Control Method, Processor and Construction Machinery for Leveling of Construction Machinery

Abstract

This application relates to the field of construction machinery. Specifically, it relates to a control method, a processor, and a construction machinery for leveling the construction machinery. The method includes: when the attitude of the construction machinery is in a preset attitude, obtaining the reaction force value of the target outrigger through a reaction force sensor; when the reaction force value of the target outrigger is less than a first threshold, sequentially adjusting the telescoping of multiple outriggers in a preset order to adjust the reaction force value of the target outrigger; when the reaction force value of the target outrigger is greater than or equal to the first threshold, controlling the outriggers to stop telescoping adjustment; when the reaction force value is greater than a second threshold, sequentially adjusting the telescoping of multiple outriggers in a preset order to adjust the reaction force value of the target outrigger again; when the reaction force value is less than or equal to the second threshold, controlling the outriggers to stop telescoping adjustment; when the reaction force value is greater than or equal to the first threshold and less than or equal to the second threshold, determining that the construction machinery has completed leveling.

Description

Technical Field

[0001] The present application relates to the field of construction machinery. Specifically, it relates to a control method, a processor, a construction machinery, and a storage medium for leveling a construction machinery. Background Art

[0002] For construction machinery supported by outriggers, such as concrete pump trucks, truck cranes, fire trucks, high-altitude cleaning vehicles, bridge maintenance vehicles, outrigger aerial work platforms, etc., when parking for operation, it is necessary to first deploy, support, and level the construction machinery with the outriggers. When supporting the construction machinery, a body horizontal inclination sensor is usually used to detect the horizontal state of the body, and the body can be roughly adjusted to the horizontal state through this feedback. After adjusting the construction machinery with the body horizontal inclination sensor, it is necessary to level the outriggers of the construction machinery again. Currently, when leveling the outriggers of the construction machinery, it is necessary to obtain the support force values of each outrigger on the construction machinery and then adjust each outrigger separately. The adjustment system is complex and the cost is too high. Summary of the Invention

[0003] The purpose of the present application is to provide a control method, a processor, a construction machinery, and a storage medium for leveling a construction machinery, which can level the outriggers without obtaining the support forces of all outriggers.

[0004] To achieve the above purpose, the present application provides a control method for leveling a construction machinery. The construction machinery includes a plurality of outriggers. The control method includes:

[0005] When the posture of the construction machinery is in a preset posture, obtain the reaction force value of a target outrigger through a reaction force sensor, wherein the target outrigger is equipped with a reaction force sensor;

[0006] When the reaction force value of the target outrigger is less than a first threshold, sequentially perform telescopic adjustment on the plurality of outriggers in a preset order to adjust the reaction force value of the target outrigger;

[0007] After performing telescopic adjustment on any one outrigger, detect the reaction force value of the target outrigger again;

[0008] When the reaction force value of the target outrigger is greater than or equal to the first threshold, control the outrigger to stop telescopic adjustment and detect whether the reaction force value of the target outrigger is greater than a second threshold;

[0009] When the reaction force value is greater than the second threshold, sequentially perform telescopic adjustment on the plurality of outriggers in a preset order to adjust the reaction force value of the target outrigger again;

[0010] After adjusting the telescopic length of any one outrigger, detect the reaction force value of the target outrigger again. When the reaction force value is less than or equal to the second threshold, control the outrigger to stop telescopic adjustment;

[0011] When the reaction force value is greater than or equal to the first threshold and less than or equal to the second threshold, it is determined that the construction machinery has completed leveling.

[0012] In the embodiments of the present application, the preset order is the target leg, the first leg located diagonally to the target leg, the second leg of the first leg located clockwise around the construction machinery with respect to the target leg, and the third leg of the first leg located counterclockwise around the construction machinery with respect to the target leg; sequentially performing telescopic adjustment on multiple legs in the preset order includes: after performing telescopic adjustment on any one leg, when the duration during which the reaction force value remains unchanged reaches the preset duration and the adjusted reaction force value is less than the first threshold, performing telescopic adjustment on the next leg in the preset order until the reaction force value of the target leg is greater than or equal to the first threshold.

[0013] In the embodiments of the present application, when sequentially performing telescopic adjustment on multiple legs in the preset order, the telescopic adjustment for each leg is performed in the following manner: controlling the target leg to extend; controlling the first leg to extend; controlling the second leg to contract; controlling the third leg to contract.

[0014] In the embodiments of the present application, the preset order is the target leg, the first leg located diagonally to the target leg, the second leg of the first leg located clockwise around the construction machinery with respect to the target leg, and the third leg of the first leg located counterclockwise around the construction machinery with respect to the target leg; sequentially performing telescopic adjustment on multiple legs in the preset order includes: after performing telescopic adjustment on any one leg, when the duration during which the reaction force value remains unchanged reaches the preset duration and the adjusted reaction force value is greater than the second threshold, performing telescopic adjustment on the next leg in the preset order until the reaction force value of the target leg is less than or equal to the second threshold.

[0015] In the embodiments of the present application, when sequentially performing telescopic adjustment on multiple legs in the preset order, the telescopic adjustment for each leg is performed in the following manner: controlling the target leg to contract; controlling the first leg to contract; controlling the second leg to extend; controlling the third leg to extend.

[0016] In the embodiments of the present application, the construction machinery further includes a boom, a boom folding signal sensor, and a leg opening sensor, and the control method further includes: determining the folding posture of the boom through the boom folding signal sensor, and determining the opening state of the legs through the leg opening sensor; when the folding posture is the preset folding posture and the opening states of all the legs of the construction machinery are all fully open, it is determined that the posture of the construction machinery is in the preset posture; when the folding posture does not reach the preset folding posture, and / or the opening state of at least one leg is not fully open, it is determined that the posture of the construction machinery is not in the preset posture.

[0017] In an embodiment of the present application, the construction machinery includes a body inclination sensor, and the control method further includes: when the posture of the construction machinery is in a preset posture, obtaining the body inclination of the construction machinery through the body inclination sensor; when the absolute value of the body inclination is less than or equal to a first value, obtaining the reaction force value of the target leg; when the absolute value of the body inclination is greater than the first value, obtaining a first component and a second component of the body inclination; adjusting the legs according to the first component and the second component so that the absolute value of the body inclination is less than or equal to the first value.

[0018] In an embodiment of the present application, the construction machinery includes a cab, and adjusting the legs according to the first component and the second component so that the absolute value of the body inclination is less than or equal to the first value includes: when both the first component and the second component are greater than a second value, controlling the leg located in front of the left of the cab to perform a contraction operation, or the leg located behind the right of the cab to perform an extension operation; when the first component is greater than the second value and the second component is less than or equal to the second value, controlling the leg located in front of the right of the cab to perform a contraction operation or the leg located behind the left of the cab to perform an extension operation; when the first component is less than or equal to the second value and the second component is greater than the second value, controlling the leg located in front of the right of the cab to perform an extension operation or the leg located behind the left of the cab to perform a contraction operation; when both the first component and the second component are less than or equal to the second value, controlling the leg located in front of the left of the cab to perform an extension operation or the leg located behind the right of the cab to perform a contraction operation.

[0019] In an embodiment of the present application, after performing telescopic adjustment on any one leg, return to the step of obtaining the body inclination of the construction machinery through the body inclination sensor to continue controlling the construction machinery until it is determined that the construction machinery has completed leveling.

[0020] In an embodiment of the present application, after completing the telescopic adjustment of all legs, detect the reaction force value of the target leg again; when the reaction force value is less than a first threshold or greater than a second threshold, determine that the leveling of the construction machinery fails.

[0021] A second aspect of the present application provides a processor configured to execute the control method for leveling a construction machinery as described in any one of the above.

[0022] A third aspect of the present application provides a construction machinery, including:

[0023] A plurality of legs for supporting the construction machinery;

[0024] A reaction force sensor for obtaining the reaction force value of the leg; and the above-mentioned processor.

[0025] In an embodiment of the present application, the construction machinery further includes: a boom; a cab; a boom folding signal sensor for determining the folding posture of the boom; a outrigger opening sensor for determining the opening state of the outriggers; and an inclination sensor for obtaining the body inclination of the construction machinery.

[0026] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon that, when executed by a processor, cause the processor to be configured to perform the control method for leveling a construction machinery as described in any one of the above.

[0027] Through the above technical solution, by obtaining the reaction force value of the target outrigger and sequentially adjusting the telescoping of multiple outriggers according to the reaction force value of the target outrigger in a preset order, the leveling of the construction machinery is achieved. The present application only needs to obtain the reaction force value of one outrigger to achieve the leveling of the entire construction machinery, simplifies the leveling system of the construction machinery, and reduces the adjustment cost.

[0028] Other features and advantages of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings are used to provide a further understanding of the present application and constitute a part of the specification, and are used together with the following specific implementation to explain the present application, but do not constitute a limitation to the present application. In the drawings:

[0030] Figure 1 Schematically shows a flowchart of a control method for leveling a construction machinery according to an embodiment of the present application;

[0031] Figure 2 Schematically shows an example diagram of a control method for leveling a construction machinery according to an embodiment of the present application;

[0032] Figure 3 Schematically shows a flowchart of a control method for leveling a construction machinery according to an embodiment of the present application;

[0033] Figure 4 Schematically shows a flowchart of a control method for leveling a construction machinery according to another embodiment of the present application;

[0034] Figure 5 Schematically shows a structural diagram of a construction machinery according to an embodiment of the present application;

[0035] Figure 6 Schematically shows an internal structure diagram of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] 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 only for the purpose of illustrating and explaining the present application, and are not intended to limit the present application.

[0037] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present application, then such directional indications are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, then the directional indications will also change accordingly.

[0038] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, then such descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those skilled in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0039] Figure 1 The flowchart of the control method for leveling construction machinery according to an embodiment of the present application is schematically shown. As Figure 1 shown, in an embodiment of the present application, a control method for leveling construction machinery is provided, including the following steps:

[0040] Step 101, when the posture of the construction machinery is in a preset posture, obtain the reaction force value of the target outrigger through a reaction force sensor, where the target outrigger is equipped with a reaction force sensor;

[0041] Step 102, when the reaction force value of the target outrigger is less than the first threshold, perform telescopic adjustment on multiple outriggers in a preset order to adjust the reaction force value of the target outrigger;

[0042] Step 103, after performing telescopic adjustment on any one outrigger, detect the reaction force value of the target outrigger again;

[0043] Step 104, when the reaction force value of the target outrigger is greater than or equal to the first threshold, control the outrigger to stop telescopic adjustment and detect whether the reaction force value of the target outrigger is greater than the second threshold;

[0044] Step 105, when the reaction force value is greater than the second threshold, perform telescopic adjustment on multiple outriggers in a preset order to adjust the reaction force value of the target outrigger again;

[0045] Step 106, after adjusting the telescopic length of any one outrigger, detect the reaction force value of the target outrigger again. When the reaction force value is less than or equal to the second threshold, control the outrigger to stop the telescopic adjustment;

[0046] Step 107, when the reaction force value is greater than or equal to the first threshold and less than or equal to the second threshold, determine that the construction machinery has completed leveling.

[0047] The construction machinery may include a plurality of outriggers and reaction force sensors. Among them, the reaction force sensors may be installed on the target outriggers of the construction machinery. The processor may determine the attitude of the construction machinery based on the mechanical parameters of the construction machinery. When the processor determines that the attitude of the construction machinery is in the preset attitude set by the processor, the processor may obtain the reaction force value of the target outrigger through the reaction force sensor. For example, assume that the processor sets the preset attitude as the boom of the construction machinery being in the boom-in position and all the outriggers of the construction machinery being in the fully extended position. When the processor determines that the construction machinery is in the preset attitude set by the processor by obtaining the relevant parameters of the construction machinery, the processor may obtain the reaction force value of the target outrigger.

[0048] After the processor obtains the reaction force value of the target outrigger, it may judge the reaction force value. When the processor determines that the reaction force value of the target outrigger is less than the first threshold set by the processor, the processor may adjust the plurality of outriggers of the construction machinery in the rated preset order set by the processor in sequence, so as to adjust the reaction force value of the target outrigger. When the processor performs telescopic adjustment on the outrigger, after each telescopic adjustment of any one outrigger, the processor may detect the reaction force value of the target outrigger again through the reaction force sensor. When the reaction force value of the target outrigger is greater than or equal to the first threshold set by the processor after performing telescopic adjustment on the plurality of outriggers of the construction machinery, the processor may control the outrigger to stop the telescopic adjustment and detect whether the reaction force value of the target outrigger is greater than the second threshold set by the processor.

[0049] When the processor determines that the reaction force value of the target outrigger is greater than the second threshold set by the processor, the processor may perform telescopic adjustment on the plurality of outriggers of the construction machinery in the preset order set to adjust the reaction force value of the target outrigger again. When the processor performs telescopic adjustment on the outrigger, after each telescopic adjustment of any one outrigger, the processor can detect the reaction force value of the target outrigger again through the reaction force sensor. When the processor determines that the reaction force value is less than or equal to the second threshold set by the processor, control the outrigger to stop the telescopic adjustment. When the processor determines that the reaction force value of the target outrigger is greater than or equal to the first threshold set by the processor and less than or equal to the second threshold set by the processor, the processor may determine that the construction machinery has completed leveling.

[0050] In one embodiment, the construction machinery further includes a boom, a boom folding signal sensor, and a outrigger opening sensor. The control method further includes: determining the folding posture of the boom through the boom folding signal sensor, and determining the opening state of the outriggers through the outrigger opening sensor; when the folding posture is a preset folding posture and the opening states of all the outriggers of the construction machinery are all fully opened, determining that the posture of the construction machinery is in a preset posture; when the folding posture does not reach the preset folding posture, and / or the opening state of at least one outrigger is not fully opened, determining that the posture of the construction machinery is not in the preset posture.

[0051] The construction machinery further includes a boom, a boom folding signal sensor, and an outrigger opening sensor. Before the processor levels the construction machinery, the posture of the construction machinery can be detected through the boom folding signal sensor and the outrigger opening sensor.

[0052] The processor can determine the folding posture of the boom of the construction machinery through the boom folding signal sensor, and determine the opening state of the outriggers of the construction machinery through the outrigger opening sensor. When the processor determines through the folding signal sensor that the folding posture of the boom of the construction machinery is the preset folding posture set by the processor, and the processor determines through the outrigger sensor that the openings of all the outriggers of the construction machinery are all extended to the maximum position where the outriggers can be extended, that is, when the openings of all the outriggers are fully opened, the processor can determine that the posture of the construction machinery is in the preset posture set by the processor. When the processor determines through the folding signal sensor that the folding posture of the boom of the construction machinery does not reach the preset folding posture set by the processor, and / or the processor determines through the outrigger sensor that the opening of at least one outrigger of the construction machinery is not fully opened, the processor can determine that the posture of the construction machinery is not in the preset posture set by the processor.

[0053] When the processor determines that the construction machinery is in the preset posture set by the processor, the processor will only obtain the reaction force value of the target outrigger through the reaction force sensor, so as to adjust the outrigger to level the construction machinery.

[0054] In one embodiment, the preset order is the target outrigger, the first outrigger at the diagonal of the target outrigger, the second outrigger which is the first outrigger in the clockwise direction of the target outrigger with the construction machinery as the center, and the third outrigger which is the first outrigger in the counterclockwise direction of the target outrigger with the construction machinery as the center; sequentially performing telescopic adjustment on multiple outriggers according to the preset order includes: after performing telescopic adjustment on any one outrigger, when the duration for which the reaction force value remains unchanged reaches the preset duration and the adjusted reaction force value is less than the first threshold, performing telescopic adjustment on the next outrigger according to the preset order until the reaction force value of the target outrigger is greater than or equal to the first threshold.

[0055] The processor can set the preset order as the target leg, the first leg located diagonally opposite to the target leg, the second leg of the first leg located clockwise from the target leg with the construction machinery as the center, and the third leg of the first leg located counterclockwise from the target leg with the construction machinery as the center. The processor can sequentially perform telescopic adjustments on multiple legs of the construction machinery according to the preset order. When the processor performs telescopic adjustments on the legs according to the preset order, after performing telescopic adjustments on any one leg, when the duration during which the reaction force value of the target leg remains unchanged reaches the preset duration set by the processor and the adjusted target reaction force value is still less than the first threshold set by the processor, the processor can perform telescopic adjustments on the next leg according to the preset order until the reaction force value of the target leg is greater than or equal to the first threshold set by the processor.

[0056] For example, assume that the processor obtains the reaction force value of the target leg through a reaction force sensor and determines that the current reaction force value is less than the first threshold set by the processor. The processor can sequentially perform telescopic adjustments on multiple legs of the construction machinery according to the preset order. The processor can first adjust the target leg to adjust the reaction force value. When the duration during which the reaction force value remains unchanged during the adjustment reaches the preset duration set by the processor and the adjusted reaction force value is less than the first threshold set by the processor. For example, assume that the preset duration is 3 seconds. When the processor adjusts the target leg and the duration during which the reaction force value stops changing reaches 3 seconds and the reaction force value of the target leg is still less than the first threshold, the processor can perform telescopic adjustments on the second leg located diagonally opposite to the target leg according to the preset order. If, when performing telescopic adjustments on the second leg, the duration during which the reaction force value remains unchanged reaches the preset duration and the adjusted reaction force value is still less than the first threshold, the processor can continue to perform telescopic adjustments on the second leg of the first leg located clockwise from the target leg with the construction machinery as the center according to the preset order until the reaction force value of the target leg is greater than or equal to the first threshold.

[0057] In one embodiment, when sequentially performing telescopic adjustments on multiple legs according to the preset order, the telescopic adjustments for each leg are performed in the following manner: control the target leg to extend; control the first leg to extend; control the second leg to contract; control the third leg to contract.

[0058] When the processor determines that the reaction force value of the target leg is less than the first threshold set by the processor, when sequentially performing telescopic adjustments on multiple legs according to the preset order, the processor can perform telescopic adjustments on each leg in the following manner: control the target leg to perform an extension operation, control the first leg to perform an extension operation, control the second leg to perform a contraction operation, and control the third leg to perform a contraction operation.

[0059] In one embodiment, the preset order is the target outrigger, the first outrigger located diagonally opposite the target outrigger, the second outrigger of the first outrigger in the clockwise direction with the construction machinery as the center and located at the target outrigger, and the third outrigger of the first outrigger in the counterclockwise direction with the construction machinery as the center and located at the target outrigger; sequentially adjusting the telescoping of multiple outriggers in the preset order includes: after adjusting the telescoping of any one outrigger, when the duration during which the outrigger reaction force value remains unchanged reaches the preset duration and the adjusted outrigger reaction force value is greater than the second threshold, adjusting the telescoping of the next outrigger in the preset order until the outrigger reaction force value of the target outrigger is less than or equal to the second threshold.

[0060] The processor may set the preset order as the target outrigger, the first outrigger located diagonally opposite the target outrigger, the second outrigger of the first outrigger in the clockwise direction with the construction machinery as the center and located at the target outrigger, and the third outrigger of the first outrigger in the counterclockwise direction with the construction machinery as the center and located at the target outrigger. The processor may sequentially adjust the telescoping of multiple outriggers of the construction machinery in the preset order. When the processor adjusts the telescoping of the outriggers in the preset order, after adjusting the telescoping of any one outrigger, when the duration during which the outrigger reaction force value of the target outrigger remains unchanged reaches the preset duration set by the processor and the adjusted target outrigger reaction force value is still greater than the second threshold set by the processor, the processor may adjust the telescoping of the next outrigger in the preset order until the outrigger reaction force value of the target outrigger is less than or equal to the second threshold set by the processor.

[0061] In one embodiment, when sequentially adjusting the telescoping of multiple outriggers in the preset order, the telescoping of each outrigger is adjusted in the following manner: controlling the target outrigger to contract; controlling the first outrigger to contract; controlling the second outrigger to extend; controlling the third outrigger to extend.

[0062] When the processor determines that the outrigger reaction force value of the target outrigger is greater than the second threshold set by the processor, when sequentially adjusting the telescoping of multiple outriggers in the preset order, the processor may adjust the telescoping of each outrigger in the following manner: controlling the target outrigger to perform a contraction operation, controlling the first outrigger to perform a contraction operation, controlling the second outrigger to perform an extension operation, and controlling the third outrigger to perform an extension operation.

[0063] In one embodiment, the construction machinery includes a body inclination sensor, and the control method further includes: when the attitude of the construction machinery is in the preset attitude, obtaining the body inclination of the construction machinery through the body inclination sensor; when the absolute value of the body inclination is less than or equal to the first value, obtaining the outrigger reaction force value of the target outrigger; when the absolute value of the body inclination is greater than the first value, obtaining the first component and the second component of the body inclination; adjusting the outriggers according to the first component and the second component so that the absolute value of the body inclination is less than or equal to the first value.

[0064] The construction machinery may further include a vehicle body inclination sensor. When the processor determines that the attitude of the construction machinery is in a preset attitude, the processor can obtain the vehicle body inclination of the construction machinery through the vehicle body corner sensor. When the absolute value of the vehicle body inclination of the construction machinery is less than or equal to the first value set by the processor, the processor can obtain the reaction force value of the target outrigger. When the absolute value of the vehicle body inclination is greater than the first value set by the processor, the processor can obtain the first component and the second component of the vehicle body inclination. And adjust the outriggers according to the first component and the second component, so that the absolute value of the vehicle body inclination is less than or equal to the first value set by the processor.

[0065] In one embodiment, the construction machinery includes a cab. Adjusting the outriggers according to the first component and the second component so that the absolute value of the vehicle body inclination is less than or equal to the first value includes: when both the first component and the second component are greater than the second value, controlling the outrigger located in the front left of the cab to perform a contraction operation, or the outrigger located in the rear right of the cab to perform an extension operation; when the first component is greater than the second value and the second component is less than or equal to the second value, controlling the outrigger located in the front right of the cab to perform a contraction operation or the outrigger located in the rear left of the cab to perform an extension operation; when the first component is less than or equal to the second value and the second component is greater than the second value, controlling the outrigger located in the front right of the cab to perform an extension operation or the outrigger located in the rear left of the cab to perform a contraction operation; when both the first component and the second component are less than or equal to the second value, controlling the outrigger located in the front left of the cab to perform an extension operation or the outrigger located in the rear right of the cab to perform a contraction operation.

[0066] The construction machinery may further include a cab. The processor may adjust the outriggers of the construction machinery according to the first component and the second component of the body inclination angle, so that the absolute value of the body inclination angle is less than or equal to a first value. When the processor determines that both the first component and the second component of the body inclination angle are greater than a second value set by the processor, the processor may control the outrigger located in front of the left side of the cab to perform a contraction operation, or control the outrigger located behind the right side of the cab to perform an extension operation. When the processor determines that the first component of the body inclination angle is greater than the second value set by the processor and the second component of the body inclination angle is less than or equal to the second value set by the processor, the processor may control the outrigger located in front of the right side of the cab to perform a contraction operation, or the outrigger located behind the left side of the cab to perform an extension operation. When the processor determines that the first component of the body inclination angle is less than or equal to the second value set by the processor and the second component of the body inclination angle is greater than the second value set by the processor, the processor may control the outrigger located in front of the right side of the cab to perform an extension operation, or the outrigger located behind the left side of the cab to perform a contraction operation. When the processor determines that both the first component and the second component of the body inclination angle are less than the second value set by the processor, the processor may control the outrigger located in front of the left side of the cab to perform an extension operation, or control the outrigger located behind the right side of the cab to perform a contraction operation.

[0067] Adjusting the outriggers according to the first component and the second component of the body inclination angle may be, for example Figure 2 As shown, assuming Ax is the first component of the body inclination angle and Ay is the second component of the body inclination angle, and assuming the processor sets the second value to 0, the method for adjusting the outriggers may be that when both the first component Ax and the second component Ay are greater than 0, the processor may control the left front outrigger of the construction machinery to contract, that is, the outrigger located in front of the left side of the cab performs a contraction operation, or the right rear outrigger of the construction machinery to extend, that is, the outrigger located behind the right side of the cab performs an extension operation. When Ax is greater than 0 and Ay is less than or equal to 0, the processor may control the right front outrigger of the construction machinery to contract or the left rear outrigger to extend. When Ax is less than or equal to 0 and Ay is greater than 0, the processor may control the right front outrigger of the construction machinery to extend or the left rear outrigger to contract. When Ax and Ay are both less than or equal to 0, the processor may control the left front outrigger of the construction machinery to extend or the right rear outrigger to contract.

[0068] In one embodiment, after performing telescopic adjustment on any one of the outriggers, return to the step of obtaining the body inclination angle of the construction machinery through the body inclination angle sensor to continue controlling the construction machinery until it is determined that the construction machinery is leveled.

[0069] When the processor adjusts the outriggers, after performing telescopic adjustment on any one outrigger, the processor can return to the step of obtaining the body inclination angle of the construction machinery through the body inclination sensor to continue controlling the construction machinery until it is determined that the construction machinery has completed leveling.

[0070] In one embodiment, after completing the telescopic adjustment of all outriggers, the reaction force value of the target outrigger is detected again; in the case where the reaction force value is less than the first threshold or greater than the second threshold, it is determined that the leveling of the construction machinery fails.

[0071] After the processor completes the telescopic adjustment of all outriggers, the processor can detect again the reaction force value of the target outrigger obtained through the reaction force sensor. After completing the telescopic adjustment of the outriggers, if the reaction force value of the target outrigger is still less than the first threshold set by the processor or greater than the second threshold set by the processor, the processor can determine that the leveling of the construction machinery fails.

[0072] In one embodiment, a processor is provided, which is configured to execute the control method for leveling a construction machinery in any one of the above embodiments.

[0073] As Figure 3 shown, a schematic flow diagram of a control method for leveling a construction machinery according to an embodiment of the present application is schematically shown, including the following steps:

[0074] Step 301, obtain the body inclination angle of the construction machinery;

[0075] Step 302, determine whether the absolute value of the body inclination angle is greater than a first value. If so, execute step 303; if not, execute step 305;

[0076] Step 303, determine the first component and the second component of the body inclination angle;

[0077] Step 304, adjust the outriggers according to the first component and the second component of the body inclination angle;

[0078] Step 305, determine that the rough adjustment of the construction machinery is completed, and adjust the reaction force;

[0079] Step 306, obtain the reaction force value of the target outrigger;

[0080] Step 307, make a reference comparison between the reaction force value and the first threshold and the second threshold;

[0081] Step 308, determine whether the reaction force value is less than the first threshold. If so, execute step 309; if not, execute step 310

[0082] Step 309, retract any adjacent outriggers of the target outrigger, or extend the target outrigger or the diagonal outrigger of the target outrigger;

[0083] Step 310: Determine whether the reaction force value is greater than the second threshold. If it is, execute Step 311; if not, execute Step 312.

[0084] Step 311: Retract the target leg or the diagonal leg of the target leg, or extend any adjacent leg of the target leg.

[0085] Step 312: Determine that the construction machinery has completed leveling.

[0086] The construction machinery may include a body inclination sensor. The processor can obtain the body inclination of the construction machinery through the body corner sensor. The processor can determine whether the absolute value of the body inclination of the construction machinery is greater than the first value set by the processor. In the case where the absolute value of the body inclination is greater than the first value set by the processor, the processor can determine the first component and the second component of the body inclination, and adjust the legs according to the first component and the second component. The processor can adjust the legs according to the first component and the second component of the body inclination according to the adjustment method shown above. After the processor adjusts any one leg, it must return to Step 301 again to detect the body inclination. Figure 2 After the processor adjusts any one leg, it must return to Step 301 again to detect the body inclination.

[0087] The construction machinery may include multiple legs and reaction force sensors. Among them, the reaction force sensors can be installed on the target legs of the construction machinery. In the case where the processor determines that the absolute value of the body inclination of the construction machinery is less than or equal to the first value set by the processor, the processor can determine that the rough adjustment of the construction machinery is completed and can adjust the reaction force. The processor can obtain the reaction force value of the target leg through the reaction force sensor, and detect the reaction force value, and make a reference comparison between the reaction force value of the target leg and the first threshold and the second threshold set by the processor. The processor can determine whether the reaction force value is less than the first threshold set by the processor. If the processor determines that the reaction force value is less than the first threshold set by the processor, the processor can retract any adjacent leg of the target leg, or extend the target leg or the diagonal leg of the target leg. For example, the processor can retract the leg adjacent to the target leg on the left side of the target leg, or retract the leg adjacent to the target leg on the right side of the target leg, or extend the target leg, or extend the leg diagonal to the target leg, so as to adjust the reaction force value of the target leg to make the reaction force value of the target leg greater than or equal to the first threshold set by the processor. Further, the processor can also adjust the legs in a preset order in turn. After the processor adjusts any one leg, it must return to Step 301 again to detect the body inclination.

[0088] When the processor determines that the target outrigger is greater than or equal to the first threshold set by the processor, the processor may determine whether the reaction force value is greater than the second threshold set by the processor. If the processor determines that the reaction force value of the target outrigger is greater than the second threshold set by the processor, the processor may retract the target outrigger or the diagonal outrigger of the target outrigger, or extend any adjacent outrigger of the target outrigger. For example, the processor may extend the outrigger adjacent to the left side of the target outrigger or the outrigger adjacent to the right side of the target outrigger, or retract the target outrigger, or retract the outrigger diagonal to the target outrigger, so as to adjust the reaction force value of the target outrigger to make the reaction force value of the target outrigger less than or equal to the second threshold set by the processor. Further, the processor may also adjust the outriggers in sequence according to a preset order. After the processor adjusts any one outrigger, it must return to step 301 again to detect the body tilt angle.

[0089] When the processor determines that the reaction force value of the target outrigger is greater than or equal to the first threshold set by the processor and less than or equal to the second threshold set by the processor, the processor may determine that the construction machinery has completed leveling.

[0090] As Figure 4 shown, a schematic flow chart of a control method for leveling a construction machinery according to another embodiment of the present application is schematically shown, including the following steps:

[0091] Step 401, obtain the attitude of the construction machinery;

[0092] Step 402, determine whether the construction machinery is in a preset attitude. If not, execute step 403; if so, execute step 404;

[0093] Step 403, remind that the construction machinery is not in a preset attitude;

[0094] Step 404, obtain the body tilt angle of the construction machinery;

[0095] Step 405, determine whether the absolute value of the body tilt angle is greater than a first value. If so, execute step 406; if not, execute step 408;

[0096] Step 406, determine the first component and the second component of the body tilt angle;

[0097] Step 407, adjust the outriggers according to the first component and the second component of the body tilt angle;

[0098] Step 408, determine that the rough adjustment of the construction machinery is completed and adjust the reaction force;

[0099] Step 409, obtain the reaction force value of the target outrigger;

[0100] Step 410, make a reference comparison between the reaction force value and the first threshold and the second threshold;

[0101] Step 411, determine whether the reaction force value is less than the first threshold. If so, execute Step 412; if not, execute Step 413;

[0102] Step 412, retract any adjacent outriggers of the target outrigger, or extend the target outrigger or the diagonal outrigger of the target outrigger;

[0103] Step 413, determine whether the reaction force value is greater than the second threshold. If so, execute Step 414; if not, execute Step 415;

[0104] Step 414, retract the target outrigger or the diagonal outrigger of the target outrigger, or extend any adjacent outriggers of the target outrigger;

[0105] Step 415, determine that the construction machinery has completed leveling.

[0106] The construction machinery includes a boom, a boom folding signal sensor, and an outrigger opening sensor. Before the processor levels the construction machinery, the attitude of the construction machinery can be detected by the boom folding signal sensor and the outrigger opening sensor. The processor can determine the folding attitude of the boom of the construction machinery through the boom folding signal sensor, and determine the opening state of the outriggers of the construction machinery through the outrigger opening sensor, so as to judge whether the construction machinery is in a preset attitude. When it is determined that the folding attitude of the boom of the construction machinery does not reach the preset folding attitude set by the processor, and / or when the processor determines through the outrigger sensor that the opening of at least one outrigger of the construction machinery is not fully open, the processor can determine that the attitude of the construction machinery is not in the preset attitude set by the processor. Thus, the processor can send relevant instructions to remind the operator that the construction machinery is not in the preset attitude. When the processor determines through the folding signal sensor that the folding attitude of the boom of the construction machinery is the preset folding attitude set by the processor, and the processor determines through the outrigger sensor that the openings of all the outriggers of the construction machinery are fully open, the processor can determine that the attitude of the construction machinery is in the preset attitude set by the processor, and the processor can obtain the body tilt angle of the construction machinery and then perform the subsequent steps. The content executed in Steps 404 to 415 is the same as that in Figure 3 Steps 301 to 312 above. That is to say, when it is determined that the equipment attitude of the construction machinery conforms to the preset attitude set by the processor, the construction machinery is roughly leveled by obtaining the body tilt angle. After the rough leveling is completed, the outriggers are adjusted by obtaining the reaction force value of the target outrigger, so that the reaction force value of the target outrigger is greater than or equal to the first threshold set by the processor and less than or equal to the second threshold set by the processor, thereby completing the leveling of the construction machinery.

[0107] In the above technical solution, when it is determined that the construction machinery is in a preset posture, the vehicle body inclination angle is obtained through the vehicle body sensor, and the outriggers are adjusted to complete the rough adjustment of the vehicle body inclination angle. When adjusting the reaction force value of the outriggers during the rough adjustment of the construction machinery, only the reaction force value of one target outrigger needs to be obtained, and then the other outriggers can be adjusted according to the reaction force value of the target outrigger, so as to level the entire construction machinery. It is not necessary to obtain the reaction force value of each outrigger and then adjust each outrigger separately according to the reaction force value of each outrigger. Only by obtaining the reaction force value of one outrigger can the leveling of the entire engineering vehicle be achieved, which simplifies the adjustment system of the construction machinery.

[0108] In one embodiment, as Figure 5 shown, a schematic structural diagram of a construction machinery 500 is schematically shown. The construction machinery 500 includes: a plurality of outriggers 501 for supporting the construction machinery 500; a reaction force sensor 502 for obtaining the reaction force value of the outriggers; and the above-mentioned processor 503.

[0109] In one embodiment, as Figure 5 shown, the construction machinery 500 further includes: a boom 504; a cab 505; a boom folding signal sensor 506 for determining the folding posture of the boom 504; an outrigger opening sensor 507 for determining the opening state of the outriggers; and an inclination sensor 508 for obtaining the vehicle body inclination angle of the construction machinery 500.

[0110] The memory may include non-permanent memory in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0111] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structural diagram may be as Figure 6As shown in the figure. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure), and a database (not shown in the figure) connected by a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an 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 in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store relevant data of construction machinery and relevant data input by operators. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, it realizes a control method for leveling construction machinery.

[0112] Figure 1 It is a schematic flowchart of a control method for leveling construction machinery in an embodiment. It should be understood that although Figure 1 the steps in the flowchart are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 1 at least a part of the steps in

[0113] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: when the attitude of the construction machinery is in a preset attitude, obtain the reaction force value of the target leg through a reaction force sensor, where the target leg is equipped with a reaction force sensor; when the reaction force value of the target leg is less than a first threshold, perform telescopic adjustment on multiple legs in a preset order to adjust the reaction force value of the target leg; after performing telescopic adjustment on any one leg, detect the reaction force value of the target leg again; when the reaction force value of the target leg is greater than or equal to the first threshold, control the leg to stop telescopic adjustment, and detect whether the reaction force value of the target leg is greater than a second threshold; when the reaction force value is greater than the second threshold, perform telescopic adjustment on multiple legs in a preset order to adjust the reaction force value of the target leg again; after adjusting the telescopic length of any one leg, detect the reaction force value of the target leg again. When the reaction force value is less than or equal to the second threshold, control the leg to stop telescopic adjustment; when the reaction force value is greater than or equal to the first threshold and less than or equal to the second threshold, determine that the construction machinery has completed leveling.

[0114] In one embodiment, the preset order is the target leg, the first leg at the diagonal of the target leg, the second leg of the first leg in the clockwise direction of the target leg with the construction machinery as the center, and the third leg of the first leg in the counterclockwise direction of the target leg with the construction machinery as the center; performing telescopic adjustment on multiple legs in a preset order includes: after performing telescopic adjustment on any one leg, when the duration of the unchanged reaction force value reaches a preset duration and the adjusted reaction force value is less than the first threshold, perform telescopic adjustment on the next leg in the preset order until the reaction force value of the target leg is greater than or equal to the first threshold.

[0115] In one embodiment, when performing telescopic adjustment on multiple legs in a preset order, perform telescopic adjustment on each leg in the following manner: control the target leg to extend; control the first leg to extend; control the second leg to contract; control the third leg to contract.

[0116] In one embodiment, the preset order is the target leg, the first leg at the diagonal of the target leg, the second leg of the first leg in the clockwise direction of the target leg with the construction machinery as the center, and the third leg of the first leg in the counterclockwise direction of the target leg with the construction machinery as the center; performing telescopic adjustment on multiple legs in a preset order includes: after performing telescopic adjustment on any one leg, when the duration of the unchanged reaction force value reaches a preset duration and the adjusted reaction force value is greater than the second threshold, perform telescopic adjustment on the next leg in the preset order until the reaction force value of the target leg is less than or equal to the second threshold.

[0117] In one embodiment, when the telescopic adjustment of multiple outriggers is sequentially performed in a preset order, the telescopic adjustment for each outrigger is performed in the following manner: controlling the target outrigger to contract; controlling the first outrigger to contract; controlling the second outrigger to extend; controlling the third outrigger to extend.

[0118] In one embodiment, the construction machinery further includes a boom, a boom folding signal sensor, and an outrigger opening sensor, and the control method further includes: determining the folding posture of the boom through the boom folding signal sensor, and determining the opening state of the outriggers through the outrigger opening sensor; when the folding posture is a preset folding posture and the opening states of all the outriggers of the construction machinery are all fully open, determining that the posture of the construction machinery is in a preset posture; when the folding posture does not reach the preset folding posture, and / or the opening state of at least one outrigger is not fully open, determining that the posture of the construction machinery is not in the preset posture.

[0119] In one embodiment, the construction machinery includes a vehicle body inclination sensor, and the control method further includes: when the posture of the construction machinery is in a preset posture, obtaining the vehicle body inclination of the construction machinery through the vehicle body inclination sensor; when the absolute value of the vehicle body inclination is less than or equal to a first value, obtaining the reaction force value of the target outrigger; when the absolute value of the vehicle body inclination is greater than the first value, obtaining a first component and a second component of the vehicle body inclination; adjusting the outriggers according to the first component and the second component so that the absolute value of the vehicle body inclination is less than or equal to the first value.

[0120] In one embodiment, the construction machinery includes a cab, and adjusting the outriggers according to the first component and the second component so that the absolute value of the vehicle body inclination is less than or equal to the first value includes: when both the first component and the second component are greater than a second value, controlling the outrigger located in front of the left of the cab to contract, or controlling the outrigger located behind the right of the cab to extend; when the first component is greater than the second value and the second component is less than or equal to the second value, controlling the outrigger located in front of the right of the cab to contract or controlling the outrigger located behind the left of the cab to extend; when the first component is less than or equal to the second value and the second component is greater than the second value, controlling the outrigger located in front of the right of the cab to extend or controlling the outrigger located behind the left of the cab to contract; when both the first component and the second component are less than or equal to the second value, controlling the outrigger located in front of the left of the cab to extend or controlling the outrigger located behind the right of the cab to contract.

[0121] In one embodiment, after the telescopic adjustment of any one outrigger, return to the step of obtaining the vehicle body inclination of the construction machinery through the vehicle body inclination sensor to continue controlling the construction machinery until it is determined that the construction machinery has completed leveling.

[0122] In one embodiment, after the telescopic adjustment of all outriggers is completed, the reaction force value of the target outrigger is detected again; in the case where the reaction force value is less than the first threshold or greater than the second threshold, it is determined that the leveling of the construction machinery fails.

[0123] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0124] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0125] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0126] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0127] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0128] The memory may include non-permanent memory in the form of computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. The memory is an example of computer-readable media.

[0129] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. 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 cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transitory media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0130] It should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but also other elements not expressly listed, or elements that are inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0131] The above are only examples of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A control method for leveling construction machinery, characterized in that, the construction machinery includes a plurality of outriggers, and the control method includes: When the attitude of the construction machinery is in a preset attitude, obtain the reaction force value of the target outrigger through a reaction force sensor, wherein the reaction force sensor is installed on the target outrigger; When the reaction force value of the target outrigger is less than the first threshold, sequentially perform telescopic adjustment on the plurality of outriggers in a preset order to adjust the reaction force value of the target outrigger; After performing telescopic adjustment on any one outrigger, detect the reaction force value of the target outrigger again; When the reaction force value of the target outrigger is greater than or equal to the first threshold, control the outrigger to stop telescopic adjustment, and detect whether the reaction force value of the target outrigger is greater than the second threshold; When the reaction force value is greater than the second threshold, sequentially perform telescopic adjustment on the plurality of outriggers in the preset order to readjust the reaction force value of the target outrigger; After adjusting the telescopic length of any one outrigger, detect the reaction force value of the target outrigger again. When the reaction force value is less than or equal to the second threshold, control the outrigger to stop telescopic adjustment; When the reaction force value is greater than or equal to the first threshold and less than or equal to the second threshold, determine that the construction machinery has completed leveling.

2. The control method for leveling construction machinery according to claim 1, characterized in that, the preset order is the target outrigger, the first outrigger at the diagonal of the target outrigger, the second outrigger of the first outrigger in the clockwise direction of the target outrigger with the construction machinery as the center, and the third outrigger of the first outrigger in the counterclockwise direction of the target outrigger with the construction machinery as the center; The sequentially performing telescopic adjustment on the plurality of outriggers in the preset order includes: After performing telescopic adjustment on any one outrigger, when the duration for which the reaction force value remains unchanged reaches the preset duration and the adjusted reaction force value is less than the first threshold, perform telescopic adjustment on the next outrigger in the preset order until the reaction force value of the target outrigger is greater than or equal to the first threshold.

3. The control method for leveling construction machinery according to claim 2, characterized in that, When sequentially performing telescopic adjustment on the plurality of outriggers in the preset order, perform telescopic adjustment on each outrigger in the following manner: Control the target outrigger to extend; Control the first outrigger to extend; Control the second outrigger to contract; Control the third outrigger to contract.

4. The control method for leveling construction machinery according to claim 1, characterized in that, the preset order is the target outrigger, the first outrigger at the diagonal of the target outrigger, the second outrigger of the first outrigger in the clockwise direction of the target outrigger with the construction machinery as the center, and the third outrigger of the first outrigger in the counterclockwise direction of the target outrigger with the construction machinery as the center; The sequentially performing telescopic adjustment on the plurality of outriggers in the preset order includes: After the telescopic adjustment of any one outrigger, when the duration during which the outrigger reaction force value remains unchanged reaches the preset duration and the adjusted outrigger reaction force value is greater than the second threshold, perform the telescopic adjustment on the next outrigger in the preset order until the outrigger reaction force value of the target outrigger is less than or equal to the second threshold.

5. The control method for leveling of construction machinery according to claim 4, wherein, when performing the telescopic adjustment on the multiple outriggers in the preset order, perform the telescopic adjustment on each outrigger in the following manner: Control the target outrigger to contract; Control the first outrigger to contract; Control the second outrigger to extend; Control the third outrigger to extend.

6. The control method for leveling of construction machinery according to claim 1, wherein, the construction machinery further includes a boom, a boom folding signal sensor, and an outrigger opening sensor, and the control method further includes: Determine the folding posture of the boom through the boom folding signal sensor, and determine the opening state of the outriggers through the outrigger opening sensor; When the folding posture is the preset folding posture and the opening states of all the outriggers of the construction machinery are all fully open, determine that the posture of the construction machinery is in the preset posture; When the folding posture does not reach the preset folding posture and / or the opening state of at least one outrigger is not fully open, determine that the posture of the construction machinery is not in the preset posture.

7. The control method for leveling of construction machinery according to claim 1, wherein, the construction machinery includes a body inclination sensor, and the control method further includes: When the posture of the construction machinery is in the preset posture, obtain the body inclination of the construction machinery through the body inclination sensor; When the absolute value of the body inclination is less than or equal to the first value, obtain the outrigger reaction force value of the target outrigger; When the absolute value of the body inclination is greater than the first value, obtain the first component and the second component of the body inclination; Adjust the outriggers according to the first component and the second component so that the absolute value of the body inclination is less than or equal to the first value.

8. The control method for leveling of construction machinery according to claim 7, wherein, the construction machinery includes a cab, and adjusting the outriggers according to the first component and the second component so that the absolute value of the body inclination is less than or equal to the first value includes: When both the first component and the second component are greater than the second value, control the outrigger located in front of the left of the cab to perform a contraction operation, or control the outrigger located behind the right of the cab to perform an extension operation; When the first component is greater than the second value and the second component is less than or equal to the second value, control the outrigger located in front of the right of the cab to perform a contraction operation or control the outrigger located behind the left of the cab to perform an extension operation; When the first component is less than or equal to the second value and the second component is greater than the second value, control the outrigger in the front right of the cab to extend or control the outrigger in the rear left of the cab to retract; When both the first component and the second component are less than or equal to the second value, control the outrigger in the front left of the cab to extend or control the outrigger in the rear right of the cab to retract.

9. The control method for leveling an engineering machine according to claim 7 or 8, characterized in that, the control method further includes: After making telescopic adjustment to any one outrigger, return to the step of obtaining the body inclination angle of the engineering machine through the body inclination sensor to continue controlling the engineering machine until it is determined that the engineering machine has completed leveling.

10. The control method for leveling an engineering machine according to claim 9, characterized in that, the control method further includes: After completing telescopic adjustment to all outriggers, detect the reaction force value of the target outrigger again; When the reaction force value is less than the first threshold or greater than the second threshold, determine that the leveling of the engineering machine fails.

11. A processor, characterized in that, configured to execute the control method for leveling an engineering machine according to any one of claims 1 to 10.

12. An engineering machine, characterized in that, comprising: a plurality of outriggers for supporting the engineering machine; a reaction force sensor for obtaining the reaction force value of the outrigger; and the processor according to claim 11.

13. The engineering machine according to claim 12, characterized in that, the engineering machine further includes: a boom; a cab; a boom folding signal sensor for determining the folding attitude of the boom; an outrigger opening sensor for determining the opening state of the outrigger; an inclination sensor for obtaining the body inclination angle of the engineering machine.

14. A machine-readable storage medium having instructions stored thereon, characterized in that, when the instructions are executed by a processor, the processor is configured to execute the control method for leveling an engineering machine according to any one of claims 1 to 10.

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