.

[0084] In one embodiment, a processor configured to perform the control method for the leg according to any one of the above is provided.

[0085] As Figure 6As shown, the outrigger is connected to the frame body 12 of the engineering machinery through the horizontal outrigger 1, the horizontal outrigger 1 and the vertical outrigger 2 are hingedly connected to each other, the horizontal outrigger 1 and the vertical outrigger 2 are both provided with a hinge lug 13, the amplitude cylinder 4 is hingedly connected to the horizontal outrigger 1 and the vertical outrigger 2 through the hinge lug 8, and is used to drive the vertical outrigger 2 to rotate relative to the horizontal outrigger 1. The vertical outrigger 2 includes a fixed vertical outrigger 5 and a telescopic vertical outrigger 6, the telescopic vertical outrigger 6 is movably embedded in the fixed vertical outrigger 5, and the telescopic vertical outrigger 6 is driven to move in and out of the fixed vertical outrigger 5 through the telescopic vertical cylinder 7. The vertical outrigger 2 can also include a base 3 for contacting the ground. Figure 3 As shown, the base 3 includes a outrigger disc pressing plate 8, an outrigger disc 9 and a measuring plate 10 connected in sequence from top to bottom, the telescopic vertical outrigger 7 of the vertical outrigger 2 penetrates through the outrigger disc pressing plate 8 and is embedded in the outrigger disc 9, a side load sensor 11 is installed in the outrigger disc 9, and the side load sensor 11 is electrically connected to the measuring plate 10. The side load sensor 11 can determine the side load pressure of the vertical outrigger 2 through the measuring plate 10.

[0086] The processor can determine the initial angle between the amplitude cylinder and the horizontal direction, and determine the target angle between the amplitude cylinder and the horizontal direction through formula (1), formula (2) and formula (3), wherein the target angle is the angle between the amplitude cylinder and the horizontal direction when the side load pressure of the vertical outrigger is zero. And determine the execution length of the amplitude cylinder according to the initial angle and the target angle between the amplitude cylinder and the horizontal direction.

[0087] The processor can obtain the side load pressure of the vertical outrigger through the side load sensor through the measuring plate, and compare the obtained side load pressure with the preset threshold set by the processor, wherein the preset threshold set by the processor includes a first preset threshold and a second preset threshold, and the first preset threshold is less than the second preset threshold. When the processor determines that the side load pressure of the vertical outrigger is less than the first preset threshold set by the processor, the processor can control the amplitude cylinder to retract the determined execution length, so that the vertical outrigger rotates relative to the horizontal outrigger, so that the side load pressure of the vertical outrigger is zero. In the case where the processor determines that the side load pressure of the vertical outrigger is greater than the second preset threshold set by the processor, the processor can control the amplitude cylinder to extend the execution length determined by the processor, so that the vertical outrigger rotates relative to the horizontal outrigger, so that the side load pressure of the vertical outrigger is zero. When the side load pressure is greater than or equal to the first preset threshold set by the processor and less than or equal to the second preset threshold, the side load pressure of the vertical outrigger may not be zero at this time, but it is within a safe range, so the processor can not control the amplitude cylinder at this time.

[0088] When the processor controls the variable amplitude cylinder to extend or contract, the processor can control the vertical legs to extend or contract, and the processor can control the telescopic vertical cylinder to drive the telescopic vertical leg to extend or contract in the fixed vertical leg, so that the base contacts the ground, for example Figure 7 When the processor controls the variable amplitude cylinder 4 to contract, so that the vertical leg 2 rotates from the vertical leg first working state 14 to the vertical leg second working state 15 relative to the horizontal leg 1, the processor can control the telescopic vertical cylinder to drive the telescopic vertical leg 6 to extend or contract in the fixed vertical leg 5, so that the base 3 contacts the ground. A limit block can be arranged in the fixed vertical leg 5, and the limit block is arranged at intervals with the telescopic end of the telescopic vertical cylinder, so as to limit the telescopic distance of the telescopic vertical cylinder. So that the base 3 can be safely supported on the ground.

[0089] Through the above technical solution, the variable amplitude cylinder hinged at the vertical leg and the horizontal leg at both ends is used to drive the vertical leg, so that the vertical leg can rotate relative to the horizontal leg. The side load sensor is used to determine the side load pressure borne by the vertical leg, and the telescopic length of the variable amplitude cylinder is determined according to the initial angle and the target angle between the variable amplitude cylinder and the horizontal direction, so as to control the telescopic of the variable amplitude cylinder, so that the vertical leg can rotate relative to the horizontal leg, so as to offset the side load pressure borne by the vertical leg, effectively reduce the risk of cylinder failure, and greatly improve the service life of the cylinder. At the same time, when the processor adjusts the variable amplitude cylinder, the processor can control the telescopic vertical leg of the vertical leg to extend or contract in the fixed vertical leg, so that the vertical leg can adapt to the adjusted angle, so as to expand the ground adapting angle of the leg, and improve the operation flexibility. The variable amplitude cylinder can provide a buffering effect for the vertical leg, so that the impact resistance of the vertical leg to the lateral impact is improved.

[0090] The memory can include a non-persistent memory in a computer readable medium, a random access memory (RAM) and / or a non-volatile memory such as a read-only memory (ROM) or a flash memory (flash RAM), and the memory includes at least one memory chip.

[0091] In one embodiment, a computer device, which can be a server, is provided, and an internal structure diagram of the computer device can be as shown in Figure 8As shown. The computer device includes a processor A01, a network interface A02, memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores relevant data about the engineering machinery and data input by the operators. The network interface A02 communicates with external terminals via a network connection. When executed by the processor A01, the computer program B02 implements a control method for the outriggers.

[0092] Figure 4 This is a flowchart illustrating the control method for the outriggers in the above embodiments. It should be understood that, although... Figure 4 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 3 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0093] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: acquiring the side load pressure of the vertical outrigger through a side load sensor; determining the initial angle between the current luffing cylinder and the horizontal direction; determining the execution length of the luffing cylinder based on the initial angle and a target angle, wherein the target angle is the angle between the luffing cylinder and the horizontal direction when the side load pressure is zero; comparing the side load pressure with a preset threshold; and controlling the luffing cylinder to retract or extend its execution length based on the difference between the side load pressure and the preset threshold, so as to control the vertical outrigger to rotate and adjust the side load pressure to zero.

[0094] In one embodiment, the preset threshold includes a first preset threshold and a second preset threshold, the first preset threshold is smaller than the second preset threshold, and the controlling the extension or retraction execution length of the variable amplitude cylinder according to the size between the side load pressure and the preset threshold includes: controlling the variable amplitude cylinder to retract an execution length when the side load pressure is less than the first preset threshold; controlling the variable amplitude cylinder to extend an execution length when the side load pressure is greater than the second preset threshold; and not controlling the variable amplitude cylinder when the side load pressure is greater than or equal to the first preset threshold and less than or equal to the second preset threshold.

[0095] In one embodiment, the control method further includes: simultaneously controlling the vertical support leg to perform the telescopic operation until the base contacts the ground when controlling the variable amplitude cylinder to retract or extend.

[0096] In one embodiment, the variable amplitude cylinder is hingedly connected to the horizontal support leg and the vertical support leg at two ends, respectively, and an oil pressure sensor is installed in the variable amplitude cylinder to detect the hydraulic oil pressure of the variable amplitude cylinder in real time, and the control method further includes: determining the cylinder force of the variable amplitude cylinder according to the hydraulic oil pressure; and determining the target angle between the variable amplitude cylinder and the horizontal direction by formulas (1), (2) and (3):

[0097] Formula (1)

[0098] Formula (2)

[0099] Formula (3)

[0100] wherein, is the cylinder force of the variable amplitude cylinder, is the target angle between the variable amplitude cylinder and the horizontal direction, is the vertical distance between the hinge point of the variable amplitude cylinder and the vertical support leg and the hinge point of the variable amplitude cylinder and the horizontal support leg, is the horizontal distance between the hinge point of the variable amplitude cylinder and the vertical support leg and the center line of the vertical support leg, is the horizontal distance between the hinge point of the horizontal support leg and the vertical support leg and the center line of the vertical support leg, M is the mass of the vertical support leg, and g is the acceleration of gravity, is the horizontal distance between the center of gravity of the vertical support leg and the center line of the vertical support leg, is the axial support reaction force of the vertical support leg, is the vertical distance between the hinge point of the horizontal support leg and the vertical support leg and the mounting disc of the vertical support leg, is the hinge point force of the horizontal support leg and the vertical support leg, is the hinge angle between the hinge point force of the hinge connection of the horizontal support leg and the vertical support leg and the horizontal direction.

[0101] Those skilled in the art will appreciate that embodiments of the present application can be readily used as software, hardware, or a combination of software and hardware. In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0102] The present application is described in reference to the flowchart illustrations and / or block diagrams according to the methods, apparatus (systems) and computer program products of embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing device, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks.

[0103] 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 function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks.

[0104] 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 such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks.

[0105] In one typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0106] The memory can include non-persistent memory, random access memory (RAM), and / or non-volatile memory, such as read only memory (ROM) or flash memory, among others. The memory is an example of computer-readable media.

[0107] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology to store 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 disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0108] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0109] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A control system for a support leg, characterized in that, Each leg comprises a horizontal leg and a vertical leg hinged to each other, each vertical leg is provided with a base, the control system comprises: a plurality of variable amplitude oil cylinders, two ends of each variable amplitude oil cylinder are hinged to the horizontal leg and the vertical leg of the leg where the variable amplitude oil cylinder is located, respectively, for driving the vertical leg of the leg where the variable amplitude oil cylinder is located to rotate relative to the horizontal leg; a plurality of side load sensors, each side load sensor is installed inside the base of each leg, for monitoring the side load pressure of the leg where the side load sensor is located in real time and sending a pressure signal to the control device; and the control device is electrically connected with the plurality of variable amplitude oil cylinders and the plurality of side load sensors, the control device is configured to: receive the pressure signal of each leg; control the extension length of the corresponding variable amplitude oil cylinder according to the pressure signal; wherein the control of the extension length of the corresponding variable amplitude oil cylinder according to the pressure signal comprises: determining the extension length of the variable amplitude oil cylinder according to the initial angle and the target angle between the variable amplitude oil cylinder and the horizontal direction, wherein the target angle is the angle between the variable amplitude oil cylinder and the horizontal direction when the side load pressure is zero; comparing the side load pressure with a preset threshold according to the pressure signal; controlling the variable amplitude oil cylinder to contract or extend the extension length according to the size between the side load pressure and the preset threshold, so as to control the vertical leg to rotate and adjust the side load pressure to zero.

2. The control system for a support leg of claim 1, wherein, Each vertical leg comprises a fixed vertical leg and a telescopic vertical leg, the telescopic vertical leg is movably embedded in the fixed vertical leg, the control system further comprises: a plurality of telescopic vertical oil cylinders, each telescopic vertical oil cylinder is electrically connected with the control device, for driving the corresponding telescopic vertical leg to extend and contract in the fixed vertical leg; the control device is further configured to: for each variable amplitude oil cylinder, during the extension and contraction of the variable amplitude oil cylinder, control the telescopic vertical oil cylinder to extend and contract until the base contacts the ground.

3. The control system for a support leg of claim 1, wherein, Each vertical leg comprises a fixed vertical leg and a telescopic vertical leg, the base comprises a leg disc pressing plate, a leg disc and a measuring plate connected in sequence from top to bottom, the telescopic vertical leg penetrates through the leg disc pressing plate and is embedded in the leg disc, the side load sensor is installed in the leg disc and is electrically connected with the measuring plate.

4. The control system for a support leg of claim 2, wherein, A limiting block is arranged in each fixed vertical leg, the limiting block is arranged at intervals with the extension end of the telescopic vertical oil cylinder, and is used for limiting the extension distance of the telescopic vertical oil cylinder.

5. The control system for a support leg of claim 2, wherein, Hinge ears are installed on the horizontal leg and the fixed vertical leg, respectively, two ends of the variable amplitude oil cylinder are hinged to the two hinge ears, respectively.

6. A control method for a support leg, characterized by, Each leg comprises a horizontal leg and a vertical leg hinged to each other, each vertical leg comprises a base, a side load sensor is installed in the base, each leg is provided with a corresponding variable amplitude oil cylinder, for each leg, the control method comprises: obtaining the side load pressure of the vertical leg through the side load sensor; determining the initial angle between the variable amplitude oil cylinder and the horizontal direction; determining the execution length of the variable amplitude oil cylinder according to the initial angle and the target angle, wherein the target angle is the angle between the variable amplitude oil cylinder and the horizontal direction when the side load pressure is zero; comparing the side load pressure with a preset threshold value; controlling the variable amplitude cylinder to contract or extend the execution length according to the magnitude between the side load pressure and the preset threshold value, so as to control the vertical support leg to rotate and adjust the side load pressure to zero.

7. The control method for a support leg according to claim 6, characterized by, The preset threshold value includes a first preset threshold value and a second preset threshold value, the first preset threshold value is smaller than the second preset threshold value, and controlling the variable amplitude cylinder to contract or extend the execution length according to the magnitude between the side load pressure and the preset threshold value includes: controlling the variable amplitude cylinder to contract the execution length when the side load pressure is less than the first preset threshold value; controlling the variable amplitude cylinder to extend the execution length when the side load pressure is greater than the second preset threshold value; controlling the variable amplitude cylinder to contract or extend the execution length according to the magnitude between the side load pressure and the preset threshold value, so as to control the vertical support leg to rotate and adjust the side load pressure to zero.

8. The control method for a support leg according to claim 6 or 7, each vertical support leg comprising a base, characterized in that, The control method further includes: controlling the vertical support leg to perform telescopic operation at the same time when the variable amplitude cylinder is controlled to contract or extend, until the base contacts the ground.

9. The control method for a support leg according to claim 6, wherein The variable amplitude cylinder is hinged at both ends with the horizontal support leg and the vertical support leg respectively, an oil pressure sensor is installed in the variable amplitude cylinder, for detecting the hydraulic oil pressure of the variable amplitude cylinder in real time, and the control method further includes: determining the cylinder force of the variable amplitude cylinder according to the hydraulic oil pressure; determining the target angle between the variable amplitude cylinder and the horizontal direction through formula (1), formula (2) and formula (3): Equation (1) Equation (2) Equation (3) wherein, F is the cylinder force of the amplitude cylinder, is the target angle between the amplitude cylinder and the horizontal direction, is the vertical distance between the hinge point of the amplitude cylinder and the horizontal leg and the hinge point of the amplitude cylinder and the vertical leg, is the horizontal distance between the hinge point of the amplitude cylinder and the vertical leg and the center line of the vertical leg, is the horizontal distance between the hinge point of the horizontal leg and the vertical leg and the center line of the vertical leg, M is the mass of the vertical leg, and g is the acceleration of gravity, is the horizontal distance between the center of gravity of the vertical leg and the center line of the vertical leg, is the axial support reaction force of the vertical leg, is the vertical distance between the hinge point of the horizontal leg and the vertical leg and the mounting disc of the vertical leg, is the hinge force of the horizontal leg and the vertical leg, is the hinge angle between the hinge force of the horizontal leg and the vertical leg and the horizontal direction.

10. A processor, comprising: The instruction, when executed by the processor, causes the processor to be configured to perform the control method for the support leg according to any one of claims 6 to 9.

11. A machine-readable storage medium having instructions stored thereon, the instructions comprising: The instruction, when executed by the processor, causes the processor to be configured to perform the control method for the support leg according to any one of claims 6 to 9.

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