Control method, control device, processor and working machine for a working machine

Abstract

The application discloses a control method, a control device, a processor and a construction machine for the construction machine, and belongs to the technical field of the construction machine. The control method comprises the following steps: in the case that it is detected that the construction machine has a risk of tipping, acquiring inclination angle data of the construction machine and current support leg parameters of each support leg of the construction machine under a current working condition; determining target support leg parameters of each support leg of the construction machine under the current working condition according to the inclination angle data and the current support leg parameters of each support leg; and controlling each support leg of the construction machine based on the target support leg parameters of each support leg. The application can improve safety.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a control method, control device, processor, and engineering machinery for engineering machinery. Background Technology

[0002] Construction machinery (such as telescopic boom forklifts or concrete pump trucks) typically requires outriggers to ensure stability during operation. Taking telescopic boom forklifts as an example, they can be used for a variety of tasks, including high-altitude operations and stacking / palletizing, depending on the attachments used. They are widely used in factories, warehouses, docks, and construction sites. Currently, forklifts are equipped with front and rear outriggers to increase stability under heavy loads.

[0003] Currently, construction machinery equipped with outriggers, including forklifts, typically only considers the working environment when setting the outrigger extension direction and length. This means the outriggers are fixed in place before operation, and the setting remains unchanged if the working environment remains constant. However, this approach fails to account for the impact of actual working conditions such as load. Under critical load conditions, this can cause the vehicle to become unbalanced, leading to tipping and potentially serious accidents. Therefore, existing technology suffers from insufficient safety. Summary of the Invention

[0004] In order to solve the above-mentioned technical problems, the purpose of this application is to provide a control method, control device, processor and engineering machinery for engineering machinery, so as to solve the problem of low safety in the prior art.

[0005] To achieve the above objectives, the first aspect of this application provides a control method for construction machinery, the construction machinery including multiple outriggers, the control method comprising:

[0006] If a risk of overturning is detected in the construction machinery, obtain the tilt angle data of the construction machinery under the current working conditions and the current outrigger parameters of each outrigger of the construction machinery;

[0007] Based on the tilt angle data and the current outrigger parameters of each outrigger, determine the target outrigger parameters of each outrigger of the construction machinery under the current working conditions;

[0008] The outriggers of the construction machinery are controlled based on the target outrigger parameters of each outrigger.

[0009] In this embodiment of the application, the construction machinery also includes a torque limiter, and the control method further includes: acquiring the torque limiter parameter value of the construction machinery in real time through the torque limiter; comparing the torque limiter parameter value with a set safety value; and determining that the construction machinery has a risk of overturning and issuing an alarm signal when the torque limiter parameter value is greater than the set safety value.

[0010] In this embodiment of the application, the target outrigger parameters of each outrigger of the construction machinery under the current working condition are determined based on the tilt angle data and the current outrigger parameters of each outrigger. This includes: determining the outrigger weight coefficient of each outrigger of the construction machinery under the current working condition; and determining the target outrigger parameters of each outrigger based on the current outrigger parameters and outrigger weight coefficients of each outrigger, combined with the tilt angle data.

[0011] In this embodiment of the application, determining the outrigger weight coefficient of each outrigger of the construction machinery under the current working condition includes: obtaining pressure data of each outrigger of the construction machinery under the current working condition to obtain multiple pressure data; normalizing the multiple pressure data to obtain multiple normalized pressure data; and performing weighted average processing on the multiple normalized pressure data to obtain the outrigger weight coefficient of each outrigger.

[0012] In this embodiment, the current outrigger parameters of each outrigger include the current slewing angle, the target outrigger parameters of each outrigger include the target slewing angle, and the tilt angle data includes a first tilt angle and a second tilt angle. Based on the current outrigger parameters and outrigger weight coefficients of each outrigger, combined with the tilt angle data, the target outrigger parameters of each outrigger are determined, including: determining a first tilt angle weight coefficient and a second tilt angle weight coefficient based on the first tilt angle, the second tilt angle, and the outrigger weight coefficients of each outrigger; determining the slewing angle change of each outrigger based on the tilt angle data, the first tilt angle weight coefficient, the second tilt angle weight coefficient, and the outrigger weight coefficients of each outrigger; and determining the target slewing angle of each outrigger based on the current slewing angle and the slewing angle change of each outrigger.

[0013] In this embodiment, the current outrigger parameter of each outrigger also includes the current outrigger length, and the target outrigger parameter of each outrigger also includes the target outrigger length; the control method further includes: determining the length change of each outrigger based on the outrigger weight coefficient and the current outrigger length; determining the average weight coefficient of each outrigger based on the outrigger weight coefficient; and determining the target outrigger length of each outrigger based on the average weight coefficient, the length change of each outrigger, and the current outrigger length.

[0014] In this embodiment of the application, the target outrigger length of each outrigger is determined based on the average weight coefficient of the outrigger, the length change of each outrigger, and the current outrigger length. This includes: for any outrigger of the construction machinery, comparing the outrigger weight coefficient of any outrigger with the average weight coefficient of the outrigger; if the outrigger weight coefficient of any outrigger is greater than the average weight coefficient of the outrigger, determining the sum of the outrigger length of any outrigger and the length change of any outrigger as the target outrigger length of any outrigger; if the outrigger weight coefficient of any outrigger is less than the average weight coefficient of the outrigger, determining the difference between the outrigger length of any outrigger and the length change of any outrigger as the target outrigger length of any outrigger.

[0015] A second aspect of this application provides a processor configured to execute the aforementioned control method for engineering machinery.

[0016] A third aspect of this application provides a control device for construction machinery, the construction machinery including multiple outriggers, and the control device comprising:

[0017] The parameter acquisition module is used to acquire the tilt angle data of the construction machinery under the current working conditions and the current outrigger parameters of each outrigger of the construction machinery when an alarm signal is detected.

[0018] The target outrigger parameter determination module is used to determine the target outrigger parameters of each outrigger of the construction machinery under the current working conditions based on the tilt angle data and the outrigger parameters of each outrigger.

[0019] The outrigger control module is used to control each outrigger of the construction machinery based on the target outrigger parameters of each outrigger.

[0020] The fourth aspect of this application provides an engineering machine, including: a plurality of outriggers; and the processor or the control device for the engineering machine described above.

[0021] The aforementioned technical solution is applied to construction machinery comprising multiple outriggers. When a risk of rollover is detected, the system acquires the tilt angle data of the construction machinery under the current operating condition and the current outrigger parameters of each outrigger. Based on the tilt angle data and the current outrigger parameters, the system determines the target outrigger parameters for each outrigger under the current operating condition. Finally, the system controls each outrigger based on these target outrigger parameters. This application enables the determination and corresponding adjustment of the target outrigger parameters for each outrigger under the current operating condition based on the tilt angle data and current outrigger parameters at the critical point of rollover, achieving automatic control of multiple outriggers on the construction machinery. This helps reduce the risk of vehicle rollover and improves safety.

[0022] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0023] 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:

[0024] Figure 1 A flowchart illustrating a control method for engineering machinery provided in an embodiment of this application;

[0025] Figure 2 A flowchart illustrating a method for using engineering machinery, provided as a specific embodiment of this application;

[0026] Figure 3 This is a structural block diagram of a control device for engineering machinery provided in an embodiment of this application. Detailed Implementation

[0027] 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.

[0028] 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.

[0029] 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.

[0030] Figure 1 This is a flowchart illustrating a control method for engineering machinery provided in an embodiment of this application. Figure 1As shown in the figure, this application provides a control method for construction machinery, which includes multiple outriggers. Taking the application of this method to the processor of the construction machinery as an example, the control method may include the following steps.

[0031] Step S101: If a risk of overturning is detected in the construction machinery, obtain the tilt angle data of the construction machinery under the current working conditions and the current outrigger parameters of each outrigger of the construction machinery.

[0032] Step S102: Based on the tilt angle data and the current outrigger parameters of each outrigger, determine the target outrigger parameters of each outrigger of the construction machinery under the current working conditions.

[0033] Step S103: Control each outrigger of the construction machinery based on the target outrigger parameters of each outrigger.

[0034] In this embodiment, construction machinery refers to various construction vehicles equipped with multiple outriggers, such as cranes and forklifts. During actual operation, after the construction machinery reaches the designated work location, the control system controls the outriggers with default extension length and angle to ensure balance during operation. However, if the construction machinery is overloaded or the stress area shifts during operation, there is a risk of tipping over. In this case, the outrigger extension needs to be readjusted to adapt to the current working conditions.

[0035] Specifically, when the processor detects a risk of tipping over on the construction machinery, it acquires the tilt angle data and the current outrigger parameters of each outrigger at the critical tipping moment. The tilt angle data refers to the vehicle's tilt angle at the critical tipping moment, which can be obtained through tilt angle sensors mounted on the chassis of the construction machinery. The current outrigger parameters can include the current outrigger length and rotation angle of each outrigger, which can be obtained through length sensors and angle sensors mounted on each outrigger, respectively.

[0036] In one example, the processor can acquire the tilt angle of the construction machinery in real time and determine whether the tilt angle exceeds a critical value to identify any risk of rollover. In another example, a torque limiter can be installed on the vehicle body. The processor can acquire the torque limiter parameter value in real time and determine whether the torque limiter parameter value exceeds a critical value to identify any risk of rollover. It should be noted that there can be multiple methods to determine whether construction machinery is at risk of rollover; the above are merely illustrative examples.

[0037] It can be understood that the target outrigger parameters for each outrigger refer to the control parameters of each outrigger under the current working condition, ensuring that the construction machinery will not tip over. Having acquired the tilt angle data of the construction machinery under the current working condition and the current outrigger parameters of each outrigger, the processor can calculate the target parameters for each outrigger under the current working condition based on the tilt angle data and the current outrigger parameters. Specifically, the processor can determine the direction in which the construction machinery will tip over under the current working condition based on the tilt angle data, and then, combined with the force conditions on each outrigger under the current working condition, calculate the target parameters for each outrigger based on its current outrigger length and rotation angle.

[0038] Finally, the processor can adjust each outrigger based on the calculated target outrigger parameters. In one example, the target outrigger parameters may include the target outrigger length and target rotation angle. The processor can adjust each outrigger to the target length by controlling the outrigger rotation solenoid valve and to the target rotation angle by controlling the outrigger extension solenoid valve. Understandably, in practical applications, when there is a risk of overturning on the construction machinery, the operator will stop the machinery and retract the outriggers so that the processor can automatically adjust the outriggers based on the parameters obtained at the critical moment.

[0039] The aforementioned technical solution is applied to construction machinery comprising multiple outriggers. When a risk of rollover is detected, the system acquires the tilt angle data of the construction machinery under the current operating condition and the current outrigger parameters of each outrigger. Based on the tilt angle data and the current outrigger parameters, the system determines the target outrigger parameters for each outrigger under the current operating condition. Finally, the system controls each outrigger based on these target outrigger parameters. This application enables the determination and corresponding adjustment of the target outrigger parameters for each outrigger under the current operating condition based on the tilt angle data and current outrigger parameters at the critical point of rollover, achieving automatic control of multiple outriggers on the construction machinery. This helps reduce the risk of vehicle rollover and improves safety.

[0040] In this embodiment of the application, the construction machinery also includes a torque limiter, and the control method further includes: acquiring the torque limiter parameter value of the construction machinery in real time through the torque limiter; comparing the torque limiter parameter value with a set safety value; and determining that the construction machinery has a risk of overturning and issuing an alarm signal when the torque limiter parameter value is greater than the set safety value.

[0041] It is understandable that a torque limiter, installed on the rear axle of a construction machinery vehicle, monitors for potential rollover risks during operation. The torque limiter parameter value represents the lateral tilt force the vehicle can withstand; the set safety value refers to the maximum lateral tilt force the vehicle can withstand. During operation, the processor can obtain the torque limiter parameter value in real time and compare it with the set safety value. If the torque limiter parameter value exceeds the set safety value, it indicates a rollover risk. To ensure the operator is promptly aware of the risk, the processor outputs an alarm signal. Simultaneously, the torque limiter activates, limiting the vehicle's tilt and giving the operator reaction time. Upon receiving the alarm signal, the operator stops the machinery and retracts the outriggers to a safe position to unload the load. The operator can then select a one-button adjustment to automatically reposition the outriggers to a suitable position, preventing rollover during subsequent operations.

[0042] In this embodiment of the application, the target outrigger parameters of each outrigger of the construction machinery under the current working condition are determined based on the tilt angle data and the current outrigger parameters of each outrigger. This includes: determining the outrigger weight coefficient of each outrigger of the construction machinery under the current working condition; and determining the target outrigger parameters of each outrigger based on the current outrigger parameters and outrigger weight coefficients of each outrigger, combined with the tilt angle data.

[0043] It can be understood that the outrigger weight coefficients of each outrigger under the current working condition represent the stress state of each outrigger; the current tilt angle data of the construction machinery is the tilt angle of the vehicle body. By combining the outrigger weight coefficients of each outrigger and the tilt angle of the vehicle body, the direction in which the vehicle body will tilt can be determined. Based on this, the current outrigger parameters of each outrigger of the construction machinery can be adjusted to obtain the target outrigger parameters that are suitable for the current working condition.

[0044] In this embodiment of the application, determining the outrigger weight coefficient of each outrigger of the construction machinery under the current working condition includes: obtaining pressure data of each outrigger of the construction machinery under the current working condition to obtain multiple pressure data; normalizing the multiple pressure data to obtain multiple normalized pressure data; and performing weighted average processing on the multiple normalized pressure data to obtain the outrigger weight coefficient of each outrigger.

[0045] It is understandable that each outrigger of the construction machinery is equipped with a pressure sensor, which collects pressure data from each outrigger. Under current operating conditions, the pressure data of each outrigger indicates the stress on each outrigger at the critical point of tipping over. Furthermore, based on the pressure data of each outrigger, the outrigger weight coefficient can be obtained.

[0046] Specifically, the following explanation uses a four-legged construction machine as an example. Pressure sensors read the pressure data from each leg, designated as P1, P2, P3, and P4. The pressure values ​​detected by the pressure sensors are then normalized. The pressure data is normalized using formula (1):

[0047]

[0048] Where P′1, P′2, P′3, and P′4 are normalized pressure data; P max P min These are the maximum and minimum values ​​detected by the pressure sensor, that is, the maximum and minimum values ​​among the four pressure data.

[0049] Furthermore, a weighted average is applied to the normalized data, and the weight coefficient of each leg is determined according to formula (2):

[0050]

[0051] Wherein, W1, W2, W3, and W4 are the outrigger weight coefficients for each outrigger. It should be noted that the formulas for normalizing the pressure data and calculating the outrigger weight coefficients are not limited to the one described above; the specific formula can be determined based on actual needs and specific circumstances.

[0052] In this embodiment, the current outrigger parameters of each outrigger include the current slewing angle, the target outrigger parameters of each outrigger include the target slewing angle, and the tilt angle data includes a first tilt angle and a second tilt angle. Based on the current outrigger parameters and outrigger weight coefficients of each outrigger, combined with the tilt angle data, the target outrigger parameters of each outrigger are determined, including: determining a first tilt angle weight coefficient and a second tilt angle weight coefficient based on the first tilt angle, the second tilt angle, and the outrigger weight coefficients of each outrigger; determining the slewing angle change of each outrigger based on the tilt angle data, the first tilt angle weight coefficient, the second tilt angle weight coefficient, and the outrigger weight coefficients of each outrigger; and determining the target slewing angle of each outrigger based on the current slewing angle and the slewing angle change of each outrigger.

[0053] It can be understood that the target rotation angle of each outrigger is the rotation angle of each outrigger required to maintain the stability of the vehicle body under the current working conditions. A coordinate system is established with the center of the construction machinery as the reference point. The first tilt angle refers to the angle between the vehicle body and the X-axis as measured by the tilt sensor, and the second tilt angle refers to the angle between the vehicle body and the Y-axis as measured by the tilt sensor. The X-axis is parallel to the front of the vehicle, and the Y-axis is perpendicular to the front of the vehicle. The processor can determine the first tilt angle weight coefficient and the second tilt angle weight coefficient based on the first tilt angle, the second tilt angle, and the outrigger weight coefficients of each outrigger. The rotation direction of each outrigger is then determined based on the first tilt angle weight coefficient and the second tilt angle weight coefficient.

[0054] Specifically, the first and second tilt angles of the vehicle body measured by the tilt sensor are θ and β, respectively. One method for calculating the first and second tilt angle weighting coefficients is shown in formulas (3) to (6):

[0055]

[0056]

[0057]

[0058]

[0059] Among them, W θ W is the first tilt angle weighting coefficient. β W is the second tilt angle weighting coefficient. other This is the sum of the weighting coefficients of the other sensors.

[0060] Furthermore, the processor can determine the change in slewing angle of each outrigger using formula (7) based on the tilt angle data, the first tilt angle weighting coefficient, the second tilt angle weighting coefficient, and the outrigger weighting coefficient of each outrigger:

[0061]

[0062] Wherein, Δα′1, Δα′2, Δα′3, and Δα′4 represent the changes in the slewing angle of each outrigger. It should be noted that the calculation methods for the first tilt angle weighting coefficient, the second tilt angle weighting coefficient, and the changes in the slewing angle of each outrigger are not limited to the one described above, and can be adjusted according to the actual situation.

[0063] Finally, by adjusting the current rotation angle of each outrigger according to the change in rotation angle of each outrigger, the target rotation angle of each outrigger can be obtained.

[0064] In this embodiment, the current outrigger parameter of each outrigger also includes the current outrigger length, and the target outrigger parameter of each outrigger also includes the target outrigger length; the control method further includes: determining the length change of each outrigger based on the outrigger weight coefficient and the current outrigger length; determining the average weight coefficient of each outrigger based on the outrigger weight coefficient; and determining the target outrigger length of each outrigger based on the average weight coefficient, the length change of each outrigger, and the current outrigger length.

[0065] It can be understood that the target outrigger length of each outrigger is the outrigger length of each outrigger required to keep the vehicle body stable under the current working conditions. Specifically, the current outrigger lengths of each outrigger collected by the length sensor are L1, L2, L3, and L4, respectively. The processor can determine the length change of each outrigger according to the outrigger weight coefficient and the current outrigger length using formula (8):

[0066]

[0067] Where ΔL′1, ΔL′2, ΔL′3, and ΔL′4 are the length changes of each support leg, and K is an adjustment coefficient that can be set and adjusted according to the actual situation.

[0068] Furthermore, the processor can determine the average weight coefficient of the outriggers using formula (9) based on the outrigger weight coefficients of each outrigger:

[0069]

[0070] Where W is the average weight coefficient of the outrigger.

[0071] It is understandable that by comparing the weight coefficient of each outrigger with the average weight coefficient of the outriggers, it can be determined whether the adjustment method of each outrigger is to extend or shorten. Then, the current length of each outrigger is adjusted by the change in the length of each outrigger to obtain the target outrigger length of each outrigger.

[0072] In this embodiment of the application, the target outrigger length of each outrigger is determined based on the average weighting coefficient of the outriggers, the length change of each outrigger, and the current outrigger length, including:

[0073] For any outrigger of the construction machinery, compare the outrigger weight coefficient of any outrigger with the average outrigger weight coefficient; if the outrigger weight coefficient of any outrigger is greater than the average outrigger weight coefficient, the sum of the outrigger length of any outrigger and the change in length of any outrigger is determined as the target outrigger length of any outrigger; if the outrigger weight coefficient of any outrigger is less than the average outrigger weight coefficient, the difference between the outrigger length of any outrigger and the change in length of any outrigger is determined as the target outrigger length of any outrigger.

[0074] It can be understood that by comparing the outrigger weight coefficient of each outrigger with the average outrigger weight coefficient, it can be determined whether the adjustment mode of each outrigger is extension or retraction. For any outrigger, if the outrigger weight coefficient of this outrigger is greater than the average outrigger weight coefficient, it indicates that this outrigger needs to be extended, and at this time, the target outrigger length of this outrigger is the sum of the current outrigger length and the outrigger length variation. If the outrigger weight coefficient of this outrigger is less than the average outrigger weight coefficient, it indicates that this outrigger needs to be retracted, and at this time, the target outrigger length of this outrigger is the difference between the current outrigger length and the outrigger length variation. If the outrigger weight coefficient of this outrigger is equal to the average outrigger weight coefficient, the outrigger length of this outrigger remains unchanged.

[0075] In a specific embodiment of the present application, taking a construction machine including four outriggers as an example, the four outriggers are respectively outrigger 1, 2, 3 and 4. The outrigger adjustment process is as follows:

[0076] Step 1: During the operation of the vehicle, if the vehicle tilts towards outriggers 1 and 2, the current value of the moment limiter exceeds the set safety value of the current moment limiter, the system gives an alarm, and the operator controls the construction machine to stop working.

[0077] Step 2: At this time, the data of each outrigger pressure sensor are P1, P2, P3, P4, and the data of the inclination sensor are θ, β, and P m2x =P1, P min =P3, the current slewing angles of each outrigger are respectively α1, α2, α3 and α4, and the current outrigger lengths of each outrigger are respectively L1, L2, L3 and L4. Based on the data at this time, the steps such as normalization processing by the controller are the same as the above calculation and adjustment steps, so as to obtain the weight coefficient W1, W2, W3, W4 of each outrigger, the average weight coefficient W of the outriggers, and the weight coefficient W of the inclination sensor θ , W β , the angle variations Δα'1, Δα'2, Δα'3, Δα'4, and the length variations ΔL'1, ΔL'2, ΔL'3, ΔL'4.

[0078] Compare the magnitudes of the weight coefficients. At this time, W1>W, W2>W, W3<W, W4<W, and the target outrigger parameters of each outrigger can be obtained as follows:

[0079] Target slewing angle for outrigger 1 to extend: α1+Δα'1, target outrigger length: L1+ΔL'1;

[0080] Target slewing angle for outrigger 2 to extend: α2+Δα'2, target outrigger length: L2+ΔL'2;

[0081] Target slewing angle for outrigger 3 to extend: α3+Δα'3, target outrigger length: L3-ΔL'3;

[0082] The target rotation angle of outrigger 4 is α4+Δα′4, and the target outrigger length is L4-ΔL′4.

[0083] Step 3: Unload the vehicle and retract the outriggers. The operator adjusts the extension status of each outrigger with one click based on the calculation results of the control system. The torque limiter's set safety value is adaptively adjusted according to the outrigger extension status, and the operation is restarted.

[0084] Figure 2 This is a schematic flowchart illustrating a method for using engineering machinery, provided as a specific embodiment of this application. Figure 2 As shown in the illustration, a specific embodiment of this application provides a method for use in engineering machinery, which may include the following steps:

[0085] S1, Begin.

[0086] S2, the outriggers extend as per default value.

[0087] S3, tilt sensor, pressure sensor, torque limiter data acquisition.

[0088] S4. Determine whether the torque limiter value is less than the set safety value. If it is, proceed to step S11; otherwise, proceed to step S5.

[0089] S5. Activate alarm.

[0090] S6. Calculate the target extension value of the outriggers.

[0091] S7, boom recovery and unloading.

[0092] S8, outrigger retraction.

[0093] S9. Extend the outriggers according to the target value.

[0094] S10. Adaptively adjust the set safety value of the torque limiter; proceed to step S4.

[0095] S11, Alarm not activated.

[0096] S12, End.

[0097] The target extension value of the outriggers refers to the target outrigger parameters for each outrigger. This technical solution, by integrating data collected from the torque limiter, tilt sensor, and pressure sensor, enables real-time monitoring of the risk of tipping over during the entire operation of the construction machinery. It promptly alerts operators, allowing them to stop the machinery in time to prevent tipping. Furthermore, by readjusting the outrigger extension values ​​based on the sensor parameters, the machinery can maintain balance under initial critical tipping conditions, significantly improving operational safety.

[0098] This application also provides a processor configured to execute the control method for engineering machinery described in the above embodiments.

[0099] Figure 3 This is a structural block diagram of a control device for engineering machinery provided in an embodiment of this application. Figure 3 As shown, this application embodiment also provides a control device 300 for construction machinery, the construction machinery including multiple outriggers, the control device 300 including:

[0100] The parameter acquisition module 310 is used to acquire the tilt angle data of the construction machinery under the current working conditions and the current outrigger parameters of each outrigger of the construction machinery when an alarm signal is detected.

[0101] The target outrigger parameter determination module 320 is used to determine the target outrigger parameters of each outrigger of the construction machinery under the current working conditions based on the tilt angle data and the outrigger parameters of each outrigger.

[0102] The outrigger control module 330 is used to control each outrigger of the construction machinery based on the target outrigger parameters of each outrigger.

[0103] The aforementioned control device 300 for construction machinery is applied to construction machinery including multiple outriggers. When a risk of rollover is detected, it acquires the tilt angle data of the construction machinery under the current operating condition and the current outrigger parameters of each outrigger. Based on the tilt angle data and the current outrigger parameters, it determines the target outrigger parameters for each outrigger under the current operating condition. Finally, it controls each outrigger based on these target outrigger parameters. This application can determine and adjust the target outrigger parameters for each outrigger under the current operating condition based on the tilt angle data and the current outrigger parameters when the construction machinery is at the critical point of rollover, thus achieving automatic control of multiple outriggers of the construction machinery. This helps reduce the risk of vehicle rollover and improves safety.

[0104] In one embodiment, the construction machinery further includes a torque limiter, which acquires the torque limiter parameter value of the construction machinery in real time; compares the torque limiter parameter value with a set safety value; and determines that the construction machinery has a risk of overturning and issues an alarm signal when the torque limiter parameter value is greater than the set safety value.

[0105] In one embodiment, the target outrigger parameter determination module 320 is further configured to: determine the outrigger weight coefficient of each outrigger of the construction machinery under the current working condition; and determine the target outrigger parameter of each outrigger based on the current outrigger parameter and outrigger weight coefficient of each outrigger, combined with the tilt angle data.

[0106] In one embodiment, the target outrigger parameter determination module 320 is further configured to: acquire pressure data of each outrigger of the construction machinery under the current working condition to obtain multiple pressure data; normalize the multiple pressure data to obtain multiple normalized pressure data; and perform weighted average processing on the multiple normalized pressure data to obtain the outrigger weight coefficient of each outrigger.

[0107] In one embodiment, the current outrigger parameters of each outrigger include the current slewing angle, the target outrigger parameters of each outrigger include the target slewing angle, and the tilt angle data includes a first tilt angle and a second tilt angle. The target outrigger parameter determination module 320 is further configured to: determine a first tilt angle weight coefficient and a second tilt angle weight coefficient based on the first tilt angle, the second tilt angle, and the outrigger weight coefficients of each outrigger; determine the slewing angle change of each outrigger based on the tilt angle data, the first tilt angle weight coefficient, the second tilt angle weight coefficient, and the outrigger weight coefficients of each outrigger; and determine the target slewing angle of each outrigger based on the current slewing angle and the slewing angle change of each outrigger.

[0108] In one embodiment, the current leg parameter of each leg also includes the current leg length, and the target leg parameter of each leg also includes the target leg length; the target leg parameter determination module 320 is further configured to: determine the length change of each leg based on the leg weight coefficient of each leg and the current leg length; determine the average weight coefficient of each leg based on the leg weight coefficient of each leg; and determine the target leg length of each leg based on the average weight coefficient of the leg, the length change of each leg, and the current leg length.

[0109] In one embodiment, the target outrigger parameter determination module 320 is further configured to: for any outrigger of the engineering machinery, compare the outrigger weight coefficient of any outrigger with the average outrigger weight coefficient; if the outrigger weight coefficient of any outrigger is greater than the average outrigger weight coefficient, determine the sum of the outrigger length of any outrigger and the length change of any outrigger as the target outrigger length of any outrigger; if the outrigger weight coefficient of any outrigger is less than the average outrigger weight coefficient, determine the difference between the outrigger length of any outrigger and the length change of any outrigger as the target outrigger length of any outrigger.

[0110] This application also provides an engineering machinery, including: a plurality of outriggers; and a processor as described in the above embodiments or a control device for engineering machinery as described in the above embodiments.

[0111] 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.

[0112] 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, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0113] 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.

[0114] 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.

[0115] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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 control method for engineering machinery, characterized in that, The engineering machinery includes multiple outriggers, and the control method includes: When a risk of tipping over is detected in the construction machinery, the tilt angle data of the construction machinery under the current working condition and the current outrigger parameters of each outrigger of the construction machinery are obtained. The current outrigger parameters include the current rotation angle and the current outrigger length. Based on the tilt angle data and the current outrigger parameters of each outrigger, the target outrigger parameters of each outrigger of the construction machinery under the current working condition are determined. The target outrigger parameters include the target rotation angle and the target outrigger length. The outriggers of the engineering machinery are controlled based on the target outrigger parameters of each outrigger. The step of determining the target outrigger parameters of each outrigger under the current working condition based on the tilt angle data and the current outrigger parameters of each outrigger includes: Determine the outrigger weight coefficients of each outrigger of the construction machinery under the current working conditions; Based on the current outrigger parameters and outrigger weight coefficients of each outrigger, and in conjunction with the tilt angle data, the target outrigger parameters of each outrigger are determined. The determination of the outrigger weight coefficients for each outrigger of the construction machinery under the current working condition includes: Obtain the pressure data of each outrigger of the construction machinery under the current working condition to obtain multiple pressure data. The multiple pressure data are normalized to obtain multiple normalized pressure data. The multiple normalized pressure data are weighted and averaged to obtain the outrigger weight coefficients for each outrigger.

2. The control method according to claim 1, characterized in that, The engineering machinery also includes a torque limiter, and the control method further includes: The torque limiter parameter values ​​of the engineering machinery are obtained in real time through the torque limiter. The torque limiter parameter value is compared with the set safety value; If the torque limiter parameter value is greater than the set safety value, the construction machinery is determined to be at risk of tipping over and an alarm signal is issued.

3. The control method according to claim 1, characterized in that, The tilt angle data includes a first tilt angle and a second tilt angle. A coordinate system is established with the center of the engineering machinery. The first tilt angle is the angle between the vehicle body and the X-axis, and the second tilt angle is the angle between the vehicle body and the Y-axis. The X-axis is parallel to the front of the vehicle, and the Y-axis is perpendicular to the front of the vehicle. The step of determining the target outrigger parameters for each outrigger based on its current outrigger parameters and outrigger weight coefficients, combined with the tilt angle data, includes: The first tilt angle weight coefficient and the second tilt angle weight coefficient are determined based on the first tilt angle, the second tilt angle, and the outrigger weight coefficient of each outrigger. Based on the tilt angle data, the first tilt angle weighting coefficient, the second tilt angle weighting coefficient, and the outrigger weighting coefficient of each outrigger, the change in the rotation angle of each outrigger is determined. The target rotation angle of each outrigger is determined based on the current rotation angle and the change in rotation angle of each outrigger.

4. The control method according to claim 3, characterized in that, The control method further includes: The length change of each outrigger is determined based on the outrigger weight coefficient and the current outrigger length. The average weight coefficient of the outriggers is determined based on the outrigger weight coefficients of each outrigger. The target leg length is determined based on the average weight coefficient of the outrigger, the length change of each outrigger, and the current outrigger length.

5. The control method according to claim 4, characterized in that, The step of determining the target outrigger length for each outrigger based on the average weight coefficient of the outriggers, the length change of each outrigger, and the current outrigger length includes: For any outrigger of the engineering machinery, compare the outrigger weight coefficient of the arbitrary outrigger with the average outrigger weight coefficient; If the weight coefficient of any outrigger is greater than the average weight coefficient of the outrigger, the sum of the length of the outrigger and the length change of the outrigger shall be determined as the target outrigger length of the outrigger. If the weight coefficient of any outrigger is less than the average weight coefficient of the outrigger, the difference between the length of the outrigger and the length change of the outrigger is determined as the target length of the outrigger.

6. A processor, characterized in that, It is configured to perform the control method for engineering machinery according to any one of claims 1 to 5.

7. A control device for engineering machinery, characterized in that, The engineering machinery includes multiple outriggers, and the control device includes: The parameter acquisition module is used to acquire the tilt angle data of the construction machinery under the current working condition and the current outrigger parameters of each outrigger of the construction machinery when an alarm signal is detected. The current outrigger parameters include the current rotation angle and the current outrigger length. The target outrigger parameter determination module is used to determine the target outrigger parameters of each outrigger of the construction machinery under the current working condition based on the tilt angle data and the outrigger parameters of each outrigger. The target outrigger parameters include the target rotation angle and the target outrigger length. The outrigger control module is used to control each outrigger of the construction machinery based on the target outrigger parameters of each outrigger. The target outrigger parameter determination module is also used for: Determine the outrigger weight coefficients of each outrigger of the construction machinery under the current working conditions; Based on the current outrigger parameters and outrigger weight coefficients of each outrigger, and in conjunction with the tilt angle data, the target outrigger parameters of each outrigger are determined. The target outrigger parameter determination module is also used for: Obtain the pressure data of each outrigger of the construction machinery under the current working condition to obtain multiple pressure data. The multiple pressure data are normalized to obtain multiple normalized pressure data. The multiple normalized pressure data are weighted and averaged to obtain the outrigger weight coefficients for each outrigger.

8. An engineering machinery, characterized in that, include: Multiple outriggers; as well as The processor according to claim 6 or the control device for engineering machinery according to claim 7.

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