Methods for identifying outrigger collapse in construction machinery, construction machinery and processors

Abstract

This application discloses a method, the engineering machinery, and a processor for identifying outrigger collapse in construction machinery. The method includes: acquiring a reference center of gravity and a reference plane; determining the change in outrigger reaction force for each outrigger based on the reference center of gravity; determining the change in outrigger deformation for each outrigger based on the change in outrigger reaction force; determining the rotation of the vehicle body plane based on the reference plane and the deformation changes of each outrigger; determining the vehicle body plane collapse rotation for each outrigger based on the vehicle body plane rotation; determining the outrigger collapse amount for each outrigger based on the vehicle body plane collapse rotation; and identifying the collapse of the ground where the outrigger is located based on the outrigger collapse amount and a preset outrigger collapse amount threshold. This application, by identifying outrigger collapse based on the outrigger collapse amount, can improve the accuracy of identifying outrigger support collapse in construction machinery.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a method for identifying outrigger collapse in engineering machinery, engineering machinery, and a processor. Background Technology

[0002] Specialized and specialized vehicles often have superstructures that move relatively during operation, such as pump truck booms, crane booms, and fire ladders. The center of gravity of these vehicles shifts over a significant range during operation. These equipment or vehicles typically use outriggers to provide effective stabilizing torque, ensuring vehicle support and preventing tipping. However, in actual operation, due to varying ground conditions, if the ground subsides or collapses while the vehicle is supported by outriggers, it may cause the equipment to tip over, resulting in personal injury, economic loss, and property damage. Existing collapse detection technologies mostly determine whether a collapse has occurred based on the stress on the outriggers or the vehicle's tilt angle. However, judging whether equipment has collapsed based on outrigger stress and vehicle tilt angle is greatly affected by external interference. Therefore, existing technical solutions suffer from low accuracy in identifying outrigger support collapses in construction machinery. Summary of the Invention

[0003] The purpose of this application is to provide a method, a piece of engineering machinery, and a processor for identifying outrigger collapse in engineering machinery, in order to solve the problem that the identification accuracy of outrigger collapse in the prior art is not high and the effect is not good.

[0004] To achieve the above objectives, a first aspect of this application provides a method for identifying outrigger collapse in engineering machinery, the method comprising:

[0005] Obtain the reference centroid and reference plane;

[0006] The change in the reaction force of each outrigger is determined based on the reference center of gravity.

[0007] The deformation change of each outrigger is determined based on the change in the outrigger reaction force of each outrigger.

[0008] The amount of rotation of the vehicle body plane of the engineering machinery is determined based on the reference plane and the deformation changes of each outrigger.

[0009] Determine the corresponding vehicle body plane collapse rotation amount for each outrigger based on the vehicle body plane rotation amount;

[0010] The collapse amount of each outrigger is determined based on the amount of rotational collapse of each vehicle body plane;

[0011] Based on the outrigger collapse amount and a preset outrigger collapse amount threshold, the ground where the outrigger is located is identified for collapse.

[0012] In this embodiment of the application, obtaining the reference center of gravity and the reference plane includes: establishing a vehicle coordinate system; obtaining the coordinates of the overall center of gravity and the tilt angle of the vehicle plane at the target time; determining the overall center of gravity at the target time as the reference center of gravity; and determining the vehicle plane at the target time as the reference plane.

[0013] In this embodiment of the application, obtaining the change in outrigger reaction force of each outrigger includes: for any outrigger, obtaining the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position; and determining the difference between the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center position as the change in outrigger reaction force.

[0014] In this embodiment of the application, obtaining the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position includes: obtaining the distance from the fulcrum of each outrigger to the target center of gravity position to obtain multiple distances; determining the average distance based on the multiple distances; determining the outrigger reaction force at the target center of gravity position based on the distance from the fulcrum of the outrigger to the target center of gravity position, the average distance, and the overall weight of the machine; wherein, the target center of gravity position includes the current center of gravity position and the reference center of gravity position.

[0015] In this embodiment of the application, obtaining the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position further includes: obtaining the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position detected by the outrigger reaction force sensor.

[0016] In this embodiment of the application, determining the deformation change of each outrigger based on the change in outrigger reaction force includes: constructing a deformation model for each outrigger; obtaining the cross-sectional moment of inertia, elastic modulus, and length of each outrigger; and determining the deformation change of each outrigger based on the cross-sectional moment of inertia, elastic modulus, length, change in outrigger reaction force, and deformation model.

[0017] In this embodiment of the application, determining the body plane rotation of the construction machinery based on the reference plane and the deformation change of each outrigger includes: determining the coordinates of the current support point of each outrigger based on the deformation change of each outrigger; determining the current plane based on the coordinates of the current support point of each outrigger; and determining the angle between the current plane and the reference plane as the body plane rotation.

[0018] In this embodiment of the application, determining the vehicle plane collapse rotation amount corresponding to each outrigger based on the vehicle plane rotation amount includes: determining the component rotation amount corresponding to each outrigger based on the vehicle plane rotation amount; obtaining the current rotation amount of the vehicle plane; determining the current component rotation amount corresponding to each outrigger based on the current rotation amount of the vehicle plane; and determining the vehicle plane collapse rotation amount corresponding to each outrigger based on the component rotation amount and the current component rotation amount corresponding to each outrigger.

[0019] In this embodiment of the application, determining the outrigger collapse amount of each outrigger based on the vehicle body plane collapse rotation amount includes: obtaining the length of each outrigger; and determining the outrigger collapse amount of each outrigger as the product of the vehicle body plane collapse rotation amount corresponding to each outrigger and the length of each outrigger.

[0020] In this embodiment of the application, the preset outrigger collapse threshold includes a first preset outrigger collapse threshold and a second preset outrigger collapse threshold. The first preset outrigger collapse threshold is less than the second preset outrigger collapse threshold. The method further includes: for any outrigger, determining whether the outrigger collapse amount is greater than the first preset outrigger collapse threshold; if the outrigger collapse amount is greater than the first preset outrigger collapse threshold, determining whether the outrigger collapse amount is greater than the second preset outrigger collapse threshold; if the outrigger collapse amount is not greater than the second preset outrigger collapse threshold, sending a graphic alarm command to an alarm device; if the outrigger collapse amount is greater than the second preset outrigger collapse threshold, sending a graphic alarm command to an alarm device and sending a restriction action command to restrict the movement of the construction machinery.

[0021] A second aspect of this application provides a processor configured to execute the method described above for identifying outrigger collapse in engineering machinery.

[0022] A third aspect of this application provides an engineering machine, including: outriggers; and a processor according to the above.

[0023] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the method described above for identifying outrigger collapse in engineering machinery.

[0024] The above technical solution obtains the change in outrigger reaction force of each outrigger by determining the reference center of gravity, and then determines the change in outrigger deformation of each outrigger based on the change in outrigger reaction force. Next, the rotation of the vehicle body plane is determined based on the reference plane and the deformation changes of each outrigger. The corresponding body plane collapse rotation is then determined based on the body plane collapse rotation. Finally, the outrigger collapse amount is determined based on the outrigger collapse amount and a preset outrigger collapse amount threshold. By identifying collapse based on the outrigger collapse amount, the accuracy of identifying outrigger support collapse in construction machinery can be improved.

[0025] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0026] 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:

[0027] Figure 1 The illustration shows a flowchart of a method for identifying outrigger collapse of engineering machinery according to an embodiment of this application;

[0028] Figure 2 The diagram illustrates a vehicle coordinate system according to a specific embodiment of this application.

[0029] Figure 3 This illustration schematically shows a simplified model of the deformation change of a support leg according to a specific embodiment of this application;

[0030] Figure 4 This diagram illustrates the height variation of the outrigger's connection position with the vehicle body according to a specific embodiment of this application.

[0031] Figure 5 This schematic diagram illustrates a simplified model of the deformation variation of a support leg according to another specific embodiment of this application;

[0032] Figure 6 A schematic diagram illustrating the deformation relationship model between the outriggers and the main body structure of the vehicle is shown.

[0033] Figure 7 This illustration shows a schematic diagram of planar rotation calculation using a 123 plane as an example, according to a specific embodiment of this application.

[0034] Figure 8 This schematic diagram illustrates a method for determining the amount of rotation according to a specific embodiment of this application.

[0035] Figure 9 The illustration shows a schematic diagram of a leg collapse calculation according to a specific embodiment of this application;

[0036] Figure 10 A flowchart illustrating a method for calculating outrigger collapse according to a specific embodiment of this application is shown schematically.

[0037] Figure 11 A flowchart illustrating a graded early warning and control strategy according to an embodiment of this application is shown schematically;

[0038] Figure 12 A flowchart illustrating a different early warning control strategy after outrigger collapse according to an embodiment of this application is shown.

[0039] Figure 13This schematic diagram illustrates the structure of a system for identifying the collapse of outriggers of engineering machinery according to a specific embodiment of this application.

[0040] Figure 14 The diagram illustrates the functional structure of a sensing system according to a specific embodiment of this application.

[0041] Explanation of reference numerals in the attached figures

[0042] 110 Sensing System 120 Collapse Calculation Model

[0043] 130 Collapse Early Warning and Control System Detailed Implementation

[0044] 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.

[0045] 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.

[0046] 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.

[0047] Figure 1 A flowchart illustrating a method for identifying outrigger collapse in engineering machinery according to an embodiment of this application is shown schematically. Figure 1 As shown in the figure, this application provides a method for identifying the collapse of outriggers in engineering machinery. Taking the application of this method to a processor as an example, the method may include the following steps:

[0048] Step S101: Obtain the reference centroid and reference plane.

[0049] Step S102: Determine the change in outrigger reaction force of each outrigger based on the reference center of gravity.

[0050] Step S103: Determine the deformation change of each outrigger based on the change in outrigger reaction force.

[0051] Step S104: Determine the body plane rotation of the construction machinery based on the reference plane and the deformation changes of each outrigger.

[0052] Step S105: Determine the vehicle body plane collapse rotation amount corresponding to each outrigger based on the vehicle body plane rotation amount.

[0053] Step S106: Determine the outrigger collapse amount of each outrigger based on the outrigger rotation amount of each vehicle body plane collapse.

[0054] Step S107: Based on the outrigger collapse amount and the preset outrigger collapse amount threshold, perform collapse identification on the ground where the outrigger is located.

[0055] It can be understood that outrigger reaction force refers to the vertical reaction force acting on the outrigger. The change in outrigger reaction force refers to the difference between the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position. The current center of gravity position refers to the position of the center of gravity at the current moment. The reference center of gravity position refers to the pre-set center of gravity position as a reference. The change in outrigger deformation reflects the deformation of the outrigger, and is also the deflection of the outrigger under the action of the change in outrigger reaction force. After the outrigger reaction force changes, the change in outrigger deformation changes, but the actual height of the outrigger supporting the ground does not change; therefore, the change in deflection can be regarded as the change in height at the point where the outrigger connects to the vehicle body. The rotation of the vehicle plane refers to the angle between the vehicle plane and the reference plane. The reference plane position can be obtained by recording the tilt angle of the entire vehicle plane at an appropriate time. The collapse rotation refers to the angle with the vehicle plane corresponding to each outrigger. The outrigger collapse refers to the height of the collapse of each outrigger on the ground. The preset outrigger collapse threshold refers to a pre-set benchmark value used to determine outrigger collapse. An alarm can be triggered if the outrigger collapse exceeds the threshold.

[0056] Specifically, the processor first determines the reference center of gravity and the reference plane. Then, based on the reference center of gravity, it determines the change in outrigger reaction force for each outrigger. In one example, outrigger reaction forces at the current center of gravity position and at the reference center of gravity position can be obtained using outrigger reaction force sensors, and the change in outrigger reaction force can be calculated. In another example, a vehicle coordinate system can be constructed, and the distance from the fulcrum of each outrigger to the target center of gravity position can be obtained, and the average distance can be determined based on multiple distances. The outrigger reaction force at the target center of gravity position is determined based on the distance from the fulcrum of the outrigger to the target center of gravity position, the average distance, and the overall weight of the machine. After obtaining the change in outrigger reaction force for each outrigger, the change in outrigger deformation for each outrigger is determined based on the change in outrigger reaction force. For any outrigger, the length, moment of inertia, and modulus of elasticity of the outrigger section can be measured, and combined with the change in outrigger reaction force, the deflection of the outrigger under the action of the change in outrigger reaction force can be obtained, i.e., the change in outrigger deformation. Next, the rotation of the vehicle body plane is determined based on the reference plane and the deformation changes of each outrigger. This rotation can be determined by the angle between the current vehicle body plane and the reference plane. Then, the outrigger collapse amount is determined based on the vehicle body plane collapse rotation amount. For any outrigger, given its length and the vehicle body plane collapse rotation amount, multiplying these two values ​​yields the outrigger collapse amount. Finally, by comparing the outrigger collapse amount with a preset outrigger collapse threshold, ground collapse at the outrigger's location can be identified.

[0057] The above technical solution obtains the change in outrigger reaction force of each outrigger by determining the reference center of gravity, and then determines the change in outrigger deformation of each outrigger based on the change in outrigger reaction force. Next, the rotation of the vehicle body plane is determined based on the reference plane and the deformation changes of each outrigger. The corresponding body plane collapse rotation is then determined based on the body plane collapse rotation. Finally, the outrigger collapse amount is determined based on the outrigger collapse amount and a preset outrigger collapse amount threshold. By identifying collapse based on the outrigger collapse amount, the accuracy of identifying outrigger support collapse in construction machinery can be improved.

[0058] In one embodiment, obtaining the reference center of gravity and the reference plane includes: establishing a vehicle coordinate system; obtaining the coordinates of the overall center of gravity and the tilt angle of the vehicle plane at a target time; determining the overall center of gravity at the target time as the reference center of gravity; and determining the vehicle plane at the target time as the reference plane. Specifically, Figure 2 A schematic diagram illustrating a vehicle coordinate system according to a specific embodiment of this application is shown. Figure 2As shown, the origin o of the vehicle coordinate system is defined as the center of a circle on the lower surface of the rotary table. The x-direction is defined as the direction of the vehicle's front, the y-direction as the direction of the left side of the vehicle, and the z-direction as the direction of the top of the vehicle according to the right-hand rule. The xoy plane is defined as the vehicle plane. When determining the reference center of gravity and the reference plane, the tilt angle between the coordinates of the overall machine's center of gravity and the vehicle plane is recorded at an appropriate time according to the vehicle coordinate system. The overall machine's center of gravity at this time is taken as the reference center of gravity, and the vehicle plane at this time is taken as the reference plane. For example, the appropriate time can be the moment when the boom leaves the fully retracted position. The strategy for obtaining the reference center of gravity and the reference plane is not unique; a single reference or multiple references can be used. In one example, after the pump truck completes the support and raises the boom, the boom needs to be extended from 0 degrees to more than 70 degrees before the second boom can be extended. Three reference states can be recorded at three positions of boom extension: a degree, b degree, and c degree. The theoretical collapse amount is calculated based on each reference state. Alternatively, three baseline states can be recorded at three times: a seconds, b seconds, and c seconds after the boom is extended, and the theoretical collapse amount can be calculated based on each baseline state.

[0059] In one embodiment, obtaining the change in outrigger reaction force for each outrigger includes: for any outrigger, obtaining the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position; and determining the difference between the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center position as the change in outrigger reaction force.

[0060] Specifically, when determining the change in outrigger reaction force for each outrigger, the outrigger reaction force of each outrigger at the current center of gravity position and at the reference center of gravity position can be determined first. The outrigger reaction force of each outrigger can be obtained through outrigger reaction force sensors or calculated. After obtaining the outrigger reaction force of each outrigger at the current center of gravity position and the outrigger reaction force at the reference center of gravity position, the difference between the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position is determined as the change in outrigger reaction force.

[0061] In one embodiment, obtaining the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position includes: obtaining the distance from the fulcrum of each outrigger to the target center of gravity position to obtain multiple distances; determining the average distance based on the multiple distances; and determining the outrigger reaction force at the target center of gravity position based on the distance from the fulcrum of the outrigger to the target center of gravity position, the average distance, and the overall weight of the machine; wherein the target center of gravity position includes the current center of gravity position and the reference center of gravity position.

[0062] Specifically, the outrigger reaction forces at the current center of gravity position and at the reference center of gravity position can be calculated and determined based on the distance from the outrigger fulcrum to the target center of gravity position and the total vehicle weight. The target center of gravity position can include both the current center of gravity position and the reference center of gravity position. According to the vehicle coordinate system, the coordinates (x, y, y) of the target center of gravity position can be determined separately. gy g ) and the coordinates (x) of each leg n y n Then, the distance from the target's center of gravity to the fulcrum of each outrigger can be obtained. After obtaining the distance from the target center of gravity to the fulcrum of each outrigger, the average distance from the fulcrum of each outrigger to the target center of gravity can be calculated. Then, the outrigger reaction force at the target center of gravity is determined based on the distance from the fulcrum of the outrigger to the target center of gravity, the average distance, and the weight of the entire machine.

[0063] In one embodiment, obtaining the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position further includes: obtaining the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position detected by the outrigger reaction force sensor.

[0064] Specifically, the outrigger reaction force of each outrigger can be obtained directly through outrigger reaction force sensors. These sensors can be installed on each outrigger individually and can detect the outrigger reaction force at the current center of gravity position and at the reference center of gravity position.

[0065] In one embodiment, determining the deformation change of each outrigger based on the change in outrigger reaction force includes: constructing a deformation model for each outrigger; obtaining the cross-sectional moment of inertia, elastic modulus, and length of each outrigger; and determining the deformation change of each outrigger based on the cross-sectional moment of inertia, elastic modulus, length, change in outrigger reaction force, and deformation model.

[0066] Specifically, firstly, a deformation model of each outrigger is constructed. The deformation model is a model of an elastic body under concentrated force. For example, the deformation model can be a cantilever beam model. Then, the moment of inertia, elastic modulus, outrigger length, and change in outrigger reaction force of each outrigger are substituted into the deformation model to obtain the deformation change of each outrigger. Figure 3 The diagram illustrates a simplified model of the deformation variation of a support leg according to a specific embodiment of this application. Figure 4 This diagram schematically illustrates the height variation of the connection position between a support leg and the vehicle body according to a specific embodiment of this application. Figure 3 , Figure 4 As shown, the outrigger can be simplified as a cantilever beam model. L1 is the length of the left front outrigger, I1 is the moment of inertia of the section, E is the elastic modulus, and ΔF1 is the change in outrigger reaction force. Before deformation, the outrigger is horizontal. After the outrigger reaction force changes, the outrigger deformation changes. The actual height of the outrigger supporting the ground does not change, so the calculated deflection change can be regarded as the height change of the position where the outrigger connects to the vehicle body. Figure 5A simplified model diagram illustrating the deformation variation of a leg according to another specific embodiment of this application is shown. Figure 5 As shown, the outrigger can be simplified as a cantilever beam with a variable cross-section for calculation. In this case, the outrigger can be divided into three segments with different cross-sections. The structural parameters of each segment are known, including length and moment of inertia, allowing for the calculation of the outrigger deformation. The outrigger deformation can satisfy the formula... Among them, w n Let ΔF be the deformation change of the nth outrigger, also known as deflection. Deflection refers to the displacement of each point on its axis within the plane normal to the axis at that point during deformation. n The change in outrigger reaction force of the nth outrigger can be determined by the difference between the outrigger reaction force of each outrigger at its current center of gravity position and its reaction force at the reference center position. E is the elastic modulus, which is the stress divided by the strain in that direction under uniaxial stress. n Let L be the moment of inertia of the nth leg. The moment of inertia is the integral of the product of the area of ​​each infinitesimal element of the cross section and the square of the distance from each infinitesimal element to a specified axis on the cross section. n Let be the length of the nth leg.

[0067] In one embodiment, determining the body plane rotation of the construction machinery based on the reference plane and the deformation change of each outrigger includes: determining the coordinates of the current support point of each outrigger based on the deformation change of each outrigger; determining the current plane based on the coordinates of the current support point of each outrigger; and determining the angle between the current plane and the reference plane as the body plane rotation.

[0068] Specifically, Figure 6 A schematic diagram illustrating the deformation relationship between the outriggers and the main vehicle body structure is shown. For example... Figure 6 As shown, after the deflection w of the four outriggers changes (after the deformation changes), the vehicle body plane will also rotate to a certain extent. Here, the vehicle body plane is regarded as a rigid body without deformation, and the normal vector of the vehicle body plane before deformation is... The normal vector after deformation is Since the attitude and structural parameters of the outriggers are known, the coordinates of the four support points (ignoring height) can be calculated: left front support point (x1, y1, 0), right front support point (x2, y2, 0), left rear support point (x3, y3, 0), and right rear support point (x4, y4, 0). The reference plane is considered to be a horizontal plane, i.e., the plane when the outrigger deformation deflection is 0, at which point the normal vector... After the outriggers deform, i.e., w1, w2, w3, and w4 are non-zero, the coordinates of the four outriggers' pivot points are: left front pivot (x1, y1, w1), right front pivot (x2, y2, w2), left rear pivot (x3, y3, w3), and right rear pivot (x4, y4, w4). Three pivot points can define a plane; therefore, any three of the four pivot points can be used to calculate a plane. The normal vectors of planes 123, 134, 234, and 124 are then calculated. Figure 7 This illustration schematically shows a planar rotation calculation diagram using a 123 plane as an example, according to a specific embodiment of this application. Figure 7 As shown, After normalizing the vectors, we can obtain Similarly, it can be calculated that Summing the vectors and then normalizing them, we get... Finally, according to The angle between the current plane and the reference plane is determined as the amount of rotation of the vehicle body plane.

[0069] In one specific embodiment, determine Another method is to fit a plane. Let the plane to be fitted be: ax + by - z + c = 0, where a, b, and c are the unknown parameters of the plane. Then, a system of equations can be established. Among them, (x i y i , z i The coordinates of the four pivot points are given. Solving the system of equations yields a, b, and c, which in turn provides the equation of the plane to be fitted. This gives us the normal vector of the plane.

[0070] In one embodiment, determining the vehicle plane collapse rotation amount corresponding to each outrigger based on the vehicle plane rotation amount includes: determining the component rotation amount corresponding to each outrigger based on the vehicle plane rotation amount; obtaining the current rotation amount of the vehicle plane; determining the current component rotation amount corresponding to each outrigger based on the current rotation amount of the vehicle plane; and determining the vehicle plane collapse rotation amount corresponding to each outrigger based on the component rotation amount and the current component rotation amount corresponding to each outrigger.

[0071] Specifically, the rotation amount of each outrigger can be determined first based on the rotation amount of the vehicle body plane. Figure 8 This diagram schematically illustrates a method for determining the amount of rotation according to a specific embodiment of this application. Figure 8 As shown, after obtaining the normal vector of the vehicle body plane, the projection of this vector onto the reference plane can be calculated, i.e., x in the figure. At this point, on the reference plane, the angles between the directions of the four outriggers and the projection x can be obtained, which are α. RF α LF αLR and α RR Taking the right foreleg as an example, This allows us to obtain the component rotation amount corresponding to each outrigger. Then, we acquire the current rotation amount of the vehicle body plane. This current rotation amount can be directly detected by sensors. Finally, based on the current rotation amount of the vehicle body plane, we determine the current component rotation amount corresponding to each outrigger. Finally, the vehicle body plane collapse rotation θ corresponding to each outrigger can be determined based on the component rotation of each outrigger and the current component rotation of each outrigger. RF =θ A_RF -θ M_RF .

[0072] In one embodiment, determining the outrigger collapse amount of each outrigger based on the vehicle body plane collapse rotation amount includes: obtaining the length of each outrigger; and determining the outrigger collapse amount of each outrigger as the product of the vehicle body plane collapse rotation amount corresponding to each outrigger and the length of each outrigger.

[0073] Specifically, Figure 9 This diagram schematically illustrates a calculation of outrigger collapse according to a specific embodiment of this application. Figure 9 As shown, after the outrigger collapses, the vehicle body rotates at a small angle. Since the rotation angle and outrigger dimensions are known, the theoretical collapse amount C of the outrigger can be calculated. Taking the left front outrigger as an example, the outrigger length is L. LF The displacement of the vehicle body plane corresponding to the left front outrigger is θ. LF The collapse amount of the left front outrigger is C. LF =L LF θ LF .

[0074] In one specific embodiment, after the pump truck completes the support and raises its boom, the main boom needs to be extended from 0 degrees to over 70 degrees before the second outrigger can be deployed. Three baseline states can be recorded at three positions of the main boom extension: degrees a, b, and c. The theoretical collapse amount can be calculated based on each baseline state. Alternatively, three baseline states can be recorded at three seconds of main boom extension: seconds a, b, and c. The theoretical collapse amount can be calculated based on each baseline state. Taking the left front outrigger as an example, the theoretical collapse amount C is calculated based on baseline state one. LF1 Based on baseline state two, the theoretical collapse amount is calculated to be C. LF2 Based on baseline state three, the theoretical collapse amount is calculated to be C. LF3 Different calculation strategies can then be developed to calculate the final theoretical collapse amount of the left front support leg. Strategy 1: Arithmetic mean. Strategy 2: Geometric mean, then Strategy 3: Calculate the average value after removing the maximum value. Let C be an example. LF1 If it is the maximum value, then Strategy 4: Calculate the average value after removing the minimum value. Let C be an example. LF1 If it is the minimum value, then

[0075] In one embodiment, the preset outrigger collapse threshold includes a first preset outrigger collapse threshold and a second preset outrigger collapse threshold, wherein the first preset outrigger collapse threshold is less than the second preset outrigger collapse threshold. The method further includes: for any outrigger, determining whether the outrigger collapse amount is greater than the first preset outrigger collapse threshold; if the outrigger collapse amount is greater than the first preset outrigger collapse threshold, determining whether the outrigger collapse amount is greater than the second preset outrigger collapse threshold; if the outrigger collapse amount is not greater than the second preset outrigger collapse threshold, sending a graphic alarm command to an alarm device; if the outrigger collapse amount is greater than the second preset outrigger collapse threshold, sending a graphic alarm command to an alarm device and sending a restriction action command to restrict the movement of the construction machinery.

[0076] Specifically, the preset outrigger collapse threshold refers to a pre-set benchmark value used to determine outrigger collapse. The preset outrigger collapse threshold may include a first preset outrigger collapse threshold and a second preset outrigger collapse threshold, with the first preset outrigger collapse threshold being lower than the second preset outrigger collapse threshold. By setting two preset outrigger collapse thresholds, graded early warning and control of outrigger collapse can be achieved based on different outrigger collapse amounts. For any outrigger, it is first determined whether the outrigger collapse amount is greater than the first preset outrigger collapse threshold. If the outrigger collapse amount is not greater than the first preset outrigger collapse threshold, no alarm is required. If the outrigger collapse amount is greater than the first preset outrigger collapse threshold, it is then determined whether the outrigger collapse amount is greater than the second preset outrigger collapse threshold. If the outrigger collapse amount is not greater than the second preset outrigger collapse amount threshold, a graphic alarm command is sent to the alarm device; if the outrigger collapse amount is greater than the second preset outrigger collapse amount threshold, a graphic alarm command is sent to the alarm device, and a restriction action command is sent to limit the movement of the construction machinery. The restriction action command may include, but is not limited to, limiting the pump truck's pumping function, limiting the pump truck's boom movement, and limiting the pump truck's pumping speed, and can be controlled individually or in combination.

[0077] The above technical solution obtains the change in outrigger reaction force of each outrigger by determining the reference center of gravity, and then determines the change in outrigger deformation of each outrigger based on the change in outrigger reaction force. Next, the rotation of the vehicle body plane is determined based on the reference plane and the deformation changes of each outrigger. The corresponding body plane collapse rotation is then determined based on the body plane collapse rotation. Finally, the outrigger collapse amount is determined based on the outrigger collapse amount and a preset outrigger collapse amount threshold. By identifying collapse based on the outrigger collapse amount, the accuracy of identifying outrigger support collapse in construction machinery can be improved.

[0078] Figure 10 A flowchart illustrating the calculation of outrigger collapse according to a specific embodiment of this application is shown. Figure 10 As shown in this embodiment, the real-time center of gravity and the reference center of gravity are first obtained, and the amount of center of gravity movement is determined based on these two values. Then, the change in outrigger reaction force is determined based on the amount of center of gravity movement. The change in outrigger deformation can be determined based on the change in outrigger reaction force. The theoretical rotation of the vehicle body plane can be determined based on the change in outrigger deformation. The measured rotation of the vehicle body plane can be determined based on the pre-set reference plane and the real-time data collected by the sensor system. The theoretical and measured rotation of the vehicle body plane can be used to determine whether the outrigger has collapsed and to determine the amount of collapse rotation. Finally, the amount of outrigger collapse for each outrigger can be determined based on the amount of collapse rotation.

[0079] Figure 11 A flowchart illustrating a graded early warning and control strategy according to an embodiment of this application is shown schematically. Figure 11 As shown, after obtaining the theoretical collapse amount of the outrigger (i.e., the outrigger collapse amount of this application), it is first determined whether the outrigger collapse amount is greater than the first-level threshold a. If the outrigger collapse amount is not greater than the first-level threshold, it enters state 1, with no alarm. If the outrigger collapse amount is greater than the first-level threshold a, it is then determined whether the outrigger collapse amount is greater than the second-level threshold b. If the outrigger collapse amount is not greater than the second-level threshold b, it enters state 2, and the display screen shows a graphic alarm and a text alarm. If the outrigger collapse amount is greater than the second-level threshold b, it enters state 3, the display screen shows a graphic alarm and a text alarm, and the movement of the construction machinery is controlled. Controlling the movement of the construction machinery may include limiting the pump truck's pumping function, limiting the pump truck's boom movement, limiting the pump truck's pumping speed, or a combination of the above-mentioned limiting items.

[0080] Figure 12 A flowchart illustrating a different early warning control strategy following outrigger collapse according to an embodiment of this application is shown. Figure 12As shown, the collapse states of the left front outrigger, right front outrigger, left rear outrigger, and right rear outrigger are first obtained. It is then determined whether any outrigger exhibits state 3. State 3 indicates that the outrigger collapse amount is greater than the secondary threshold b, and the display shows both a graphic and text alarm, controlling the movement of the construction machinery. If any outrigger exhibits state 3, the display shows both a graphic and text alarm, the alarming outrigger is restricted, and the movement of the construction machinery is controlled. If no outrigger exhibits state 3, it is then determined whether any outrigger exhibits state 2. State 2 indicates that the outrigger collapse amount is greater than the primary threshold a and less than the secondary threshold b, and the display shows both a graphic and text alarm. If any outrigger exhibits state 2, the display shows both a graphic and text alarm, and the alarming outrigger is restricted. If no outrigger exhibits state 2, no alarm is triggered.

[0081] This application provides a processor configured to execute the method described above for identifying outrigger collapse in engineering machinery.

[0082] This application provides an engineering machine, including: outriggers and a processor according to the above.

[0083] Figure 13 The diagram schematically illustrates the structure of a system for identifying outrigger collapse in engineering machinery according to a specific embodiment of this application. Figure 13 As shown, the system may include a sensing system 110, a collapse calculation model 120, and a collapse early warning control system 130. The sensing system 110 can collect real-time data such as the attitude and force of the sensing equipment, obtaining data such as the real-time center of gravity position, fulcrum coordinates, and vehicle body tilt state. The collapse calculation model 120 is used to calculate the collapse amount of each outrigger. The collapse early warning control system 130 is used to issue collapse early warnings based on the outrigger collapse amounts. Figure 14 This schematically illustrates a structural diagram of the function of a sensing system 110 according to a specific embodiment of this application. For example... Figure 14 As shown, the sensing system 110 can detect the attitude of all moving parts of the equipment through an attitude model, combined with the equipment's structural dimensions, structural mass, and center of gravity position. Furthermore, it can calculate the center of gravity position, vehicle body plane tilt angle, and fulcrum coordinates.

[0084] This application also provides a machine-readable storage medium storing instructions that cause a machine to execute the method described above for identifying the collapse of outriggers in engineering machinery.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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 recognition of a collapsed support leg of a working machine, characterized in that, The method includes: Obtain the reference centroid and reference plane; The change in the reaction force of each outrigger is determined based on the reference center of gravity. The deformation change of each outrigger is determined based on the change in the outrigger reaction force of each outrigger. The amount of rotation of the vehicle body plane of the engineering machinery is determined based on the reference plane and the deformation change of each of the outriggers. The vehicle body plane collapse rotation amount corresponding to each of the outriggers is determined based on the vehicle body plane rotation amount. The collapse amount of each outrigger is determined based on the collapse rotation amount of each of the vehicle body planes; Based on the outrigger collapse amount and a preset outrigger collapse amount threshold, the ground where the outrigger is located is identified as having collapsed.

2. The method according to claim 1, characterized in that, The process of obtaining the reference centroid and reference plane includes: Establish the vehicle coordinate system; Obtain the coordinates of the machine's center of gravity and the tilt angle of the vehicle's plane at the target time; The center of gravity of the entire machine at the target moment is determined as the reference center of gravity; The vehicle plane at the target time is determined as the reference plane.

3. The method according to claim 1, characterized in that, The acquisition of the change in the reaction force of each outrigger includes: For any outrigger, obtain the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position; The difference between the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position is defined as the change in outrigger reaction force.

4. The method according to claim 3, characterized in that, The step of obtaining the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position includes: Obtain the distance from the fulcrum of each outrigger to the target center of gravity to obtain multiple distances; Determine the average distance based on the multiple distances; The outrigger reaction force at the target center of gravity is determined based on the distance from the fulcrum of the outrigger to the target center of gravity, the average value of the distance, and the weight of the entire machine. The target center of gravity position includes the current center of gravity position and the reference center of gravity position.

5. The method according to claim 3, characterized in that, The step of obtaining the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position further includes: The outrigger reaction force of each outrigger at the current center of gravity position and the outrigger reaction force at the reference center of gravity position are obtained, as detected by the outrigger reaction force sensor.

6. The method according to claim 1, characterized in that, The determination of the outrigger deformation change based on the change in outrigger reaction force of each outrigger includes: Deformation models of each of the aforementioned legs are constructed respectively; Obtain the cross-sectional moment of inertia, elastic modulus, and length of each outrigger; The deformation change of each outrigger is determined based on the cross-sectional moment of inertia, elastic modulus, outrigger length, outrigger reaction force change of each outrigger, and deformation model.

7. The method according to claim 1, characterized in that, The determination of the vehicle body plane rotation of the engineering machinery based on the reference plane and the deformation change of each of the outriggers includes: The coordinates of the fulcrum of each of the legs are determined based on the deformation change of each of the legs. The current plane is determined based on the coordinates of the fulcrums of each of the current outriggers; The angle between the current plane and the reference plane is determined as the rotation amount of the vehicle body plane.

8. The method according to claim 1, characterized in that, The step of determining the vehicle plane collapse rotation amount corresponding to each of the outriggers based on the vehicle plane rotation amount includes: The component rotation amount corresponding to each of the outriggers is determined based on the rotation amount of the vehicle body plane. Obtain the current rotation amount of the vehicle body plane; The current partial rotation amount corresponding to each of the outriggers is determined based on the current rotation amount of the vehicle body plane; The vehicle body plane collapse rotation amount corresponding to each outrigger is determined based on the component rotation amount corresponding to each outrigger and the current component rotation amount corresponding to each outrigger.

9. The method according to claim 1, characterized in that, The determination of the outrigger collapse amount based on the rotational amount of each vehicle body plane collapse includes: Obtain the length of each of the aforementioned legs; The product of the vehicle body plane collapse rotation amount corresponding to each outrigger and the length of each outrigger is determined as the outrigger collapse amount of each outrigger.

10. The method according to claim 1, characterized in that, The preset outrigger collapse threshold includes a first preset outrigger collapse threshold and a second preset outrigger collapse threshold, wherein the first preset outrigger collapse threshold is less than the second preset outrigger collapse threshold, and the method further includes: For any outrigger, determine whether the outrigger collapse amount is greater than the first preset outrigger collapse amount threshold. If the outrigger collapse amount is greater than the first preset outrigger collapse amount threshold, determine whether the outrigger collapse amount is greater than the second preset outrigger collapse amount threshold. If the outrigger collapse amount is not greater than the second preset outrigger collapse amount threshold, a graphic alarm command is sent to the alarm device. If the outrigger collapse amount exceeds the second preset outrigger collapse amount threshold, the graphic alarm command is sent to the alarm device, and a restriction action command is sent to restrict the movement of the construction machinery.

11. A processor, characterized in that, Configured to perform the method for identifying outrigger collapse of engineering machinery according to any one of claims 1 to 10.

12. An engineering machinery, characterized in that, include: Support legs; as well as The processor according to claim 11.

13. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the method for identifying outrigger collapse of engineering machinery according to any one of claims 1 to 10.

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