Methods, controllers, and walking excavators for controlling chassis leveling

Abstract

This application discloses a method, controller, and walking excavator for controlling chassis leveling. The method includes: acquiring outrigger pressure data for each outrigger and initial displacement data for each hydraulic cylinder; adjusting the position of each outrigger based on the outrigger pressure data and initial displacement data to achieve force balance; determining the outrigger adjustment sequence based on the outrigger pressure data, while ensuring force balance in each outrigger; and adjusting the angle of each outrigger sequentially based on the outrigger adjustment sequence, according to the target displacement data of each hydraulic cylinder and the acquired chassis tilt angle data, to level the chassis. The target displacement data for each hydraulic cylinder is the displacement data acquired when each outrigger is under force balance. This application improves the chassis leveling effect of walking excavators.

Description

Technical Field

[0001] This application relates to the field of walking excavator technology, and more specifically to a method for controlling chassis leveling, a controller, and a walking excavator. Background Technology

[0002] Walking excavators, due to their flexibility and high maneuverability, are increasingly used in urban road rescue, mountain slope operations, geological disaster relief, and narrow terrain traversal. Currently, existing chassis leveling methods use dual-axis tilt sensors mounted on the chassis to detect the chassis's tilt angle. Based on this tilt angle, the machine's tilt direction is determined, and negative feedback is used to adjust the solenoid valves, controlling the movement of the corresponding outrigger cylinders to keep the chassis level. However, this method, relying solely on dual-axis tilt sensors for tilt angle detection and control, cannot determine the stress on the outriggers. Uneven stress on the outriggers can easily cause the chassis to tilt again after leveling. Therefore, existing chassis leveling methods suffer from poor leveling performance due to uneven outrigger stress. Summary of the Invention

[0003] The purpose of this application is to provide a method, controller, and walking excavator for controlling chassis leveling, so as to solve the problem that the existing chassis leveling method has poor leveling effect due to the unbalanced force on the outriggers.

[0004] To achieve the above objectives, a first aspect of this application provides a method for controlling chassis leveling, applied to a controller of a walking excavator. The walking excavator includes multiple outriggers, each outrigger containing a hydraulic cylinder, and the multiple outriggers are connected to the chassis of the walking excavator. The method includes:

[0005] Obtain the outrigger pressure data for each outrigger and the initial displacement data for each hydraulic cylinder;

[0006] Based on the outrigger pressure data of each outrigger and the initial displacement data of each hydraulic cylinder, adjust the position of each outrigger to balance the force on each outrigger.

[0007] Under the condition that each outrigger is in force balance, the outrigger adjustment sequence for each outrigger is determined based on the outrigger pressure data of each outrigger.

[0008] Based on the outrigger adjustment sequence, the angle of each outrigger is adjusted sequentially according to the target displacement data of each cylinder and the obtained chassis tilt angle data to level the chassis; wherein, the target displacement data of each cylinder is the displacement data of each cylinder obtained under the condition that each outrigger is under force balance.

[0009] In this embodiment, the position of each outrigger is adjusted based on the outrigger pressure data of each outrigger and the initial displacement data of each hydraulic cylinder to balance the forces on each outrigger, including:

[0010] The relative deviation of the outrigger pressure for each outrigger is determined based on the outrigger pressure data for each outrigger.

[0011] By combining the relative deviation of the outrigger pressure of each outrigger and the initial displacement data of each hydraulic cylinder, a corresponding force balance control signal is output to adjust the position of each outrigger so that the force on each outrigger is balanced.

[0012] In this embodiment, a corresponding force balance control signal is output by combining the relative deviation value of the outrigger pressure of each outrigger and the initial displacement data of each hydraulic cylinder, including:

[0013] For any leg, determine whether the relative deviation value of the outrigger pressure of any leg is less than the preset deviation value;

[0014] If the relative deviation of the outrigger pressure of any leg is determined to be less than the preset deviation value, the force balance control signal of any leg is output by combining the relative deviation of the outrigger pressure of any leg and the initial displacement data of any leg.

[0015] In this embodiment, the force balance control signal for any leg includes a first displacement distance and a first displacement velocity, wherein the first displacement distance satisfies formula (1):

[0016] s1=s0+Δs; (1)

[0017] Where s1 is the first displacement distance, s0 is the initial displacement distance in the initial displacement data, and Δs is the displacement increment;

[0018] The first displacement velocity satisfies formula (2):

[0019]

[0020] Where v1 is the first displacement velocity, v j The base speed is given by ΔP, which is the relative deviation of the outrigger pressure, and K1 is the preset speed adjustment coefficient.

[0021] In this embodiment of the application, the multiple outriggers include four outriggers. The outrigger adjustment sequence for each outrigger is determined based on the outrigger pressure data of each outrigger, including:

[0022] The relative deviation value of the outrigger pressure for each outrigger is determined based on the outrigger pressure data for each outrigger.

[0023] The outrigger corresponding to the minimum value of the relative deviation of the outrigger pressure among multiple outriggers is taken as the reference outrigger, and the outrigger located diagonally opposite the reference outrigger is taken as the first adjusting outrigger.

[0024] Compare the relative deviation values ​​of outrigger pressure between two outriggers other than the reference outrigger and the first adjusting outrigger among multiple outriggers;

[0025] The outrigger corresponding to the larger relative deviation of the outrigger pressure between the two outriggers is designated as the second adjusting outrigger, and the outrigger corresponding to the smaller relative deviation of the outrigger pressure between the two outriggers is designated as the third adjusting outrigger.

[0026] The adjustment order of the outriggers is determined according to the order of the first, second, and third adjusting outriggers, wherein the adjustment order of the first adjusting outrigger precedes that of the second adjusting outrigger, and the adjustment order of the second adjusting outrigger precedes that of the third adjusting outrigger.

[0027] In this embodiment of the application, determining the relative deviation value of the outrigger pressure for each outrigger based on the outrigger pressure data for each outrigger includes:

[0028] The average outrigger pressure was determined based on outrigger pressure data from multiple outriggers.

[0029] For any one leg, the relative deviation value of the outrigger pressure is determined based on the outrigger pressure data and the average outrigger pressure of that leg.

[0030] In this embodiment of the application, based on the outrigger adjustment sequence, the angle of each outrigger is adjusted sequentially according to the target displacement data of each cylinder and the obtained chassis tilt angle data, including:

[0031] If the tilt angle data is not within the preset range, the tilt direction and non-tilt direction of the chassis are determined according to the range of the tilt angle data.

[0032] Output the corresponding angle adjustment control signal based on the tilt angle data and target displacement data;

[0033] By using the angle adjustment control signal, based on the outrigger adjustment sequence, the outriggers located in the tilt direction of the chassis are raised sequentially, and the outriggers located in the non-tilt direction of the chassis are lowered sequentially, until the tilt angle data is within the preset range, so as to complete the angle adjustment of each outrigger.

[0034] In this embodiment, when the tilt angle data is positive and the outriggers located in the tilt direction of the chassis are sequentially controlled to rise, or when the tilt angle data is negative and the outriggers located in the non-tilt direction of the chassis are sequentially controlled to descend, the second displacement distance in the angle adjustment control signal satisfies formula (3):

[0035]

[0036] When the tilt angle data is negative and the outriggers located in the tilt direction of the chassis are raised sequentially, or when the tilt angle data is positive and the outriggers located in the non-tilt direction of the chassis are lowered sequentially, the second displacement distance in the angle adjustment control signal satisfies formula (4):

[0037]

[0038] Where s2 is the second displacement distance, s is the target displacement distance in the target displacement data, Δs is the displacement increment, and K2 is the preset displacement adjustment coefficient. This is the tilt angle data.

[0039] A second aspect of this application provides a controller, comprising:

[0040] The memory is configured to store instructions; and

[0041] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned method for controlling chassis leveling.

[0042] A third aspect of this application provides a walking excavator, comprising:

[0043] Controller;

[0044] The chassis communicates with the controller;

[0045] Multiple outriggers, each containing a hydraulic cylinder, are connected to the chassis.

[0046] In this embodiment of the application, the walking excavator further includes:

[0047] The tilt sensor, mounted on the chassis, is configured to collect tilt data;

[0048] Multiple pressure sensors are installed in the corresponding hydraulic cylinder, and the multiple pressure sensors are configured to collect outrigger pressure data of multiple outriggers.

[0049] Multiple cylinder displacement sensors are used, each of which is installed in the corresponding cylinder. The multiple cylinder displacement sensors are configured to collect the initial displacement data and target displacement data of multiple cylinders.

[0050] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned method for controlling chassis leveling.

[0051] The above technical solution acquires the outrigger pressure data and initial displacement data of each cylinder. Based on these data, the position of each outrigger is adjusted to achieve force balance. With each outrigger in equilibrium, the adjustment sequence is determined based on its pressure data. Then, according to this sequence, the angle of each outrigger is adjusted sequentially based on the target displacement data of each cylinder and the acquired chassis tilt angle data to level the chassis. This application reduces the impact of uneven force distribution on the chassis leveling effect caused by multiple outriggers, resulting in a more stable leveled chassis.

[0052] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0053] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0054] Figure 1 This schematic diagram illustrates the undercarriage structure of a walking excavator according to an embodiment of this application;

[0055] Figure 2 This schematic diagram illustrates the control principle of a walking excavator according to an embodiment of the present application.

[0056] Figure 3 A flowchart illustrating a method for controlling chassis leveling according to an embodiment of this application is shown schematically.

[0057] Figure 4 A schematic block diagram of a controller according to an embodiment of this application is shown.

[0058] Explanation of reference numerals in the attached figures

[0059] 1. Displacement sensor for the left front outrigger cylinder; 2. Displacement sensor for the right front outrigger cylinder.

[0060] 3. Left rear outrigger cylinder displacement sensor; 4. Right rear outrigger cylinder displacement sensor

[0061] 5. Left front outrigger pressure sensor; 6. Right front outrigger pressure sensor

[0062] 7 Left rear outrigger pressure sensor 8 Right rear outrigger pressure sensor

[0063] 201 Controller; 202 Display

[0064] 203 Control Panel Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0066] 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.

[0067] 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. Additionally, 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. If 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.

[0068] Figure 1 The diagram schematically illustrates the undercarriage structure of a walking excavator according to an embodiment of this application. Figure 1As shown, the walking excavator includes multiple outriggers. Taking the direction of the excavator's front end as the forward direction, the outriggers can include a left front outrigger, a right front outrigger, a left rear outrigger, and a right rear outrigger. It should be noted that the number of outriggers is not limited to four and can be changed according to actual needs. Each outrigger is equipped with a hydraulic cylinder, and each hydraulic cylinder is equipped with a pressure sensor and a cylinder displacement sensor. Initial displacement data and target displacement data for each cylinder can be collected using the left front outrigger cylinder displacement sensor 1, right front outrigger cylinder displacement sensor 2, left rear outrigger cylinder displacement sensor 3, and right rear outrigger cylinder displacement sensor 4, respectively. Outrigger pressure data for the left front outrigger, right front outrigger, left rear outrigger, and right rear outrigger can be collected using the left front outrigger pressure sensor 5, right front outrigger pressure sensor 6, left rear outrigger pressure sensor 7, and right rear outrigger pressure sensor 8, respectively.

[0069] Figure 2 A schematic diagram illustrating the control principle of a walking excavator according to an embodiment of this application is shown. Figure 2 As shown, the controller 201 communicates with the display 202, the control panel 203, multiple cylinder displacement sensors, and multiple pressure sensors. The display 202 can be used to display the operating mode and various parameters. The control panel 203 can be used to switch operating modes. The multiple cylinder displacement sensors include a left front outrigger cylinder displacement sensor 1, a right front outrigger cylinder displacement sensor 2, a left rear outrigger cylinder displacement sensor 3, and a right rear outrigger cylinder displacement sensor 4. The multiple pressure sensors include a left front outrigger pressure sensor 5, a right front outrigger pressure sensor 6, a left rear outrigger pressure sensor 7, and a right rear outrigger pressure sensor 8. Based on the initial displacement data and target displacement data sent by the multiple cylinder displacement sensors, and the outrigger pressure data sent by the multiple pressure sensors, the controller 201 can output corresponding control signals to control the raising or lowering of the multiple outriggers.

[0070] Figure 3 A flowchart illustrating a method for controlling chassis leveling according to an embodiment of this application is shown schematically. Figure 3 As shown in the figure, this application provides a method for controlling chassis leveling, applied to the controller of a walking excavator. The walking excavator includes multiple outriggers, each outrigger including a hydraulic cylinder, and the multiple outriggers are connected to the chassis of the walking excavator. The method may include the following steps:

[0071] Step 301: Obtain the outrigger pressure data for each outrigger and the initial displacement data for each hydraulic cylinder;

[0072] Step 302: Based on the outrigger pressure data of each outrigger and the initial displacement data of each hydraulic cylinder, adjust the position of each outrigger to balance the force on each outrigger.

[0073] Step 303: Under the condition that each outrigger is in force balance, determine the outrigger adjustment sequence for each outrigger based on the outrigger pressure data of each outrigger;

[0074] Step 304: Based on the outrigger adjustment sequence, adjust the angle of each outrigger sequentially according to the target displacement data of each cylinder and the obtained chassis tilt angle data to level the chassis; wherein, the target displacement data of each cylinder is the displacement data of each cylinder obtained under the condition that each outrigger is under force balance.

[0075] In this embodiment, the walking excavator's operating modes include manual mode, off-road mode, and walking mode. When the walking excavator is in off-road mode or walking mode, the controller can level the excavator's chassis. The walking excavator includes multiple outriggers connected to its chassis, and each outrigger contains a hydraulic cylinder, which in turn contains a pressure sensor and a cylinder displacement sensor. First, the controller detects the outrigger pressure signal sent by each pressure sensor and normalizes the signal to obtain the outrigger pressure data for each outrigger. Furthermore, the controller acquires the initial displacement data of each cylinder collected by the cylinder displacement sensor. Simultaneously, a tilt sensor is installed on the chassis of the walking excavator, and the controller can also acquire the chassis tilt angle data collected by the tilt sensor. Based on the outrigger pressure data from multiple outriggers, the controller can determine the average outrigger pressure and thus determine the relative deviation value of the outrigger pressure for each outrigger. In this way, based on the relative deviation of the outrigger pressure of each outrigger, the controller can determine which outriggers require force balance adjustment. After determining the outriggers that need force balance adjustment, the controller can output a force balance control signal for the outriggers based on the relative deviation of the outrigger pressure and the initial displacement data, thereby adjusting the position of the outriggers to achieve force balance for each outrigger.

[0076] With each outrigger under balanced force, the controller acquires the target displacement data of each cylinder from the cylinder displacement sensor and determines the outrigger adjustment sequence based on the relative deviation of the outrigger pressure. Furthermore, the controller can determine if the tilt angle data is within a preset range, and if not, determine the chassis's tilt and non-tilt directions based on the tilt angle data. The preset range can be adjusted according to actual conditions. After determining the chassis's tilt and non-tilt directions, the controller adjusts the outriggers sequentially according to the adjustment sequence. When adjusting any outrigger, the controller outputs an angle adjustment control signal based on the tilt angle data and the target displacement data of the corresponding cylinder, causing the outrigger to rise or fall, thus leveling the chassis. During adjustment, the controller uses a Proportional-Integral-Differential (PID) algorithm to adjust the cylinder control current in real time, resulting in smoother and more accurate cylinder movement.

[0077] The above technical solution acquires the outrigger pressure data and initial displacement data of each cylinder. Based on these data, the position of each outrigger is adjusted to achieve force balance. With each outrigger in equilibrium, the adjustment sequence is determined based on its pressure data. Then, according to this sequence, the angle of each outrigger is adjusted sequentially based on the target displacement data of each cylinder and the acquired chassis tilt angle data to level the chassis. This application reduces the impact of uneven force distribution on the chassis leveling effect caused by multiple outriggers, resulting in a more stable leveled chassis.

[0078] In this embodiment, step 302, adjusting the position of each outrigger according to the outrigger pressure data of each outrigger and the initial displacement data of each hydraulic cylinder to balance the force on each outrigger, may include:

[0079] The relative deviation value of the outrigger pressure for each outrigger is determined based on the outrigger pressure data for each outrigger.

[0080] By combining the relative deviation of the outrigger pressure of each outrigger and the initial displacement data of each hydraulic cylinder, a corresponding force balance control signal is output to adjust the position of each outrigger so that the force on each outrigger is balanced.

[0081] In this embodiment, the controller can adjust each outrigger based on its outrigger pressure data and the initial displacement data of each cylinder to achieve force balance in each outrigger. Based on the outrigger pressure data of multiple outriggers, the controller can determine the average outrigger pressure. Furthermore, the controller can determine the relative deviation value of the outrigger pressure for any given outrigger based on its own outrigger pressure data and the average outrigger pressure. Thus, based on the relative deviation value of the outrigger pressure for each outrigger, the controller can identify the outriggers requiring force balance adjustment. After identifying the outriggers requiring force balance adjustment, the controller can output a force balance control signal for the outrigger based on its corresponding relative outrigger pressure deviation value and initial displacement data, thereby driving the outriggers to descend. This ensures that each outrigger is subjected to force balance.

[0082] In this embodiment of the application, the output of a corresponding force balance control signal, combining the relative deviation value of the outrigger pressure of each outrigger and the initial displacement data of each hydraulic cylinder, may include:

[0083] For any leg, determine whether the relative deviation value of the outrigger pressure of any leg is less than the preset deviation value;

[0084] If the relative deviation of the outrigger pressure of any leg is determined to be less than the preset deviation value, the force balance control signal of any leg is output by combining the relative deviation of the outrigger pressure of any leg and the initial displacement data of any leg.

[0085] In this embodiment, the controller can output a corresponding force balance control signal by combining the relative deviation value of the outrigger pressure of each outrigger and the initial displacement data of each cylinder. After determining the relative deviation value of the outrigger pressure of each outrigger among multiple outriggers, the controller can determine whether the relative deviation value of the outrigger pressure of any outrigger is less than a preset deviation value. The preset deviation value can be adjusted according to the actual situation. If the relative deviation value of the outrigger pressure of any outrigger is less than the preset deviation value, then the controller can output a force balance control signal for that outrigger by combining the relative deviation value of the outrigger pressure of any outrigger and the initial displacement data of that outrigger. If the relative deviation value of the outrigger pressure of any outrigger is greater than or equal to the preset deviation value, then the controller does not need to output a corresponding force balance control signal for that outrigger. In one example, if the relative deviation value of the outrigger pressure of the left front outrigger is less than -0.1, then the controller can determine that the support force between the left front outrigger and the ground is too small and needs to be adjusted. At this time, the controller outputs the force balance control signal corresponding to the left front outrigger to drive the left front outrigger to descend. In this way, the controller can determine which outriggers need force balance adjustment and then output the corresponding force balance control signal.

[0086] In this embodiment, the force balance control signal for any leg may include a first displacement distance and a first displacement velocity, wherein the first displacement distance may satisfy formula (1):

[0087] s1=s0+Δs; (1)

[0088] Where s1 is the first displacement distance, s0 is the initial displacement distance in the initial displacement data, and Δs is the displacement increment;

[0089] The first displacement velocity can satisfy formula (2):

[0090]

[0091] Where v1 is the first displacement velocity, v j The base speed is given by ΔP, which is the relative deviation of the outrigger pressure, and K1 is the preset speed adjustment coefficient.

[0092] In this embodiment, after determining which leg requires force balance adjustment, the controller can output a force balance control signal for that leg, thereby controlling the descent of that leg. The force balance control signal for that leg includes a first displacement distance and a first displacement velocity. The controller can determine the first displacement distance based on the displacement increment and the initial displacement distance in the initial displacement data. The controller can determine the first displacement velocity based on the base speed, the relative deviation value of the outrigger pressure of that leg, and a preset speed adjustment coefficient. Both the base speed and the displacement increment need to be determined by adjusting the walking excavator.

[0093] In this embodiment of the application, the multiple outriggers may include four outriggers. The outrigger adjustment sequence for each outrigger is determined based on the outrigger pressure data of each outrigger, and may include:

[0094] The relative deviation value of the outrigger pressure for each outrigger is determined based on the outrigger pressure data for each outrigger.

[0095] The outrigger corresponding to the minimum value of the relative deviation of the outrigger pressure among multiple outriggers is taken as the reference outrigger, and the outrigger located diagonally opposite the reference outrigger is taken as the first adjusting outrigger.

[0096] Compare the relative deviation values ​​of outrigger pressure between two outriggers other than the reference outrigger and the first adjusting outrigger among multiple outriggers;

[0097] The outrigger corresponding to the larger relative deviation of the outrigger pressure between the two outriggers is designated as the second adjusting outrigger, and the outrigger corresponding to the smaller relative deviation of the outrigger pressure between the two outriggers is designated as the third adjusting outrigger.

[0098] The adjustment order of the outriggers is determined according to the order of the first, second, and third adjusting outriggers, wherein the adjustment order of the first adjusting outrigger precedes that of the second adjusting outrigger, and the adjustment order of the second adjusting outrigger precedes that of the third adjusting outrigger.

[0099] In this embodiment, the controller can determine the outrigger adjustment sequence based on the outrigger pressure data of each outrigger. Multiple outriggers may include four outriggers. In the case of a walking excavator with four outriggers, the controller can determine the relative deviation value of the outrigger pressure for each outrigger based on the outrigger pressure data, and designate the outrigger corresponding to the minimum relative deviation value among the multiple outriggers as the reference outrigger, and the outrigger diagonally opposite the reference outrigger as the first adjusting outrigger. Subsequently, the controller can compare the relative deviation values ​​of the outrigger pressure of two outriggers other than the reference outrigger and the first adjusting outrigger, and designate the outrigger corresponding to the larger relative deviation value as the second adjusting outrigger, and the outrigger corresponding to the smaller relative deviation value as the third adjusting outrigger. With the first, second, and third adjusting legs identified, the controller determines the adjustment sequence of the legs in that order, with the first adjusting leg being adjusted before the second, and the second adjusting leg being adjusted before the third. This allows the controller to determine the adjustment sequence, facilitating subsequent adjustments to the angles of multiple legs.

[0100] In this embodiment of the application, determining the relative deviation value of the outrigger pressure for each outrigger based on the outrigger pressure data of each outrigger may include:

[0101] The average outrigger pressure was determined based on outrigger pressure data from multiple outriggers.

[0102] For any one leg, the relative deviation value of the outrigger pressure is determined based on the outrigger pressure data and the average outrigger pressure of that leg.

[0103] In this embodiment, the controller can determine the relative deviation value of the outrigger pressure for each outrigger based on the outrigger pressure data of each outrigger. The controller can determine the average outrigger pressure based on the outrigger pressure data of multiple outriggers. Then, the controller can determine the relative deviation value of the outrigger pressure for each outrigger based on the average outrigger pressure. In determining the relative deviation value of the outrigger pressure for each outrigger, for any outrigger, the controller can determine the relative deviation value of the outrigger pressure for any outrigger based on the outrigger pressure data and the average outrigger pressure of any outrigger. The relative deviation value of the outrigger pressure satisfies formula (5):

[0104]

[0105] Where ΔP is the relative deviation of outrigger pressure, and P is the outrigger pressure data. This represents the average pressure on the outriggers.

[0106] In this way, the controller can determine the relative deviation of the outrigger pressure for each outrigger, which facilitates subsequent adjustments to the force on each outrigger and the determination of the outrigger adjustment sequence.

[0107] In this embodiment of the application, based on the outrigger adjustment sequence, and according to the target displacement data of each hydraulic cylinder and the acquired chassis tilt angle data, the angle of each outrigger is adjusted sequentially, which may include:

[0108] If the tilt angle data is not within the preset range, the tilt direction and non-tilt direction of the chassis are determined according to the range of the tilt angle data.

[0109] Output the corresponding angle adjustment control signal based on the tilt angle data and target displacement data;

[0110] By using the angle adjustment control signal, based on the outrigger adjustment sequence, the outriggers located in the tilt direction of the chassis are raised sequentially, and the outriggers located in the non-tilt direction of the chassis are lowered sequentially, until the tilt angle data is within the preset range, so as to complete the angle adjustment of each outrigger.

[0111] In this embodiment, the controller can sequentially adjust the angle of each outrigger to level the chassis. Specifically, a coordinate system can be established based on the installation position of the tilt sensor, and the origin of the coordinate system can be adjusted according to the actual situation. The coordinate system uses the forward / backward direction of the walking excavator as the X-axis and the left / right direction of the walking excavator as the Y-axis. Therefore, when the chassis tilts to the left / right, it corresponds to a roll angle x, and when the chassis tilts forward / backward, it corresponds to a pitch angle y. It should be noted that the X and Y axes of the coordinate system can be adjusted and are not limited to these. The tilt angle data includes the roll angle x and the pitch angle y. The controller can determine whether the roll angle x and pitch angle y are within a preset range. If the roll angle x is not within the preset range, the tilt direction and non-tilt direction of the chassis are determined based on the range of the roll angle x. If the pitch angle y is not within the preset range, the tilt direction and non-tilt direction of the chassis are determined based on the range of the pitch angle y. After determining the tilt direction and non-tilt direction of the chassis, the controller can output a corresponding angle adjustment control signal based on the tilt angle data and the target displacement data. By using the angle adjustment control signal, the controller can sequentially control the outriggers located in the tilt direction of the chassis to rise, and sequentially control the outriggers located in the non-tilt direction of the chassis to fall, until the roll angle x and pitch angle y are both within the preset range, thus completing the angle adjustment of each outrigger.

[0112] In one example, the preset range is from -2 degrees to 2 degrees. When the roll angle x is greater than 2 degrees, it can be determined that the left front and left rear outriggers are in the tilt direction of the chassis, while the right front and right rear outriggers are in the non-tilt direction. The controller can then output corresponding angle adjustment control signals based on the roll angle x and the target displacement data to control the left front and left rear outriggers to rise, and the right front and right rear outriggers to fall. In another example, the preset range is also from -2 degrees to 2 degrees. When the pitch angle y is greater than 2 degrees, it can be determined that the left front and right front outriggers are in the tilt direction of the chassis, while the left and right rear outriggers are in the non-tilt direction. The controller can then output corresponding angle adjustment control signals based on the pitch angle y and the target displacement data to control the left front and right front outriggers to rise, and the left and right rear outriggers to fall. This allows for the leveling of the walking excavator's chassis.

[0113] In this embodiment, when the tilt angle data is positive and the outriggers located in the tilt direction of the chassis are sequentially controlled to rise, or when the tilt angle data is negative and the outriggers located in the non-tilt direction of the chassis are sequentially controlled to descend, the second displacement distance in the angle adjustment control signal satisfies formula (3):

[0114]

[0115] When the tilt angle data is negative and the outriggers located in the tilt direction of the chassis are raised sequentially, or when the tilt angle data is positive and the outriggers located in the non-tilt direction of the chassis are lowered sequentially, the second displacement distance in the angle adjustment control signal satisfies formula (4):

[0116]

[0117] Where s2 is the second displacement distance, s is the target displacement distance in the target displacement data, Δs is the displacement increment, and K2 is the preset displacement adjustment coefficient. This is the tilt angle data.

[0118] In this embodiment, after each outrigger is balanced, the controller acquires the target displacement data sent by the cylinder displacement sensor. Since the displacement data of each cylinder may change after adjusting the force on each outrigger, it is necessary to acquire the target displacement data of each cylinder sent by the cylinder displacement sensor again. The angle adjustment control signal includes a second displacement distance and a second displacement speed. Thus, according to the outrigger adjustment sequence, based on whether the tilt angle data is positive or negative, and combined with the target displacement distance, displacement increment, preset displacement adjustment coefficient, and tilt angle data in the target displacement data, the second displacement distance is determined, and the second displacement speed is determined as a preset speed. The controller can then output the corresponding angle adjustment control signal. The preset speed needs to be determined based on the actual situation after debugging the walking excavator. In this way, the controller can output the angle adjustment control signal, thereby controlling the raising or lowering of multiple outriggers.

[0119] Figure 4 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 4 As shown in the figure, this application provides a controller that may include:

[0120] Memory 410 is configured to store instructions; and

[0121] The processor 420 is configured to retrieve instructions from the memory 410 and, when executing the instructions, to implement the aforementioned method for controlling chassis leveling.

[0122] Specifically, in this embodiment of the application, the processor 420 can be configured to:

[0123] Obtain the outrigger pressure data for each outrigger and the initial displacement data for each hydraulic cylinder;

[0124] Based on the outrigger pressure data of each outrigger and the initial displacement data of each hydraulic cylinder, adjust the position of each outrigger to balance the force on each outrigger.

[0125] Under the condition that each outrigger is in force balance, the outrigger adjustment sequence for each outrigger is determined based on the outrigger pressure data of each outrigger.

[0126] Based on the outrigger adjustment sequence, the angle of each outrigger is adjusted sequentially according to the target displacement data of each cylinder and the obtained chassis tilt angle data to level the chassis; wherein, the target displacement data of each cylinder is the displacement data of each cylinder obtained under the condition that each outrigger is under force balance.

[0127] Furthermore, the processor 420 can also be configured as follows:

[0128] The relative deviation value of the outrigger pressure for each outrigger is determined based on the outrigger pressure data for each outrigger.

[0129] By combining the relative deviation of the outrigger pressure of each outrigger and the initial displacement data of each hydraulic cylinder, a corresponding force balance control signal is output to adjust the position of each outrigger so that the force on each outrigger is balanced.

[0130] Furthermore, the processor 420 can also be configured as follows:

[0131] For any leg, determine whether the relative deviation value of the outrigger pressure of any leg is less than the preset deviation value;

[0132] If the relative deviation of the outrigger pressure of any leg is determined to be less than the preset deviation value, the force balance control signal of any leg is output by combining the relative deviation of the outrigger pressure of any leg and the initial displacement data of any leg.

[0133] In this embodiment, the force balance control signal for any leg includes a first displacement distance and a first displacement velocity, wherein the first displacement distance satisfies formula (1):

[0134] s1=s0+Δs; (1)

[0135] Where s1 is the first displacement distance, s0 is the initial displacement distance in the initial displacement data, and Δs is the displacement increment;

[0136] The first displacement velocity satisfies formula (2):

[0137]

[0138] Where v1 is the first displacement velocity, v j The base speed is given by ΔP, which is the relative deviation of the outrigger pressure, and K1 is the preset speed adjustment coefficient.

[0139] Furthermore, the processor 420 can also be configured as follows:

[0140] The relative deviation value of the outrigger pressure for each outrigger is determined based on the outrigger pressure data for each outrigger.

[0141] The outrigger corresponding to the minimum value of the relative deviation of the outrigger pressure among multiple outriggers is taken as the reference outrigger, and the outrigger located diagonally opposite the reference outrigger is taken as the first adjusting outrigger.

[0142] Compare the relative deviation values ​​of outrigger pressure between two outriggers other than the reference outrigger and the first adjusting outrigger among multiple outriggers;

[0143] The outrigger corresponding to the larger relative deviation of the outrigger pressure between the two outriggers is designated as the second adjusting outrigger, and the outrigger corresponding to the smaller relative deviation of the outrigger pressure between the two outriggers is designated as the third adjusting outrigger.

[0144] The adjustment order of the outriggers is determined according to the order of the first, second, and third adjusting outriggers, wherein the adjustment order of the first adjusting outrigger precedes that of the second adjusting outrigger, and the adjustment order of the second adjusting outrigger precedes that of the third adjusting outrigger.

[0145] Furthermore, the processor 420 can also be configured as follows:

[0146] The average outrigger pressure was determined based on outrigger pressure data from multiple outriggers.

[0147] For any one leg, the relative deviation value of the outrigger pressure is determined based on the outrigger pressure data and the average outrigger pressure of that leg.

[0148] Furthermore, the processor 420 can also be configured as follows:

[0149] If the tilt angle data is not within the preset range, the tilt direction and non-tilt direction of the chassis are determined according to the range of the tilt angle data.

[0150] Output the corresponding angle adjustment control signal based on the tilt angle data and target displacement data;

[0151] By using the angle adjustment control signal, based on the outrigger adjustment sequence, the outriggers located in the tilt direction of the chassis are raised sequentially, and the outriggers located in the non-tilt direction of the chassis are lowered sequentially, until the tilt angle data is within the preset range, so as to complete the angle adjustment of each outrigger.

[0152] In this embodiment, when the tilt angle data is positive and the outriggers located in the tilt direction of the chassis are sequentially controlled to rise, or when the tilt angle data is negative and the outriggers located in the non-tilt direction of the chassis are sequentially controlled to descend, the second displacement distance in the angle adjustment control signal satisfies formula (3):

[0153]

[0154] When the tilt angle data is negative and the outriggers located in the tilt direction of the chassis are raised sequentially, or when the tilt angle data is positive and the outriggers located in the non-tilt direction of the chassis are lowered sequentially, the second displacement distance in the angle adjustment control signal satisfies formula (4):

[0155]

[0156] Where s2 is the second displacement distance, s is the target displacement distance in the target displacement data, Δs is the displacement increment, and K2 is the preset displacement adjustment coefficient. This is the tilt angle data.

[0157] The above technical solution acquires the outrigger pressure data and initial displacement data of each cylinder. Based on these data, the position of each outrigger is adjusted to achieve force balance. With each outrigger in equilibrium, the adjustment sequence is determined based on its pressure data. Then, according to this sequence, the angle of each outrigger is adjusted sequentially based on the target displacement data of each cylinder and the acquired chassis tilt angle data to level the chassis. This application reduces the impact of uneven force distribution on the chassis leveling effect caused by multiple outriggers, resulting in a more stable leveled chassis.

[0158] This application also provides a walking excavator, including:

[0159] Controller;

[0160] The chassis communicates with the controller;

[0161] Multiple outriggers, each containing a hydraulic cylinder, are connected to the chassis.

[0162] In this embodiment, the walking excavator includes a controller, a chassis, and multiple outriggers. The controller communicates with the chassis, and the multiple outriggers are connected to the chassis. Each outrigger is equipped with a hydraulic cylinder. Thus, the controller can send corresponding force balance control signals and angle adjustment control signals, adjust the hydraulic cylinder control current in real time using these signals, and output the hydraulic cylinder control current to a proportional solenoid valve to drive the hydraulic cylinder movement, thereby adjusting the multiple outriggers and leveling the chassis.

[0163] In this embodiment of the application, the walking excavator further includes:

[0164] The tilt sensor, mounted on the chassis, is configured to collect tilt data;

[0165] Multiple pressure sensors are installed in the corresponding hydraulic cylinder, and the multiple pressure sensors are configured to collect outrigger pressure data of multiple outriggers.

[0166] Multiple cylinder displacement sensors are used, each of which is installed in the corresponding cylinder. The multiple cylinder displacement sensors are configured to collect the initial displacement data and target displacement data of multiple cylinders.

[0167] In this embodiment, the walking excavator further includes a tilt sensor, multiple pressure sensors, and multiple cylinder displacement sensors. The tilt sensor is mounted on the chassis and can be used to collect the chassis's tilt angle data. Each of the multiple pressure sensors is disposed within its corresponding cylinder and can be used to collect outrigger pressure data for each outrigger. The multiple pressure sensors are voltage-type pressure sensors. Each of the multiple cylinder displacement sensors is disposed within its corresponding cylinder and can be used to collect initial displacement data and target displacement data for each cylinder.

[0168] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the above-described method for controlling chassis leveling.

[0169] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0170] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0171] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0172] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0173] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0174] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0175] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0176] It should also be noted that 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 process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0177] The above are merely embodiments of this application and are not intended to limit the scope 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 the claims of this application.

Claims

1. A method for controlling chassis leveling, characterized in that, A controller for a walking excavator, the walking excavator including multiple outriggers, each outrigger including a hydraulic cylinder, the multiple outriggers being connected to the chassis of the walking excavator, the method comprising: Obtain the outrigger pressure data for each outrigger and the initial displacement data for each hydraulic cylinder; Based on the outrigger pressure data of each outrigger and the initial displacement data of each hydraulic cylinder, the position of each outrigger is adjusted to balance the force on each outrigger. When each outrigger is under balanced force, the outrigger adjustment sequence for each outrigger is determined based on the outrigger pressure data of each outrigger. Based on the outrigger adjustment sequence, the angle of each outrigger is adjusted sequentially according to the target displacement data of each cylinder and the obtained tilt angle data of the chassis to level the chassis; wherein, the target displacement data of each cylinder is the displacement data of each cylinder obtained under the condition that each outrigger is under force balance. The step of adjusting the position of each outrigger according to the outrigger pressure data of each outrigger and the initial displacement data of each hydraulic cylinder to balance the forces on each outrigger includes: determining the relative deviation value of the outrigger pressure of each outrigger according to the outrigger pressure data of each outrigger; and outputting a corresponding force balance control signal by combining the relative deviation value of the outrigger pressure of each outrigger and the initial displacement data of each hydraulic cylinder to adjust the position of each outrigger to balance the forces on each outrigger.

2. The method according to claim 1, characterized in that, Based on the relative deviation of the outrigger pressure of each outrigger and the initial displacement data of each hydraulic cylinder, a corresponding force balance control signal is output, including: For any leg, determine whether the relative deviation value of the outrigger pressure of any leg is less than a preset deviation value; If the relative deviation of the outrigger pressure of any one leg is determined to be less than a preset deviation value, the force balance control signal of the one leg is output by combining the relative deviation of the outrigger pressure of the one leg and the initial displacement data of the one leg.

3. The method according to claim 2, characterized in that, The force balance control signal for any leg includes a first displacement distance and a first displacement velocity, wherein the first displacement distance satisfies formula (1): ； （1） in, This is the first displacement distance. This refers to the initial displacement distance in the initial displacement data. This represents the displacement increment; The first displacement velocity satisfies formula (2): ；（2） in, The first displacement velocity, Based on speed, This refers to the relative deviation value of the outrigger pressure. This is the preset speed adjustment coefficient.

4. The method according to claim 1, characterized in that, The plurality of outriggers includes four outriggers, and the step of determining the outrigger adjustment sequence for adjusting each outrigger based on the outrigger pressure data of each outrigger includes: The relative deviation value of the outrigger pressure for each outrigger is determined based on the outrigger pressure data for each outrigger. The outrigger corresponding to the minimum value of the relative deviation of the outrigger pressure among multiple outriggers is taken as the reference outrigger, and the outrigger located diagonally opposite the reference outrigger is taken as the first adjusting outrigger. Compare the relative deviation values ​​of the outrigger pressure of two outriggers other than the reference outrigger and the first adjusting outrigger among the plurality of outriggers; The outrigger corresponding to the larger relative deviation value of the outrigger pressure among the two outriggers is designated as the second adjusting outrigger, and the outrigger corresponding to the smaller relative deviation value of the outrigger pressure among the two outriggers is designated as the third adjusting outrigger. The adjustment order of the support legs is determined according to the order of the first adjustment leg, the second adjustment leg, and the third adjustment leg, wherein the adjustment order of the first adjustment leg is before the adjustment order of the second adjustment leg, and the adjustment order of the second adjustment leg is before the adjustment order of the third adjustment leg.

5. The method according to any one of claims 2 to 4, characterized in that, The step of determining the relative deviation value of the outrigger pressure for each outrigger based on the outrigger pressure data for each outrigger includes: The average outrigger pressure was determined based on outrigger pressure data from multiple outriggers. For any one leg, the relative deviation value of the outrigger pressure of that one leg is determined based on the outrigger pressure data of that one leg and the average outrigger pressure.

6. The method according to claim 1, characterized in that, Based on the outrigger adjustment sequence, and according to the target displacement data of each hydraulic cylinder and the obtained chassis tilt angle data, the angle of each outrigger is adjusted sequentially, including: If the tilt angle data is not within a preset range, the tilt direction and non-tilt direction of the chassis are determined according to the range of the tilt angle data. Output a corresponding angle adjustment control signal based on the tilt angle data and the target displacement data; Using the angle adjustment control signal, based on the outrigger adjustment sequence, the outriggers located in the tilt direction of the chassis are sequentially controlled to rise, and the outriggers located in the non-tilt direction of the chassis are sequentially controlled to fall, until the tilt angle data is within a preset range, so as to complete the adjustment of the angle of each outrigger.

7. The method according to claim 6, characterized in that, When the tilt angle data is positive and the outriggers located in the tilt direction of the chassis are controlled to rise sequentially, or when the tilt angle data is negative and the outriggers located in the non-tilt direction of the chassis are controlled to descend sequentially, the second displacement distance in the angle adjustment control signal satisfies formula (3): ；（3） When the tilt angle data is negative and the outriggers located in the tilt direction of the chassis are controlled to rise sequentially, or when the tilt angle data is positive and the outriggers located in the non-tilt direction of the chassis are controlled to descend sequentially, the second displacement distance in the angle adjustment control signal satisfies formula (4): ；（4） in, This is the second displacement distance. The target displacement distance is the target displacement distance in the target displacement data. For displacement increment, For the preset displacement adjustment coefficient, The tilt angle data.

8. A controller, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method for controlling chassis leveling according to any one of claims 1 to 7.

9. A walking excavator, characterized in that, include: The controller according to claim 8; The chassis communicates with the controller; Multiple outriggers, each including a hydraulic cylinder, are connected to the chassis.

10. The walking excavator according to claim 9, characterized in that, The walking excavator also includes: An tilt sensor, mounted on the chassis, is configured to collect tilt data; Multiple pressure sensors are provided, each of which is installed in a corresponding hydraulic cylinder. The multiple pressure sensors are configured to collect outrigger pressure data of the multiple outriggers. Multiple cylinder displacement sensors are provided, each of which is installed in a corresponding cylinder. The multiple cylinder displacement sensors are configured to collect initial displacement data and target displacement data of multiple cylinders.

11. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the method for controlling chassis leveling according to any one of claims 1 to 7.

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