Outrigger motion adjustment system, method and engineering vehicle

Abstract

This invention provides an outrigger motion adjustment system, method, and engineering vehicle, belonging to the field of engineering equipment control. The system includes a motion alarm device for acquiring the horizontal angle between the outrigger arm and the horizontal plane, the heading angle between the outrigger arm and the chassis's centerline, the load on the outrigger lifting cylinder, and the extension length of the outrigger support plate, and recording the time. Based on the acquired parameters, it determines whether the outrigger motion meets preset requirements. If it does not meet the preset requirements, a corresponding alarm signal is generated and output to the vehicle controller to adjust the outrigger motion so that it meets the preset requirements. This achieves automatic adjustment of the outrigger motion, ensuring consistent extension of each outrigger, consistent load on each outrigger lifting cylinder, and uniform extension length of each outrigger support plate without relying on manual operation, thus placing the chassis in a balanced state of uniform force and ensuring the stability of the engineering vehicle.

Description

Technical Field

[0001] This invention relates to the field of engineering equipment control, and more specifically to a leg movement adjustment system, method, and engineering vehicle. Background Technology

[0002] When engineering vehicles are in operation, they often use outriggers for support. The outriggers and the vehicle chassis are integrated, forming a rigid connection; the tires and chassis are connected through the suspension system, forming a flexible connection. When an engineering vehicle uses outriggers for support, the tires are suspended in the air, minimizing tire wear by keeping them suspended as much as possible. Currently, the outrigger support procedure before operation is as follows: 1. Find a flat surface to extend the outrigger arms; 2. Manual operation: the operator uses experience to operate the outrigger lifting cylinders for support, judging whether the extension length of the outrigger support plate is reasonable based on the approximate angle of the tire suspension.

[0003] However, manually operated outrigger support can lead to inconsistent loads on the outrigger lifting cylinders, resulting in uneven extension of the outrigger support plates and uneven support forces on each outrigger. This causes the chassis to enter an unbalanced stress state, resulting in the vehicle actually tilting. Over time, this can lead to chassis deformation and, in severe cases, accidents such as rollovers. Therefore, achieving self-adjusting stability for the outriggers to overcome the drawbacks of manual operation is an urgent problem to be solved. Summary of the Invention

[0004] The purpose of this invention is to overcome the problem that manual operation of outriggers in the prior art leads to uneven force distribution on each outrigger, and to provide an outrigger motion adjustment system, method, and engineering vehicle.

[0005] The first aspect of this application provides an outrigger motion adjustment system for use in engineering vehicles. The outriggers of the engineering vehicle are connected to the chassis. The outriggers include outrigger arms, outrigger lifting cylinders, and outrigger support plates. The system includes:

[0006] The motion alarm device includes a leg arm motion detection module, a leg arm motion alarm module, a leg support plate lifting detection module, a leg support plate lifting alarm module, and a signal output module.

[0007] The outrigger arm motion detection module is used to obtain the horizontal angle between the outrigger arm and the horizontal plane, as well as the heading angle between the outrigger arm and the central axis of the chassis, through the inertial measurement unit during the movement of the outrigger arm, and to record the movement time of the outrigger arm.

[0008] The outrigger arm motion alarm module is used to generate a first alarm signal based on the horizontal angle, the heading angle and the movement time when the horizontal angle and the heading angle do not meet the first preset requirements.

[0009] The outrigger support plate lifting detection module is used to obtain the load of the outrigger lifting cylinder through a pressure detection device, obtain the extension length of the outrigger support plate through a distance measuring device, and record the lifting time of the outrigger plate during the lifting process of the outrigger support plate.

[0010] The outrigger support plate lifting alarm module is used to generate a second alarm signal based on the load, extension length, and lifting time when the load and extension length do not meet the second preset requirements.

[0011] The signal output module is used to output a first alarm signal or a second alarm signal to the vehicle controller;

[0012] The vehicle-mounted controller is used to adjust the movement of the outriggers according to a first alarm signal or a second alarm signal so that the movement of the outriggers meets preset requirements.

[0013] In one embodiment of this application, the first alarm signal includes a heading angle alarm signal and a horizontal angle alarm signal; the outrigger arm movement alarm module includes:

[0014] The heading angle alarm unit is used to generate a heading angle alarm signal based on the heading angle and the movement time when the heading angle is greater than the maximum heading angle corresponding to the movement time, or less than the minimum heading angle corresponding to the movement time.

[0015] The horizontal angle alarm unit is used to generate a horizontal angle alarm signal when the horizontal angle is greater than the horizontal angle threshold.

[0016] In one embodiment of this application, the signal output module includes:

[0017] Heading angle alarm signal output unit, used to output heading angle alarm signal to vehicle controller;

[0018] The horizontal angle alarm signal output unit is used to output the horizontal angle alarm signal to the vehicle controller.

[0019] In one embodiment of this application, the vehicle controller includes:

[0020] The heading angle control unit is used to adjust the movement speed of the outrigger arm according to the heading angle alarm signal so that the heading angle does not exceed the maximum heading angle and is not less than the minimum heading angle;

[0021] The horizontal angle control unit is used to reduce the movement speed of the outrigger arm based on the horizontal angle alarm signal, so that the horizontal angle does not exceed the horizontal angle threshold.

[0022] In one embodiment of this application, the outrigger support plate lifting alarm module includes:

[0023] The load alarm unit is used to generate a second alarm signal based on the load and the lifting time when the load is greater than the maximum load corresponding to the lifting time or less than the minimum load corresponding to the lifting time.

[0024] The elongation length alarm unit is used to generate a second alarm signal based on the elongation length and the lifting time when the elongation length is greater than the maximum elongation length corresponding to the lifting time, or less than the minimum elongation length corresponding to the lifting time.

[0025] In one embodiment of this application, the signal output module includes:

[0026] The second alarm signal output unit is used to output a second alarm signal to the vehicle controller.

[0027] In one embodiment of this application, the vehicle controller includes:

[0028] The load and elongation length control unit is used to raise or lower the lifting speed of the outrigger support plate according to the second alarm signal, so that the load does not exceed the maximum load and is not less than the minimum load, and the elongation length does not exceed the maximum elongation length and is not less than the minimum elongation length.

[0029] In one embodiment of this application, the system further includes:

[0030] The outrigger safety indicator light is used to flash according to the flashing strategy corresponding to the first alarm signal or the second alarm signal.

[0031] A second aspect of this application provides a method for adjusting the movement of a support leg, applied to the support leg movement adjustment system provided in the first aspect of this application. The method includes:

[0032] During the movement of the outrigger arm, the horizontal angle between the outrigger arm and the horizontal plane, as well as the heading angle between the outrigger arm and the central axis of the chassis, are obtained through the inertial measurement unit, and the movement time of the outrigger arm is recorded.

[0033] If the horizontal angle and heading angle do not meet the first preset requirements, a first alarm signal is generated based on the horizontal angle, heading angle and movement time.

[0034] During the lifting and lowering of the outrigger support plate, the load of the outrigger lifting cylinder is obtained through a pressure detection device, the extension length of the outrigger support plate is obtained through a distance measuring device, and the lifting and lowering time of the outrigger plate is recorded.

[0035] If the load and elongation do not meet the second preset requirements, a second alarm signal is generated based on the load, elongation, and lifting time.

[0036] Output the first alarm signal or the second alarm signal;

[0037] Adjust the movement of the outriggers according to the first or second alarm signal to make the movement of the outriggers meet the preset requirements.

[0038] The third aspect of this application provides an engineering vehicle that includes the outrigger motion adjustment system provided in the first aspect of this application.

[0039] Through the above technical solution, the motion alarm device of the outrigger motion adjustment system can output corresponding adjustment signals to the vehicle controller by acquiring parameters during the outrigger motion process to adjust the outrigger motion, so that the outrigger motion meets the preset requirements, realizing automatic adjustment of outrigger motion. That is, without relying on manual operation, it ensures the consistency of the extension degree of each outrigger, the consistency of the load of each outrigger lifting cylinder, and the uniform extension length of each outrigger support plate, so that the chassis is in a balanced state of uniform force, thereby ensuring the stability of the engineering vehicle.

[0040] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0041] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0042] Figure 1 This schematic diagram illustrates a structural block diagram of a leg movement adjustment system according to an embodiment of the present application;

[0043] Figure 2 The schematic diagram illustrates a structural schematic of a support leg according to an embodiment of this application;

[0044] Figure 3 The illustration shows a top view of an engineering vehicle supported by outriggers according to an embodiment of this application.

[0045] Figure 4 A schematic diagram illustrating a structural block diagram of another leg movement adjustment system according to an embodiment of this application is shown.

[0046] Figure 5 The diagram schematically illustrates the coordinates of the upper and lower limits of the heading angle of an outrigger arm during extension versus the motion time, according to an embodiment of this application.

[0047] Figure 6 A flowchart illustrating a method for adjusting the movement of a support leg according to an embodiment of this application is shown schematically. Detailed Implementation

[0048] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0049] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0050] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Moreover, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0051] When engineering vehicles are supported by outriggers, the operation process often involves inconsistent lifting cylinders for each outrigger and uneven extension lengths, leading to an imbalance of forces on the chassis and increasing the risk of vehicle rollover. Therefore, during operation, the movement of the outriggers needs to be adjusted to ensure balanced force distribution across them.

[0052] Figure 1 This schematically illustrates a structural block diagram of a leg movement adjustment system 1000 according to an embodiment of this application, as shown below. Figure 1 As shown, in one embodiment of this application, a leg motion adjustment system 1000 is provided, applied to an engineering vehicle. The outriggers of the engineering vehicle are connected to the chassis. The outriggers include outrigger arms, outrigger lifting cylinders, and outrigger support plates. The system 1000 includes:

[0053] The motion alarm device 1001 includes a leg arm motion detection module 100, a leg arm motion alarm module 200, a leg support plate lifting detection module 300, a leg support plate lifting alarm module 400, and a signal output module 500.

[0054] The outrigger arm motion detection module 100 is used to obtain the horizontal angle between the outrigger arm and the horizontal plane, as well as the heading angle between the outrigger arm and the central axis of the chassis, through the inertial measurement unit during the movement of the outrigger arm, and to record the movement time of the outrigger arm.

[0055] The outrigger arm motion alarm module 200 is used to generate a first alarm signal based on the horizontal angle, the heading angle and the movement time when the horizontal angle and the heading angle do not meet the first preset requirements.

[0056] The outrigger support plate lifting detection module 300 is used to obtain the load of the outrigger lifting cylinder through a pressure detection device, obtain the extension length of the outrigger support plate through a distance measuring device, and record the lifting time of the outrigger plate during the lifting process of the outrigger support plate.

[0057] The outrigger support plate lifting alarm module 400 is used to generate a second alarm signal based on the load, extension length and lifting time when the load and extension length do not meet the second preset requirements.

[0058] The signal output module 500 is used to output a first alarm signal or a second alarm signal to the vehicle controller 1002;

[0059] The vehicle controller 1002 is used to adjust the movement of the outriggers according to a first alarm signal or a second alarm signal so that the movement of the outriggers meets preset requirements.

[0060] Figure 2 The schematic diagram illustrates a structural schematic of a support leg according to an embodiment of this application, such as... Figure 2 As shown, the outrigger includes an outrigger arm 10 (including a fixed outrigger 11 and a movable outrigger 12) for extending and opening, an outrigger support plate 20 for ground support, and an outrigger lifting cylinder 30 for controlling the raising and lowering of the outrigger support plate 20. Before the engineering vehicle is supported by the outrigger, the outrigger arm 10 first extends and opens, and then the outrigger lifting cylinder 30 controls the outrigger support plate 20 to extend and lower to the ground for support; after the engineering vehicle has finished its work, the outrigger lifting cylinder 30 depressurizes, the outrigger support plate 20 retracts and rises off the ground, and the outrigger arm 10 retracts and closes. The outrigger motion adjustment system 1000 provided in this application embodiment includes an on-board controller 1002 for outrigger motion control, namely an on-board ECU (Electronic Control Unit), which can automatically control the outrigger arm 10 to extend and control the outrigger support plate 20 to raise and lower. The outrigger motion adjustment system 1000 provided in this application embodiment also includes a motion alarm device 1001 for providing outrigger motion alarms. Exemplarily, the motion alarm device 1001 may include a memory storing control logic and a data processor. The motion alarm device 1001 and the vehicle controller 1002 can be connected via the CAN (Controller Area Network) protocol, and the device can directly obtain operating power through a wired connection to the vehicle power supply.

[0061] The data processor of the motion alarm device 1001 includes a leg arm motion detection module 100 and a leg support plate lifting detection module 300. Both modules can communicate and transmit data with different parameter detection devices. The leg arm motion detection module 100 communicates with an inertial measurement unit (IMU), and the leg support plate lifting detection module 300 communicates with a pressure detection device and a ranging device. For example, the leg arm motion detection module 100, the inertial measurement unit, the leg support plate lifting detection module 300, the pressure detection device, and the ranging device all include or are connected to a TTL (Transistor-Transistor Logic) circuit that can transmit data wirelessly using 433MHz wireless band technology, avoiding the wiring difficulties caused by physical wire connections.

[0062] The outrigger arm motion detection module 100 records the motion time of the outrigger arm 10 during its movement, specifically its extension and retraction. It also obtains the horizontal angle between the outrigger arm 10 and the horizontal plane via an inertial measurement unit. This horizontal angle characterizes the vibration amplitude of the outrigger arm 10 during its movement. Furthermore, the outrigger arm motion detection module 100 can obtain the heading angle between the outrigger arm 10 and the chassis's central axis via the inertial measurement unit. This heading angle characterizes the degree of extension and retraction of the outrigger arm 10. The vehicle heading angle refers to the angle between the velocity of the vehicle's center of gravity and the positive X-axis direction. Figure 3 The schematic illustration shows a top view of an engineering vehicle supported by outriggers according to an embodiment of this application, such as... Figure 3 As shown, the heading angle between the outrigger arm 10 and the centerline of the chassis in this embodiment is a modified version of the vehicle heading angle. Figure 3 The angle (∠A) between the middle outrigger arm 10 and the centerline of the engineering vehicle chassis along the positive X-axis.

[0063] During the lifting and lowering process of the outrigger support plate 20, the outrigger support plate lifting detection module 300 records the lifting and lowering time of the outrigger support plate 20, obtains the load of the outrigger lifting cylinder 30 through a pressure detection device, and obtains the extension length of the outrigger support plate 20 through a distance measuring device. Both the load and the extension length characterize the degree of lifting or extension of the outrigger support plate 20. For example, the pressure detection device can be a pressure sensor, and the distance measuring device can be a laser rangefinder.

[0064] Because the outriggers are distributed relative to the engineering vehicle, and their shapes change due to movement, connecting the parameter detection devices with solid lines for power supply would be difficult. Therefore, the inertial measurement unit, pressure detection device, and ranging device can each be connected to a wireless power supply module. Adapted to the wireless power supply module, the motion alarm device 1001 can also include a wireless charging module to supply power to each wireless power supply module, thus enabling wireless power supply to the parameter detection devices.

[0065] For example, in conjunction with the aforementioned wireless power supply module, the inertial measurement unit, pressure detection device, and ranging device can also be connected to a microprocessor with built-in low-power operating logic to achieve low-power operation. The microprocessor uses GPIO (General Propose Input Output) to control the power supply switch of the wireless power supply module. The power supply switch will only be turned on via GPIO when the peripheral device connected to the microprocessor is the inertial measurement unit, pressure detection device, or ranging device; otherwise, the power supply switch will be in the off state.

[0066] The horizontal angle and heading angle, as well as the recorded movement time, obtained by the outrigger arm movement detection module 100 are used by the outrigger arm movement alarm module 200 included in the movement alarm device 1001 to determine whether they meet the first preset requirement, that is, to determine whether the movement of the outrigger arm 10 needs to be adjusted. When the outrigger arm movement alarm module 200 determines that the horizontal angle and heading angle do not meet the first preset requirement, it generates a first alarm signal. The signal output module 500 outputs the first alarm signal to the vehicle controller 1002. The vehicle controller 1002 adjusts the movement of the outrigger arm 10 according to the received first alarm signal so that the movement of the outrigger arm 10 meets the first preset requirement.

[0067] For example, the motion alarm device 1001 can obtain relevant experience data from the outrigger database as a first preset requirement through the vehicle controller 1002. The outrigger database is used to store experience data that can ensure the outrigger provides stable and balanced support.

[0068] Figure 4 A schematic diagram illustrates a structural block diagram of another leg movement adjustment system according to an embodiment of this application, such as... Figure 4 As shown, in one embodiment of this application, the first alarm signal includes a heading angle alarm signal and a horizontal angle alarm signal, and the outrigger arm movement alarm module 200 includes:

[0069] The heading angle alarm unit 210 is used to generate a heading angle alarm signal based on the heading angle and the movement time when the heading angle is greater than the maximum heading angle corresponding to the movement time or less than the minimum heading angle corresponding to the movement time.

[0070] The horizontal angle alarm unit 220 is used to generate a horizontal angle alarm signal based on the horizontal angle when the horizontal angle is greater than the horizontal angle threshold.

[0071] The outrigger arm movement alarm module 200 includes a heading angle alarm unit 210 for alarming based on the heading angle and a horizontal angle alarm unit 220 for alarming based on the horizontal angle. Figure 5 This schematically illustrates a coordinate graph showing the upper and lower limits of the heading angle of an outrigger arm 10 during extension versus the motion time, according to an embodiment of this application. Figure 5 As shown, during the extension of the outrigger arm 10, each different movement time has an upper and lower limit for the heading angle, namely the maximum heading angle and the minimum heading angle. For example, the heading angle of the current movement time t3 is M, which is between the upper and lower limits of the heading angle, that is, it does not exceed the maximum heading angle of 1.1M corresponding to t3 and is not less than the minimum heading angle of 0.9M corresponding to t3. At this time, the heading angle meets the first preset requirement. If the heading angle of the current movement time t3 is greater than the maximum heading angle of 1.1M corresponding to t3 or less than the minimum heading angle of 0.9M corresponding to t3, the heading angle does not meet the first preset requirement. That is, according to the extension speed of the outrigger arm 10 at this time, the heading angle cannot reach the target heading angle range of the extension process within the preset time. Therefore, it is necessary to reduce or increase the extension speed of the outrigger arm 10. The heading angle alarm unit 210 generates a heading angle alarm signal indicating to increase or decrease the extension speed of the outrigger arm 10. Similarly, during the retraction of the outrigger arm 10, each different movement time has an upper and lower limit for the heading angle, namely the maximum heading angle and the minimum heading angle. If the heading angle of the current movement time is greater than the maximum heading angle corresponding to that movement time or less than the minimum heading angle corresponding to that movement time, the heading angle does not meet the first preset requirement. That is, according to the retraction speed of the outrigger arm 10 at this time, it is impossible to retract to the target heading angle range of the retraction process within the preset time. Therefore, it is necessary to reduce or increase the retraction speed of the outrigger arm 10. The heading angle alarm unit 210 then generates a heading angle alarm signal indicating to reduce or increase the retraction speed of the outrigger arm 10.

[0072] The horizontal angle characterizes the vibration of the outrigger arm 10, and can therefore be used to monitor the stability of the outrigger arm 10 during its movement. When the horizontal angle alarm unit 220 determines that the current horizontal angle is greater than the horizontal angle threshold, it indicates that the current speed of extension or retraction of the outrigger arm 10 is too fast, resulting in insufficient stability of the outrigger arm 10. Therefore, a horizontal angle alarm signal is generated to indicate a reduction in the extension or retraction speed of the outrigger arm 10.

[0073] In one embodiment of this application, the signal output module 500 includes:

[0074] The heading angle alarm signal output unit 510 is used to output the heading angle alarm signal to the vehicle controller 1002;

[0075] The horizontal angle alarm signal output unit 520 is used to output the horizontal angle alarm signal to the vehicle controller 1002.

[0076] The first alarm signal is output through the signal output module 500, corresponding to the heading angle alarm unit and the horizontal angle alarm unit 220. The signal output module 500 includes a heading angle alarm signal output unit 510 and a horizontal angle alarm signal output unit 520, which are used to output the heading angle alarm signal and the horizontal angle alarm signal to the vehicle controller 1002, respectively.

[0077] In one embodiment of this application, the vehicle controller 1002 includes:

[0078] The heading angle control unit 201 is used to adjust the movement speed of the outrigger arm 10 according to the heading angle alarm signal, so that the heading angle does not exceed the maximum heading angle and is not less than the minimum heading angle.

[0079] The horizontal angle control unit 202 is used to reduce the movement speed of the outrigger arm 10 according to the horizontal angle alarm signal so that the horizontal angle does not exceed the horizontal angle threshold.

[0080] Corresponding to the heading angle alarm unit 220 and the horizontal angle alarm unit 220, the vehicle controller 1002 includes a heading angle control unit 201 and a horizontal angle control unit 202. After receiving a heading angle alarm signal, the heading angle control unit 201 increases or decreases the extension or retraction speed of the outrigger arm 10 according to the heading angle alarm signal, so that the heading angle does not exceed the maximum heading angle and is not less than the minimum heading angle, ensuring that the heading angle can reach the target heading angle range during the extension or retraction process within a preset time. After receiving a horizontal angle alarm signal, the horizontal angle control unit 202 decreases the extension or retraction speed of the outrigger arm 10, reduces the vibration of the outrigger arm 10, and keeps the outrigger arm 10 stable.

[0081] The load and elongation length, as well as the recorded lifting time, obtained by the outrigger support plate lifting detection module 300 are used by the outrigger support plate lifting alarm module 400 included in the motion alarm device 1001 to determine whether they meet the second preset requirement, that is, to determine whether the lifting of the outrigger support plate 20 needs to be adjusted. When the outrigger support plate lifting detection module 300 determines that the load and elongation length do not meet the second preset requirement, it generates a second alarm signal.

[0082] For example, the motion alarm device 1001 can obtain relevant experience data from the outrigger database as a second preset requirement through the vehicle controller 1002. The outrigger database is used to store experience data that can ensure the outrigger provides stable and balanced support.

[0083] In one embodiment of this application, the outrigger support plate lifting alarm module 400 includes:

[0084] The load alarm unit 410 is used to generate a second alarm signal based on the load and the lifting time when the load is greater than the maximum load corresponding to the lifting time or less than the minimum load corresponding to the lifting time.

[0085] The elongation length alarm unit 420 is used to generate a second alarm signal based on the elongation length and the lifting time if the elongation length is greater than the maximum elongation length corresponding to the lifting time, or less than the minimum elongation length corresponding to the lifting time.

[0086] The outrigger support plate lifting alarm module 400 includes a load alarm unit 410 for alarming based on the load of the outrigger lifting cylinder 30 and an extension length alarm unit 420 for alarming based on the extension length of the outrigger support plate 20. The lifting of the outrigger support plate 20 is equivalent to its retraction and extension; therefore, the lifting time includes both the extension and retraction times. Similar to the process of determining whether the heading angle meets the first preset requirement, during the extension of the outrigger support plate 20, each different extension time has an upper and lower load limit, i.e., a maximum load and a minimum load. If the load during the current extension period is greater than the maximum load corresponding to that extension period or less than the minimum load corresponding to that extension period, the load does not meet the second preset requirement. That is, at the current extension speed of the outrigger support plate 20, the load cannot reach the target load range of the extension process within the preset time. Therefore, it is necessary to reduce or increase the extension speed of the outrigger support plate 20, and the load alarm unit 410 generates a second alarm signal indicating to reduce or increase the extension speed of the outrigger support plate 20. Similarly, during the retraction process of the outrigger support plate 20, each different retraction time has an upper and lower load limit, i.e., a maximum load and a minimum load. If the load during the current retraction time exceeds the maximum load corresponding to that retraction time or is less than the minimum load corresponding to that retraction time, the load does not meet the second preset requirement. That is, at the current retraction speed of the outrigger support plate 20, it cannot retract to the target load range of the retraction process within the preset time. Therefore, it is necessary to reduce or increase the retraction speed of the outrigger support plate 20, and the load alarm unit 410 generates a second alarm signal indicating to reduce or increase the retraction speed of the outrigger support plate 20.

[0087] Corresponding to the load of the outrigger lifting cylinder 30 is the extension length of the outrigger support plate 20. To better ensure the force balance of each outrigger, in addition to monitoring the load, it is also necessary to monitor the extension length. Similar to the load monitoring process, when the extension length alarm unit 420 determines that the current extension length is greater than the maximum extension length corresponding to the lifting time, or less than the minimum extension length corresponding to the lifting time, it generates a second alarm signal indicating the lifting speed of the outrigger support plate 20.

[0088] In one embodiment of this application, the signal output module 500 includes:

[0089] The second alarm signal output unit 530 is used to output a second alarm signal to the vehicle controller 1002.

[0090] The second alarm signal is output through the signal output module 500. The signal output module 500 includes a second alarm signal output unit 530 for outputting the second alarm signal generated by the load alarm unit 410 or the elongation alarm unit 420 to the vehicle controller 1002.

[0091] In one embodiment of this application, the vehicle controller 1002 includes:

[0092] The load and elongation length control unit 203 is used to raise or lower the lifting speed of the outrigger support plate 20 according to the second alarm signal, so that the load does not exceed the maximum load and is not less than the minimum load, and the elongation length does not exceed the maximum elongation length and is not less than the minimum elongation length.

[0093] Upon receiving the second alarm signal, the load and extension length control unit 203 in the vehicle controller 1002 raises or lowers the extension or retraction speed of the outrigger support plate 20 according to the second alarm signal, ensuring that the load does not exceed the maximum load and is not less than the minimum load, and guaranteeing that the load can reach the target load range during the extension or retraction process within a preset time. During the adjustment process, while ensuring that the load does not exceed the maximum load and is not less than the minimum load, the extension length must also not exceed the maximum extension length and is not less than the minimum extension length, ensuring that the extension length can reach the target extension length range during the extension or retraction process within a preset time.

[0094] Through the outrigger motion adjustment system 1000 in the above embodiments, the motion alarm device 1001 can output corresponding adjustment signals to the vehicle controller 1002 to adjust the outrigger motion by acquiring parameters during the outrigger motion process, so that the outrigger motion meets the preset requirements, realizing automatic adjustment of outrigger motion. That is, without relying on manual operation, it ensures the consistency of the extension degree of each outrigger, the consistency of the load of each outrigger lifting cylinder 30, and the uniform extension length of each outrigger support plate 20, so that the chassis is in a balanced state of uniform force, thereby ensuring the stability of the engineering vehicle.

[0095] In one embodiment of this application, system 1000 further includes:

[0096] The outrigger safety indicator light 1003 is used to flash according to the flashing strategy corresponding to the first alarm signal or the second alarm signal.

[0097] The outrigger safety indicator light 1003 can be integrated with or externally connected to the motion alarm device 1001. For example, the outrigger safety indicator light 1003 is a three-color light. A flashing green light indicates that the current outrigger movement meets preset requirements. A flashing yellow light indicates that the outrigger safety indicator light 1003 has received a first or second alarm signal, and the current outrigger movement does not meet the preset requirements. The yellow light stops flashing after the vehicle controller 1002 adjusts the outrigger movement until it meets the preset requirements. The outrigger safety indicator light 1003 allows the operator to understand the current status of the outrigger movement and to stop work during the yellow light flashing period, ensuring the stability and safety of the chassis.

[0098] Through the above technical solution, the motion alarm device 1001 can output corresponding adjustment signals to the vehicle controller 1002 to adjust the outrigger movement by acquiring parameters during the outrigger movement process, so that the outrigger movement meets the preset requirements, and provide relevant safety warnings through the outrigger safety indicator light 1003. This achieves automatic adjustment of the outrigger movement, ensuring consistent extension of each outrigger, consistent load on each outrigger lifting cylinder 30, and uniform extension length of each outrigger support plate 20 without relying on manual operation, thus keeping the chassis in a balanced state of uniform force distribution and ensuring the stability of the engineering vehicle.

[0099] Figure 6 A flowchart illustrating a method for adjusting the movement of a support leg according to an embodiment of this application is shown in the schematic diagram. Figure 6 As shown, in one embodiment of this application, a leg movement adjustment method is provided, applied to the leg movement adjustment system 1000 in the above embodiment. The method includes:

[0100] Step S100: During the movement of the outrigger arm 10, the horizontal angle between the outrigger arm 10 and the horizontal plane, and the heading angle between the outrigger arm 10 and the central axis of the chassis are obtained through the inertial measurement unit, and the movement time of the outrigger arm 10 is recorded.

[0101] Step S200: If the horizontal angle and heading angle do not meet the first preset requirements, generate a first alarm signal based on the horizontal angle, heading angle and movement time;

[0102] Step S300: During the lifting and lowering process of the outrigger support plate 20, the load of the outrigger lifting cylinder 30 is obtained through the pressure detection device, the extension length of the outrigger support plate 20 is obtained through the distance measuring device, and the lifting and lowering time of the outrigger plate is recorded.

[0103] Step S400: If the load and elongation do not meet the second preset requirements, generate a second alarm signal based on the load, elongation, and lifting time.

[0104] Step S500: Output the first alarm signal or the second alarm signal;

[0105] Step S600: Adjust the movement of the outriggers according to the first alarm signal or the second alarm signal so that the movement of the outriggers meets the preset requirements.

[0106] The above-described outrigger motion adjustment methods S100-S600 are based on the outrigger motion adjustment system 1000 in the above embodiments. In the actual workflow, exemplarily, the motion alarm device 1001 first obtains relevant experience data from the outrigger database from the vehicle controller 1002 as preset requirements for outrigger motion, including a first preset requirement and a second preset requirement. It then wirelessly connects with the inertial measurement unit, pressure detection device, and ranging device, transmitting a successful connection signal to the vehicle controller 1002. At this point, the motion alarm device 1001 completes its preparatory work before detection and alarm. During the deployment of the outrigger arm 10, the motion alarm device 1001 acquires the horizontal angle between the outrigger arm 10 and the horizontal plane, and the heading angle between the outrigger arm 10 and the centerline of the chassis. It determines whether the horizontal angle and the heading angle meet the first preset requirements, that is, whether the heading angle is between the upper and lower limits of the heading angle corresponding to the movement time, and whether the horizontal angle exceeds the horizontal angle threshold. If the horizontal angle or the heading angle does not meet the first preset requirements, a corresponding first alarm signal is generated and output to the vehicle controller 1002, so that the vehicle controller 1002 adjusts the deployment speed of the outrigger arm 10 to make the horizontal angle and the heading angle meet the first preset requirements. During the extension of the outrigger support plate 20, the motion alarm device 1001 acquires the load of the outrigger lifting cylinder 30 and the extension length of the outrigger support plate 20, and determines whether the load and extension length meet the second preset requirements, i.e., whether the load is between the upper and lower limits of the load corresponding to the lifting time, and whether the extension length is between the upper and lower limits of the extension length corresponding to the lifting time. If the load or extension length does not meet the second preset requirements, a corresponding second alarm signal is generated and output to the vehicle controller 1002, causing the vehicle controller 1002 to adjust the extension speed of the outrigger support plate 20 to make the load and extension length meet the second preset requirements. After the engineering vehicle finishes its operation, the outrigger support plate 20 retracts and the outrigger arm 10 returns to its original position. During this process, the motion alarm device 1001 also monitors the movement of the outrigger and outputs a corresponding alarm signal to the vehicle controller 1002 for motion adjustment.

[0107] The above-mentioned outrigger movement adjustment method realizes the automatic adjustment of outrigger movement. That is, without relying on manual operation, it ensures that the extension degree of each outrigger is consistent, the load of each outrigger lifting cylinder 30 is consistent, and the extension length of each outrigger support plate 20 is uniform, so that the chassis is in a balanced state of uniform force, thereby ensuring the stability of the engineering vehicle.

[0108] In one embodiment of this application, an engineering vehicle is provided, including the outrigger motion adjustment system 1000 described in the above embodiment.

[0109] The preferred embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this application, various simple modifications can be made to the technical solution of this application, and these simple modifications all fall within the protection scope of this application.

[0110] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this application will not describe the various possible combinations separately.

[0111] Furthermore, various different implementations of this application can be combined in any way, as long as they do not violate the spirit of this application, they should also be regarded as the content disclosed in this application.

Claims

1. A leg movement adjustment system, characterized in that, Applied to engineering vehicles, the outriggers of the engineering vehicles are connected to the chassis. Each outrigger includes an outrigger arm, an outrigger lifting cylinder, and an outrigger support plate. The system includes: The motion alarm device includes a leg arm motion detection module, a leg arm motion alarm module, a leg support plate lifting detection module, a leg support plate lifting alarm module, and a signal output module. The outrigger arm motion detection module is used to obtain the horizontal angle between the outrigger arm and the horizontal plane, and the heading angle between the outrigger arm and the central axis of the chassis, through an inertial measurement unit during the movement of the outrigger arm, and to record the movement time of the outrigger arm. The outrigger arm motion alarm module is used to generate a first alarm signal based on the horizontal angle, the heading angle and the motion time when the horizontal angle and the heading angle do not meet the first preset requirements. The horizontal angle represents the vibration amplitude during the movement of the outrigger arm. The outrigger support plate lifting detection module is used to obtain the load of the outrigger lifting cylinder through a pressure detection device, obtain the extension length of the outrigger support plate through a distance measuring device, and record the lifting time of the outrigger support plate during the lifting process of the outrigger support plate. The outrigger support plate lifting alarm module is used to generate a second alarm signal based on the load, the extension length, and the lifting time when the load and the extension length do not meet the second preset requirements. The signal output module is used to output the first alarm signal or the second alarm signal to the vehicle controller; The vehicle controller is used to adjust the movement of the outrigger according to the first alarm signal or the second alarm signal so that the movement of the outrigger meets the preset requirements.

2. The system according to claim 1, characterized in that, The first alarm signal includes a heading angle alarm signal and a horizontal angle alarm signal, and the outrigger arm movement alarm module includes: A heading angle alarm unit is used to generate a heading angle alarm signal based on the heading angle and the movement time when the heading angle is greater than the maximum heading angle corresponding to the movement time, or less than the minimum heading angle corresponding to the movement time. A horizontal angle alarm unit is used to generate a horizontal angle alarm signal based on the horizontal angle when the horizontal angle is greater than a horizontal angle threshold.

3. The system according to claim 2, characterized in that, The signal output module includes: A heading angle alarm signal output unit is used to output the heading angle alarm signal to the vehicle controller; A horizontal angle alarm signal output unit is used to output the horizontal angle alarm signal to the vehicle controller.

4. The system according to claim 2, characterized in that, The vehicle controller includes: A heading angle control unit is used to adjust the movement speed of the outrigger arm according to the heading angle alarm signal, so that the heading angle does not exceed the maximum heading angle and is not less than the minimum heading angle; A horizontal angle control unit is used to reduce the movement speed of the outrigger arm according to the horizontal angle alarm signal, so that the horizontal angle does not exceed the horizontal angle threshold.

5. The system according to claim 1, characterized in that, The outrigger support plate lifting alarm module includes: A load alarm unit is used to generate a second alarm signal based on the load and the lifting time when the load is greater than the maximum load corresponding to the lifting time or less than the minimum load corresponding to the lifting time. An elongation length alarm unit is used to generate a second alarm signal based on the elongation length and the lifting time when the elongation length is greater than the maximum elongation length corresponding to the lifting time or less than the minimum elongation length corresponding to the lifting time.

6. The system according to claim 5, characterized in that, The signal output module includes: The second alarm signal output unit is used to output the second alarm signal to the vehicle controller.

7. The system according to claim 5, characterized in that, The vehicle controller includes: The load and elongation length control unit is used to raise or lower the lifting speed of the outrigger support plate according to the second alarm signal, so that the load does not exceed the maximum load and is not less than the minimum load, and the elongation length does not exceed the maximum elongation length and is not less than the minimum elongation length.

8. The system according to claim 1, characterized in that, The system also includes: The outrigger safety indicator light is used to flash according to the flashing strategy corresponding to the first alarm signal or the second alarm signal.

9. A method for adjusting the movement of a supporting leg, characterized in that, The method, applied to the leg movement adjustment system as described in any one of claims 1-8, comprises: During the movement of the outrigger arm, the horizontal angle between the outrigger arm and the horizontal plane, and the heading angle between the outrigger arm and the central axis of the chassis are obtained by the inertial measurement unit, and the movement time of the outrigger arm is recorded. If the horizontal angle and the heading angle do not meet the first preset requirements, a first alarm signal is generated based on the horizontal angle, the heading angle, and the movement time. During the lifting and lowering process of the outrigger support plate, the load of the outrigger lifting cylinder is obtained through a pressure detection device, the extension length of the outrigger support plate is obtained through a distance measuring device, and the lifting and lowering time of the outrigger support plate is recorded. If the load and the elongation do not meet the second preset requirements, a second alarm signal is generated based on the load, the elongation, and the lifting time. Output the first alarm signal or the second alarm signal; Adjust the movement of the outrigger according to the first alarm signal or the second alarm signal so that the movement of the outrigger meets the preset requirements.

10. An engineering vehicle, characterized in that, The engineering vehicle includes the outrigger motion adjustment system as described in any one of claims 1-8.

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