Outrigger landing intelligent detection method, device, system and vehicle

Abstract

The present application relates to the field of intelligent control, and provide a kind of outrigger landing intelligent detection method, device, system and vehicle, the method comprises: in the process that outrigger executes lower support action, the current value of lower support speed control instruction is acquired;Based on the current value of lower support speed control instruction, determine the first target speed of engine at current time and the first target length of time that outrigger executes lower support action;Wherein, engine is used to provide power for driving device, driving device is used to drive outrigger to execute lower support action;Based on the first target speed control engine to carry out speed regulation, and detect the first actual length of time that outrigger executes lower support action, if the first actual length of time is greater than or equal to the first target length of time, determine that outrigger completes landing.The present application can effectively improve the stability and reliability of outrigger landing detection result.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent control, and in particular to a method, device and system for intelligent detection of landing of outriggers, and a vehicle. BACKGROUND

[0002] When a high-altitude operation vehicle or an engineering operation vehicle is performing a high-altitude operation, a support device is usually provided to prevent tipping and improve the stability of the vehicle operation. The landing detection of the outriggers in the support device is crucial.

[0003] In the related art, a detection device (such as a proximity switch, a travel switch, a limit switch, etc.) is usually used to detect the relative movement of a mechanical structure to achieve outrigger landing detection. However, these detection devices need to be configured with specific mechanical structures and triggering devices, resulting in a complex structure, high manufacturing precision requirements, poor maintainability, and limited detection range. In addition, when the mechanical structure deforms and moves relatively, the working gap between the detection device and the sensing block needs to be adjusted, which has poor stability and is prone to false alarms. Moreover, after the outriggers land, the mechanical structure is easily subjected to deflection under force, which exceeds the detection range of the detection device, causing the detection device to fail to detect the mechanical structure, resulting in failure of outrigger landing detection, poor reliability, and high failure rate. SUMMARY

[0004] To solve the above problems in the related art, the present application provides a method, device and system for intelligent detection of landing of outriggers, and a vehicle.

[0005] The present application provides a method for intelligent detection of landing of outriggers, comprising:

[0006] During execution of a supporting action by the outriggers, a current value of a supporting speed control instruction is obtained;

[0007] Based on the current value of the supporting speed control instruction, a first target rotational speed of an engine at a current time and a first target time length for the outriggers to perform the supporting action are determined; the engine is configured to provide power to a driving device, and the driving device is configured to drive the outriggers to perform the supporting action;

[0008] The engine is controlled to adjust the rotational speed based on the first target rotational speed, and a first actual time length for the outriggers to perform the supporting action is detected. If the first actual time length is greater than or equal to the first target time length, it is determined that the outriggers have completed landing.

[0009] According to the method for intelligent detection of landing of outriggers provided by the present application, based on the current value of the supporting speed control instruction, a first target rotational speed of an engine at a current time and a first target time length for the outriggers to perform a supporting action are determined, comprising:

[0010] If the current moment is an initial moment, or the current moment is not an initial moment and an absolute value of a difference between a current value of the down support speed control instruction and a historical value of the down support speed control instruction at a previous moment is greater than a preset value, a first down support time length corresponding to the current value of the down support speed control instruction is determined, and a first target speed of the engine is determined based on the first down support time length and a first target time length is determined based on the first down support time length and the first actual time length;

[0011] Otherwise, a second target speed of the engine at a previous moment is taken as the first target speed of the engine and a second target time length at the previous moment is taken as the first target time length.

[0012] According to the method for intelligently detecting landing of a support leg provided in the application, the first down support time length corresponding to the current value of the down support speed control instruction is determined by:

[0013] The first down support time length corresponding to the current value of the down support speed control instruction is determined based on the current value of the down support speed control instruction, an upper limit value of the down support speed control instruction, a lower limit value of the down support speed control instruction, an upper limit value of the first down support time length and a lower limit value of the first down support time length, wherein the upper limit value of the down support speed control instruction corresponds to the upper limit value of the first down support time length, the lower limit value of the down support speed control instruction corresponds to the lower limit value of the first down support time length, and the down support speed control instruction and the first down support time length are in a linear relationship.

[0014] According to the method for intelligently detecting landing of a support leg provided in the application, the upper limit value of the first down support time length and the lower limit value of the first down support time length are determined based on the following method:

[0015] The current value of the target working parameter of the driving device and the lower limit value of the speed of the engine are input into a preset down support time length determination model to obtain the upper limit value of the first down support time length.

[0016] The current value of the target working parameter of the driving device and the upper limit value of the speed of the engine are input into the down support time length determination model to obtain the lower limit value of the first down support time length.

[0017] The down support time length determination model is used to represent the corresponding relationship among the target working parameter, the speed of the engine and the first down support time length.

[0018] According to the method for intelligently detecting landing of a support leg provided in the application, the down support time length determination model is determined based on the following method:

[0019] determine the first target time length based on a function relationship among a hydraulic cylinder stroke of the driving device, a hydraulic oil flow rate, and the first time length of the down support; the first time length of the down support is proportional to the hydraulic cylinder stroke and inversely proportional to the hydraulic oil flow rate;

[0020] The hydraulic oil flow rate is determined based on a rotation speed of the engine, a hydraulic pump displacement of the driving device, a hydraulic pump speed ratio, a transmission efficiency, and a hydraulic cylinder size.

[0021] According to the intelligent detection method for the landing of the support leg, the first actual time length is a sum of second actual time lengths of the down support action performed by the support leg at each historical rotation speed of the engine.

[0022] The first target time length is determined based on the first time length of the down support and the first actual time length, including:

[0023] The to-be-executed time length of the down support action performed by the support leg is determined based on the first time length of the down support, each second actual time length, and a second time length of the down support corresponding to each historical rotation speed.

[0024] The first target time length is determined based on a sum of the to-be-executed time length and the first actual time length.

[0025] According to the intelligent detection method for the landing of the support leg, after the first target rotation speed of the engine at a current time and the first target time length of the down support action performed by the support leg are determined, the method further includes:

[0026] An executable time length of the down support action performed by the support leg is determined based on the first target time length; the executable time length is greater than the first target time length.

[0027] A down support control instruction is generated based on the executable time length; the down support control instruction is used to control the support leg to continuously perform the down support action within the executable time length.

[0028] According to the intelligent detection method for the landing of the support leg, after the first actual time length of the down support action performed by the support leg is detected, the method further includes:

[0029] If the first actual time length is less than the first target time length, the down support action performed by the support leg is controlled at a current rotation speed of the engine.

[0030] According to the intelligent detection method for the landing of the support leg, after the landing of the support leg is determined to be completed, the method further includes:

[0031] A current value of a landing signal of the support leg is updated to a first value; the first value is used to control a target working component of a vehicle to perform a corresponding action instruction.

[0032] if the landing leg retraction instruction is received, updating a current value of the landing signal to a second value.

[0033] The application also provides a landing leg landing intelligent detection device, comprising:

[0034] a data acquisition module, configured to acquire a current value of a downforce speed control instruction during execution of a downforce action by a landing leg;

[0035] a first processing module, configured to determine, based on the current value of the downforce speed control instruction, a first target rotating speed of an engine at a current time and a first target time length for execution of the downforce action by the landing leg; wherein the engine is configured to provide power for a driving device, and the driving device is configured to drive the landing leg to execute the downforce action;

[0036] a second processing module, configured to control the engine to perform rotating speed adjustment based on the first target rotating speed, and detect a first actual time length for execution of the downforce action by the landing leg; if the first actual time length is greater than or equal to the first target time length, it is determined that the landing leg has completed landing.

[0037] The application also provides a landing leg landing intelligent detection system, comprising: an instruction input device and a controller, wherein the instruction input device is connected to the controller;

[0038] the instruction input device is configured to input a downforce speed control instruction to the controller;

[0039] the controller is configured to acquire a current value of the downforce speed control instruction during execution of a downforce action by a landing leg; and further configured to determine, based on the current value of the downforce speed control instruction, a first target rotating speed of an engine at a current time and a first target time length for execution of the downforce action by the landing leg; wherein the engine is configured to provide power for a driving device, and the driving device is configured to drive the landing leg to execute the downforce action; and further configured to control the engine to perform rotating speed adjustment based on the first target rotating speed, and detect a first actual time length for execution of the downforce action by the landing leg; if the first actual time length is greater than or equal to the first target time length, it is determined that the landing leg has completed landing.

[0040] The application also provides a vehicle, which uses any one of the above-mentioned landing leg landing intelligent detection methods, or comprises the above-mentioned landing leg landing intelligent detection device, or comprises the above-mentioned landing leg landing intelligent detection system.

[0041] The application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the outrigger landing intelligent detection method according to any one of the above when executing the program.

[0042] The application further provides a non-transitory computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the outrigger landing intelligent detection method according to any one of the above.

[0043] The outrigger landing intelligent detection method, device, system and vehicle provided by the application can automatically complete outrigger landing detection in the process of controlling outrigger lowering, without the need to install specific detection devices and mechanical structures, and have the advantages of simple structure, low manufacturing precision requirement, good maintainability, low failure rate, no constraint on detection range, high stability and reliability of outrigger landing detection results. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0045] Figure 1 is a flowchart of the outrigger landing intelligent detection method provided by the application;

[0046] Figure 2 is a flowchart of the method for executing outrigger lowering instructions provided by the application;

[0047] Figure 3 is a flowchart of the method for executing outrigger retracting instructions provided by the application;

[0048] Figure 4 is a structural diagram of the outrigger landing intelligent detection device provided by the application;

[0049] Figure 5 is a structural diagram of the outrigger landing intelligent detection system provided by the application;

[0050] Figure 6Fig. 1 is a structural schematic diagram of an electronic device provided by the present application. DETAILED DESCRIPTION

[0051] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0052] When the aerial work vehicle or the engineering work vehicle performs the aerial work, the support device is usually provided to prevent the overturning and improve the stability of the vehicle work, and the landing detection of the outrigger in the support device is crucial.

[0053] In the related art, the detection device (such as the proximity switch, the travel switch, the limit switch, etc.) is usually used to detect the relative movement of the mechanical structure to realize the outrigger landing detection. However, these detection devices all need to be configured with specific mechanical structures and triggering devices, which leads to the complex structure, high manufacturing precision requirement, poor maintainability, and limited detection range. In addition, when the mechanical structure is deformed and relatively moved, the working gap between the detection device and the sensing block needs to be adjusted, which has poor stability, is prone to false alarm, and the mechanical structure is prone to deflection after the outrigger lands, which exceeds the detection range of the detection device, so that the detection device cannot detect the mechanical structure, thereby leading to the failure of the outrigger landing detection, poor reliability, and high failure rate.

[0054] Therefore, the present application provides an outrigger landing intelligent detection method, which can realize the automatic detection of the outrigger landing through the software control logic, does not need to install specific detection devices and mechanical structures, has simple structure, low manufacturing precision requirement, good maintainability, low failure rate, is not restricted by the detection range, and has high stability and reliability of the outrigger landing detection result.

[0055] The outrigger landing intelligent detection method provided by the present application is executed by the electronic device such as the controller or the hardware and / or software therein. The controller can be the controller of the vehicle itself or the controller in the remote terminal device. The outrigger landing intelligent detection method provided by the present application will be described below. Figures 1 to 3 The outrigger landing intelligent detection method provided by the present application will be described below.

[0056] The present embodiment provides an outrigger landing intelligent detection method, as shown in the figure, which at least includes the following steps: Figure 1

[0057] S101, in the process of executing the supporting action by the outrigger, the current value of the supporting speed control instruction is acquired.

[0058] ​S102, determine a first target rotating speed of the engine and a first target time length of the landing leg performing the supporting action at a current time based on a current value of the supporting speed control instruction; wherein the engine is configured to provide power for a driving device, and the driving device is configured to drive the landing leg to perform the supporting action.

[0059] S103, control the engine to adjust the rotating speed based on the first target rotating speed, and detect a first actual time length of the landing leg performing the supporting action, and determine that the landing leg completes landing when the first actual time length is greater than or equal to the first target time length.

[0060] In the embodiment, the driving device is configured to drive the landing leg to perform the supporting action, and can also drive the landing leg to perform a retracting action. The driving device can be a hydraulic driving device, for example, the driving device can include a hydraulic pump and an actuator, and the actuator can be a hydraulic cylinder. The engine is configured to provide power for the driving device, for example, the engine can provide mechanical energy, the hydraulic pump can convert the mechanical energy provided by the engine into pressure energy of hydraulic oil, and the hydraulic oil can be output to the actuator; the actuator is configured to convert the pressure energy of the hydraulic oil into mechanical energy to drive the landing leg to perform the supporting action or the retracting action.

[0061] During the supporting action of the landing leg or before the supporting action of the landing leg, an operator can input a supporting speed control instruction through an instruction input device, which can be a landing leg supporting handle, a landing leg supporting gear adjusting device, etc. The supporting speed control instruction is used to control the speed of the landing leg, for example, when the landing leg supporting handle is pushed upward, the landing leg takes a longer time to complete the supporting action, that is, the supporting speed of the landing leg is slower, and when the landing leg supporting handle is pushed downward, the landing leg takes a shorter time to complete the supporting action, that is, the supporting speed of the landing leg is faster.

[0062] The current value of the supporting speed control instruction is the value of the supporting speed control instruction at the current time, for example, can be the current position of the landing leg supporting handle. The first target rotating speed is the required rotating speed of the engine determined according to the current value of the supporting speed control instruction. The first target time length is the required time length of the landing leg from starting to perform the supporting action to completing landing determined according to the current value of the supporting speed control instruction. After receiving the landing leg supporting instruction, the controller can detect the supporting speed control instruction in real time, and update the required rotating speed of the engine and the required time length of the landing leg to complete the supporting action in real time according to the current value of the supporting speed control instruction. The landing leg supporting instruction is used to control the landing leg to start performing the supporting action.

[0063] After the first target rotating speed and the first actual time length are determined, the engine can be controlled to adjust the rotating speed based on the first target rotating speed to realize the adjustment of the supporting speed of the outrigger. In actual application, after the user inputs the outrigger supporting instruction, the control multi-way valve is switched to the oil way corresponding to the hydraulic cylinder of the outrigger, and the engine is controlled to adjust the rotating speed in real time to drive the outrigger to perform the supporting action through the driving device.

[0064] The first actual time length of the supporting action of the outrigger, that is, the time length from the start of the supporting action of the outrigger to the current time in the process of continuously driving the outrigger to perform the supporting action through the driving device. The specific method of detecting the first actual time length of the supporting action of the outrigger can be set according to actual needs. For example, when the outrigger supporting instruction is received, the timer inside the controller can be started to monitor the first actual time length of the supporting action of the outrigger in real time when the outrigger continuously performs the supporting action. If the first actual time length of the supporting action of the outrigger is greater than or equal to the first target time length, it indicates that the outrigger completes landing, otherwise, it indicates that the outrigger does not complete landing, and the outrigger continues to perform the supporting action. When the first actual time length is greater than or equal to the first target time length, the controller can automatically control the outrigger to stop performing the supporting action. Based on this, the landing detection of the outrigger can be realized according to the comparison result of the first actual time length of the supporting action of the outrigger and the first target time length, without installing specific detection devices and mechanical structures, which has simple structure, low manufacturing precision requirement, good maintainability, low failure rate, is not restricted by the detection range, and has high stability and reliability of the landing detection result of the outrigger.

[0065] As an optional implementation manner, the method of detecting the first actual time length of the supporting action of the outrigger can include: obtaining the timing result of the timer at the current time; wherein the timer is used to start timing when the outrigger supporting instruction is received, and clear zero when the outrigger retracting instruction is received; and determining the first actual time length of the supporting action of the outrigger based on the timing result.

[0066] The outrigger retracting instruction is used to control the outrigger to start performing the retracting action. The timer is a timer inside the controller, which realizes the automatic detection of the first actual time length, and does not need to additionally increase other detection devices, thereby reducing the cost. In actual application, when the controller receives the outrigger supporting instruction, the timer starts timing, and clears zero when the outrigger retracting instruction is received, so that the controller can start timing from zero when the outrigger supporting instruction is received, thereby ensuring the accuracy of the timing result, and further improving the accuracy of the landing detection result of the outrigger.

[0067] The specific manner of determining the first actual duration of the supporting leg performing the jacking-down action based on the timing result can be set according to actual needs. For example, the timing result can be directly taken as the first actual duration of the supporting leg performing the jacking-down action, or the timing result can be corrected and then taken as the first actual duration of the supporting leg performing the jacking-down action. For example, an error term can be determined based on the data processing performance of the system, and the timing result is subtracted by the error term to obtain the first actual duration of the supporting leg performing the jacking-down action, so as to avoid the influence of the time loss from receiving the supporting leg jacking-down instruction to the supporting leg starting to perform the jacking-down action on the accuracy of the determination result of the first actual duration, and further improve the accuracy of the supporting leg landing detection result. It can be understood that the controller can store the first actual duration when the first target speed of the engine changes.

[0068] In addition, in actual application, the working parameter data of the driving device can also be monitored in real time during the whole process of driving the supporting leg to perform the jacking-down action by the driving device. If the working parameter data of the driving device changes, that is, the working condition of the driving device changes, the first target speed of the engine and the first target duration of the supporting leg performing the jacking-down action at the current time are determined according to the current value of the working parameter of the driving device and the current value of the jacking-down speed control instruction, so as to ensure the effectiveness of the determination result of the first target speed and the first target duration, and further improve the accuracy of the supporting leg landing detection result. The working parameters of the driving device can include hydraulic pump displacement, hydraulic pump speed ratio, hydraulic cylinder stroke, transmission efficiency of the driving device, and size of the hydraulic cylinder, etc. The size of the hydraulic cylinder can include piston radius or piston cross-sectional area. The current value of the working parameter is the parameter value of the working parameter of the driving device at the current time.

[0069] In the embodiment, the current value of the jacking-down speed control instruction is obtained during the process of the supporting leg performing the jacking-down action, and the first target speed of the engine and the first target duration of the supporting leg performing the jacking-down action at the current time are determined based on the current value of the jacking-down speed control instruction, so as to control the engine to adjust the speed based on the first target speed, and detect the first actual duration of the supporting leg performing the jacking-down action. When the first actual duration is greater than or equal to the first target duration, it is determined that the supporting leg completes landing. The supporting leg landing detection can be automatically completed during the process of controlling the supporting leg to jacking-down, without the need to install specific detection devices and mechanical structures. The structure is simple, the manufacturing precision requirement is low, the maintenance is good, the failure rate is low, and is not restricted by the detection range. The stability and reliability of the supporting leg landing detection result are high.

[0070] In addition, the embodiment can update the first target rotating speed of the engine and the first target time length of the landing gear performing the landing gear action in real time according to the landing speed control instruction, so that the first target rotating speed of the engine and the first target time length of the landing gear performing the landing gear action can be adjusted in real time according to the landing speed demand of the operator during the landing gear landing process, the application range of the landing gear landing intelligent detection method is wider, and the flexibility is higher while ensuring the landing gear landing detection precision.

[0071] In the example embodiment, the first target rotating speed of the engine and the first target time length of the landing gear performing the landing gear action at the current time are determined based on the current value of the landing speed control instruction, and the method comprises the following steps:

[0072] If the current time is the initial time, or the current time is not the initial time and the absolute value of the difference between the current value of the landing speed control instruction and the historical value of the landing speed control instruction at the previous time is greater than a preset value, the first landing time length corresponding to the current value of the landing speed control instruction is determined, and the first target rotating speed of the engine is determined based on the first landing time length, and the first target time length is determined based on the first landing time length and the first actual time length.

[0073] Otherwise, the second target rotating speed of the engine at the previous time is taken as the first target rotating speed, and the second target time length at the previous time is taken as the first target time length.

[0074] In the embodiment, the landing speed control instruction can be detected in real time according to a preset frequency, the historical value of the landing speed control instruction at the previous time is the value of the landing speed control instruction at the previous time, and the absolute value of the difference between the current value of the landing speed control instruction and the historical value of the landing speed control instruction at the previous time is the change amount of the landing speed control instruction from the previous time to the current time.

[0075] If the current time is the initial time, or the current time is not the initial time and the absolute value of the difference between the current value of the landing speed control instruction and the historical value of the landing speed control instruction at the previous time is greater than a preset value, the first landing time length corresponding to the current value of the landing speed control instruction is determined. The first landing time length is the required time length from the start of the landing gear action to the completion of the landing, at the landing speed corresponding to the current value of the landing speed control instruction. For example, the first landing time length corresponding to the current value of the landing speed control instruction can be determined according to a first preset corresponding relationship between the first landing time length and the landing speed control instruction, the first preset corresponding relationship can be a first mapping table, a first function relationship, or a first machine learning model.

[0076] After the first supporting time length is determined, a first target rotating speed of the engine at the current time can be further determined based on the first supporting time length. The rotating speed of the engine corresponding to the first supporting time length can be determined based on a second preset correspondence relationship between the first supporting time length and the rotating speed of the engine, as the first target rotating speed. The second preset correspondence relationship can be a second mapping table, a second function relationship, or a second machine learning model. Meanwhile, the first target time length can also be determined based on the first supporting time length and the first actual time length. For example, the to-be-executed time length of the supporting leg for executing the supporting action can be determined according to the first supporting time length and the first actual time length, and the first target time length can be determined based on the sum of the to-be-executed time length and the first actual time length. Thus, in the process of the supporting leg executing the supporting action, the first target rotating speed of the engine and the first target time length of the supporting leg for executing the supporting action can be adjusted in real time according to the supporting speed control instruction, so that the time length of the supporting leg for executing the supporting action can be flexibly adjusted according to the demand of the operator while ensuring the landing detection precision of the supporting leg, and the applicability and flexibility of the intelligent landing detection method of the supporting leg are greatly improved.

[0077] If the current time is not the initial time and the absolute value of the difference between the current value of the supporting speed control instruction and the historical value of the supporting speed control instruction at the previous time is less than or equal to a preset value, the second target rotating speed of the engine determined at the previous time can be directly taken as the first target rotating speed, and the second target time length determined at the previous time can be directly taken as the first target time length, so that the stability of the rotating speed of the engine and the accuracy of the landing detection result of the supporting leg can be effectively ensured when the supporting speed control instruction input by the instruction input device is disturbed by external factors such as vibration. The size of the preset value can be set according to the accuracy requirement, for example, the preset value can be set to 1.

[0078] In an example embodiment, the determination of the first supporting time length corresponding to the current value of the supporting speed control instruction comprises:

[0079] The first supporting time length corresponding to the current value of the supporting speed control instruction is determined based on the current value of the supporting speed control instruction, an upper limit value of the supporting speed control instruction, a lower limit value of the supporting speed control instruction, an upper limit value of the first supporting time length, and a lower limit value of the first supporting time length. The upper limit value of the supporting speed control instruction corresponds to the upper limit value of the first supporting time length, the lower limit value of the supporting speed control instruction corresponds to the lower limit value of the first supporting time length, and the supporting speed control instruction and the first supporting time length are in a linear relationship.

[0080] In this embodiment, the upper limit value of the down support speed control instruction and the lower limit value of the down support speed control instruction can correspond to the first limit position of the upward action of the down support handle of the outrigger and the second limit position of the downward action of the down support handle, that is, the upper limit value and the lower limit value of the down support speed control instruction represent the maximum value and the minimum value of the down support speed control instruction that can be input by the instruction input device, which are both constants.

[0081] The upper limit value of the first down support time length and the lower limit value of the first down support time length can be the maximum time length and the minimum time length of the down support action performed by the outrigger. In the case where the working condition of the driving device is determined, the first down support time length can be inversely proportional to the speed of the engine, that is, the upper limit value of the first down support time length can correspond to the lower limit value of the speed of the engine, and the lower limit value of the first down support time length can correspond to the upper limit value of the speed of the engine. In the process of determining the first down support time length corresponding to the current value of the down support speed control instruction, the first down support time length can be calculated according to the current working condition of the driving device and the upper limit value and the lower limit value of the speed of the engine, or a second preset corresponding relationship between the first down support time length and the speed of the engine can be set for different working conditions of the driving device, so that the target corresponding relationship is determined from the second preset corresponding relationship according to the current working condition of the driving device, and the first down support time length corresponding to the upper limit value of the speed of the engine and the first down support time length corresponding to the lower limit value of the speed of the engine are determined according to the target corresponding relationship, and are respectively taken as the lower limit value of the first down support time length and the upper limit value of the first down support time length.

[0082] After the upper limit value of the first down support time length and the lower limit value of the first down support time length are determined, the first down support time length corresponding to the current value of the down support speed control instruction can be further determined based on a first functional relationship between the first down support time length and the down support speed control instruction.

[0083] The first functional relationship between the first down support time length and the down support speed control instruction can be a linear relationship, the upper limit value of the down support speed control instruction corresponds to the upper limit value of the first down support time length, and the lower limit value of the down support speed control instruction corresponds to the lower limit value of the first down support time length. As an optional implementation, the first down support time length T1 corresponding to the current value of the down support speed control instruction can be as shown in formula (1):

[0084]

[0085] In the formula, T1 max and T1 min are the upper limit value and the lower limit value of the first down support time length, H max and H min are the upper limit value and the lower limit value of the down support speed control instruction, and H now is the current value of the down support speed control instruction.

[0086] Therefore, the embodiment can quickly and accurately determine the first downforce time corresponding to the current value of the downforce speed control instruction based on the current value of the downforce speed control instruction, the upper limit value of the downforce speed control instruction, the lower limit value of the downforce speed control instruction, the upper limit value of the first downforce time and the lower limit value of the first downforce time, and accurately control the downforce of the support leg, thereby improving the effectiveness of the support leg landing detection result.

[0087] In an example embodiment, the upper limit value of the first downforce time and the lower limit value of the first downforce time are determined based on the following method:

[0088] inputting the current value of the target working parameter of the driving device and the lower limit value of the engine speed into a preset downforce time determination model to obtain the upper limit value of the first downforce time;

[0089] inputting the current value of the target working parameter of the driving device and the upper limit value of the engine speed into the downforce time determination model to obtain the lower limit value of the first downforce time;

[0090] The downforce time determination model is used to represent the corresponding relationship between the target working parameter, the engine speed and the first downforce time.

[0091] In the embodiment, the target working parameter of the driving device is a parameter that affects the output power of the driving device. For example, the driving device can include a hydraulic pump, and the target working parameter of the driving device can be the displacement of the hydraulic pump. When the hydraulic pump is a fixed displacement pump, the displacement of the hydraulic pump is a fixed value. When the hydraulic pump is a variable displacement pump, the displacement of the hydraulic pump can be calculated according to the input current of the hydraulic pump or obtained according to a set value.

[0092] The downforce time determination model is used to represent the corresponding relationship between the target working parameter of the driving device, the engine speed and the first downforce time. The corresponding relationship can be a second function relationship, for example, the first downforce time is inversely proportional to the engine speed and the displacement of the hydraulic pump. The corresponding relationship can also be a second machine learning model, for example, a deep learning model. The downforce time determination model can be pre-constructed to be directly called in the process of determining the first downforce time, thereby effectively improving the efficiency of obtaining the first downforce time.

[0093] The upper limit value and the lower limit value of the engine speed are respectively a rated maximum value and a rated minimum value of the engine speed, and are fixed values. The engine speed is inversely proportional to the first supporting time length. In actual application, the current value of the target operating parameter of the driving device and the lower limit value of the engine speed can be input into a preset supporting time length determination model to obtain an upper limit value of the first supporting time length, and the current value of the target operating parameter of the driving device and the upper limit value of the engine speed can be input into the preset supporting time length determination model to obtain a lower limit value of the first supporting time length, so that the upper limit value and the lower limit value of the first supporting time length can be quickly and accurately obtained, and the accuracy of the determination result of the first supporting time length is improved, and accurate control of the supporting of the outrigger is realized.

[0094] It can be understood that if the hydraulic pump is a fixed displacement pump, that is, the displacement of the hydraulic pump is a fixed value, the upper limit value and the lower limit value of the first supporting time length can be determined in advance according to the displacement of the hydraulic pump and the lower limit value and the upper limit value of the engine speed and stored, so that the upper limit value and the lower limit value of the first supporting time length can be called in real time in the process of determining the first supporting time length corresponding to the current value of the supporting speed control instruction, and the calculation efficiency is further improved, and the effectiveness of the outrigger landing detection result is ensured.

[0095] In an example embodiment, the supporting time length determination model is determined based on the following method:

[0096] The supporting time length determination model is determined based on a functional relationship among the stroke of the hydraulic cylinder of the driving device, the flow rate of the hydraulic oil, and the first supporting time length. The first supporting time length is proportional to the stroke of the hydraulic cylinder and inversely proportional to the flow rate of the hydraulic oil.

[0097] The flow rate of the hydraulic oil is determined based on the engine speed, the displacement of the hydraulic pump of the driving device, the speed ratio of the hydraulic pump, the transmission efficiency, and the size of the hydraulic cylinder.

[0098] In this embodiment, the hydraulic cylinder is an actuator in the driving device, which is used to drive the outrigger to perform a supporting action or a retracting action through the flow of the hydraulic oil. The stroke of the hydraulic cylinder is the action length of the piston rod of the hydraulic cylinder. The flow rate of the hydraulic oil is the flow speed of the hydraulic oil in the process of driving the outrigger to perform a supporting action or a retracting action. The flow rate of the hydraulic oil can be determined based on the engine speed, the displacement of the hydraulic pump, the speed ratio of the hydraulic pump, the transmission efficiency of the driving device, and the size of the hydraulic cylinder. For example, the flow rate of the hydraulic oil can be determined based on the engine speed, the displacement of the hydraulic pump, the speed ratio of the hydraulic pump, and the transmission efficiency to obtain the flow rate of the hydraulic oil, and then the flow rate of the hydraulic oil is obtained based on the ratio of the flow rate of the hydraulic oil to the cross-sectional area of the piston. The determination method of the flow rate of the hydraulic oil can be: hydraulic oil flow rate = engine speed (r / min) / 60 * hydraulic pump displacement (L / r) * hydraulic pump speed ratio * transmission efficiency / 2.

[0099] The first down support time length determination model is determined based on a function relationship among the hydraulic cylinder stroke, the hydraulic oil flow rate and the first down support time length, for example, the first down support time length = the hydraulic cylinder stroke / hydraulic oil flow rate, wherein after the driving device is installed and debugging is completed, the hydraulic pump speed ratio, the hydraulic cylinder stroke, the transmission efficiency of the driving device and the hydraulic cylinder size are fixed values, so that the function relationship among the engine speed, the hydraulic pump displacement and the first down support time length can be determined according to the function relationship among the hydraulic cylinder stroke, the hydraulic oil flow rate and the target time length, the determination accuracy of the first down support time length is effectively improved, and then the precise control of the outrigger down support is realized, and the accuracy of the outrigger landing detection result is improved.

[0100] In the example embodiment, the first actual time length is the sum of second actual time lengths in which the outrigger performs the down support action at each historical engine speed;

[0101] The first target time length is determined based on the first down support time length and the first actual time length, comprising:

[0102] Based on the first down support time length, each second actual time length and a second down support time length corresponding to each historical speed, a to-be-executed time length in which the outrigger performs the down support action is determined;

[0103] The first target time length is determined based on the sum of the to-be-executed time length and the first actual time length.

[0104] In the embodiment, the historical engine speed is the value of the engine speed from the time when the outrigger starts to perform the down support action to the current time. The number of historical engine speeds is the number of times of adjusting the engine speed from the time when the outrigger starts to perform the down support action to the current time.

[0105] The time length in which the outrigger performs the down support action at each historical engine speed is a second actual time length, that is, each historical speed corresponds to a second actual time length, and the sum of each second actual time length is the first actual time length.

[0106] The second down support time length corresponding to each historical engine speed, that is, when the engine speed is adjusted to the historical speed, if the outrigger uniformly down supports at the down support speed corresponding to the corresponding down support speed control instruction, the required time length from the time when the outrigger starts to perform the down support action to the time when the landing is completed.

[0107] The specific manner of determining the to-be-executed time length of the landing gear performing the landing gear lowering action based on the first landing gear lowering time length, the second actual time lengths, and the second landing gear lowering time lengths can be: determining a proportion of a to-be-lower travel of the landing gear in a total lower travel of the landing gear according to the second actual time lengths and the corresponding second landing gear lowering time lengths; obtaining a product of the proportion and the first landing gear lowering time length, and taking the product as the to-be-executed time length of the landing gear performing the landing gear lowering action; wherein the to-be-lower travel is the landing gear lowering travel of the landing gear from a current position to completion of landing, and the total lower travel is the landing gear lowering travel of the landing gear from starting to perform the landing gear lowering action to completion of landing. d The manner of determining the to-be-executed time length T of the landing gear performing the landing gear lowering action can be as shown in formula (2):

[0108]

[0109] In the formula, n is the number of historical engine speeds, is the second landing gear lowering time length corresponding to the i th historical engine speed, t i is the second actual time length corresponding to the i th historical engine speed.

[0110] After determining the to-be-executed time length of the landing gear performing the landing gear lowering action, the first target time length can be determined based on the sum of the to-be-executed time length and the first actual time length, for example, the sum of the to-be-executed time length and the first actual time length can be directly taken as the first target time length, or the sum of the to-be-executed time length and the first actual time length can be corrected, and the correction result is taken as the first target time length, so that the first target time length can be quickly and accurately determined, and then the accurate control of the landing gear lowering is realized according to the first target time length, and the accuracy of the landing gear landing detection result is improved.

[0111] In an example embodiment, after determining the first target speed of the engine at the current time and the first target time length of the landing gear performing the landing gear lowering action, the method further comprises:

[0112] determining an executable time length of the landing gear performing the landing gear lowering action based on the first target time length; wherein the executable time length is greater than the first target time length;

[0113] generating a landing gear lowering control instruction based on the executable time length, the landing gear lowering control instruction being used to control the landing gear to continuously perform the landing gear lowering action within the executable time length.

[0114] In this embodiment, the executable time length of the landing gear performing the landing gear lowering action, that is, the maximum time length of the landing gear performing the landing gear lowering action.

[0115] During the outrigger's downward support action, the controller updates the first target duration in real time based on the support speed control command. After updating the first target duration, it further determines the executable duration of the outrigger's downward support action based on the first target duration. Based on the executable duration, it generates a support control command to control the outrigger to continuously perform the downward support action within the executable duration. Simultaneously, while controlling the outrigger to continuously perform the downward support action within the executable duration, the controller monitors the first actual duration of the outrigger's downward support action in real time. If the first actual duration is greater than or equal to the first target duration, it determines that the outrigger has landed and controls the outrigger to stop performing the downward support action. This automatically controls the outrigger's downward support landing, improving the accuracy of the outrigger's downward support control and reducing the operator's workload.

[0116] The executable duration is longer than the first target duration, for example, the executable duration = the first target duration + 1, to ensure that the outriggers can effectively land, further improving the effectiveness of the outrigger landing detection results.

[0117] In an exemplary embodiment, after detecting the first actual duration of the support leg performing the downward support action, the method further includes:

[0118] If the first actual duration is less than the first target duration, the outrigger is controlled to perform the downward support action at the current engine speed.

[0119] In this embodiment, the current engine speed is the engine speed at the current moment, that is, the engine speed after speed adjustment is performed based on the engine's first target speed at the current moment.

[0120] After detecting the first actual duration of the outrigger's downward movement, if the first actual duration is less than the first target duration, the outrigger is controlled to continue performing the downward movement at the current engine speed until the first actual duration is greater than or equal to the first target duration. This ensures that the outrigger lands and further improves the accuracy of the outrigger landing detection results.

[0121] In an exemplary embodiment, after determining that the outrigger has successfully landed, the method further includes:

[0122] The current value of the outrigger's ground contact signal is updated to a first value; wherein, the first value is used for the target working part of the vehicle to execute the corresponding action command;

[0123] If a command to retract the outriggers is received, the current value of the grounding signal is updated to the second value.

[0124] In this embodiment, after determining that the outrigger completes landing, the current value of the landing signal of the outrigger is updated to a first value, and the first value is used to represent that the current state of the outrigger is a landing state, for example, the first value can be TRUE. When the outrigger retraction instruction is received, the current value of the landing signal is updated to a second value, and the second value is used to represent that the current state of the outrigger is a retraction state, for example, the second value can be FALSE.

[0125] In actual application, when the current value of the landing signal of the outrigger is the first value, the target working component (such as a mechanical arm) of the vehicle can be caused to execute a corresponding action instruction, so that the vehicle can perform normal work after the outrigger lands and supports, thereby minimizing the risk of vehicle rollover and ensuring the stability and safety of vehicle work.

[0126] It can be understood that when the current value of the landing signal of the outrigger is updated to the second value, the target working component of the vehicle cannot execute the corresponding action instruction.

[0127] In addition, the current value of the landing signal of the outrigger can be stored in the ferroelectric memory of the controller, so as to prevent the signal value of the landing signal of the outrigger from being lost when the controller is powered off, thereby further improving the stability and safety of vehicle work when the target working component of the vehicle is controlled to execute the corresponding action instruction according to the current value of the landing signal of the outrigger.

[0128] The specific process of the vehicle executing the outrigger down support instruction and the outrigger retraction instruction is described in detail below through an optional embodiment, so as to further explain the implementation process of the outrigger landing intelligent detection method.

[0129] As shown in FIG. 1, in the case that the working condition of the driving device is unchanged during the outrigger down support action, the method for the vehicle to execute the outrigger down support instruction in this embodiment can include the following steps:

[0130] S201, the controller calculates the upper limit value and the lower limit value of the first down support time length, and sets the upper limit value and the lower limit value of the first down support time length as the first down support time length corresponding to the limit position of the outrigger down support handle;

[0131] S202, when the outrigger down support instruction is received, the multi-way valve is controlled to switch the oil way to the hydraulic cylinder corresponding to the outrigger;

[0132] S203, the position of the outrigger down support handle is detected in real time to obtain the current value of the down support speed control instruction, and it is judged whether the current time is the initial time, if yes, step S205 is executed, otherwise, it is judged whether the absolute value of the difference between the current value H now of the down support speed control instruction and the historical value H old of the down support speed control instruction at the previous time is greater than a preset value H a .a If yes, step S205 is performed, otherwise, step S204 is performed.

[0133] S204, the second target speed of the engine at the last moment is taken as the first target speed, and the second target time length at the last moment is taken as the first target time length, and step S206 is performed.

[0134] S205, based on the current value, the upper limit value and the lower limit value of the down support speed control instruction and the upper limit value and the lower limit value of the first down support time length, the first down support time length corresponding to the current value of the down support speed control instruction is determined, and the first target speed and the first target time length of the engine are determined based on the first down support time length, and step S206 is performed.

[0135] S206, the speed of the engine is adjusted to the first target speed, and the executable time length of the down support action of the support leg is determined based on the first target time length.

[0136] S207, the control support leg automatically performs the down support action within the executable time length;

[0137] S208, the timer records the first actual time length of the down support action of the support leg, and judges in real time whether the first actual time length is greater than or equal to the first target time length, yes, step S209 is performed, otherwise, step S207 is performed.

[0138] S209, the landing signal of the support leg is set to TRUE and stored in the ferroelectric memory of the controller.

[0139] As shown in Figure 3 , the method for the vehicle to execute the support leg retracting instruction in the embodiment can include the following steps:

[0140] S301, when the support leg retracting instruction is received, the multi-way valve is controlled to switch the oil way to the hydraulic cylinder corresponding to the support leg;

[0141] S302, the speed of the engine is adjusted to the first target speed;

[0142] S303, the control support leg automatically performs the retracting action within the executable time length, and the timer of the controller is reset to zero, and the landing signal of the support leg is updated to FALSE and stored in the ferroelectric memory of the controller.

[0143] The support leg landing intelligent detection device provided by the present application is described below, and the support leg landing intelligent detection device described below can be correspondingly referred to the support leg landing intelligent detection method described above. As shown in Figure 4 , the device at least includes:

[0144] The data acquisition module 401 is used to acquire the current value of the down support speed control instruction during the process of the support leg performing the down support action.

[0145] The first processing module 402 is configured to determine a first target rotating speed of the engine and a first target time length of the landing gear performing the landing gear operation based on a current value of the landing gear speed control instruction, wherein the engine is configured to provide power for a driving device, and the driving device is configured to drive the landing gear to perform the landing gear operation.

[0146] The second processing module 403 is configured to control the engine to adjust the rotating speed based on the first target rotating speed, and detect a first actual time length of the landing gear performing the landing gear operation, and determine that the landing gear completes landing when the first actual time length is greater than or equal to the first target time length.

[0147] In an example embodiment, the first processing module 402 is specifically configured to:

[0148] When the current time is an initial time, or the current time is not the initial time and an absolute value of a difference between the current value of the landing gear speed control instruction and a historical value of the landing gear speed control instruction at a previous time is greater than a preset value, a first landing time length corresponding to the current value of the landing gear speed control instruction is determined, and the first target rotating speed of the engine is determined based on the first landing time length, and the first target time length is determined based on the first landing time length and the first actual time length.

[0149] Otherwise, a second target rotating speed of the engine at the previous time is taken as the first target rotating speed, and a second target time length at the previous time is taken as the first target time length.

[0150] In an example embodiment, the first processing module 402 is specifically configured to:

[0151] The first landing time length corresponding to the current value of the landing gear speed control instruction is determined based on the current value of the landing gear speed control instruction, an upper limit value of the landing gear speed control instruction, a lower limit value of the landing gear speed control instruction, an upper limit value of the first landing time length, and a lower limit value of the first landing time length, wherein the upper limit value of the landing gear speed control instruction corresponds to the upper limit value of the first landing time length, the lower limit value of the landing gear speed control instruction corresponds to the lower limit value of the first landing time length, and the landing gear speed control instruction and the first landing time length are in a linear relationship.

[0152] In an example embodiment, the method further includes a third processing module configured to:

[0153] The current value of the target working parameter of the driving device and the lower limit value of the rotating speed of the engine are input into a preset landing time length determination model to obtain the upper limit value of the first landing time length.

[0154] inputting the current value of the target working parameter of the driving device and the upper limit value of the rotating speed of the engine into the underbrace duration determination model to obtain a lower limit value of the first underbrace duration;

[0155] The underbrace duration determination model is used to represent a corresponding relationship among the target working parameter, the rotating speed of the engine and the first underbrace duration.

[0156] In an example embodiment, a fourth processing module is further included, and the fourth processing module is configured to:

[0157] determine the underbrace duration determination model based on a functional relationship among a hydraulic cylinder stroke of the driving device, a hydraulic oil flow rate and the first underbrace duration; the first underbrace duration is proportional to the hydraulic cylinder stroke and inversely proportional to the hydraulic oil flow rate;

[0158] The hydraulic oil flow rate is determined based on the rotating speed of the engine, a hydraulic pump displacement of the driving device, a hydraulic pump speed ratio, a transmission efficiency and a hydraulic cylinder size.

[0159] In an example embodiment, the first actual duration is a sum of second actual durations in which the outrigger performs the underbrace action at each historical rotating speed of the engine;

[0160] The first processing module 402 is specifically configured to:

[0161] determine a to-be-executed duration in which the outrigger performs the underbrace action based on the first underbrace duration, each second actual duration and a second underbrace duration corresponding to each historical rotating speed;

[0162] determine the first target duration based on a sum of the to-be-executed duration and the first actual duration.

[0163] In an example embodiment, a fifth processing module is further included, and the fifth processing module is configured to:

[0164] determine an executable duration in which the outrigger performs the underbrace action based on the first target duration; the executable duration is greater than the first target duration;

[0165] generate an underbrace control instruction based on the executable duration, the underbrace control instruction being used to control the outrigger to continuously perform the underbrace action within the executable duration.

[0166] In an example embodiment, the second processing module 403 is further configured to:

[0167] if the first actual duration is less than the first target duration, control the outrigger to perform the underbrace action at a current rotating speed of the engine.

[0168] In an example embodiment, a sixth processing module is further included, and the sixth processing module is configured to:

[0169] updating a current value of the landing signal of the outrigger to a first value; wherein the first value is used for a target working component of the vehicle to execute a corresponding action instruction;

[0170] updating the current value of the landing signal to a second value if the outrigger retraction instruction is received.

[0171] A outrigger landing intelligent detection system provided by the present application is described below, and the outrigger landing intelligent detection system described below can be correspondingly referred to the outrigger landing intelligent detection method described above. As shown in Figure 5 The system at least includes:

[0172] an instruction input device 501 and a controller 502, wherein the instruction input device 501 is connected to the controller 502;

[0173] the instruction input device 501 is configured to input a outrigger speed control instruction to the controller 502;

[0174] the controller 502 is configured to acquire a current value of the outrigger speed control instruction during the process of the outrigger executing a outrigger action; and is further configured to determine a first target rotating speed of an engine and a first target time length of the outrigger executing the outrigger action at a current time based on the current value of the outrigger speed control instruction; wherein the engine is configured to provide power for a driving device, and the driving device is configured to drive the outrigger to execute the outrigger action; and is further configured to control the engine to adjust the rotating speed based on the first target rotating speed, and detect a first actual time length of the outrigger executing the outrigger action, and determine that the outrigger completes landing if the first actual time length is greater than or equal to the first target time length.

[0175] The present application further provides a vehicle, which uses the outrigger landing intelligent detection method according to any one of the above embodiments, or includes the outrigger landing intelligent detection device according to any one of the above embodiments, or includes the outrigger landing intelligent detection system according to any one of the above embodiments.

[0176] The vehicle can include an aerial work vehicle and / or an engineering work vehicle, such as a fire truck, a pump truck, an excavator, a crane, etc.

[0177] Figure 6 An example of an electronic device is shown in the physical structure schematic diagram, as Figure 6As shown, the electronic device can include a processor 601, a communications interface 602, a memory 603, and a communications bus 604, wherein the processor 601, the communications interface 602, and the memory 603 complete mutual communication through the communications bus 604. The processor 601 can call logical instructions in the memory 603 to execute the leg landing intelligent detection method, which includes: during the process of the leg performing the down support action, acquiring a current value of a down support speed control instruction;

[0178] Based on the current value of the down support speed control instruction, a first target speed of the engine at the current time and a first target time length of the leg performing the down support action are determined; wherein the engine is used to provide power for a driving device, and the driving device is used to drive the leg to perform the down support action;

[0179] Based on the first target speed, the engine is controlled to perform speed adjustment, and a first actual time length of the leg performing the down support action is detected. If the first actual time length is greater than or equal to the first target time length, it is determined that the leg completes landing.

[0180] In addition, the logical instructions in the memory 603 described above can be implemented in the form of a software function unit and sold or used as an independent product. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0181] On the other hand, the present application also provides a computer program product, which includes a computer program stored on a non-transitory computer readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the leg landing intelligent detection method provided by the above-mentioned methods, which includes: during the process of the leg performing the down support action, acquiring a current value of a down support speed control instruction;

[0182] determine a first target rotation speed of the engine at a current time and a first target time length of the landing leg performing the supporting action based on the current value of the supporting speed control instruction, wherein the engine is configured to provide power for a driving device, and the driving device is configured to drive the landing leg to perform the supporting action;

[0183] control the engine to perform rotation speed adjustment based on the first target rotation speed, and detect a first actual time length of the landing leg performing the supporting action, and if the first actual time length is greater than or equal to the first target time length, determine that the landing leg completes landing.

[0184] In another aspect, the present application provides a non-transitory computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the landing leg landing intelligent detection method provided above, and the method comprises: obtaining a current value of a supporting speed control instruction during a supporting action of a landing leg;

[0185] determine a first target rotation speed of the engine at a current time and a first target time length of the landing leg performing the supporting action based on the current value of the supporting speed control instruction, wherein the engine is configured to provide power for a driving device, and the driving device is configured to drive the landing leg to perform the supporting action;

[0186] control the engine to perform rotation speed adjustment based on the first target rotation speed, and detect a first actual time length of the landing leg performing the supporting action, and if the first actual time length is greater than or equal to the first target time length, determine that the landing leg completes landing.

[0187] The device embodiments described above are only schematic, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment scheme. Those skilled in the art can understand and implement it without creative labor.

[0188] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0189] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for detecting the landing of a support leg, characterized in that The method comprises the following steps: During the process of the outrigger performing the jacking-down action, a current value of a jacking-down speed control instruction is obtained; If the current time of the jacking-down speed control instruction is an initial time, or the current time is not the initial time and the absolute value of the difference between the current value of the jacking-down speed control instruction and the historical value of the jacking-down speed control instruction at the last time is greater than a preset value, a first jacking-down time corresponding to the current value of the jacking-down speed control instruction is determined, and a first target rotating speed of an engine is determined based on the first jacking-down time, and a first target time is determined based on the first jacking-down time and a first actual time; Otherwise, a second target rotating speed of the engine at the last time is taken as the first target rotating speed of the engine, and a second target time at the last time is taken as the first target time; wherein the engine is used to provide power for a driving device, and the driving device is used to drive the outrigger to perform the jacking-down action; The engine is controlled to adjust the rotating speed based on the first target rotating speed, and the first actual time of the outrigger performing the jacking-down action is detected, and if the first actual time is greater than or equal to the first target time, it is determined that the outrigger completes landing.

2. The method of claim 1, wherein, The method of determining the first jacking-down time corresponding to the current value of the jacking-down speed control instruction comprises the following steps: Based on the current value of the jacking-down speed control instruction, an upper limit value of the jacking-down speed control instruction, a lower limit value of the jacking-down speed control instruction, an upper limit value of the first jacking-down time and a lower limit value of the first jacking-down time, the first jacking-down time corresponding to the current value of the jacking-down speed control instruction is determined; wherein the upper limit value of the jacking-down speed control instruction corresponds to the upper limit value of the first jacking-down time, the lower limit value of the jacking-down speed control instruction corresponds to the lower limit value of the first jacking-down time, and the jacking-down speed control instruction and the first jacking-down time are in a linear relationship.

3. The method of claim 2, wherein, The upper limit value of the first jacking-down time and the lower limit value of the first jacking-down time are determined based on the following method: The current value of the target working parameter of the driving device and the lower limit value of the rotating speed of the engine are input into a preset jacking-down time determination model to obtain the upper limit value of the first jacking-down time; The current value of the target working parameter of the driving device and the upper limit value of the rotating speed of the engine are input into the jacking-down time determination model to obtain the lower limit value of the first jacking-down time; Wherein, the jacking-down time determination model is used to represent the corresponding relationship between the target working parameter, the rotating speed of the engine and the first jacking-down time.

4. The method of claim 3, wherein, The jacking-down time determination model is determined based on the following method: Based on the function relationship among the hydraulic cylinder stroke of the driving device, the hydraulic oil flow rate and the first jacking-down time, the jacking-down time determination model is determined; the first jacking-down time is proportional to the hydraulic cylinder stroke, and inversely proportional to the hydraulic oil flow rate; Wherein, the hydraulic oil flow rate is determined based on the rotating speed of the engine, the displacement of the hydraulic pump of the driving device, the speed ratio of the hydraulic pump, the transmission efficiency and the size of the hydraulic cylinder.

5. The method of claim 1, wherein, The first actual duration is a sum of second actual durations of the outrigger performing the jacking action at each historical rotating speed of the engine; The determining the first target duration based on the first jacking duration and the first actual duration comprises: determining a to-be-executed duration of the outrigger performing the jacking action based on the first jacking duration, the second actual durations and second jacking durations corresponding to the historical rotating speeds; determining the first target duration based on a sum of the to-be-executed duration and the first actual duration.

6. The method of claim 1, wherein, The determining the first target rotating speed of the engine at a current time and the first target duration of the outrigger performing the jacking action further comprises: determining an executable duration of the outrigger performing the jacking action based on the first target duration, wherein the executable duration is greater than the first target duration; generating a jacking control instruction based on the executable duration, the jacking control instruction being used to control the outrigger to continuously perform the jacking action within the executable duration.

7. The method of claim 1 to 6, wherein, The detecting the first actual duration of the outrigger performing the jacking action further comprises: if the first actual duration is less than the first target duration, controlling the outrigger to perform the jacking action at a current rotating speed of the engine.

8. The method of claim 1 to 6, wherein, The determining the outrigger completing landing further comprises: updating a current value of a landing signal of the outrigger to a first value, wherein the first value is used for a target working component of a vehicle to execute a corresponding action instruction; if a outrigger retracting instruction is received, updating the current value of the landing signal to a second value.

9. A landing leg smart detection device, comprising: Implementing the outrigger landing intelligent detection method according to any one of claims 1 to 8 comprises: a data acquisition module, configured to acquire a current value of a jacking speed control instruction in a process of the outrigger performing the jacking action; a first processing module, configured to determine a first target rotating speed of an engine at a current time and a first target duration of the outrigger performing the jacking action based on the current value of the jacking speed control instruction, wherein the engine is used to provide power for a driving device, and the driving device is used to drive the outrigger to perform the jacking action; a second processing module, configured to control the engine to perform rotating speed adjustment based on the first target rotating speed, and detect a first actual duration of the outrigger performing the jacking action, and if the first actual duration is greater than or equal to the first target duration, determine that the outrigger completes landing.

10. An intelligent detection system for outrigger landing, characterized in that, Implementing the outrigger landing intelligent detection method according to any one of claims 1 to 8 comprises: an instruction input device and a controller, the instruction input device being connected to the controller; the instruction input device is used to input a jacking speed control instruction to the controller; The controller is configured to acquire a current value of the jacking speed control instruction during the process that the support leg performs the jacking action, and determine a first target rotating speed of the engine and a first target time length that the support leg performs the jacking action based on the current value of the jacking speed control instruction, wherein the engine is configured to provide power for a driving device, and the driving device is configured to drive the support leg to perform the jacking action, and the controller is further configured to control the engine to perform rotating speed adjustment based on the first target rotating speed, and detect a first actual time length that the support leg performs the jacking action, and determine that the support leg completes landing when the first actual time length is greater than or equal to the first target time length.

11. A vehicle characterized by comprising: The vehicle uses the support leg landing intelligent detection method according to any one of claims 1 to 8, or comprises the support leg landing intelligent detection device according to claim 9, or comprises the support leg landing intelligent detection system according to claim 10.

12. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the support leg landing intelligent detection method according to any one of claims 1 to 8.

13. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the support leg landing intelligent detection method according to any one of claims 1 to 8.

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