A posture control method and system for multi-legged working equipment

Abstract

The present invention discloses a posture control method and system for a multi-legged working equipment, and relates to the technical field of vehicle state control. In the driving state, the posture control method of the present invention adjusts the first output parameters of the first leg and the second leg to reduce the risk of rollover when moving along an inclined working surface. In the idling state, the first leg and the second leg are fixed on the working surface, and the center of mass parameters of the working equipment are controlled within the first interval to avoid the movement of the center of mass, improve the robustness of the adjustment center of mass parameters, and avoid repeated oscillations. In the working state, the second output parameters of the first leg and the second leg are adjusted so that the stiffness parameters of the working equipment meet the requirements of the working surface. Furthermore, the present invention sets two posture conditions, and adjusts the first controller and the second controller respectively to avoid overshoot or error accumulation affecting the stability of the center of mass.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle state control, and in particular to a posture control method and system for multi-legged working equipment. Background Art

[0002] The working equipment must maintain a stable center of mass during operation to prevent rollover accidents. The Chinese patent application with application number CN202110609062.2 discloses an automatic leveling method for a four-legged supported working platform. The method first determines the center of mass position of the working platform and the upper load, and divides the load-bearing relationship between the active and driven legs, adjusts the driven legs to the virtual leg state, and then controls all the legs to move synchronously to perform leveling. During the leveling process, the center of mass of this method is always within the load-bearing range of the active legs, without oscillation and with high robustness. If the center of mass of the working equipment changes nonlinearly during operation, the load-bearing relationship between the active and driven legs changes, and repeated oscillations may occur during the leveling process.

[0003] The Chinese patent application with application number CN202110742181.5 discloses a method for automatically controlling the attitude maintenance of the chassis of a truck crane during loading operations. This method tests and obtains the equivalent stiffness of each leg, calculates the coordinate position of the center of mass of the crane and the mass of the load according to the load of each leg, and then establishes a parameterized model of the center of mass coordinates of the truck crane and the load as a whole and a model of the outrigger compensation actuation, and then calculates and judges the outrigger compensation actuation required to cause the platform to tilt due to the lifting of the load off the ground, and synchronously controls the loading operation and the outrigger compensation actuation until the attitude maintenance control ends. This scheme analyzes the slewing angle of the crane in detail and obtains generalized horizontal operation state parameters. This method realizes synchronous control of outrigger compensation during the operation process, and maintains the real-time stability of the attitude of the truck crane during the operation process. However, this scheme does not consider the impact of changes in the parameters of the truck crane on the operation efficiency, and is not suitable for longitudinal vibration operation equipment with an inclined working surface. Summary of the invention

[0004] In order to solve the defects of the above-mentioned prior art, the present invention proposes a posture control method and system for multi-legged working equipment, which is suitable for working equipment on a non-horizontal working surface. Before the working state, the posture of the working equipment is preliminarily adjusted by the first output parameter, and the influence of the posture adjustment on the working state is reduced by the second output parameter. Furthermore, the present invention changes the speed of adjusting the second output parameter by adjusting the first controller and the second controller to avoid overshoot or error accumulation affecting the oscillation of the center of mass.

[0005] The technical solution of the present invention is achieved in this way:

[0006] A posture control method for a multi-legged working device comprises the following steps:

[0007] Step 1: The operating equipment comprises a carrier device and an operating device, two sets of first legs and two sets of second legs are arranged under the carrier device, and the first legs are located between the second legs and the operating device;

[0008] Step 2: The working equipment enters a driving state, the first leg and the second leg move along the working surface, and the first output parameters of the first leg and the second leg are adjusted according to the first posture model;

[0009] Step 3: The working equipment enters an idle state, the first leg and the second leg are fixed on the working surface, and the first output parameters of the first leg and the second leg are adjusted until the center of mass parameter of the working equipment is within the first interval;

[0010] Step 4: The operating equipment enters the operating state, and the maximum center of mass parameter of the operating equipment is predicted. If the maximum center of mass parameter is within the first interval, the process proceeds to step 5, otherwise, the process proceeds to step 7;

[0011] Step 5: predicting the vibration parameters of the operating equipment, and determining the total adjustment amount of the second output parameters of the first leg and the second leg according to the second posture model;

[0012] Step 6: Calculate the current adjustment amount according to the first controller of the first leg and the second controller of the second leg, control the second output parameter according to the current adjustment amount, adjust the proportional coefficient of the first controller and the second controller according to the first output parameter, and return to step 4;

[0013] Step 7: If the maximum centroid parameter is within the second interval, proceed to step 8, otherwise a job warning notification is issued and the task ends;

[0014] Step 8: predicting the vibration parameters of the operating equipment, determining the current adjustment amount of the second output parameter of the first leg, controlling the second output parameter according to the current adjustment amount, and adjusting the differential coefficient of the first controller according to the first output parameter of the first leg;

[0015] Step 9: if the second output parameter of at least one first leg reaches an extreme value, determine a current adjustment amount of the second output parameter of the second leg, and control the second output parameter according to the current adjustment amount;

[0016] Step 10: Adjust the integral coefficient of the first controller according to the first output parameter of the first leg, adjust the differential coefficient of the second controller according to the first output parameter of the second leg, and return to step 4.

[0017] In the present invention, in step 2, the inclination angle α of the working surface and the attitude inclination angle γ of the first leg are determined, the attitude adjustment angle β of the first leg is predicted according to the first attitude model, and then the target value of the first output parameter is calculated according to the attitude adjustment angle, and the first output parameter is adjusted from the current value L1 to the target value. The first attitude model is , H1 is the vertical distance from the center of mass coordinate of the operating equipment to the working surface, and S1 is the distance from the first support leg to the center of mass coordinate.

[0018] In the present invention, in step 4, the centroid vector Q1 of the working equipment in the idle state and the initial position vector Q2 of the working device are measured, the working position vector Q3 of the working device is input, the centroid vector Q4 of the working equipment in the working state is calculated, and then the centroid offset vector C2 in the working state is calculated. The maximum centroid parameter is the maximum value of the modulus of the centroid offset vector, wherein, , m0 is the mass of the operating equipment, m1 is the mass of the operating device, C2=Q4-Q0, Q0 is the center vector of the fulcrum composed of the first leg and the second leg, if max(|C2|)≤R1cosα, the maximum center of mass parameter is in the first interval, and R1 is the safety posture deviation under the driving state.

[0019] In the present invention, in step 5, the vibration parameter is the target stiffness of the operating equipment, and the target stiffness k0 is predicted according to the operating vibration model of the operating equipment, wherein the operating vibration model is , ω is the natural frequency of the working surface, μ is the equivalent stiffness of the working surface, and m2 is the vibration mass of the working surface.

[0020] In the present invention, in step 5, the pressures F1 and F2 of the two groups of first legs and the pressures F3 and F4 of the two groups of second legs are collected, the current value k1 of the second control parameter of the first leg and the current value k2 of the second control parameter of the second leg are input, and the total adjustment amount Δk of the second control parameter is predicted according to the target stiffness, and the second posture model is k0=[(F1+F2)(k1+Δk)+(F3+F4)(k2+Δk)] / (F1+F2+F3+F4).

[0021] In the present invention, in step 6, the first controller is , δ p1 is the proportional coefficient of the first controller, δ i1 is the integral coefficient of the first controller, δ d1 is the differential coefficient of the first controller;

[0022] The second controller is , δ p2 is the proportional coefficient of the second controller, δ d2 is the differential coefficient of the second controller;

[0023] Substitute ΔG1=ΔG2=Δk into the first controller and the second controller to determine the current adjustment amount G1 of the first leg and the current adjustment amount G2 of the second leg, where t is the adjustment duration.

[0024] In the present invention, in step 6, the elongation of the first output parameter of the first leg is ΔL1, and the proportional coefficient of the first controller is , is the adjustment step of the proportional coefficient, and L0 is the initial value of the first output parameter.

[0025] In the present invention, in step 7, if R1cosα<|C2|≤R2cosα, the center of mass parameter is within the second interval, R2 is the safety posture deviation in the working state, and R1<R2.

[0026] In the present invention, in step 8, the pressures F1 and F2 of the two groups of first legs and the pressures F3 and F4 of the two groups of second legs are collected, the current value k1 of the second control parameter of the first leg and the current value k2 of the second control parameter of the second leg are input, and the third posture model k0=((F1+F2)(k1+Δk)+(F3+F4)k2) / (F1+F2+F3+F4) is set, and the total adjustment amount Δk of the second output parameter of the first leg is determined according to the third posture model.

[0027] A posture control system for implementing the posture control method of the multi-legged working equipment, comprising:

[0028] An operating device, the operating device comprises a carrier device and an operating device, two groups of first supporting legs and two groups of second supporting legs are arranged below the carrier device;

[0029] A state control device is configured to control the working equipment to enter an idle state, a driving state, and a working state;

[0030] a first posture adjustment device configured to adjust a first output parameter of the first leg and the second leg;

[0031] a data analysis device configured to determine a current adjustment amount of a second output parameter based on the first controller and the second controller;

[0032] a second posture adjustment device configured to adjust a second output parameter of the first leg and the second leg;

[0033] The coefficient adjustment device is configured to adjust the proportional coefficient, integral coefficient and differential coefficient of the first controller and the proportional coefficient and differential coefficient of the second controller.

[0034] The posture control method and system of the multi-legged working equipment implemented in the present invention have the following beneficial effects: in the driving state, the first output parameters of the first leg and the second leg are adjusted to reduce the risk of rollover when moving along the inclined working surface. In the idling state, the first leg and the second leg are fixed on the working surface, and the center of mass parameters of the working equipment are controlled within the first interval to avoid the movement of the center of mass, thereby improving the robustness of adjusting the center of mass parameters in subsequent working states and avoiding repeated oscillations. In the working state, the second output parameters of the first leg and the second leg are adjusted so that the stiffness parameters of the working equipment meet the requirements of the working surface. Furthermore, the present invention sets two posture conditions to adjust the first controller and the second controller respectively to avoid overshoot or error accumulation affecting the stability of the center of mass. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a flow chart of the posture control method of the multi-leg working equipment of the present invention;

[0036] Figure 2 is an equivalent schematic diagram of the operating equipment of the present invention;

[0037] Figure 3 It is a left side view of the multi-legged working equipment of the present invention;

[0038] Figure 4 A top view of the multi-legged working device of the present invention;

[0039] Figure 5 A schematic diagram of adjusting a first output parameter of a first leg and a second leg according to the present invention;

[0040] Figure 6 A schematic diagram of a mass center offset vector of an operating device of the present invention;

[0041] Figure 7 is a block diagram of a first controller of the present invention;

[0042] Figure 8 is a block diagram of a second controller of the present invention;

[0043] Fig. 9 is a curve diagram of the second output parameter of the present invention;

[0044] Fig.10 It is a block diagram of the attitude control system of the present invention.

[0045] Reference numerals in the accompanying drawings: 101 carrier device, 102 working device, 103 first support leg, 104 second support leg, 105 first posture adjustment device, 106 second posture adjustment device, 107 center of mass coordinates, 108 first interval, 109 second interval. DETAILED DESCRIPTION

[0046] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0047] In order to solve the influence of posture control of longitudinal vibration working equipment and changes in posture parameters on working efficiency in the prior art, the present invention adjusts the first output parameter and the second output parameter to reduce the risk of rollover when moving along an inclined working surface. When the maximum center of mass parameter is within the first interval, the second output parameter is controlled according to the first controller of the first leg and the second controller of the second leg. When the maximum center of mass parameter is within the second interval, the second output parameters of the first leg and the second leg are adjusted in turn. When the working equipment enters the working state, the above adjustment method can prevent the working equipment from tipping over. Embodiment 1

[0048] like Figures 1 to 9 As shown, the posture control method of the multi-legged working equipment of the present invention includes the following steps.

[0049] Step 1: The operating equipment has a carrier device and an operating device. Two sets of first legs and two sets of second legs are arranged under the carrier device, and the first legs are located between the second legs and the operating device. Figures 2 to 4 As shown, the carrier device 101 of the operating equipment contains an engine, various circuits and electrical equipment, the operating device 102 is a pile driver, and each set of first legs 103 and second legs 104 includes a first posture adjustment device 105, a second posture adjustment device 106 and a walking wheel. The first posture adjustment device 105 is generally a hydraulic pump, which is used to adjust the first output parameter. The second posture adjustment device 106 is used to adjust the second output parameter. The second posture adjustment device 106 is a hydraulic or pneumatic servo drive system, such as a pneumatic spring. When the carrier device is in a horizontal posture, the center of mass coordinate 107 is located inside the carrier device, and the operating equipment is safer and more stable, which is conducive to the driving and construction of the operating device.

[0050] Step 2: The working equipment enters the driving state, the first leg and the second leg move along the working surface, and the first output parameters of the first leg and the second leg are adjusted according to the first posture model. In this embodiment, a three-dimensional coordinate system is established with the intersection of the first leg and the working surface as the coordinate origin O, the direction of the horizontal plane along the working equipment as the x-axis, the direction of the horizontal plane perpendicular to the x-axis as the y-axis, and the direction perpendicular to the horizontal plane as the z-axis. This embodiment first determines the inclination angle α of the working surface and the posture inclination angle γ of the first leg, predicts the posture adjustment angle β of the first leg according to the first posture model, and then calculates the target value of the first output parameter according to the posture adjustment angle, and adjusts the first output parameter from the current value L1 to the target value. Figure 5is the vertical plane of the working equipment, and the dotted part is the horizontal posture of the working equipment. Refer to Example 2 to determine the target value of the first output parameter. The adjustment method of the second leg is in accordance with the adjustment method of the first output parameter of the first leg. The first output parameter is adjusted along the current value toward the target value. Since the working equipment is in motion, and the elongation of the first leg and the second leg causes the center of mass coordinates to change continuously, this embodiment continuously performs periodic feedback adjustment during the driving state, so that the working equipment gradually approaches a horizontal posture.

[0051] Step 3: The working equipment enters the idle state, the first leg and the second leg are fixed on the working surface, and the first output parameters of the first leg and the second leg are adjusted until the center of mass parameter of the working equipment is within the first interval. In the idle state, the first leg and the second leg continuously adjust the first output parameter to keep the working equipment in a better state before entering the working state. Figure 6 is the horizontal projection plane of the working equipment, and the first interval 108 and the second interval 109 are two safety ranges of the center of mass parameter. Q0 is the center vector of the fulcrum formed by the first leg 103 and the second leg 104, Q1 is the center of mass vector of the working equipment in the idle state, and the center of mass offset vector C1=Q1-Q0 in the idle state. The center of mass parameter is the modulus of the center of mass offset vector. If |C1|≤R1cosα, the center of mass parameter is within the first interval 108, and R1 is the safe posture offset in the driving state, for example, R1 takes a value of 1m.

[0052] Step 4: The operating equipment enters the operating state, and the maximum center of mass parameters of the operating equipment are predicted. If the maximum center of mass parameters are within the first interval, go to step 5, otherwise go to step 7. When the operating equipment enters the operating state, the first leg and the second leg are fixed on the working surface, and the periodic change of the working position of the operating device causes the center of mass coordinates to change. It is known that the center of mass vector of the operating equipment in the idle state is Q1, the initial position vector of the operating device is Q2, the operating position vector of the operating device is Q3, and the center of mass vector Q4 of the operating equipment in the operating state is the weighted value, that is, , m0 is the mass of the operating equipment, and m1 is the mass of the operating device. The center of mass offset vector C2=Q4-Q0 in the operating state. The maximum center of mass parameter is the maximum value of the modulus of the center of mass offset vector. If max(|C2|)≤R1cosα, the maximum center of mass parameter is within the first interval.

[0053] Step 5: Predict the vibration parameters of the operating equipment, and determine the total adjustment amount of the second output parameters of the first leg and the second leg according to the second posture model. The vibration parameter is the target stiffness of the operating equipment, and the target stiffness k0 is predicted according to the operating vibration model of the operating equipment, where the operating vibration model is , ω is the natural frequency of the working surface, μ is the equivalent stiffness of the working surface, and m2 is the vibration mass of the working surface. The operating vibration model refers to the condition that the frequency of the operating equipment is the same as the natural frequency of the working surface, which can increase the resonance amplitude of the working surface and improve the pile driving efficiency.

[0054] The present invention collects the pressures F1 and F2 of the two groups of first legs and the pressures F3 and F4 of the two groups of second legs, and inputs the current value k1 of the second control parameter of the first leg and the current value k2 of the second control parameter of the second leg. The total adjustment amount Δk of the second control parameter is predicted according to the target stiffness. The second posture model is k0=[(F1+F2)(k1+Δk)+(F3+F4)(k2+Δk)] / (F1+F2+F3+F4), and the relationship between the total adjustment amount of the second control parameter and the target stiffness of the operating equipment can be obtained from the second posture model.

[0055] Step 6: Calculate the current adjustment amount according to the first controller of the first leg and the second controller of the second leg, control the second output parameter according to the current adjustment amount, adjust the proportional coefficient of the first controller and the second controller according to the first output parameter, and return to step 4. The first controller is , δ p1 is the proportional coefficient of the first controller, δ i1 is the integral coefficient of the first controller, δ d1 is the differential coefficient of the first controller, and t is the adjustment time. The second controller is , δ p2 is the proportional coefficient of the second controller, δ d2 is the differential coefficient of the second controller. The first controller and the second controller are both PID controllers, which are used to optimize the current adjustment amount of the second output parameter. Substituting ΔG1=ΔG2=Δk into the first controller and the second controller, the current adjustment amount G1 of the first leg and the current adjustment amount G2 of the second leg are determined. Fig. 9 As shown, as the adjustment time increases, the current value of the second output parameter gets closer and closer to the target value of the second output parameter.

[0056] Proportional coefficient of the first controller , is the adjustment step of the proportional coefficient, L0 is the initial value of the first output parameter, and ΔL1 is the elongation of the first output parameter. p2 Referring to the above method for adjusting the proportional coefficient of the first controller according to the first output parameter of the first leg, this embodiment adjusts the proportional coefficient of the first controller and the second controller according to the first output parameter, and reduces the proportional coefficient when the elongation of the first output parameter is large, so as to avoid the leg from becoming unstable due to too fast a change in rigidity.

[0057] Step 7: If the maximum center of mass parameter is within the second interval, proceed to step 8, otherwise issue an operation warning notification and end the task. If R1cosα<max(|C2|)≤R2cosα, the maximum center of mass parameter is within the second interval 109, R2 is the safe posture deviation under the operation state, and R1<R2. R2 is, for example, 1.5m. When the maximum center of mass parameter is too large, the risk of center of mass instability is high, and the operation is stopped. When the maximum center of mass parameter meets the second interval, the operation continues.

[0058] Step 8: Predict the vibration parameters of the operating equipment, determine the current adjustment amount of the second output parameter of the first leg, control the second output parameter according to the current adjustment amount, and adjust the differential coefficient of the first controller according to the first output parameter of the first leg. When the maximum center of mass parameter is within the second interval, the adjustment speed should not be too large to avoid being affected by additional factors and causing the maximum center of mass parameter to exceed the second interval. Because the first leg is close to the operating device, the first leg is adjusted first, so that the maximum center of mass parameter can be kept in the second interval.

[0059] Collect the pressures F1 and F2 of the two groups of first legs and the pressures F3 and F4 of the two groups of second legs, input the current value k1 of the second control parameter of the first leg and the current value k2 of the second control parameter of the second leg, set the third posture model k0=((F1+F2)(k1+Δk)+(F3+F4)k2) / (F1+F2+F3+F4), and determine the total adjustment amount Δk of the second output parameter of the first leg according to the third posture model. Determine the current adjustment amount of the second output parameter of the first leg according to the method in step 6.

[0060] Furthermore, in this embodiment, the differential coefficient δ of the first controller is adjusted according to the first output parameter of the first leg. d1 , the adjustment direction of the differential coefficient is the same as step 6. Since the second leg is not involved in the adjustment in this step, when the elongation of the first output parameter is large, the differential coefficient can be reduced to avoid excessive sensitivity, which causes the target stiffness of the first leg to oscillate continuously.

[0061] Step 9: If at least one of the second output parameters of the first leg reaches an extreme value, determine the current adjustment amount of the second output parameter of the second leg, and control the second output parameter according to the current adjustment amount. When the second output parameter of the first leg has a maximum value and a minimum value, and the second output parameters of the first leg are all within the extreme value range, step 10 can be entered. When the second output parameter of the first leg reaches an extreme value, it cannot be adjusted through the first controller anymore, and only the second output parameter of the second leg can be adjusted. The target value of the second control parameter of the second leg refers to the third posture model shown in step 8, and the current adjustment amount refers to the second controller in step 6.

[0062] Step 10: Adjust the integral coefficient of the first controller according to the first output parameter of the first leg, and adjust the differential coefficient δ of the second controller according to the first output parameter of the second leg d2 , return to step 4. The adjustment direction of the integral coefficient of the first controller is opposite to the adjustment direction of the proportional coefficient of the first controller in step 6. For example, the integral coefficient of the first controller , The present invention reduces the steady-state error by adjusting the integral coefficient of the first controller to avoid error accumulation. The differential coefficient δ of the second controller d2 The adjustment direction is the same as the proportional coefficient adjustment direction of the first controller in step 6. The elongation of the first output parameter reversely changes the differential adjustment amount of the second controller, and the dynamic response sensitivity is adjusted by adjusting the differential coefficient of the second controller. Embodiment 2

[0063] The present invention does not limit the method of calculating the target value of the first output parameter according to the posture adjustment angle in step 2. Figure 5 The coordinate system is established, and this embodiment provides a specific geometric algorithm.

[0064] First, determine the first posture model based on the geometric relationship , H1 is the vertical distance from the center of mass coordinate of the working equipment to the working surface, S1 is the distance from the first leg to the center of mass coordinate, α is the inclination angle of the working surface, and γ is the attitude inclination angle of the first leg. γ can be determined based on the condition that the working equipment is in a horizontal attitude, and α can be measured by equipment such as a gyroscope.

[0065] According to the first posture model, the posture adjustment angle β of the first leg is inversely solved, and then the relationship between the posture adjustment angle β and the elongation ΔL1 of the first output parameter is determined. , θ1 is the side swing joint angle of the first leg, and θ2 is the front swing joint angle of the first leg. After calculating ΔL1, the target value of the first output parameter is predicted to be = L1 + ΔL1. Embodiment 3

[0066] like Fig.10As shown, a posture control system for implementing the posture control method of the multi-legged working equipment of this embodiment includes: working equipment, a state control device, a first posture adjustment device, a data analysis device, a second posture adjustment device, and a coefficient adjustment device. Among them, the working equipment has a carrier device and a working device, and two groups of first legs and two groups of second legs are arranged below the carrier device, and each group of first legs and second legs includes a first posture adjustment device and a second posture adjustment device. The state control device is configured to control the working equipment to enter an idle state, a driving state, and a working state. The first posture adjustment device is configured to adjust the first output parameters of the first leg and the second leg, and control the maximum center of mass parameter within a first interval. The data analysis device is configured to determine the current adjustment amount of the second output parameter according to the first controller and the second controller. The second posture adjustment device is configured to adjust the second output parameters of the first leg and the second leg, and control the second output parameter from the current value to the target value according to the total adjustment amount and the current adjustment amount. The coefficient adjustment device adjusts the proportional coefficient, integral coefficient and differential coefficient of the first controller, and the proportional coefficient and differential coefficient of the second controller. The posture control system may further include a data acquisition device for acquiring the state of the operating equipment controlled by the state control device.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A posture control method for a multi-legged working device, characterized in that: The following steps are involved: Step 1: The operating equipment comprises a carrier device and an operating device, two sets of first legs and two sets of second legs are arranged under the carrier device, and the first legs are located between the second legs and the operating device; Step 2: The working equipment enters a driving state, the first leg and the second leg move along the working surface, and the first output parameters of the first leg and the second leg are adjusted according to the first posture model; Step 3: The working equipment enters an idle state, the first leg and the second leg are fixed on the working surface, and the first output parameters of the first leg and the second leg are adjusted until the center of mass parameter of the working equipment is within the first interval; Step 4: The operating equipment enters the operating state, and the maximum center of mass parameter of the operating equipment is predicted. If the maximum center of mass parameter is within the first interval, the process proceeds to step 5, otherwise, the process proceeds to step 7; Step 5: predicting the vibration parameters of the operating equipment, and determining the total adjustment amount of the second output parameters of the first leg and the second leg according to the second posture model; Step 6: Calculate the current adjustment amount according to the first controller of the first leg and the second controller of the second leg, control the second output parameter according to the current adjustment amount, adjust the proportional coefficient of the first controller and the second controller according to the first output parameter, and return to step 4; Step 7: If the maximum centroid parameter is within the second interval, proceed to step 8, otherwise a job warning notification is issued and the task ends; Step 8: predicting the vibration parameters of the operating equipment, determining the current adjustment amount of the second output parameter of the first leg, controlling the second output parameter according to the current adjustment amount, and adjusting the differential coefficient of the first controller according to the first output parameter of the first leg; Step 9: if the second output parameter of at least one first leg reaches an extreme value, determine a current adjustment amount of the second output parameter of the second leg, and control the second output parameter according to the current adjustment amount; Step 10: adjusting the integral coefficient of the first controller according to the first output parameter of the first leg, adjusting the differential coefficient of the second controller according to the first output parameter of the second leg, and returning to step 4, wherein: In step 2, the inclination angle α of the working surface and the attitude inclination angle γ of the first leg are determined, the attitude adjustment angle β of the first leg is predicted according to the first attitude model, and then the target value of the first output parameter is calculated according to the attitude adjustment angle, and the first output parameter is adjusted from the current value L1 to the target value. The first attitude model is , H1 is the vertical distance from the center of mass coordinate of the operating equipment to the working surface, S1 is the distance from the first leg to the center of mass coordinate, In step 4, the centroid vector Q1 of the working equipment in the idle state and the initial position vector Q2 of the working device are measured, the working position vector Q3 of the working device is input, the centroid vector Q4 of the working equipment in the working state is calculated, and then the centroid offset vector C2 in the working state is calculated. The maximum centroid parameter is the maximum value of the modulus length of the centroid offset vector, where: , m0 is the mass of the operating equipment, m1 is the mass of the operating device, C2=Q4-Q0, Q0 is the center vector of the fulcrum composed of the first leg and the second leg, if max(|C2|)≤R1cosα, then the maximum center of mass parameter is in the first interval, R1 is the safe posture deviation under driving state, In step 5, the vibration parameter is the target stiffness of the operating equipment, and the target stiffness k0 is predicted according to the operating vibration model of the operating equipment, where the operating vibration model is , ω is the natural frequency of the working surface, μ is the equivalent stiffness of the working surface, m2 is the vibration mass of the working surface, In step 5, the pressures F1 and F2 of the two groups of first legs and the pressures F3 and F4 of the two groups of second legs are collected, the current value k1 of the second control parameter of the first leg and the current value k2 of the second control parameter of the second leg are input, and the total adjustment amount Δk of the second control parameter is predicted according to the target stiffness. The second posture model is k0=[(F1+F2)(k1+Δk)+(F3+F4)(k2+Δk)] / (F1+F2+F3+F4).

2. The posture control method of the multi-legged working equipment according to claim 1, characterized in that: In step 6, the first controller is , δ p1 is the proportional coefficient of the first controller, δ i1 is the integral coefficient of the first controller, δ d1 is the differential coefficient of the first controller; The second controller is , δ p2 is the proportional coefficient of the second controller, δ d2 is the differential coefficient of the second controller; Substitute ΔG1=ΔG2=Δk into the first controller and the second controller to determine the current adjustment amount G1 of the first leg and the current adjustment amount G2 of the second leg, where t is the adjustment duration.

3. The posture control method of the multi-legged working equipment according to claim 2, characterized in that: In step 6, the elongation of the first output parameter of the first leg is ΔL1, and the proportional coefficient of the first controller is , is the adjustment step of the proportional coefficient, and L0 is the initial value of the first output parameter.

4. The posture control method of the multi-legged working equipment according to claim 1, characterized in that: In step 7, if R1cosα<|C2|≤R2cosα, the center of mass parameter is in the second interval, R2 is the safe posture deviation in the working state, and R1<R2.

5. The posture control method of multi-legged working equipment according to claim 1, characterized in that: In step 8, collect the pressures F1 and F2 of the two groups of first legs and the pressures F3 and F4 of the two groups of second legs, input the current value k1 of the second control parameter of the first leg and the current value k2 of the second control parameter of the second leg, set the third posture model k0=((F1+F2)(k1+Δk)+(F3+F4)k2) / (F1+F2+F3+F4), and determine the total adjustment amount Δk of the second output parameter of the first leg according to the third posture model.

6. A posture control system for implementing the posture control method of the multi-legged working equipment according to claim 1, characterized in that: include: An operating device, the operating device comprises a carrier device and an operating device, two groups of first supporting legs and two groups of second supporting legs are arranged below the carrier device; A state control device is configured to control the working equipment to enter an idle state, a driving state, and a working state; a first posture adjustment device configured to adjust a first output parameter of the first leg and the second leg; a data analysis device configured to determine a current adjustment amount of a second output parameter based on the first controller and the second controller; a second posture adjustment device configured to adjust a second output parameter of the first leg and the second leg; The coefficient adjustment device is configured to adjust the proportional coefficient, integral coefficient and differential coefficient of the first controller and the proportional coefficient and differential coefficient of the second controller.

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