用于支腿调平的控制方法及控制装置、处理器及工程机械
By acquiring the chassis tilt angle and ground point cloud data, determining the hinge point position and calculating the outrigger movement trajectory, the problem of delay lag in the outrigger leveling process was solved, enabling rapid and accurate outrigger leveling and improving the operational reliability of construction machinery.
CN117341640BActive Publication Date: 2026-07-17ZOOMLION INTELLIGENT ACCESS MASCH CO LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZOOMLION INTELLIGENT ACCESS MASCH CO LTD
- Filing Date
- 2023-09-28
- Publication Date
- 2026-07-17
AI Technical Summary
Technical Problem
In existing technologies, there is a time lag problem in the outrigger leveling process, which causes delays in outrigger adjustment when construction machinery is operating on uneven ground, affecting the reliability of the operation.
Method used
By acquiring frame tilt angle and ground point cloud data, the target position of the hinge point is determined. Combined with the outrigger length, the motion trajectory and target landing position are calculated, and the outrigger movement is controlled to achieve leveling, reducing the need for real-time measurement.
Benefits of technology
It enables rapid and precise leveling of the outriggers, reduces delays and improves the reliability of construction machinery operating on uneven ground.
✦ Generated by Eureka AI based on patent content.
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Figure CN117341640B_ABST
Abstract
本发明实施例提供一种用于支腿调平的控制方法及控制装置、处理器及工程机械，属于工程机械领域。用于支腿调平的控制方法包括：在多个支腿处于开始受力状态的情况下，获取车架的车架倾角和地面点云数据；根据车架倾角确定铰点的目标铰点位置，其中，目标铰点位置为车架位于目标调平状态时铰点的位置；根据目标铰点位置和预存储的支腿长度确定支腿末端的运动轨迹；根据运动轨迹和地面点云数据确定支腿末端的目标落地位置；根据目标落地位置控制支腿运动，以使得支腿处于调平状态。本发明实施例可以减少支腿调平控制过程的延时滞后性。
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