Engineering machinery chassis control method and device, chassis and engineering machinery

Abstract

The invention relates to the technical field of automatic control of engineering machinery, and discloses an engineering machinery chassis control method and device, a chassis and engineering machinery. In response to a landing leg extension instruction, the whole vehicle is suspended and lowered to the lowest position, and the suspension is locked; and after the suspension is locked, the supporting legs are controlled to stretch out. Automatic vehicle supporting of engineering machinery is achieved, pressure is prevented from being applied to tires in the working process after vehicle supporting succeeds, and damage to the tires is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control of engineering machinery, and in particular to an engineering machinery chassis control method, device, chassis and engineering machinery. Background Art

[0002] In construction machinery equipment, it is often necessary to control the chassis mechanism of the construction machinery to deploy and retract the outriggers during engineering operations. The common retractable and extendable vehicle control mode is that the operator controls the suspension and outriggers through manual operation of the button panel, remote control, etc. to retract and extend the vehicle. This requires the operator to have a certain understanding of chassis control. If the driver is not familiar with the chassis structure, it will make the chassis operation more difficult and the retractable and extendable vehicle operation time longer. Summary of the invention

[0003] In view of this, the present invention provides a method and device for controlling a chassis of an engineering machinery, a chassis and an engineering machinery, so as to solve the problem of low automation level of supporting and retracting vehicles of the engineering machinery.

[0004] In a first aspect, the present invention provides a method for controlling a chassis of an engineering machinery, the method comprising: receiving an outrigger extension command; in response to the outrigger extension command, lowering the vehicle suspension to a lowest position and locking the suspension; after the suspension is locked, controlling the outrigger to extend.

[0005] In some optional embodiments, lowering the vehicle suspension to the lowest position and locking the suspension includes: locking the suspension after the vehicle suspension is lowered to the lowest position and delayed for a first preset time.

[0006] In some optional embodiments, after the suspension is locked, controlling the extension of the legs includes: controlling the legs to extend horizontally; when the legs are extended horizontally into place, extending the legs vertically toward the ground; determining whether reaction force data given to the legs by the ground is generated by detecting the leg pressure; when the reaction force data is detected, detecting the horizontal inclination angle of the entire vehicle; adjusting the vertical extension amount of each leg according to the horizontal inclination angle of the entire vehicle until the horizontal inclination angle enters a preset angle range, and stopping controlling the legs to extend vertically.

[0007] In some optional embodiments, the method further includes: receiving a leg retraction command; in response to the leg retraction command, vertically retracting the leg; when the leg is vertically retracted into place, horizontally retracting the leg; when the leg is horizontally retracted into place, restoring the vehicle suspension.

[0008] In some optional embodiments, before the outrigger is vertically retracted, the step further includes: in response to the outrigger retraction instruction, determining whether an instruction for satisfying vehicle retrieval conditions issued by an upper mechanism is received, the instruction for satisfying vehicle retrieval conditions being used to indicate whether the construction machinery can meet the standard for safe vehicle retrieval; if the instruction for satisfying vehicle retrieval conditions is received, executing the step of vertically retracting the outrigger.

[0009] In some optional embodiments, the outrigger is controlled by a chassis hydraulic system, and the vertical retraction of the outrigger includes: during the vertical retraction of the outrigger, detecting the outrigger pressure and the valve pressure data of the outrigger vertical solenoid valve, wherein the outrigger vertical solenoid valve is a solenoid valve in the chassis hydraulic system for controlling the vertical movement of the outrigger; when no reaction force data is detected in the outrigger pressure and the valve pressure data exceeds a preset valve pressure threshold, it is determined that the outrigger is vertically retracted into place.

[0010] In some optional embodiments, when the legs are horizontally retracted into place, the suspension of the entire vehicle is restored, including: when the legs are horizontally retracted into place, an alarm signal is output; after a delay of a second preset time, the suspension lock is released; when the suspension lock is released, the suspension of the entire vehicle is raised to a preset position, and the preset position is lower than the highest position of the suspension of the entire vehicle.

[0011] In a second aspect, the present invention provides a construction machinery chassis control device, the device comprising: a first instruction receiving module for receiving an outrigger extension instruction; a suspension adjustment module for lowering the vehicle suspension to the lowest position and locking the suspension in response to the outrigger extension instruction; and an outrigger extension control module for controlling the outrigger extension after the suspension is locked.

[0012] In a third aspect, the present invention provides an engineering machinery chassis, comprising: a memory, a controller, an outrigger, a suspension and a chassis hydraulic system; the chassis hydraulic system is used to control the outrigger and the suspension, the memory and the controller are communicatively connected to each other, the controller and the outrigger hydraulic system are communicatively connected, the memory stores computer instructions, and the controller executes the computer instructions to execute the method described in the first aspect of the claim or any one of the first aspects to control the chassis hydraulic system.

[0013] In a fourth aspect, the present invention provides an engineering machinery, comprising an upper mounting mechanism and the engineering machinery chassis provided in the third aspect.

[0014] The technical solution provided by the present invention has the following advantages:

[0015] The present invention automatically controls the extension of the outriggers through a one-touch extension command of the outriggers of the engineering machinery chassis, and before the outriggers are extended, the suspension of the entire vehicle is first adjusted to place the suspension of the entire vehicle in a lower position to reduce the force on the wheels when the outriggers support the entire vehicle. When the suspension adjustment is completed, the outriggers are horizontally extended again; when the outriggers are horizontally extended to the right position, the outriggers are vertically extended toward the ground, and the control of the vertical extension of the outriggers is stopped when the entire vehicle is supported. The technical solution provided by the embodiment of the present invention not only realizes the automated support of engineering machinery, but also avoids applying pressure to the tires during the working process after the support is successful, thereby reducing tire damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 is a flow chart of a method for controlling a chassis of an engineering machinery according to an embodiment of the present invention;

[0018] Figure 2 is another flow chart of a method for controlling a chassis of an engineering machinery according to an embodiment of the present invention;

[0019] Figure 3 is another flow chart of a method for controlling a chassis of an engineering machinery according to an embodiment of the present invention;

[0020] Figure 4 is a structural schematic diagram of a chassis control device for engineering machinery according to an embodiment of the present invention;

[0021] Figure 5 It is a schematic diagram of the hardware structure of the engineering machinery chassis according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0023] According to an embodiment of the present invention, an embodiment of a method for controlling a chassis of an engineering machinery is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0024] In this embodiment, a control method for a construction machinery chassis is provided, which can be used for a construction machinery chassis. Figure 1 is a flow chart of a method for controlling a chassis of an engineering machinery according to an embodiment of the present invention, the flow chart comprising the following steps:

[0025] Step S101, receiving a leg extension instruction;

[0026] Step S102, in response to the outrigger extension instruction, lowering the vehicle suspension to the lowest position and locking the suspension;

[0027] Step S103, after the suspension is locked, control the legs to extend.

[0028] Specifically, in order to solve the problem that the chassis of engineering machinery is currently mainly operated manually by the driver, an embodiment of the present invention provides a method for automatically controlling the chassis of engineering machinery, so as to realize the automatic support and retraction of the chassis of engineering machinery. Among them, engineering machinery includes but is not limited to cranes, excavators, etc. When the uploading mechanism of the engineering machinery is operated through components such as hooks and buckets, in order to ensure the overall stability of the engineering machinery, four legs are often required to firmly support the engineering machinery on the ground to prevent the engineering machinery from moving and slipping. The method for controlling the chassis of engineering machinery provided by the embodiment of the present invention, that is, by controlling the legs on the engineering machinery, to realize the automatic extension of the legs and support the engineering machinery, or to automatically retract the legs in the supporting state to the vehicle. At present, the main way to control the legs of engineering machinery is to realize it through the hydraulic system of the chassis, and send opening and closing instructions to each electromagnetic valve of the chassis hydraulic system through the vehicle controller, so that the legs are pushed out or withdrawn through the hydraulic oil. The working principle of the chassis hydraulic system is the prior art, and the present invention will not repeat it. In addition, with the development of technology, of course, the extension and retraction of the outriggers can also be controlled by a purely mechanical transmission structure or other transmission methods. The engineering machinery chassis control method provided by the present invention is mainly used to provide an outrigger control logic, and there is no special limitation on the hardware system used. Regardless of the chassis hydraulic system, the chassis purely mechanical transmission system, the chassis air pressure system or other transmission systems, they should all fall within the protection scope of the present invention.

[0029] According to the method provided by the present invention, when the driver needs the engineering machinery to work, the driver issues an outrigger extension command, and the manner in which the command is issued includes but is not limited to issuing through a vehicle-side button, issuing through a client such as a mobile phone, and issuing through a vehicle-side voice. Afterwards, the vehicle-side receives the outrigger extension command issued by the user, and starts to execute the work of controlling the outrigger extension of the engineering machinery. First, in response to the outrigger extension command, the chassis of the engineering machinery first adjusts the suspension of the whole vehicle through the suspension solenoid valve, and lowers the suspension of the whole vehicle to the lowest position, that is, the tires of the vehicle are closer to the chassis, so that after the outrigger is extended, the wheels of the whole vehicle are suspended to the greatest extent, avoiding the reaction force applied to the tire during operation and causing tire damage. At the end of the suspension adjustment, taking the chassis hydraulic system as an example, the outrigger horizontal solenoid valve is controlled to supply oil to the oil cylinder of the outrigger, so that the outrigger is extended horizontally. A sensor is installed at the position where the outrigger is horizontally extended, and the sensor can be used to detect whether the outrigger is in place. When the outriggers are extended horizontally into place, the outrigger vertical solenoid valve is controlled to extend the outriggers vertically toward the ground. Then, when the entire vehicle is lifted up (the optimal situation when the entire vehicle is lifted up is that the tires of the construction machinery are separated from the ground), the control of the outriggers to extend vertically is stopped.

[0030] The technical solution provided by the embodiment of the present invention takes into account that when engineering machinery is performing operations such as lifting, a large reaction force will be generated. If the reaction force acts on the vehicle tires, the tires may be seriously damaged. The technical solution provided by the embodiment of the present invention not only realizes the automatic vehicle support of the engineering machinery, but also avoids applying pressure to the tires during the working process by adjusting the suspension after the vehicle is successfully supported, thereby reducing tire damage and improving the reliability of automatic vehicle support.

[0031] In some optional implementations, the above step S102 includes:

[0032] Step a1, after the vehicle suspension drops to the lowest position and delays for a first preset time, the suspension is locked.

[0033] Specifically, before the outriggers are extended, the embodiment of the present invention first lowers the suspension of the entire vehicle to the lowest position, that is, the tires of the vehicle are closer to the chassis, so that after the outriggers are extended, the wheels of the entire vehicle are suspended to the greatest extent, avoiding damage to the tires caused by the reaction force applied to the tires during operation. In addition, when the suspension of the entire vehicle is lowered to the lowest position, it is necessary to wait for a delay of a first preset time before locking the suspension. This is because when the suspension is lowered to the lowest position, the oil in the hydraulic system may not have completely filled the cylinder. If the suspension is locked immediately, it may cause insufficient cylinder pressure, and there is a risk of cylinder falling off later. The technical solution provided by the embodiment of the present invention further ensures that the suspension is at the lowest position, avoids the risk of cylinder falling off due to the gravity of the wheels, and improves the reliability of the support vehicle.

[0034] In some optional implementations, the above step S103 includes:

[0035] Step b1, controlling the legs to extend horizontally;

[0036] Step b2, when the legs are horizontally extended to the right position, extend the legs vertically toward the ground;

[0037] Step b3, determining whether reaction force data given by the ground to the outrigger is generated by detecting the outrigger pressure;

[0038] Step b4, when the reaction force data is detected, detecting the horizontal inclination angle of the whole vehicle;

[0039] Step b5, adjusting the vertical extension amount of each leg according to the horizontal inclination angle of the whole vehicle until the horizontal inclination angle enters the preset angle range, and stopping controlling the vertical extension of the legs.

[0040] Specifically, in the embodiment of the present invention, when the oil cylinder of the outrigger is supplied with oil through the outrigger horizontal solenoid valve, the outrigger is extended horizontally, and then the outrigger is vertically pushed out toward the ground by controlling the hydraulic system through the outrigger vertical solenoid valve, the outrigger pressure is measured by the pressure sensor installed at the end of the outrigger in the vertical direction, so that when the reaction force data of the outrigger is detected, it can be judged that the outrigger has been in contact with the ground. In addition, in order to further ensure the reliability and stability of the whole vehicle during operation, if the whole vehicle is in a horizontal state, the stability is optimal. In the embodiment of the present invention, the horizontal inclination of the whole vehicle is measured by the inclination sensor installed on the vehicle body. If the horizontal inclination of the whole vehicle is not 0 degrees, the vertical extension amount of each outrigger is adjusted until the horizontal inclination of the whole vehicle is within a preset angle range (for example, between -2° and 2°, this embodiment is only taken as an example, not limited to this, as long as it is within the definition range near 0 degrees), and then the vertical extension amount of the outrigger is stopped to end the leveling operation. Through the technical solution provided by this embodiment, the stability of the engineering machinery during operation is further improved.

[0041] In some optional implementations, the construction machinery chassis control method provided by the present invention further includes:

[0042] Step c1, receiving a leg retraction instruction;

[0043] Step c2, in response to the leg retraction instruction, vertically retracting the legs;

[0044] Step c3, when the legs are vertically retracted to the right position, retract the legs horizontally;

[0045] Step c4, when the outriggers are horizontally retracted to their full height, the vehicle suspension is restored.

[0046] Specifically, when the user cancels the operation, the driver issues an outrigger retraction command, which may be issued in a manner including but not limited to via a vehicle-side button, via a mobile phone or other client, or via vehicle-side voice. Afterwards, the vehicle-side receives the outrigger retraction command issued by the user and starts to execute the work of controlling the outrigger retraction of the engineering machinery. First, in response to the outrigger retraction command, the controller controls the outrigger vertical solenoid valve to retract the outrigger from the ground in the vertical direction, and then controls the outrigger horizontal solenoid valve to supply oil to the outrigger retraction cylinder to retract the outrigger horizontally. A sensor is installed at the position where the outrigger is horizontally retracted, and the sensor can be used to detect whether the outrigger is horizontally retracted in place. Finally, the suspension of the entire vehicle is restored to the original driving position, thereby ensuring that the entire vehicle is in the best driving state before the operation, thereby improving the stability and reliability of the vehicle outrigger after the outrigger is retracted.

[0047] In some optional implementation manners, before the above step c2, the method further includes:

[0048] Step d1, in response to the outrigger retraction instruction, determining whether a vehicle retraction condition satisfying instruction issued by the upper assembly mechanism is received, the vehicle retraction condition satisfying instruction being used to indicate whether the construction machinery can meet the standard of safe vehicle retraction;

[0049] Step d2: If a command satisfying the vehicle retraction condition is received, the step of vertically retracting the outriggers is executed.

[0050] Specifically, before controlling the chassis to perform the leg retraction operation, the embodiment of the present invention needs to determine whether a vehicle retrieval condition satisfying instruction issued by the upper mounting mechanism has been received. The upper mounting mechanism refers to an engineering machinery mechanism including operating parts such as a cab, a lever arm, a bucket, and a hook. In order to ensure safe vehicle retrieval, the embodiment of the present invention defines that when the upper mounting mechanism is in the standard of safe vehicle retrieval, an instruction to satisfy the vehicle retrieval condition will be sent, thereby notifying the engineering machinery chassis to execute vehicle retrieval. In the embodiment of the present invention, satisfying the vehicle retrieval condition needs to be issued when the upper mounting mechanism satisfies the vehicle retrieval condition. The vehicle retrieval condition includes but is not limited to conditions to ensure the safety of the entire vehicle, such as the boom has been retracted, the counterweight has been unloaded, and the slewing mechanism has returned to the initial position. This embodiment is only used as an example and is not limited thereto. The technical solution provided by the embodiment of the present invention further improves the reliability and safety of engineering machinery vehicle retrieval.

[0051] In some optional implementations, the above step c2 includes:

[0052] Step e1, during the process of vertical contraction of the outrigger, detecting the outrigger pressure and valve pressure data of the outrigger vertical solenoid valve, where the outrigger vertical solenoid valve is a solenoid valve in the chassis hydraulic system for controlling the vertical movement of the outrigger;

[0053] Step e2, when no reaction force data is detected in the outrigger pressure, and the valve pressure data exceeds a preset valve pressure threshold, it is determined that the outrigger is vertically retracted into place.

[0054] Specifically, the embodiment of the present invention determines whether the outrigger is completely retracted vertically into position by using two pieces of information, namely, the outrigger pressure data and the valve pressure data, wherein the valve pressure data refers to the valve pressure data of the outrigger vertical solenoid valve used to control the vertical extension and retraction of the outrigger. On the one hand, when the outrigger is retracted, the outrigger leaves the ground, so that the reaction force data in the outrigger pressure disappears; on the other hand, there is a significant difference in the pressure on the outrigger vertical solenoid valve during the outrigger contraction process and when the outrigger is fully retracted to the undeployed position. When the outrigger is retracted into position, the oil supply continues, and the oil completely fills the oil cylinder, causing greater pressure on the outrigger vertical solenoid valve. Therefore, when the valve pressure data exceeds the preset valve pressure threshold and the reaction force data disappears, it can be determined that the outrigger is vertically retracted into position. The embodiment of the present invention provides two pieces of information, namely, the outrigger pressure data and the valve pressure data, to determine whether the outrigger is vertically retracted into position, further improving the accuracy of the outrigger contraction and the reliability of the subsequent horizontal contraction of the outrigger.

[0055] In some optional implementations, the above step c4 includes:

[0056] Step f1, when the outriggers are horizontally retracted to the correct position, an alarm signal is output;

[0057] Step f2, after a second preset time delay, releasing the suspension lock;

[0058] Step f3, when the suspension lock is released, the vehicle suspension is raised to a preset position, which is lower than the highest position of the vehicle suspension.

[0059] Specifically, the engineering machinery chassis of the embodiment of the present invention is equipped with an alarm device, including but not limited to sound and light alarm methods such as LED lights, speakers, and screens. When the outriggers are horizontally retracted to the right position, an alarm signal is output to remind the user that the vehicle has been retracted and the engineering machinery can be moved. In addition, after the second preset time is delayed, the suspension lock is released. This principle is similar to the principle of the above steps a1 to a2, which is to allow the oil of the hydraulic system that controls the horizontal movement of the outriggers to completely fill the oil cylinder. If the suspension is immediately contacted, the tire may be released before the outriggers are horizontally retracted, which poses a risk of parts collision. It should be noted that after the suspension lock is released in the embodiment of the present invention, the suspension of the entire vehicle is raised to a preset position d lower than the highest position of the suspension of the entire vehicle, preferably the middle position of the suspension, so that the technical solution provided by the embodiment of the present invention further ensures that the suspension is in an adjustable position up and down. Subsequently, the suspension can be flexibly adjusted up and down according to the road conditions of the entire vehicle, taking into account the ability to quickly accelerate on horizontal roads and avoid the risk of collisions with road stones.

[0060] In a specific application embodiment, the engineering machinery chassis control method provided by the present invention has the following complete steps:

[0061] like Figure 2 The figure shows the support vehicle control process of the construction machinery.

[0062] Step 1: The controller receives the one-key vehicle support operation instruction;

[0063] Step 2: The controller controls the suspension solenoid valve to lower the vehicle suspension to the lowest position;

[0064] Step 3: The controller delays the control of the suspension locking valve to lock the suspension;

[0065] Step 4: The controller controls the outrigger horizontal solenoid valve to extend the outrigger horizontally and turns on the sound and light alarm device at the same time;

[0066] Step 5: When the controller detects that the outriggers are horizontally extended, it controls the outrigger vertical solenoid valve to prop up the whole vehicle;

[0067] Step 6: After the control detects the support reaction force data, the vehicle is automatically leveled according to the horizontal inclination angle data;

[0068] Step 7: When the controller detects that the inclination angle of the vehicle reaches the specified area, it stops automatic leveling and the vehicle is supported with one click.

[0069] like Figure 3 The figure shows the vehicle retraction control process of the construction machinery.

[0070] Step 1: After the controller receives a one-button vehicle collection command and the upper loading mechanism meets the vehicle collection conditions, it performs automatic vehicle collection;

[0071] Step 2: The controller controls the vertical retraction solenoid valve of the outrigger to retract the outrigger;

[0072] Step 3: The controller can determine whether the outrigger is fully retracted by detecting the outrigger pressure data and the valve pressure data of the outrigger vertical solenoid valve;

[0073] Step 4: When it is detected that the outriggers are retracted vertically, the controller controls the outrigger horizontal solenoid valve to retract the outriggers;

[0074] Step 5: When it is detected that the horizontal legs are all retracted into place, the controller turns on the sound and light alarm signal and releases the suspension lock with a delay;

[0075] Step 6: After releasing the suspension lock, the suspension is automatically leveled;

[0076] Step 7: When the controller detects that the suspension has reached the neutral position, the vehicle is retracted with one button.

[0077] The technical solution provided by the embodiment of the present invention optimizes the existing system without the need for customers to perform complex manual operations, thereby providing customers with a more convenient and intelligent automated collection and withdrawal vehicle solution, shortening the collection and withdrawal vehicle operation time, and improving the customer's operating experience and transfer efficiency.

[0078] In this embodiment, a construction machinery chassis control device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0079] This embodiment provides a construction machinery chassis control device, such as Figure 4 As shown, including:

[0080] A first instruction receiving module 401 is used to receive an outrigger extension instruction;

[0081] The suspension adjustment module 402 is used to lower the vehicle suspension to the lowest position and lock the suspension in response to the outrigger extension instruction;

[0082] The outrigger extension control module 403 is used to control the outrigger extension after the suspension is locked.

[0083] In some optional implementations, the suspension adjustment module 402 includes:

[0084] The lowest position adjustment unit locks the suspension after the vehicle suspension drops to the lowest position and delays for a first preset time.

[0085] In some optional embodiments, the leg vertical extension control module 403 includes:

[0086] A horizontal extension control unit is used to control the horizontal extension of the outriggers;

[0087] A vertical extension control unit is used to extend the outriggers vertically toward the ground when the outriggers are horizontally extended to the full position;

[0088] An outrigger pressure detection unit, used to determine whether reaction force data given by the ground to the outrigger is generated by detecting the outrigger pressure;

[0089] A horizontal inclination angle detection unit, used to detect the horizontal inclination angle of the entire vehicle when the reaction force data is detected;

[0090] The leveling unit is used to adjust the vertical extension of each leg according to the horizontal inclination angle of the whole vehicle until the horizontal inclination angle enters the preset angle range and stops controlling the vertical extension of the leg.

[0091] In some optional embodiments, the device further comprises:

[0092] A second command receiving module, used for receiving a leg retraction command;

[0093] The outrigger vertical retraction control module is used to vertically retract the outrigger in response to the outrigger retraction instruction;

[0094] The outrigger horizontal retraction control module retracts the outrigger horizontally when the outrigger is retracted vertically into place;

[0095] The suspension recovery module is used to restore the suspension of the entire vehicle when the outriggers are retracted horizontally into place.

[0096] In some optional embodiments, the device further comprises:

[0097] A retraction condition determination module is used to respond to the outrigger retraction instruction and determine whether a vehicle retraction condition satisfying instruction issued by the upper assembly mechanism is received, and the vehicle retraction condition satisfying instruction is used to indicate whether the construction machinery can meet the standard of safe vehicle retraction;

[0098] The execution module is used to execute the step of vertically retracting the outriggers if an instruction satisfying the vehicle retraction condition is received.

[0099] In some optional embodiments, the outrigger vertical retraction control module includes:

[0100] A dual pressure detection unit is used to detect the outrigger pressure and the valve pressure data of the outrigger vertical solenoid valve during the vertical retraction of the outrigger. The outrigger vertical solenoid valve is a solenoid valve in the chassis hydraulic system used to control the vertical movement of the outrigger;

[0101] The retraction-in-place determination unit is used to determine that the outrigger is vertically retracted into place when no reaction force data is detected in the outrigger pressure and the valve pressure data exceeds a preset valve pressure threshold.

[0102] In some optional embodiments, the suspension recovery module comprises:

[0103] An alarm unit is used to output an alarm signal when the outriggers are horizontally retracted into place;

[0104] A suspension release unit, used to release the suspension lock after a second preset delay time;

[0105] The mid-position adjustment unit is used to raise the vehicle suspension to a preset position when the suspension lock is released, and the preset position is lower than the highest position of the vehicle suspension.

[0106] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0107] The construction machinery chassis control device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a controller and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0108] The embodiment of the present invention also provides an engineering machinery chassis having the above Figure 4 The device shown.

[0109] See also Figure 5 , Figure 5 It is a structural schematic diagram of an engineering machinery chassis provided by an optional embodiment of the present invention, including: a memory, a controller, an outrigger, a suspension and a chassis hydraulic system; the chassis hydraulic system is used to control the outrigger and the suspension, the memory and the controller are communicatively connected to each other, the controller and the outrigger hydraulic system are communicatively connected, the memory stores computer instructions, and the controller controls the chassis hydraulic system by executing the computer instructions, thereby implementing the method in the above method embodiment.

[0110] The outriggers, suspension and chassis hydraulic systems are all prior art and will not be described in detail in the embodiments of the present invention.

[0111] The controller may be a central controller, a network controller or a combination thereof. The controller may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0112] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory may optionally include a memory remotely arranged relative to the controller, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0113] The memory may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid state drive; the memory may also include a combination of the above types of memory.

[0114] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium and downloaded through a network, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated controller, or programmable or dedicated hardware. Among them, the storage medium can be a disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a controller, a microcontroller controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a controller, or hardware, the method shown in the above embodiment is implemented.

[0115] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of computer program instructions in computer-readable media includes, but is not limited to, source files, executable files, installation package files, etc., and accordingly, the way in which computer program instructions are executed by a computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0116] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for controlling a chassis of an engineering machinery, characterized in that: The method comprises: receiving an outrigger extension instruction; In response to the outrigger extension instruction, lowering the vehicle suspension to the lowest position and locking the suspension; After the suspension is locked, the legs are controlled to extend.

2. The method according to claim 1, characterized in that The step of lowering the vehicle suspension to the lowest position and locking the suspension includes: After the vehicle suspension drops to the lowest position and delays for a first preset time, the suspension is locked.

3. The method according to claim 1, characterized in that After the suspension is locked, controlling the legs to extend includes: Control the outriggers to extend horizontally; When the legs are horizontally extended to the right position, the legs are vertically extended toward the ground; By detecting the outrigger pressure, it is determined whether the reaction force data given by the ground to the outrigger is generated; When the reaction force data is detected, detecting the horizontal inclination angle of the entire vehicle; According to the horizontal inclination angle of the whole vehicle, the vertical extension amount of each leg is adjusted until the horizontal inclination angle enters a preset angle range, and the control of the vertical extension of the leg is stopped.

4. The method according to claim 1, characterized in that The method further comprises: Receive outrigger retraction instructions; In response to the leg retraction instruction, vertically retracting the leg; When the legs are retracted vertically into position, the legs are retracted horizontally; When the legs are horizontally retracted to their proper positions, the suspension of the entire vehicle is restored.

5. The method according to claim 4, characterized in that Before the legs are vertically retracted, the method further comprises: In response to the outrigger retraction instruction, determining whether a vehicle retraction condition satisfying instruction issued by the upper mounting mechanism is received, wherein the vehicle retraction condition satisfying instruction is used to indicate whether the construction machinery can meet the standard of safe vehicle retraction; If the instruction that the vehicle retracting condition is met is received, the step of vertically retracting the legs is executed.

6. The method according to claim 4 or 5, characterized in that: The outriggers are controlled by a chassis hydraulic system, and the vertical contraction of the outriggers includes: During the vertical contraction of the outrigger, detecting the outrigger pressure and valve pressure data of the outrigger vertical solenoid valve, wherein the outrigger vertical solenoid valve is a solenoid valve in the chassis hydraulic system for controlling the vertical movement of the outrigger; When no reaction force data is detected in the outrigger pressure, and the valve pressure data exceeds a preset valve pressure threshold, it is determined that the outrigger is vertically retracted into place.

7. The method according to claim 4, characterized in that When the outriggers are horizontally retracted to their proper positions, the whole vehicle suspension is restored, including: When the legs are horizontally retracted into place, an alarm signal is output; After a second preset delay time, the suspension lock is released; When the suspension lock is released, the whole vehicle suspension is raised to a preset position, which is lower than the highest position of the whole vehicle suspension.

8. A construction machinery chassis control device, characterized in that: The device comprises: A first instruction receiving module, used for receiving an outrigger extension instruction; A suspension adjustment module, used for lowering the vehicle suspension to a lowest position and locking the suspension in response to the outrigger extension instruction; The outrigger extension control module is used to control the outrigger to extend after the suspension is locked.

9. An engineering machinery chassis, characterized in that: include: A memory, a controller, an outrigger, a suspension and a chassis hydraulic system; the chassis hydraulic system is used to control the outrigger and the suspension, the memory and the controller are communicatively connected to each other, the controller and the outrigger hydraulic system are communicatively connected, the memory stores computer instructions, and the controller executes the method described in any one of claims 1 to 7 by executing the computer instructions to control the chassis hydraulic system.

10. An engineering machine, characterized in that: It comprises an upper mounting mechanism and the engineering machinery chassis provided in claim 9.

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