A method and device for controlling a chassis of a working machine, a chassis and a working machine

Abstract

The application relates to the technical field of automatic control of engineering machinery, and discloses an engineering machinery chassis control method, a device, a chassis and engineering machinery, the method comprising the following steps: receiving a support leg extending instruction; in response to the support leg extending instruction, lowering a whole vehicle suspension to the lowest position and locking the suspension; after the suspension is locked, controlling the support leg to extend. The application not only realizes automatic vehicle supporting of the engineering machinery, but also avoids applying pressure to tires during a working process after successful vehicle supporting, so that the damage of the tires is reduced.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology for construction machinery, specifically to a chassis control method, device, chassis, and construction machinery for construction machinery. Background Technology

[0002] In construction machinery, it is often necessary to control the chassis mechanism to extend and retract the outriggers during construction operations. The common mode of vehicle retraction and outrigger control is for the operator to manually operate the suspension and outriggers through the button panel, remote control, etc. This requires the operator to have a certain understanding of chassis control. If the driver is not familiar with the chassis structure, it will lead to greater difficulty in chassis operation and a longer retraction and outrigger operation time. Summary of the Invention

[0003] In view of this, the present invention provides a method, device, chassis and construction machinery chassis control method for construction machinery, in order to solve the problem of low automation level of construction machinery support and recovery.

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

[0005] In some alternative implementations, lowering the vehicle suspension to its lowest position and locking the suspension includes locking the suspension after the vehicle suspension has been lowered to its lowest position and a first preset time has elapsed.

[0006] In some optional embodiments, controlling the outrigger extension after the suspension is locked includes: controlling the outrigger to extend horizontally; when the outrigger is horizontally extended to its position, extending the outrigger vertically toward the ground; determining whether ground reaction force data is generated by detecting outrigger pressure; when the reaction force data is detected, detecting the vehicle's horizontal tilt angle; adjusting the vertical extension amount of each outrigger according to the vehicle's horizontal tilt angle until the horizontal tilt angle enters a preset angle range, and stopping the vertical extension of the outrigger.

[0007] In some alternative embodiments, the method further includes: receiving a retraction command for the outrigger; retracting the outrigger vertically in response to the retraction command; retracting the outrigger horizontally when the outrigger is vertically retracted to its position; and restoring the vehicle suspension when the outrigger is horizontally retracted to its position.

[0008] In some alternative embodiments, before vertically retracting the outriggers, the method further includes: in response to the outrigger retraction command, determining whether a retraction condition fulfillment command issued by the superstructure is received, the retraction condition fulfillment command indicating whether the construction machinery can meet the standard for safe retraction; if the retraction condition fulfillment command is received, then performing the step of vertically retracting the outriggers.

[0009] In some optional embodiments, the outrigger is controlled by the 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, the outrigger vertical solenoid valve being a solenoid valve in the chassis hydraulic system used to control 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 has been vertically retracted to the designated position.

[0010] In some optional embodiments, restoring the vehicle suspension when the outrigger is horizontally retracted includes: outputting an alarm signal when the outrigger is horizontally retracted; releasing the suspension lock after a second preset time; and raising the vehicle suspension to a preset position when the suspension lock is released, the preset position being lower than the highest position of the vehicle suspension.

[0011] Secondly, the present invention provides a chassis control device for engineering machinery, the device comprising: a first command receiving module for receiving outrigger extension commands; a suspension adjustment module for lowering the vehicle suspension to its lowest position and locking the suspension in response to the outrigger extension commands; and an outrigger extension control module for controlling the outrigger extension after the suspension is locked.

[0012] Thirdly, the present invention provides an engineering machinery chassis, comprising: a memory, a controller, outriggers, a suspension, and a chassis hydraulic system; the chassis hydraulic system is used to control the outriggers 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 perform the method of the first aspect or any one of the first aspects to control the chassis hydraulic system.

[0013] Fourthly, the present invention provides an engineering machinery, including an upper structure and an engineering machinery chassis provided in the third aspect.

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

[0015] This invention automatically controls the extension of outriggers via a one-button command on the chassis of engineering machinery. Before the outriggers extend, the vehicle suspension is adjusted to a lower position to reduce the stress on the wheels when the outriggers support the vehicle. After the suspension adjustment is complete, the outriggers are extended horizontally. Once fully extended horizontally, the outriggers are extended vertically towards the ground, and the vertical extension is stopped when the vehicle is fully supported. The technical solution provided by this invention not only achieves automated support of engineering machinery but also avoids applying pressure to the tires during operation after successful support, reducing tire damage. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating a chassis control method for engineering machinery according to an embodiment of the present invention;

[0018] Figure 2 This is another schematic flowchart of a chassis control method for engineering machinery according to an embodiment of the present invention;

[0019] Figure 3 This is another schematic flowchart of a chassis control method for engineering machinery according to an embodiment of the present invention;

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

[0021] Figure 5 This is a schematic diagram of the hardware structure of the engineering machinery chassis according to an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

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

[0024] This embodiment provides a control method for engineering machinery chassis, which can be used for engineering machinery chassis. Figure 1 This is a flowchart of a chassis control method for engineering machinery according to an embodiment of the present invention. The process includes the following steps:

[0025] Step S101: Receive the command to extend the outriggers;

[0026] In step S102, in response to the outrigger extension command, the vehicle suspension is lowered to its lowest position and the suspension is locked.

[0027] Step S103: After the suspension is locked, control the outriggers to extend.

[0028] Specifically, to address the current issue of primarily relying on manual operation of the chassis of construction machinery by drivers, this invention provides a method for automatically controlling the chassis of construction machinery, thereby achieving automatic support and retraction of the chassis. Construction machinery includes, but is not limited to, cranes and excavators. When the lifting mechanism of construction machinery operates via components such as hooks and buckets, four outriggers are often needed to firmly support the machinery on the ground to ensure overall stability and prevent movement and slippage. The chassis control method provided in this invention achieves automated outrigger extension to support the machinery, or automated retraction of the outriggers from their supported state back into the vehicle. Currently, the main method for controlling the outriggers of construction machinery is through the chassis's hydraulic system. The vehicle controller sends opening and closing commands to various solenoid valves in the chassis's hydraulic system, thereby using hydraulic oil to push the outriggers out or retract them. The working principle of the chassis's hydraulic system is existing technology and will not be elaborated upon in this invention. Furthermore, with the development of technology, the extension and retraction of outriggers can also be controlled by purely mechanical transmission structures or other transmission methods. The engineering machinery chassis control method provided by this invention is mainly used to provide an outrigger control logic. No special limitations are made on the hardware system used. Whether it is a chassis hydraulic system, a chassis purely mechanical transmission system, a chassis air pressure system, or other transmission systems, they should all fall within the protection scope of this invention.

[0029] The method provided by this invention allows the driver to issue a command to extend the outriggers when the construction machinery needs to operate. This command can be issued via various methods, including but not limited to issuing it through a button on the vehicle, a mobile phone or other client, or voice commands. The vehicle then receives the outrigger extension command and begins controlling the extension of the outriggers. First, in response to the outrigger extension command, the chassis adjusts the suspension via a suspension solenoid valve, lowering it to its lowest position, meaning the tires are closer to the chassis. This maximizes wheel suspension after the outriggers extend, preventing tire damage due to reaction forces during operation. After the suspension adjustment is complete, taking the chassis hydraulic system as an example, the hydraulic cylinders of the outriggers are supplied with oil via a control solenoid valve, extending the outriggers horizontally. A sensor is installed at the horizontal extension position of the outriggers to detect whether the extension is complete. When the outriggers are horizontally extended to their positions, control the outrigger vertical solenoid valve to extend the outriggers vertically toward the ground. Then, when the entire vehicle is lifted (ideally, the tires of the construction machinery should be separated from the ground when the entire vehicle is lifted to its positions), stop controlling the vertical extension of the outriggers.

[0030] The technical solution provided by the embodiments of the present invention takes into account that when construction machinery performs hoisting and other operations, it will generate a large reaction force. If the reaction force acts on the vehicle tires, it may cause serious damage to the tires. The technical solution provided by the embodiments of the present invention not only realizes the automated support of construction machinery, but also avoids applying pressure to the tires during the operation after the support is successful by adjusting the suspension, thereby reducing tire damage and improving the reliability of the automated support.

[0031] In some alternative implementations, step S102 includes:

[0032] Step a1: After the vehicle suspension is lowered to its lowest position and a first preset time is delayed, the suspension is locked.

[0033] Specifically, in this embodiment of the invention, before the outriggers extend, the vehicle suspension is first lowered to its lowest position, meaning the vehicle's tires are closer to the chassis. This ensures that the vehicle wheels are suspended to the greatest extent possible after the outriggers extend, preventing tire damage caused by reaction forces applied to the tires during operation. Furthermore, after the vehicle suspension is lowered to its lowest position, a first preset time delay is required before locking the suspension. This is because when the suspension is lowered to its lowest position, the hydraulic system may not yet be fully filled with oil in the cylinders. Immediately locking the suspension could lead to insufficient cylinder pressure, potentially causing cylinder derailment. The technical solution provided by this embodiment of the invention further ensures that the suspension is in its lowest position, avoiding the risk of cylinder derailment due to the weight of the wheels and improving the reliability of the outriggers.

[0034] In some alternative implementations, step S103 includes:

[0035] Step b1: Control the outriggers to extend horizontally;

[0036] Step b2: When the outrigger is horizontally extended into position, extend the outrigger vertically toward the ground;

[0037] Step b3: Determine whether ground reaction force data is generated on the outriggers by detecting the outrigger pressure;

[0038] Step b4: When reaction force data is detected, detect the horizontal tilt angle of the entire vehicle;

[0039] Step b5: Adjust the vertical extension of each outrigger according to the horizontal tilt angle of the whole vehicle until the horizontal tilt angle enters the preset angle range, and then stop controlling the vertical extension of the outrigger.

[0040] Specifically, in this embodiment of the invention, when the hydraulic cylinders of the outriggers are supplied with oil via the horizontal solenoid valve to extend the outriggers horizontally, and then the hydraulic system is controlled by the vertical solenoid valve to push the outriggers vertically toward the ground, a pressure sensor installed at the vertical end of the outrigger measures the outrigger pressure. Therefore, when the reaction force data of the outrigger is detected, it can be determined that the outrigger has made contact with the ground. Furthermore, to further ensure the reliability and stability of the vehicle during operation, the stability is optimal when the vehicle is level. In this embodiment of the invention, a tilt sensor installed on the vehicle body measures the horizontal tilt angle of the entire vehicle. If the horizontal tilt angle is not 0 degrees, the vertical extension of each outrigger is adjusted until the horizontal tilt angle falls within a preset angle range (e.g., between -2° and 2°; this embodiment is only an example and not a limitation, as long as it is within the defined range near 0 degrees). Then, the adjustment of the vertical extension of the outriggers is stopped, and the leveling operation ends. The technical solution provided in this embodiment further improves the stability of the construction machinery during operation.

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

[0042] Step c1: Receive the outrigger retraction command;

[0043] Step c2: In response to the outrigger retraction command, the outrigger is retracted vertically;

[0044] Step c3: When the outriggers are vertically retracted into position, retract them horizontally.

[0045] Step c4: When the outriggers are retracted horizontally into position, restore the vehicle suspension.

[0046] Specifically, when the user cancels the operation, the driver issues a retraction command for the outriggers. This command can be issued via methods including, but not limited to, a button on the vehicle, a mobile app, or voice commands. The vehicle then receives the outrigger retraction command and begins controlling the retraction of the outriggers. First, in response to the command, the controller activates the vertical solenoid valve to retract the outriggers vertically from the ground. Then, it supplies hydraulic oil to the retraction cylinder via the horizontal solenoid valve, retracting the outriggers horizontally. Sensors are installed to detect whether the horizontal retraction is complete. Finally, the vehicle is restored to its original driving position, ensuring the vehicle is in its optimal driving condition before operation and improving the stability and reliability of the outriggers after retraction.

[0047] In some alternative implementations, prior to step c2 described above, the following step is also included:

[0048] Step d1: In response to the outrigger retraction command, determine whether a command indicating that the retraction conditions have been met has been received from the superstructure. The command indicating that the retraction conditions have been met indicates whether the construction machinery can meet the standard for safe retraction.

[0049] Step d2: If an instruction to retract the outriggers is received that the retraction conditions are met, then the step of vertically retracting the outriggers is executed.

[0050] Specifically, before controlling the chassis to perform the outrigger retraction operation, this embodiment of the invention needs to determine whether it has received a retraction condition fulfillment command from the superstructure. The superstructure refers to the construction machinery mechanism including the cab, boom, bucket, hook, and other working components. To ensure safe retraction, this embodiment defines that when the superstructure is at the standard for safe retraction, it will send a retraction condition fulfillment command, thereby notifying the construction machinery chassis to perform the retraction. In this embodiment, the retraction condition fulfillment command must be issued when the superstructure meets the retraction conditions. The retraction conditions include, but are not limited to, conditions that ensure the safety of the entire vehicle, such as the boom being retracted, the counterweight being unloaded, and the slewing mechanism returning to its initial position. This embodiment is only an example and is not limited to these conditions. The technical solution provided by this embodiment further improves the reliability and safety of construction machinery retraction.

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

[0052] Step e1: During the vertical retraction of the outriggers, detect the outrigger pressure and the valve pressure data of the vertical outrigger solenoid valve. The vertical outrigger solenoid valve is a solenoid valve in the chassis hydraulic system used to control the vertical movement of the outriggers.

[0053] Step e2: When no reaction force data is detected in the outrigger pressure and the valve pressure data exceeds the preset valve pressure threshold, the outrigger is determined to be vertically retracted into place.

[0054] Specifically, in this embodiment of the invention, determining whether the outrigger has fully retracted vertically is achieved through two pieces of information: outrigger pressure data and valve pressure data. 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 one hand, when the outrigger retracts, it leaves the ground, thus eliminating the reaction force data in the outrigger pressure. On the other hand, there is a significant difference in the pressure on the outrigger vertical solenoid valve during the retraction process and when the outrigger is fully retracted to its unextended position. When the outrigger is fully retracted, continued oil supply completely fills the cylinder, exerting greater pressure on the outrigger vertical solenoid valve. Therefore, when the valve pressure data exceeds a preset valve pressure threshold and the reaction force data disappears, it can be determined that the outrigger has fully retracted vertically. This embodiment of the invention provides two pieces of information—outrigger pressure data and valve pressure data—to determine the vertical retraction status of the outrigger, further improving the accuracy of outrigger retraction and the reliability of subsequent horizontal outrigger retraction.

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

[0056] Step f1: When the outriggers retract to their horizontal positions, an alarm signal is output.

[0057] Step f2: After a second preset time delay, release the suspension lock;

[0058] Step f3: When the suspension lock is released, raise the entire vehicle suspension to a preset position, which is lower than the highest position of the entire vehicle suspension.

[0059] Specifically, the engineering machinery chassis of this embodiment is equipped with an alarm device, including but not limited to LED lights, speakers, screens, and other audible and visual alarms. When the outriggers are retracted horizontally, an alarm signal is output to remind the user that the vehicle has been retracted and can be moved. Furthermore, the suspension lock is released after a second preset delay. This principle is similar to that of steps a1-a2 above, ensuring that the hydraulic system controlling the horizontal movement of the outriggers is fully filled with oil. Immediately engaging the suspension could release the tires before the outriggers are fully retracted, posing a risk of component collision. It should be noted that after releasing the suspension lock in this embodiment, the vehicle suspension is raised to a preset position d below the highest point of the vehicle suspension, preferably the suspension mid-position. This technical solution further ensures that the suspension is in an adjustable position, allowing for flexible vertical adjustment based on road conditions and balancing the ability to accelerate quickly on level roads with the risk of collisions with road stones.

[0060] In a specific application embodiment, the complete steps of the engineering machinery chassis control method provided by the present invention are as follows:

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

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

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

[0064] Step 3: The controller delays 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 at the same time activates the audible and visual alarm device.

[0066] Step 5: Once the controller detects that the outriggers have extended horizontally to the correct position, it controls the vertical solenoid valve of the outriggers to lift the entire vehicle.

[0067] Step 6: Once the control system detects the support reaction force data, it automatically levels the entire vehicle based on the horizontal tilt angle data;

[0068] Step 7: When the controller detects that the tilt angle data of the whole vehicle has reached the specified area, it stops automatic leveling and the one-click vehicle support ends.

[0069] like Figure 3 The image shows the vehicle return control process for construction machinery.

[0070] Step 1: After the controller receives the one-click vehicle retrieval command and the superstructure meets the retrieval conditions, it executes automated vehicle retrieval;

[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 has retracted to the correct position by detecting the outrigger pressure data and the valve pressure data of the outrigger vertical solenoid valve.

[0073] Step 4: Once the outrigger is detected to be vertically retracted, the controller controls the outrigger horizontal solenoid valve to retract the outrigger.

[0074] Step 5: Once the horizontal outriggers are detected to be fully retracted, the controller activates an audible and visual alarm signal and releases the suspension lock after a delay.

[0075] Step 6: After the suspension lock is released, the suspension will be automatically leveled.

[0076] Step 7: Once the controller detects that the suspension has reached the neutral position, the car can be stopped with a single button press.

[0077] The technical solutions provided by the embodiments of the present invention optimize the existing system, eliminating the need for customers to perform complex manual operations, and providing customers with a more convenient and intelligent automated collection and delivery vehicle solution, shortening collection and delivery vehicle operation time, and improving customer operating experience and transfer efficiency.

[0078] This embodiment also provides a chassis control device for engineering machinery, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0079] This embodiment provides a chassis control device for engineering machinery, such as... Figure 4 As shown, it includes:

[0080] The first instruction receiving module 401 is used to receive the outrigger extension instruction;

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

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

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

[0084] The lowest position adjustment unit locks the suspension after the vehicle suspension has been lowered to its lowest position and a first preset time has elapsed.

[0085] In some alternative embodiments, the outrigger vertical extension control module 403 includes:

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

[0087] The vertical extension control unit is used to extend the outrigger vertically toward the ground when the outrigger is horizontally extended into position;

[0088] The outrigger pressure detection unit is used to determine whether ground reaction force data is generated on the outrigger by detecting the outrigger pressure.

[0089] The horizontal tilt angle detection unit is used to detect the horizontal tilt angle of the entire vehicle when reaction force data is detected.

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

[0091] In some alternative embodiments, the apparatus further includes:

[0092] The second instruction receiving module is used to receive outrigger retraction instructions;

[0093] The outrigger vertical retraction control module is used to vertically retract the outriggers in response to the outrigger retraction command.

[0094] The outrigger horizontal retraction control module retracts the outrigger horizontally when it has retracted vertically to its final position.

[0095] The suspension recovery module is used to restore the vehicle's suspension when the outriggers are retracted into their horizontal positions.

[0096] In some alternative embodiments, the apparatus further includes:

[0097] The retraction condition determination module is used to respond to the outrigger retraction command and determine whether the upper structure has issued a command indicating that the retraction conditions are met. The command indicating that the construction machinery can meet the standard for safe retraction is used to indicate whether the machinery can meet the standard for safe retraction.

[0098] The execution module is used to perform the step of vertically retracting the outriggers if an instruction to retract the vehicle is received that the conditions for retraction are met.

[0099] In some alternative implementations, the outrigger vertical retraction control module includes:

[0100] The 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 positioning determination unit is used to determine that the outrigger has retracted vertically to the correct position 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 alternative implementations, the suspension recovery module includes:

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

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

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

[0106] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

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

[0108] This invention also provides an engineering machinery chassis, having the above-mentioned features. Figure 4 The apparatus shown.

[0109] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of an engineering machinery chassis provided by an optional embodiment of the present invention, including: a memory, a controller, outriggers, suspension, and a chassis hydraulic system; the chassis hydraulic system is used to control the outriggers and suspension, the memory and the controller are interconnected, the controller and the outrigger hydraulic system are interconnected, the memory stores computer instructions, and the controller controls the chassis hydraulic system by executing the computer instructions, thereby controlling the method in the above method embodiment.

[0110] The outriggers, suspension, and chassis hydraulic system are all existing technologies, and will not be described in detail in the embodiments of this invention.

[0111] The controller can be a central controller, a network controller, or a combination thereof. The controller may further include hardware chips. These hardware chips can be application-specific integrated circuits (ASICs), programmable logic devices (PLDs), or combinations thereof. The programmable logic devices can be complex programmable logic devices (CLPs), field-programmable gate arrays (FPGAs), general-purpose array logic (GDAs), or any combination thereof.

[0112] The memory may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory may include memory remotely located relative to the controller, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, 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] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated controller, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, controllers, microcontrollers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, controller, or hardware, implements the methods shown in the above embodiments.

[0115] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

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

Claims

1. A method of controlling an undercarriage of a working machine, characterized in that, The method comprises: receiving a leg stretching instruction; in response to the leg stretching instruction, lowering the whole vehicle suspension to the lowest position and locking the suspension; after the suspension is locked, controlling the leg stretching; the controlling the leg stretching after the suspension is locked comprises: controlling the horizontal stretching of the leg; when the horizontal stretching of the leg is in place, vertically stretching the leg towards the ground; determining whether the reaction force data of the ground to the leg is generated by detecting the leg pressure; when the reaction force data is detected, detecting the horizontal inclination angle of the whole vehicle; adjusting the vertical stretching amount of each leg according to the horizontal inclination angle of the whole vehicle until the horizontal inclination angle enters a preset angle range, and stopping controlling the vertical stretching of the leg.

2. The method of claim 1, wherein, the lowering the whole vehicle suspension to the lowest position and locking the suspension comprises: after the whole vehicle suspension is lowered to the lowest position and delayed for a first preset time, locking the suspension.

3. The method of claim 1, wherein, The method further comprises: receiving a leg retracting instruction; in response to the leg retracting instruction, vertically retracting the leg; when the vertical retraction of the leg is in place, horizontally retracting the leg; when the horizontal retraction of the leg is in place, restoring the whole vehicle suspension.

4. The method of claim 3, wherein, Before the vertical retraction of the leg, further comprising: in response to the leg retracting instruction, judging whether a meet-retraction condition instruction issued by the upper device is received, the meet-retraction condition instruction being used to indicate whether the engineering machinery can reach the standard of safe retraction; if the meet-retraction condition instruction is received, executing the vertical retraction of the leg.

5. The method according to claim 3 or 4, characterized in that, The leg is controlled by a chassis hydraulic system, and the vertical retraction of the leg comprises: in the process of the vertical retraction of the leg, detecting the leg pressure and valve pressure data of the leg vertical electromagnetic valve, the leg vertical electromagnetic valve being an electromagnetic valve in the chassis hydraulic system for controlling the vertical movement of the leg; when the leg pressure does not detect the reaction force data, and the valve pressure data exceeds a preset valve pressure threshold, it is determined that the vertical retraction of the leg is in place.

6. The method of claim 3, wherein, The restoring the whole vehicle suspension when the horizontal retraction of the leg is in place comprises: when the horizontal retraction of the leg is in place, outputting an alarm signal; after delaying for a second preset time, unlocking the suspension; when the suspension is unlocked, raising the whole vehicle suspension to a preset position, the preset position being lower than the highest position of the whole vehicle suspension.

7. An engineering machine chassis control apparatus characterised in that, The device comprises: a first instruction receiving module for receiving a leg stretching instruction; a suspension adjusting module for lowering the whole vehicle suspension to the lowest position and locking the suspension in response to the leg stretching instruction; a leg stretching control module for controlling the leg stretching after the suspension is locked; the controlling the leg stretching after the suspension is locked comprises: controlling the horizontal stretching of the leg; when the horizontal stretching of the leg is in place, vertically stretching the leg towards the ground; determining whether the reaction force data of the ground to the leg is generated by detecting the leg pressure; when the reaction force data is detected, detecting the horizontal inclination angle of the whole vehicle; adjusting the vertical stretching amount of each leg according to the horizontal inclination angle of the whole vehicle until the horizontal inclination angle enters a preset angle range, and stopping controlling the vertical stretching of the leg.

8. An engineering machine chassis, characterised in that, comprises: A memory, a controller, a leg, a suspension and a chassis hydraulic system; the chassis hydraulic system is used for controlling the leg and the suspension, the memory and the controller are connected in communication with each other, the controller and the leg hydraulic system are connected in communication, the memory stores computer instructions, and the controller controls the chassis hydraulic system by executing the computer instructions, thereby executing the method of any one of claims 1 to 6.

9. A working machine, characterized in that The upper mechanism and the chassis of the engineering machine provided in claim 8 are included.

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