Method, device, system and vehicle for leveling outriggers

Abstract

The application provides a method, device, system and vehicle for leveling outriggers, which comprises: obtaining a working environment of the vehicle, determining whether the working environment meets a horizontal outrigger extension condition; obtaining a levelness of the vehicle, determining whether a vertical outrigger extension condition is met based on the levelness; if the working environment and the levelness meet the horizontal outrigger extension condition and the vertical outrigger extension condition at the same time, calculating a horizontal action target value and a vertical action target value of the outrigger, and controlling the vehicle to level the outrigger based on the horizontal action target value and the vertical action target value of the outrigger. The method can split the leveling movement of the outrigger into horizontal movement and vertical movement, and then determine whether the horizontal outrigger extension condition and the vertical outrigger extension condition are met, so that automatic leveling control can be realized in any initial state of the vehicle and in all terrains, and the control efficiency and control accuracy can be improved.

Description

Technical Field

[0001] This application relates to the field of engineering machinery control, specifically to a method, device, system, and vehicle for leveling outriggers. Background Technology

[0002] With the development of truck cranes, the safety of outrigger operation is receiving increasing attention, placing higher demands on the speed, accuracy, and safety of one-button leveling. Existing outrigger leveling methods often involve manual leveling followed by automatic operation based on the vehicle being in a relatively level position. This motion control method uses only the vehicle's horizontal tilt angle as the criterion for determining the vertical movement of the outriggers, resulting in low control efficiency and high operational risks. Summary of the Invention

[0003] In view of this, embodiments of this application provide a method, apparatus, system and vehicle for leveling outriggers, which introduces feedback values ​​of the vehicle's all-around state during the control process of outrigger movement to solve the problems of low control efficiency and high operational risk in the prior art.

[0004] In a first aspect, embodiments of this application provide a method for leveling outriggers, which may include:

[0005] Acquire the working environment of the vehicle and determine whether the working environment meets the condition for the outriggers to extend horizontally.

[0006] The vehicle's levelness is obtained, and based on the levelness, it is determined whether the condition for the outriggers to extend vertically is met.

[0007] If the working environment and the levelness simultaneously meet the conditions for the outrigger to extend horizontally and vertically, then the target values ​​for the horizontal and vertical movements of the outriggers are calculated, and the vehicle is controlled to level the outriggers based on the target values ​​for the horizontal and vertical movements.

[0008] In the above implementation process, feedback values ​​of the vehicle's all-around status can be introduced into the control process of the outrigger movement to achieve control. By detecting the surrounding status of the vehicle and breaking down the leveling motion of the outrigger into horizontal and vertical motions, it is then determined whether the current surrounding status meets the conditions for horizontal and vertical outrigger extension. This enables automatic leveling control in any initial state of the vehicle and in all terrains, thereby improving control efficiency and accuracy.

[0009] Optionally, obtaining the vehicle's working environment and determining whether the working environment meets the condition for horizontal outrigger extension may include:

[0010] The infrared sensor is used to obtain the elevation difference and slope value of the ground.

[0011] The system acquires radar information of the working environment based on the radar and image information of the working environment based on the vision sensor, and determines whether there are obstacles in the working environment based on the radar information and the image information.

[0012] Based on the elevation difference, the slope value, and whether there are obstacles in the working environment, it is determined whether the working environment meets the condition for the outrigger to extend horizontally.

[0013] In the above implementation process, by detecting the vehicle's working environment, the current surrounding conditions are judged based on the ground elevation difference, slope value, and the presence of obstacles to determine whether the outriggers can be extended horizontally. This enables automatic leveling control in any initial state of the vehicle and in all terrains, thereby improving control efficiency and accuracy.

[0014] Optionally, obtaining the vehicle's working environment and determining whether the working environment meets the condition for horizontal outrigger extension may include:

[0015] The vehicle's levelness is obtained based on a tilt sensor, and the levelness characterizes the degree of tilt of the vehicle relative to the horizontal plane;

[0016] Based on the levelness, determine whether the working environment meets the condition for the outriggers to extend vertically.

[0017] In the above implementation process, the vehicle's levelness can be detected to determine whether the current working environment meets the conditions for vertical outrigger extension, and automatic control and leveling of outrigger extension can be achieved. This enables automatic leveling control in any initial state of the vehicle and in all terrains, improving control efficiency and accuracy.

[0018] Optionally, the method may further include:

[0019] During the outrigger adjustment of the vehicle, outrigger working condition information is obtained, including outrigger horizontal length, outrigger vertical length, and vertical pressure.

[0020] Based on the outrigger working condition information, the outrigger motion state is determined. If the outrigger motion state indicates that the horizontal movement of the outrigger exceeds the horizontal error threshold or the vertical movement of the outrigger exceeds the vertical error threshold, then the vehicle working condition is re-determined to see if both the horizontal extension condition and the vertical extension condition of the outrigger are met simultaneously.

[0021] During the above implementation process, the controller can receive comprehensive data on the vehicle's surrounding environment, levelness, horizontal length, vertical length, and vertical pressure during the outrigger's movement. This allows for one-click leveling from any initial state to the target working condition, improving the speed, accuracy, and safety of outrigger leveling and enhancing the intelligence level of outrigger movements.

[0022] Optionally, the method may further include:

[0023] If the vehicle's operating conditions are reassessed and no longer meet the conditions for horizontal or vertical outrigger extension, the outrigger leveling action is stopped.

[0024] Optionally, the method may further include:

[0025] The vehicle's operating condition data is sent to a display device so that the display device can display the operating condition data; the operating condition data includes the vehicle's working environment, the levelness, the horizontal motion target value, and the vertical motion target value.

[0026] In the above implementation process, by displaying the data throughout the process through a display device, operators can easily grasp the working status and condition of the truck crane.

[0027] Secondly, embodiments of this application provide a support leg leveling device, which may include:

[0028] The first acquisition module is used to acquire the working environment of the vehicle and determine whether the working environment meets the condition for the outriggers to extend horizontally.

[0029] The second acquisition module is used to acquire the levelness of the vehicle and determine whether the condition for the outriggers to extend vertically is met based on the levelness.

[0030] The control module is used to calculate the horizontal and vertical target values ​​of the outriggers if the working environment and the levelness simultaneously meet the conditions for horizontal and vertical outrigger extension, and to control the vehicle to level the outriggers based on the horizontal and vertical target values.

[0031] Optionally, the first acquisition module may be specifically used for:

[0032] The infrared sensor is used to obtain the elevation difference and slope value of the ground.

[0033] The system acquires radar information of the working environment based on the radar and image information of the working environment based on the vision sensor, and determines whether there are obstacles in the working environment based on the radar information and the image information.

[0034] Based on the elevation difference, the slope value, and whether there are obstacles in the working environment, it is determined whether the working environment meets the condition for the outrigger to extend horizontally.

[0035] Optionally, the second acquisition module may be specifically used for:

[0036] The vehicle's levelness is obtained based on a tilt sensor, and the levelness characterizes the degree of tilt of the vehicle relative to the horizontal plane;

[0037] Based on the levelness, determine whether the working environment meets the condition for the outriggers to extend vertically.

[0038] Optionally, the control module can also be used for:

[0039] During the outrigger adjustment of the vehicle, outrigger working condition information is obtained, including outrigger horizontal length, outrigger vertical length, and vertical pressure.

[0040] Based on the outrigger working condition information, the outrigger motion state is determined. If the outrigger motion state indicates that the horizontal movement of the outrigger exceeds the horizontal error threshold or the vertical movement of the outrigger exceeds the vertical error threshold, then the vehicle working condition is re-determined to see if both the horizontal extension condition and the vertical extension condition of the outrigger are met simultaneously.

[0041] Optionally, the control module can also be used for:

[0042] If the vehicle's operating conditions are reassessed and no longer meet the conditions for horizontal or vertical outrigger extension, the outrigger leveling action is stopped.

[0043] Optionally, the control module can also be used for:

[0044] The vehicle's operating condition data is sent to a display device so that the display device can display the operating condition data; the operating condition data includes the vehicle's working environment, the levelness, the horizontal motion target value, and the vertical motion target value.

[0045] Thirdly, embodiments of this application provide an electronic device, which includes a memory and a processor. The memory stores program instructions, and when the processor runs the program instructions, it executes the steps in any of the above implementation methods.

[0046] Optionally, the system may further include:

[0047] An operation input unit is used to acquire input commands from the operator;

[0048] Tilt detection unit is used to obtain the vehicle's levelness;

[0049] Outrigger extension height detection unit, used to detect the extension height of the outrigger;

[0050] The outrigger extension length detection unit is used to detect the extension length of the outrigger;

[0051] A leg level detection unit is used to detect the horizontal length of the outrigger;

[0052] Outrigger pressure detection unit, used to detect the force on the outrigger;

[0053] A vertical output unit for outriggers is used to control the vertical movement of the outriggers.

[0054] A horizontal output unit for outriggers is used to control the horizontal movement of the outriggers;

[0055] A proportional valve; used in conjunction with the outrigger vertical output unit and the outrigger horizontal output unit to control the outrigger;

[0056] Display unit; used to display the vehicle's operating data;

[0057] The vehicle controller is connected to the operation input unit, the tilt angle detection unit, the outrigger extension height detection unit, the outrigger extension length detection unit, the outrigger horizontal detection unit, the outrigger pressure detection unit, the outrigger vertical output unit, the outrigger horizontal output unit, the proportional valve, and the display unit, respectively, for controlling the vehicle.

[0058] Fourthly, embodiments of this application also provide a vehicle equipped with the outrigger leveling system described in any of the above embodiments.

[0059] In summary, this application provides a method for leveling outriggers. This method incorporates feedback values ​​of the vehicle's omnidirectional state (i.e., the vehicle's working environment and levelness) during the control of outrigger movements. By detecting the vehicle's surrounding state and breaking down the outrigger's leveling motion into horizontal and vertical movements, and then determining whether the current surrounding state meets the conditions for horizontal and vertical outrigger extension, automatic leveling control can be achieved in any initial state of the vehicle and in all terrains, thereby improving control efficiency and accuracy. Attached Figure Description

[0060] Figure 1 This is a schematic diagram illustrating the steps of the outrigger leveling method provided in the embodiments of this application.

[0061] Figure 2 This is a schematic diagram of the outrigger leveling device provided in an embodiment of this application.

[0062] Figure 3This is a connection diagram of the outrigger leveling system provided in an embodiment of this application. Detailed Implementation

[0063] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0064] During the research process, the applicant discovered that existing outrigger control technologies first require manual leveling, and then automatically operate based on the vehicle being in a relatively level state. However, these technologies only use the vehicle's horizontal tilt angle as the criterion for determining the vertical movement of the outriggers, without controlling the horizontal movement of the outriggers themselves. Furthermore, the technology does not comprehensively monitor and control parameters such as the vehicle's surrounding environment, the vertical extension length of the outriggers, and pressure. This easily leads to low control accuracy and safety risks. Moreover, this technology can only perform automatic leveling after the outriggers have been manually brought to an initial level state; it cannot perform automatic leveling under any terrain conditions or with the outriggers in any initial state, thus limiting its applicability.

[0065] In view of this, one embodiment of this application provides a method for leveling outriggers, please refer to... Figure 1 , Figure 1 This is a schematic diagram illustrating the steps of the outrigger leveling method provided in this application embodiment. The steps of the outrigger leveling method may include:

[0066] In step S11, the working environment of the vehicle is obtained, and it is determined whether the working environment meets the condition for the outriggers to extend horizontally.

[0067] In step S12, the levelness of the vehicle is obtained, and it is determined whether the condition for the outriggers to extend vertically is met based on the levelness.

[0068] In step S13, if the working environment and the levelness simultaneously meet the conditions for the outrigger to extend horizontally and vertically, then the horizontal and vertical target values ​​of the outrigger are calculated, and the vehicle is controlled to level the outrigger based on the horizontal and vertical target values.

[0069] The outrigger leveling method provided in this application can be applied to engineering machinery equipped with outriggers to provide additional support and stability, such as truck cranes, wheel loaders, and tracked excavators. The following embodiments are used to illustrate its application to truck cranes.

[0070] The vehicle's working environment can include the geographical environment in which the vehicle is located, such as the geographical environment during vehicle operation and use. This geographical environment can include at least one of the parameters such as terrain and landform. When the outriggers of a truck crane extend, the outriggers are required to provide additional support and stability. Therefore, the terrain where the outriggers are located needs to meet conditions such as a firm and stable ground, the absence of ditches and obstacles, and the absence of sliding substances. In response to the above conditions, this embodiment of the application divides the extension of the outriggers into two parts: horizontal movement and vertical movement. The feasibility of each part of the movement is judged to determine whether the outriggers can be extended and whether leveling can be achieved after the outriggers are extended.

[0071] For example, the outrigger horizontal extension condition can be understood as the condition that ensures the outrigger can complete the horizontal extension action, including the absence of obstacles on the ground. In the above implementation steps, the first sensor can detect the terrain of the vehicle's working environment to determine whether the outrigger can be horizontally extended. Specifically, the detection includes whether there are obstacles around the vehicle. Obstacles can be concrete objects, and since slope can also hinder the horizontal extension of the outrigger, obstacles can also include slopes on the ground. When the first sensor detects that there are no obstacles around the vehicle, it can be determined that the current working environment meets the outrigger horizontal extension condition.

[0072] The condition for vertical outrigger extension can be understood as the conditions that ensure the outriggers can complete the vertical extension action. This includes ensuring the vehicle's levelness is within a safe working range, which is generally set to ±5°. However, the actual leveling range needs to consider other factors, such as the type, weight, working condition, and number of outriggers of the truck crane. In the above embodiment, the vehicle's levelness can be determined by a second sensor. Since outrigger leveling is based on the vertical movement of the outriggers, the feasibility of automatic vehicle leveling can be determined based on whether the outriggers are vertically extended. If the vehicle's operating conditions simultaneously meet both the horizontal and vertical outrigger extension conditions, it can be determined that automatic control can be used to achieve outrigger leveling.

[0073] Specifically, the horizontal motion target value can be used to characterize the horizontal displacement distance that the outrigger needs to adjust during outrigger adjustment. The horizontal motion target value can be calculated based on the current vehicle tilt angle, and the outrigger length can be adjusted according to this horizontal motion target value to achieve balance. The calculation method can use the arctangent function to convert the tilt angle into the corresponding horizontal displacement distance. For example, if the tilt angle is 5 degrees, then the horizontal displacement that the corresponding outrigger needs to adjust should be tan(5) × outrigger length.

[0074] The vertical motion target value represents the longitudinal displacement distance that the outriggers need to adjust during outrigger adjustment. The vertical motion target value can be calculated based on the current distance between the vehicle's outriggers and the ground, and the outrigger length is adjusted accordingly to achieve balance. The calculation method is similar to that of the horizontal motion target value; the tangent function can be used to convert the distance between the outriggers and the ground into the corresponding required outrigger length adjustment. For example, if the distance is 1 meter, then the corresponding required outrigger length adjustment should be tan(longitudinal tilt angle) × 1 meter.

[0075] Therefore, the embodiments of this application can introduce feedback values ​​of the vehicle's all-around state (i.e., the vehicle's working environment and levelness) during the control process of the outrigger movement to achieve control. By detecting the surrounding state of the vehicle and breaking down the leveling motion of the outrigger into horizontal and vertical motions, and then determining whether the current surrounding state meets the conditions for horizontal and vertical outrigger extension, automatic leveling control can be achieved in any initial state of the vehicle and in all terrains, thereby improving control efficiency and control accuracy.

[0076] In an optional embodiment, the first sensor may include an infrared sensor, radar, and a vision sensor. Specifically, the vehicle's working environment can be characterized by the elevation difference and slope of the ground, as well as the presence of obstacles. Step S11 may specifically include:

[0077] The infrared sensor is used to obtain the elevation difference and slope value of the ground.

[0078] The system acquires radar information of the working environment based on the radar and image information of the working environment based on the vision sensor, and determines whether there are obstacles in the working environment based on the radar information and the image information.

[0079] Based on the elevation difference, the slope value, and whether there are obstacles in the working environment, it is determined whether the working environment meets the condition for the outrigger to extend horizontally.

[0080] The sensor installation location and orientation can be determined as needed to ensure coverage of the vehicle's working environment. For example, infrared sensors can be installed at the front, rear, or side of the vehicle. The sensor is then calibrated to ensure the accuracy of the measurement results. Specifically, calibration can be performed by placing the sensor on a flat surface and setting a reference value. Afterward, the sensor is positioned at an appropriate height for the area to be measured, and measurements begin. The sensor measures ground height by emitting infrared light and detecting reflected light. The elevation difference and slope are calculated based on the measurement results. The elevation difference is obtained by calculating the difference between measurement results at different locations. The slope can be calculated using trigonometric functions, specifically by dividing the elevation difference by the horizontal distance and taking its arctangent, for example: tan(α) = H / L, where α represents the slope angle, H represents the elevation difference, and L represents the horizontal distance.

[0081] Furthermore, the aforementioned multiple sensors can achieve more accurate and reliable environmental perception and decision-making through multi-sensor fusion. For example, infrared sensor and radar data can be fused to improve the ability to identify ground elevation differences and obstacles; or visual sensor and radar data can be fused to achieve a more comprehensive and in-depth perception of the vehicle's working environment.

[0082] When the elevation difference and slope of the ground are within a certain range, and no obstacles are detected on the ground, the current working environment can be determined to meet the conditions for horizontal outrigger extension. For example, before leveling the outriggers of a truck crane, the elevation difference of the ground should typically not exceed 30mm, and the slope of the ground should not exceed 3% (approximately 1.7°). It should be noted that the target horizontal and vertical movement values ​​during outrigger leveling may differ for different models of truck cranes; specific calculations and adjustments must be made based on the actual conditions of the machinery.

[0083] Alternatively, the first sensor can also be an ultrasonic sensor, a millimeter-wave radar sensor, or something similar to obtain information about the vehicle's operating environment.

[0084] In the above embodiments, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0085] Therefore, this application embodiment detects the vehicle's working environment and determines whether the current surrounding state meets the conditions for horizontal extension of the outriggers based on the ground's elevation difference, slope value, and the presence of obstacles. This enables automatic leveling control in any initial state of the vehicle and in all terrains, improving control efficiency and accuracy.

[0086] In an optional embodiment, the second sensor may be a tilt sensor, and step S12 may specifically include:

[0087] The vehicle's levelness is obtained based on a tilt sensor, and the levelness characterizes the degree of tilt of the vehicle relative to the horizontal plane;

[0088] Based on the levelness, determine whether the working environment meets the condition for the outriggers to extend vertically.

[0089] The tilt sensor can be installed on the chassis or outriggers of the truck crane. Calibration is required during use to ensure the accuracy of its output values. Calibration typically involves placing the vehicle on a level surface and setting the sensor output to 0° as the baseline. When the outriggers extend, the tilt sensor continuously monitors the vehicle's tilt angle and outputs real-time data. The current tilt angle is determined by calculating the difference between the sensor output and the baseline value. Generally, if the tilt angle is within ±1°, the truck crane is considered level. When the tilt angle exceeds the threshold, it indicates that the current working environment does not meet the conditions for vertical outrigger extension, and the extension should be stopped, issuing a warning signal.

[0090] Therefore, the embodiments of this application can detect the levelness of the vehicle to determine whether the current working environment meets the conditions for vertical extension of the outriggers, and realize automatic control and leveling of the outrigger extension. This enables automatic leveling control in any initial state of the vehicle and in all terrains, thereby improving control efficiency and accuracy.

[0091] In an optional embodiment, the outrigger leveling method provided in this application can also feed back comprehensive data such as the vehicle's surrounding environment, levelness, horizontal length, vertical length, and vertical pressure to the controller during the outrigger movement, thereby improving the speed, accuracy, and safety performance of the outrigger movement.

[0092] Specifically, the above aspects may also include:

[0093] During the outrigger adjustment of the vehicle, outrigger working condition information is obtained, including outrigger horizontal length, outrigger vertical length, and vertical pressure.

[0094] Based on the outrigger working condition information, the outrigger motion state is determined. If the outrigger motion state indicates that the horizontal movement of the outrigger exceeds the horizontal error threshold or the vertical movement of the outrigger exceeds the vertical error threshold, then the vehicle working condition is re-determined to see if both the horizontal extension condition and the vertical extension condition of the outrigger are met simultaneously.

[0095] The vehicle's surrounding environment and levelness can be detected based on the above embodiments, and will not be elaborated further here. The horizontal length of the outriggers can be calculated by measuring the outrigger tilt angle using a tilt sensor, or by measuring the distance between the outriggers and the ground using a distance sensor. The vertical length of the outriggers can be calculated by measuring the distance between the outriggers and the ground using a distance sensor, or by capturing image information of the area surrounding the crane using a camera sensor and performing image analysis. When the truck crane is equipped with an automatic adjustment system, the vertical length of the outriggers can also be automatically detected by the integrated sensors and control system of the truck crane. The vertical pressure of the outriggers can be measured by pressure sensors directly installed at the bottom of the outriggers or other relevant locations, or indirectly calculated by measuring the force on the outriggers in the horizontal direction using an axial force sensor. If the horizontal movement of the outriggers exceeds the horizontal error threshold or the vertical movement of the outriggers exceeds the vertical error threshold, it is necessary to reassess whether the vehicle's operating conditions simultaneously meet the horizontal extension condition and the vertical extension condition of the outriggers.

[0096] The horizontal error threshold of the outriggers refers to the maximum permissible error range between the outrigger tilt angle and the horizontal plane. Generally, this threshold varies depending on the application scenario and relevant standards. Typically, the horizontal error threshold for the outriggers can be set within ±1°, a relatively small range primarily to ensure the stability and safety of the truck crane. The vertical error threshold of the outriggers refers to the maximum permissible error range between the vertical distance between the outriggers and the ground and the standard value. Generally, in the working environment of a truck crane, the vertical error threshold for the outriggers is usually set within ±2%. For example, if the standard value is 5 meters, the maximum permissible deviation is approximately ±10 centimeters.

[0097] If the vehicle's operating conditions are reassessed and no longer meet the conditions for horizontal or vertical outrigger extension, the outrigger leveling operation should be stopped.

[0098] Therefore, the embodiments of this application can feed back comprehensive data such as the vehicle's surrounding environment, levelness, horizontal length, vertical length, and vertical pressure to the controller during the movement of the outrigger. This enables one-click leveling from any initial state to the target working condition, improving the speed, accuracy, and safety of outrigger leveling and enhancing the intelligence level of outrigger movements.

[0099] In an optional embodiment, the outrigger leveling method may further include:

[0100] The vehicle's operating condition data is sent to a display device so that the display device can display the operating condition data; the operating condition data includes the vehicle's working environment, the levelness, the horizontal motion target value, and the vertical motion target value.

[0101] By displaying the data throughout the process through the display unit, operators can easily monitor the operation and status of the truck crane.

[0102] Based on the same inventive concept, this application also provides a support leg leveling device, please refer to... Figure 2 , Figure 2 This is a schematic diagram of the outrigger leveling device provided in the embodiments of this application. The outrigger leveling device 20 may include:

[0103] The first acquisition module 21 is used to acquire the working environment of the vehicle and determine whether the working environment meets the condition for the outriggers to extend horizontally.

[0104] The second acquisition module 22 is used to acquire the levelness of the vehicle and determine whether the condition for the outriggers to extend vertically is met based on the levelness.

[0105] The control module 23 is used to calculate the horizontal and vertical target values ​​of the outriggers if the working environment and the levelness simultaneously meet the conditions for horizontal and vertical outrigger extension, and to control the vehicle to level the outriggers based on the horizontal and vertical target values.

[0106] In an optional embodiment, the first acquisition module 21 may be specifically used for:

[0107] The infrared sensor is used to obtain the elevation difference and slope value of the ground.

[0108] The system acquires radar information of the working environment based on the radar and image information of the working environment based on the vision sensor, and determines whether there are obstacles in the working environment based on the radar information and the image information.

[0109] Based on the elevation difference, the slope value, and whether there are obstacles in the working environment, it is determined whether the working environment meets the condition for the outrigger to extend horizontally.

[0110] In an optional embodiment, the second acquisition module 22 may be specifically used for:

[0111] The vehicle's levelness is obtained based on a tilt sensor, and the levelness characterizes the degree of tilt of the vehicle relative to the horizontal plane;

[0112] Based on the levelness, determine whether the working environment meets the condition for the outriggers to extend vertically.

[0113] In an optional embodiment, the control module 23 may also be used for:

[0114] During the outrigger adjustment of the vehicle, outrigger working condition information is obtained, including outrigger horizontal length, outrigger vertical length, and vertical pressure.

[0115] Based on the outrigger working condition information, the outrigger motion state is determined. If the outrigger motion state indicates that the horizontal movement of the outrigger exceeds the horizontal error threshold or the vertical movement of the outrigger exceeds the vertical error threshold, then the vehicle working condition is re-determined to see if both the horizontal extension condition and the vertical extension condition of the outrigger are met simultaneously.

[0116] In an optional embodiment, the control module 23 may also be used for:

[0117] If the vehicle's operating conditions are reassessed and no longer meet the conditions for horizontal or vertical outrigger extension, the outrigger leveling action is stopped.

[0118] In an optional embodiment, the control module 23 may also be used for:

[0119] The vehicle's operating condition data is sent to a display device so that the display device can display the operating condition data; the operating condition data includes the vehicle's working environment, the levelness, the horizontal motion target value, and the vertical motion target value.

[0120] Based on the same inventive concept, this application also provides a leg leveling system. The electronic device includes a memory and a processor. The memory stores program instructions. When the processor runs the program instructions, it executes the steps in any of the above implementation methods.

[0121] In an alternative embodiment, please refer to Figure 3 , Figure 3 This is a connection diagram of the outrigger leveling system provided in the embodiments of this application. The outrigger leveling system 30 may specifically include:

[0122] The operation input unit 301 is used to acquire input commands from the operator;

[0123] Tilt detection unit 302 is used to obtain the vehicle's levelness;

[0124] The outrigger extension height detection unit 303 is used to detect the extension height of the outrigger;

[0125] The outrigger extension length detection unit 304 is used to detect the extension length of the outrigger;

[0126] Outrigger horizontal detection unit 305 is used to detect the horizontal length of the outrigger;

[0127] The outrigger pressure detection unit 306 is used to detect the force applied to the outrigger.

[0128] The outrigger vertical output unit 307 is used to control the vertical movement of the outrigger;

[0129] The outrigger horizontal output unit 308 is used to control the horizontal movement of the outrigger.

[0130] Proportional valve 309; used in conjunction with the outrigger vertical output unit and the outrigger horizontal output unit to control the outrigger;

[0131] Display unit 3010; used to display the operating data of the vehicle;

[0132] The vehicle controller 3011 is connected to the operation input unit 301, the tilt angle detection unit 302, the outrigger extension height detection unit 303, the outrigger extension length detection unit 304, the outrigger horizontal detection unit 305, the outrigger pressure detection unit 306, the outrigger vertical output unit 307, the outrigger horizontal output unit 308, the proportional valve 309, and the display unit 3010, and is used to control the vehicle.

[0133] Based on the same inventive concept, this application also provides a vehicle equipped with the outrigger leveling system 30 in any of the above embodiments.

[0134] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0135] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0136] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0137] It can be replaced and can be implemented, wholly or partially, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, wholly or partially, in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated.

[0138] The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0139] In this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0140] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for leveling outriggers, characterized in that, include: Acquire the working environment of the vehicle and determine whether the working environment meets the condition for the outriggers to extend horizontally. The process of acquiring the vehicle's working environment and determining whether the working environment meets the condition for horizontal outrigger extension includes: acquiring the elevation difference and slope value of the ground based on an infrared sensor; acquiring radar information of the working environment based on radar; and acquiring image information of the working environment based on a visual sensor, and determining whether there are obstacles in the working environment based on the radar information and the image information; the working environment includes the geographical environment in which the vehicle is located, and the geographical environment includes terrain and / or landforms; determining whether the working environment meets the condition for horizontal outrigger extension based on the elevation difference, the slope value, and the presence of obstacles in the working environment; The vehicle's levelness is obtained, and based on the levelness, it is determined whether the condition for the outriggers to extend vertically is met. If the working environment and the levelness simultaneously meet the conditions for the outrigger to extend horizontally and vertically, then the target values ​​for the horizontal and vertical movements of the outriggers are calculated, and the vehicle is controlled to level the outriggers based on the target values ​​for the horizontal and vertical movements of the outriggers. When the vehicle is controlled to adjust the outriggers, outrigger working condition information is acquired, including outrigger horizontal length, outrigger vertical length, and vertical pressure. Based on the outrigger working condition information, the outrigger motion state is determined. If the outrigger motion state indicates that the horizontal movement of the outrigger exceeds the horizontal error threshold or the vertical movement of the outrigger exceeds the vertical error threshold, the vehicle working condition is re-evaluated to determine whether the outrigger horizontal extension condition and the outrigger vertical extension condition are simultaneously satisfied.

2. The method according to claim 1, characterized in that, The step of obtaining the vehicle's levelness and determining whether the outriggers' vertical extension condition is met based on the levelness includes: The vehicle's levelness is obtained based on a tilt sensor, and the levelness characterizes the degree of tilt of the vehicle relative to the horizontal plane; Based on the levelness, determine whether the working environment meets the condition for the outriggers to extend vertically.

3. The method according to claim 1, characterized in that, The method further includes: If the vehicle's operating conditions are reassessed and no longer meet the conditions for horizontal or vertical outrigger extension, the outrigger leveling action is stopped.

4. The method according to claim 1, characterized in that, The method further includes: The vehicle's operating condition data is sent to a display device so that the display device can display the operating condition data; the operating condition data includes the vehicle's working environment, the levelness, the horizontal movement target value of the outrigger, and the vertical movement target value.

5. A support leg leveling device, characterized in that, include: The first acquisition module is used to acquire the working environment of the vehicle and determine whether the working environment meets the condition for the outriggers to extend horizontally. The first acquisition module is specifically used to acquire the elevation difference and slope value of the ground based on an infrared sensor; acquire radar information of the working environment based on radar; and acquire image information of the working environment based on a visual sensor, and determine whether there are obstacles in the working environment based on the radar information and the image information. The working environment includes the geographical environment in which the vehicle is located, and the geographical environment includes terrain and / or landforms; the working environment is determined to meet the conditions for the horizontal extension of the outriggers based on the elevation difference, the slope value, and whether there are obstacles in the working environment. The second acquisition module is used to acquire the levelness of the vehicle and determine whether the condition for the outriggers to extend vertically is met based on the levelness. The control module is used to calculate the horizontal and vertical target values ​​of the outriggers if the working environment and the levelness simultaneously meet the conditions for horizontal and vertical outrigger extension, and to control the vehicle to perform outrigger leveling based on the horizontal and vertical target values ​​of the outriggers. The control module can also be used to acquire outrigger working condition information when controlling the vehicle to adjust the outriggers. The outrigger working condition information includes the horizontal length, vertical length, and vertical pressure of the outriggers. Based on the outrigger working condition information, the outrigger motion state is determined. If the outrigger motion state indicates that the horizontal movement of the outrigger exceeds the horizontal error threshold or the vertical movement of the outrigger exceeds the vertical error threshold, the working condition of the vehicle is re-determined to see if the horizontal extension condition and the vertical extension condition of the outriggers are met simultaneously.

6. A support leg leveling system, characterized in that, The outrigger leveling system includes a memory and a processor. The memory stores program instructions, and when the processor runs the program instructions, it performs the steps of the method according to any one of claims 1-4.

7. The system according to claim 6, characterized in that, The system also includes: An operation input unit is used to acquire input commands from the operator; Tilt detection unit is used to obtain the vehicle's levelness; Outrigger extension height detection unit, used to detect the extension height of the outrigger; The outrigger extension length detection unit is used to detect the extension length of the outrigger; A leg level detection unit is used to detect the horizontal length of the outrigger; Outrigger pressure detection unit, used to detect the force on the outrigger; A vertical output unit for outriggers is used to control the vertical movement of the outriggers. A horizontal output unit for outriggers is used to control the horizontal movement of the outriggers; A proportional valve; used in conjunction with the outrigger vertical output unit and the outrigger horizontal output unit to control the outrigger; Display unit; used to display the vehicle's operating data; The vehicle controller is connected to the operation input unit, the tilt angle detection unit, the outrigger extension height detection unit, the outrigger extension length detection unit, the outrigger horizontal detection unit, the outrigger pressure detection unit, the outrigger vertical output unit, the outrigger horizontal output unit, the proportional valve, and the display unit, respectively, for controlling the vehicle.

8. A vehicle, characterized in that, The vehicle is equipped with the outrigger leveling system as described in any one of claims 6-7.

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