Engineering vehicle outrigger leveling method, device, equipment and medium

Abstract

The present application discloses a method, device, equipment and medium for leveling outriggers of an engineering vehicle. The outrigger contact state of each outrigger is detected by an outrigger contact detection unit, and the first stage adjustment work can be quickly performed based on the detection result of the contact state, so that each outrigger completes the contact with the ground. Based on the pre-acquired target coordinate acquisition model and vehicle body structure information, the target coordinate information of the hinge point of each outrigger after leveling can be acquired only by using the tilt posture of the vehicle body, so that the target length information of each outrigger can be quickly confirmed by using the target coordinate information of the hinge point and the grounding coordinate information of the grounding point of the outrigger, and the rapid leveling of the engineering vehicle can be completed. The embodiment of the present application does not need to be based on any one outrigger, and can achieve synchronous leveling of multiple outriggers, thereby greatly improving the efficiency of outrigger leveling.

Description

Technical Field

[0001] The present application relates to the field of engineering vehicles, and in particular to an engineering vehicle outrigger leveling method, device, equipment and medium. Background Art

[0002] The traditional outrigger leveling method generally adopts a strategy of using one of the outriggers as a reference to control the other three outriggers to level one by one. This leveling method has problems such as slow leveling speed and poor accuracy, which can easily lead to long equipment preparation time and low work efficiency at the construction site. Summary of the invention

[0003] The present application aims to provide a method, device, equipment and medium for leveling the outriggers of an engineering vehicle, which can improve the working efficiency of the leveling of the outriggers of the engineering vehicle.

[0004] According to the engineering vehicle outrigger leveling method of the first aspect of the present application, the engineering vehicle is provided with an outrigger length detection unit, an outrigger ground contact detection unit, and a vehicle body tilt detection unit, wherein the outrigger length detection unit is used to detect the extension length of each outrigger of the engineering vehicle, the outrigger ground contact detection unit is used to detect the ground contact state of each outrigger of the engineering vehicle, and the vehicle body tilt detection unit is used to detect the vehicle body tilt data in the horizontal direction;

[0005] The engineering vehicle outrigger leveling method comprises:

[0006] In response to a leveling instruction, controlling each of the legs to extend at a first speed;

[0007] Acquire the ground contact state of each of the legs detected by the leg ground contact detection unit;

[0008] When the ground contact status indication corresponding to any of the legs has touched the ground, controlling the corresponding leg to stop extending;

[0009] Acquiring vehicle body tilt data collected by the vehicle body tilt detection unit;

[0010] When the ground contact state corresponding to each of the legs indicates that the legs have touched the ground, based on the pre-acquired target coordinate acquisition model and the pre-acquired vehicle body structure information, the target coordinate information of the hinge point of each of the legs is obtained by using the vehicle body tilt data;

[0011] Obtaining target length information corresponding to each leg according to the grounding coordinate information of the grounding point of each leg and the target coordinate information of the hinge point corresponding to the leg;

[0012] Adjusting the extension distance of the corresponding outrigger according to each target length information;

[0013] Wherein, the target coordinate acquisition model is obtained by the following steps:

[0014] Determine a rotation transformation matrix according to the corresponding conversion relationship between the vehicle body tilt posture and the absolute horizontal plane, wherein the vehicle body tilt data is the vehicle body tilt posture at the current moment;

[0015] Determine a height transformation matrix according to a preset leveling height, wherein the preset leveling height is a height difference between a plane of the vehicle body after leveling and an absolute horizontal plane;

[0016] The target coordinate acquisition model is obtained according to the rotation transformation matrix and the height transformation matrix.

[0017] According to the engineering vehicle outrigger leveling device of the second aspect of the present application, the engineering vehicle is provided with an outrigger length detection unit, an outrigger ground contact detection unit, and a vehicle body tilt detection unit, wherein the outrigger length detection unit is used to detect the extension length of each outrigger of the engineering vehicle, the outrigger ground contact detection unit is used to detect the ground contact state of each outrigger of the engineering vehicle, and the vehicle body tilt detection unit is used to detect the vehicle body tilt data in the horizontal direction;

[0018] The engineering vehicle outrigger leveling device comprises:

[0019] A first adjustment module, configured to control each of the legs to extend at a first speed in response to a leveling instruction;

[0020] A ground contact detection module, used for acquiring the ground contact status of each of the legs detected by the leg ground contact detection unit;

[0021] A ground contact stop module, used for controlling the corresponding outrigger to stop extending when the ground contact state indication corresponding to any outrigger has touched the ground;

[0022] A tilt data acquisition module, used to acquire the vehicle body tilt data collected by the vehicle body tilt detection unit;

[0023] A hinge point leveling coordinate acquisition module, for obtaining target coordinate information of a hinge point of each of the legs by using the vehicle body tilt data based on a pre-acquired target coordinate acquisition model and pre-acquired vehicle body structure information when the contact state corresponding to each of the legs indicates that the legs have contacted the ground;

[0024] A leg target length acquisition module, used to obtain target length information corresponding to each leg according to the grounding coordinate information of the grounding point of each leg and the target coordinate information of the hinge point corresponding to the leg;

[0025] A second adjustment module, used for adjusting the extension distance of the corresponding leg according to each target length information;

[0026] Wherein, the target coordinate acquisition model is obtained by the following steps:

[0027] Determine a rotation transformation matrix according to the corresponding conversion relationship between the vehicle body tilt posture and the absolute horizontal plane, wherein the vehicle body tilt data is the vehicle body tilt posture at the current moment;

[0028] Determine a height transformation matrix according to a preset leveling height, wherein the preset leveling height is a height difference between a plane of the vehicle body after leveling and an absolute horizontal plane;

[0029] The target coordinate acquisition model is obtained according to the rotation transformation matrix and the height transformation matrix.

[0030] According to an electronic device of a third aspect of the present application, the device includes: a processor and a memory storing computer program instructions;

[0031] When the processor executes the computer program instructions, the method for leveling the outriggers of the engineering vehicle as described in the first aspect is implemented.

[0032] According to the computer-readable storage medium of the fourth aspect embodiment of the present application, computer executable instructions are stored, and the computer executable instructions are used to execute the engineering vehicle outrigger leveling method as described in the first aspect embodiment above.

[0033] The engineering vehicle outrigger leveling method, device, equipment and medium of the embodiment of the present application can quickly perform the first stage adjustment work based on the detection result of the ground contact state by detecting the ground contact state of each outrigger through the outrigger ground contact detection unit, so that each outrigger completes the ground contact, and based on the pre-acquired target coordinate acquisition model and vehicle body structure information, the target coordinate information of the hinge point of each outrigger after leveling can be acquired only by using the tilt posture of the vehicle body, so that the target length information of each outrigger can be quickly confirmed by using the target coordinate information of the hinge point and the ground coordinate information of the grounding point of the outrigger, and then the rapid leveling of the engineering vehicle can be completed. The embodiment of the present application does not need to be based on any one outrigger, and can achieve synchronous leveling of multiple outriggers, thereby greatly improving the efficiency of outrigger leveling.

[0034] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0036] Figure 1A flow chart of a method for leveling outriggers of an engineering vehicle provided in an embodiment of the present application;

[0037] Figure 2 A schematic diagram of the top view of the engineering vehicle provided in an embodiment of the present application;

[0038] Figure 3 A schematic diagram of the side view structure of the engineering vehicle body plane provided in an embodiment of the present application when it is not leveled;

[0039] Figure 4 A schematic diagram of the main structure of the engineering vehicle body plane provided in the embodiment of the present application when it is not leveled;

[0040] Figure 5 A schematic diagram of the side view structure of the engineering vehicle body plane provided in the embodiment of the present application after being leveled;

[0041] Figure 6 This is a schematic diagram of the main structure of the engineering vehicle provided in an embodiment of the present application when the body plane has been leveled. DETAILED DESCRIPTION

[0042] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0043] In the description of this application, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0044] In the description of the present application, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0045] In the description of this application, it should be noted that, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0046] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments.

[0047] In order to better explain the method, device, equipment and medium for leveling the outriggers of an engineering vehicle in an embodiment of the present invention, an engineering vehicle is proposed herein, on which are provided an outrigger length detection unit, an outrigger ground contact detection unit and a vehicle body tilt detection unit, all of which are connected to a main controller. The outrigger length detection unit is used to detect the extended length of each outrigger of the engineering vehicle, the outrigger ground contact detection unit is used to detect the ground contact status of each outrigger of the engineering vehicle, and the vehicle body tilt detection unit is used to detect the vehicle body tilt data in the horizontal direction. The engineering vehicle can control the hydraulic drive system through the main controller to adjust the extended length of each outrigger.

[0048] The above-mentioned outrigger ground contact detection unit can directly adopt a switch-type trigger sensor. When the outrigger touches the ground, the switch-type trigger sensor will be triggered, thereby feeding back a triggered signal to the main controller, and the main controller can control the hydraulic drive system to stop the extension of the outrigger.

[0049] The vehicle body tilt detection unit may use a tilt sensor, and the vehicle body tilt data collected by the tilt sensor will be transmitted to the main controller, so that the main controller can subsequently adjust the extension length of each leg according to the vehicle body tilt data to achieve leveling.

[0050] The above-mentioned leg length detection unit can detect the extended length of the leg, and the extended length information will be transmitted to the main controller so that the main controller can achieve precise control of the extended length of the leg.

[0051] The following describes the method, device, equipment and medium for leveling the outriggers of the engineering vehicle in the embodiment of the present application based on the above-mentioned engineering vehicle.

[0052] See also Figure 1 As shown, Figure 1 1 is a flow chart of a method for leveling an outrigger of an engineering vehicle provided by an embodiment of the present application. The method for leveling an outrigger of an engineering vehicle is applied to a main controller of an engineering vehicle, and includes steps S110 to S170:

[0053] Step S110, in response to the leveling instruction, controlling each leg to extend at a first speed;

[0054] Step S120, obtaining the ground contact state of each leg detected by the leg contact detection unit;

[0055] Step S130, when the ground contact state indication corresponding to any leg has touched the ground, controlling the corresponding leg to stop extending;

[0056] Step S140, acquiring the vehicle body tilt data collected by the vehicle body tilt detection unit;

[0057] Step S150, when the ground contact state corresponding to each leg indicates that the leg has touched the ground, based on the pre-acquired target coordinate acquisition model and the pre-acquired vehicle body structure information, and using the vehicle body tilt data, the target coordinate information of the hinge point of each leg is obtained;

[0058] Step S160, obtaining target length information corresponding to each leg according to the grounding coordinate information of the grounding point of each leg and the target coordinate information of the hinge point of the corresponding leg;

[0059] Step S170, adjusting the extension distance of the corresponding outrigger according to each target length information;

[0060] Among them, the target coordinate acquisition model is obtained through the following steps:

[0061] According to the corresponding conversion relationship between the vehicle body tilt posture and the absolute horizontal plane, the rotation transformation matrix is ​​determined, and the vehicle body tilt data is the vehicle body tilt posture at the current moment;

[0062] Determine a height transformation matrix according to a preset leveling height, wherein the preset leveling height is a height difference between a plane of the vehicle body after leveling and an absolute horizontal plane;

[0063] According to the rotation transformation matrix and the height transformation matrix, the target coordinate acquisition model is obtained.

[0064] In the embodiment of the present application, the ground contact state of each outrigger is detected by the outrigger ground contact detection unit, and then the first stage adjustment work can be quickly performed based on the detection result of the ground contact state, so that each outrigger completes the ground contact, and based on the pre-acquired target coordinate acquisition model and vehicle body structure information, the target coordinate information of the hinge point of each outrigger after leveling can be acquired by only using the vehicle body tilt posture, so that the target length information of each outrigger can be quickly confirmed by using the target coordinate information of the hinge point and the ground coordinate information of the grounding point of the outrigger, and then the rapid leveling work of the engineering vehicle can be completed. The embodiment of the present application does not need to be based on any one outrigger, and can achieve synchronous leveling of multiple outriggers, thereby greatly improving the efficiency of outrigger leveling.

[0065] The hinge point of the above-mentioned outrigger can be understood as the hinge point between the outrigger and the plane of the vehicle body (such as Figures 2 to 6 Shown ) connection location.

[0066] The grounding point of the above-mentioned outrigger can be understood as the position where the outrigger contacts the ground.

[0067] The above-mentioned leveling instructions can be obtained by an operator through a human-computer interaction terminal.

[0068] After detecting the leveling instruction, the above-mentioned main controller controls each outrigger to extend at the first speed. Because the first stage is only used to allow each outrigger to touch the ground and does not involve high-precision leveling of the body plane of the engineering vehicle, the pressure on the outrigger is zero or small, so the outrigger can be controlled to extend at a faster speed.

[0069] The above-mentioned outrigger ground contact detection unit will detect the ground contact status in real time after the outrigger is extended at the first speed. When the ground contact status indicates that the detection unit has touched the ground, it means that the corresponding outrigger has touched the ground, and the control of the outrigger extension can be temporarily stopped.

[0070] When the ground contact status corresponding to the four outriggers of the above-mentioned engineering vehicle all indicate that they are touching the ground, it indicates that the first-stage outrigger adjustment work has been completed and the second-stage high-precision leveling can be entered.

[0071] In the second stage of leveling, the vehicle body tilt data is used as a control parameter for leveling. It should be noted that the vehicle body tilt data can be periodically collected by the vehicle body tilt detection unit after the engineering vehicle is started.

[0072] The vehicle body inclination data applied to the target coordinate acquisition model may be understood as data collected by the vehicle body inclination detection unit when all legs have touched the ground.

[0073] The above vehicle body tilt data can be understood as the tilt posture of the vehicle body at a certain moment.

[0074] The rotation transformation matrix is ​​determined according to the corresponding conversion relationship between the vehicle body tilt posture and the absolute horizontal plane, so that the rotation transformation matrix can be used to obtain the compensation result of converting any tilt plane into a horizontal rotation parallel to the absolute horizontal plane.

[0075] The preset leveling height can be input by the user through the human-computer interaction terminal. The preset leveling height can indicate the height difference between the leveled vehicle body plane and the absolute horizontal plane. Usually, after the vehicle body plane is leveled, the tires or tracks of the vehicle body need to be lifted to 5 to 10 centimeters off the ground.

[0076] The height transformation matrix is ​​determined according to a preset leveling height, so that the height transformation matrix can be used to obtain a compensation result of raising the geometric center of any inclined plane to the preset leveling height.

[0077] The above-mentioned target coordinate acquisition model is obtained according to the rotation transformation matrix and the height transformation matrix. Because the vehicle body structure information can be determined in advance, after obtaining the vehicle body inclination data after the four legs touch the ground, the coordinate data of the hinge points of the four legs can be quickly determined, and then the target coordinate acquisition model is used to perform rotation and lifting changes, so as to obtain the target coordinate information of the hinge points of the four legs after leveling in the coordinate system corresponding to the absolute horizontal plane.

[0078] The grounding coordinate information of the grounding point of each outrigger can be quickly obtained through the vehicle body structure information and the vehicle body inclination data. Specifically, the vehicle body structure information can determine the distance between the four outrigger grounding points, and the center of the four outrigger grounding points can be regarded as the geometric center of the rectangle formed by the four grounding points, so that after determining the vehicle body inclination data, the coordinates of each outrigger grounding point in the coordinate system corresponding to the absolute horizontal plane can be quickly determined, that is, the grounding coordinate information of the grounding point of each outrigger is obtained.

[0079] The target length information corresponding to each leg is directly obtained by using the distance calculation formula after obtaining the target coordinate information of the hinge point of the leg and the grounding coordinate information of the grounding point.

[0080] The above target length information can be used as a basis for adjusting the extension of the outriggers. By controlling each outrigger to extend to a length corresponding to the target length information, the body plane of the vehicle can be leveled.

[0081] In some embodiments, the tilting posture of the vehicle body includes a first rotation amount in the X direction and a second rotation amount in the Y direction of a plane formed by the ground contact points of the plurality of legs, wherein the X direction and the Y direction are two perpendicular directions on an absolute horizontal plane;

[0082] According to the corresponding conversion relationship between the vehicle body tilt posture and the absolute horizontal plane, the rotation transformation matrix is ​​determined, including:

[0083] The plane formed by the grounding points of the multiple legs is used as the dynamic coordinate, the absolute horizontal plane is used as the static coordinate, and the rotation transformation matrix is ​​determined using the first rotation amount and the second rotation amount.

[0084] refer to Figures 2 to 6 , the above vehicle tilt posture can be directly decomposed into a first rotation in the X direction and a second rotation in the Y direction. The X direction and the Y direction can be respectively the width direction and the length direction along the plane of the leveled vehicle. It should be noted that for the scene where the engineering vehicle tilts on the road, the coordinate system corresponding to the absolute horizontal plane is always based on the plane constrained by the four grounding points (such as Figures 2 to 6 Shown ) is the origin, there will be no change in the Z direction, that is, the height direction.

[0085] In this embodiment, the plane formed by the grounding point of each leg is directly used as the dynamic coordinate, and the absolute horizontal plane is used as the static coordinate. The matrix is ​​directly changed to determine the rotation transformation matrix.

[0086] Specifically, the rotation transformation matrix can be:

[0087] ;

[0088] In the formula, are the first rotation amount and the second rotation amount respectively.

[0089] In some implementations, determining a height transformation matrix according to a preset leveling height includes:

[0090] The plane after leveling the body of the engineering vehicle is taken as the dynamic coordinate, the absolute horizontal plane is taken as the static coordinate, and the height transformation matrix is ​​determined using the preset leveling height.

[0091] In this embodiment, the height transformation matrix can be achieved by directly performing matrix transformation using the plane after the body plane of the engineering vehicle is leveled as the dynamic coordinate and the absolute horizontal plane as the static coordinate.

[0092] Specifically, because the plane after the vehicle body is leveled is based on the preset leveling height, the height transformation matrix can be:

[0093] ;

[0094] In the formula, The preset leveling height.

[0095] In some embodiments, based on the pre-acquired target coordinate acquisition model and the pre-acquired vehicle body structure information, the target coordinate information of the hinge point of each leg is obtained by using the vehicle body tilt data, including:

[0096] According to the vehicle body tilt data and the vehicle body structure information, the pre-conversion coordinate information of the hinge point of each leg is obtained;

[0097] Update the rotation transformation matrix according to the vehicle body tilt data;

[0098] The updated rotation transformation matrix and height transformation matrix are used to horizontally rotate and vertically elevate the coordinate information before conversion to obtain the target coordinate information.

[0099] The above-mentioned pre-conversion coordinate information can be based on the vehicle body inclination data and the vehicle body structure information. Specifically, the length, width and height of the vehicle body can be determined using the vehicle body structure information. Based on the knowledge of the vehicle body inclination data, the pre-conversion coordinate information of each hinge point can be solved by geometric methods, or the pre-conversion coordinate information can be obtained by using the coordinate system conversion method.

[0100] The first rotation amount and the second rotation amount used in the above rotation transformation matrix are not fixed values. Therefore, it is necessary to update and confirm the rotation transformation matrix using the currently measured vehicle body inclination data.

[0101] The target coordinate information of each hinge point can be obtained by horizontally rotating and vertically raising the coordinate information before conversion using the rotation transformation matrix and the height transformation matrix.

[0102] Specifically, the conversion process can be expressed using the following formula:

[0103] ;

[0104] In the formula, is the coordinate information before conversion, is the target coordinate information obtained after conversion.

[0105] In some embodiments, adjusting the extension distance of the corresponding leg according to each target length information includes:

[0106] Determine a first adjustment interval and a second adjustment interval according to the target length information, wherein the adjustment length corresponding to the second adjustment interval is smaller than the length corresponding to the first adjustment interval;

[0107] When the outrigger extension length is within the first adjustment interval, the outrigger is controlled to extend at a second speed, the second speed being lower than the first speed;

[0108] When the outrigger extension length is within the second adjustment range, the outrigger extension speed is gradually reduced until the deviation angle between the vehicle body plane and the absolute horizontal plane is less than a preset leveling angle threshold, wherein the outrigger extension speed is negatively correlated with the outrigger extension length.

[0109] In this embodiment, a segmented control method is used to simultaneously adjust the extension of multiple legs. The first segment adopts a rapid adjustment method, and the second segment adopts a gradually reduced speed adjustment method, thereby achieving a balance between adjustment speed and adjustment accuracy.

[0110] The above-mentioned second speed is smaller than the first speed. Specifically, in the stage corresponding to the first speed, the legs do not need to bear too much pressure and can have a larger value, for example, 0.5 m / s, or even larger than 0.5 m / s. In the stage corresponding to the second speed, the legs need to support a larger weight and cannot be too fast. Therefore, it needs to be smaller than the first speed, for example, 0.3 m / s.

[0111] The adjustment speed within the above-mentioned second adjustment interval is negatively correlated with the extension length, that is, the more the leg is extended, the slower the corresponding adjustment speed. On the one hand, it can avoid the situation where the leg is broken due to large deviation caused by too fast adjustment when the leg length is long. On the other hand, when approaching the target length information, slowing down the speed can improve the adjustment accuracy.

[0112] In some embodiments, when the outrigger extension length is within the second adjustment interval, gradually reducing the outrigger extension speed until the deviation angle between the body plane of the engineering vehicle and the absolute horizontal plane is less than a preset leveling angle threshold, including:

[0113] Obtaining the current length of each leg through the leg length detection unit;

[0114] The target length information corresponding to each leg and the length difference between the corresponding current length are input into the PID controller to obtain the extension speed corresponding to each leg;

[0115] Control each leg to extend according to the corresponding extension speed required;

[0116] Obtain vehicle body tilt data;

[0117] When the vehicle body tilt data indicates that the deviation angle between the vehicle body plane and the absolute horizontal plane of the engineering vehicle is less than a preset leveling angle threshold, the control of extending the outriggers is stopped.

[0118] In this embodiment, a PID control method is adopted, and the target length information is used as the target value and the current length is used as the feedback value, so that the corresponding extension speed of the outrigger can be quickly determined. In addition, by judging and analyzing the real-time vehicle body tilt data, when the deviation angle between the leveled vehicle body plane and the absolute horizontal plane meets the requirements of the preset leveling angle threshold, the leveling control is confirmed to be completed.

[0119] In some implementations, the adjustment length corresponding to the second adjustment interval is half the length corresponding to the first adjustment interval.

[0120] In this embodiment, the adjustment length corresponding to the second adjustment interval is half the length corresponding to the first adjustment interval, which can effectively improve the leg extension speed and accuracy while taking safety into consideration, and can effectively improve the leveling efficiency.

[0121] The outrigger leveling method for an engineering vehicle provided in the embodiment of the present application may be performed by an outrigger leveling device for an engineering vehicle. The outrigger leveling method for an engineering vehicle provided in the embodiment of the present application is described by taking an outrigger leveling device for an engineering vehicle as an example.

[0122] The embodiment of the present application also provides a construction vehicle outrigger leveling device, the construction vehicle outrigger leveling device comprising:

[0123] A first adjustment module, for controlling each leg to extend at a first speed in response to a leveling instruction;

[0124] A ground contact detection module, used for acquiring the ground contact status of each outrigger detected by the outrigger ground contact detection unit;

[0125] A touchdown stop module is used to control the corresponding leg to stop extending when the touchdown status indication corresponding to any leg has touched the ground;

[0126] A tilt data acquisition module, used to acquire the vehicle body tilt data collected by the vehicle body tilt detection unit;

[0127] The hinge point leveling coordinate acquisition module is used to obtain the target coordinate information of the hinge point of each leg based on the pre-acquired target coordinate acquisition model and the pre-acquired vehicle body structure information and the vehicle body tilt data when the ground contact state corresponding to each leg indicates that the vehicle body has touched the ground;

[0128] The leg target length acquisition module is used to obtain the target length information corresponding to each leg according to the grounding coordinate information of the grounding point of each leg and the target coordinate information of the hinge point of the corresponding leg;

[0129] A second adjustment module is used to adjust the extension distance of the corresponding outrigger according to each target length information;

[0130] Among them, the target coordinate acquisition model is obtained through the following steps:

[0131] According to the corresponding conversion relationship between the vehicle body tilt posture and the absolute horizontal plane, the rotation transformation matrix is ​​determined, and the vehicle body tilt data is the vehicle body tilt posture at the current moment;

[0132] Determine a height transformation matrix according to a preset leveling height, wherein the preset leveling height is a height difference between a plane of the vehicle body after leveling and an absolute horizontal plane;

[0133] According to the rotation transformation matrix and the height transformation matrix, the target coordinate acquisition model is obtained.

[0134] The outrigger leveling device for the engineering vehicle in the embodiment of the present application can be an electronic device, or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or other devices other than a terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (Ultra-mobile per Sonal Computer, UMPC), a netbook or a personal digital assistant (per Sonal digital assistant, PDA), etc. It can also be a server, a network attached storage (Network AttaChed Storage, NAS), a personal computer (per Sonal Computer, PC), a television (teleViSion, TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.

[0135] The embodiment of the present application also provides an electronic device, including: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the above-mentioned engineering vehicle outrigger leveling method is implemented. The source table provided in the embodiment of the present application can implement each process implemented in the above-mentioned engineering vehicle outrigger leveling method embodiment and achieve the same beneficial effects. To avoid repetition, it will not be repeated here.

[0136] An embodiment of the present application also provides a computer-readable storage medium, which stores computer-executable instructions. The computer-executable instructions are executed by a processor or a control module, so that the above-mentioned processor can execute the engineering vehicle outrigger leveling method in the above-mentioned embodiment, for example, execute the method described above.

[0137] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0138] The functional blocks shown in the above structural block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0139] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0140] Aspects of the present disclosure are described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / actions specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0141] The above are only specific implementation methods of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for leveling outriggers of an engineering vehicle, characterized in that: The engineering vehicle is provided with an outrigger length detection unit, an outrigger ground contact detection unit, and a vehicle body tilt detection unit. The outrigger length detection unit is used to detect the extension length of each outrigger of the engineering vehicle, the outrigger ground contact detection unit is used to detect the ground contact state of each outrigger of the engineering vehicle, and the vehicle body tilt detection unit is used to detect the vehicle body tilt data in the horizontal direction; The engineering vehicle outrigger leveling method comprises: In response to a leveling instruction, controlling each of the legs to extend at a first speed; Acquire the ground contact state of each of the legs detected by the leg ground contact detection unit; When the ground contact status indication corresponding to any of the legs has touched the ground, controlling the corresponding leg to stop extending; Acquiring vehicle body tilt data collected by the vehicle body tilt detection unit; When the ground contact state corresponding to each of the legs indicates that the legs have touched the ground, based on the pre-acquired target coordinate acquisition model and the pre-acquired vehicle body structure information, the target coordinate information of the hinge point of each of the legs is obtained by using the vehicle body tilt data; Obtaining target length information corresponding to each leg according to the grounding coordinate information of the grounding point of each leg and the target coordinate information of the hinge point corresponding to the leg; Adjusting the extension distance of the corresponding outrigger according to each target length information; Wherein, the target coordinate acquisition model is obtained by the following steps: Determine a rotation transformation matrix according to the corresponding conversion relationship between the vehicle body tilt posture and the absolute horizontal plane, wherein the vehicle body tilt data is the vehicle body tilt posture at the current moment; Determine a height transformation matrix according to a preset leveling height, wherein the preset leveling height is a height difference between a plane of the vehicle body after leveling and an absolute horizontal plane; The target coordinate acquisition model is obtained according to the rotation transformation matrix and the height transformation matrix.

2. The method for leveling the outriggers of an engineering vehicle according to claim 1, characterized in that: The vehicle body tilt posture includes a first rotation amount in the X direction and a second rotation amount in the Y direction of a plane formed by the ground contact points of the plurality of legs, wherein the X direction and the Y direction are two perpendicular directions on an absolute horizontal plane; The step of determining the rotation transformation matrix according to the corresponding conversion relationship between the vehicle body tilt posture and the absolute horizontal plane includes: The plane formed by the grounding points of the multiple legs is used as the dynamic coordinate, the absolute horizontal plane is used as the static coordinate, and the rotation transformation matrix is ​​determined using the first rotation amount and the second rotation amount.

3. The method for leveling the outriggers of an engineering vehicle according to claim 1, characterized in that: The step of determining a height transformation matrix according to a preset leveling height includes: The plane after the body plane of the engineering vehicle is leveled is used as the dynamic coordinate, the absolute horizontal plane is used as the static coordinate, and the height transformation matrix is ​​determined using the preset leveling height.

4. The method for leveling the outriggers of an engineering vehicle according to claim 1, characterized in that: The method of obtaining the target coordinate information of each hinge point of each leg based on the pre-acquired target coordinate acquisition model and the pre-acquired vehicle body structure information and using the vehicle body tilt data includes: Obtaining the pre-conversion coordinate information of the hinge point of each of the legs according to the vehicle body tilt data and the vehicle body structure information; Update the rotation transformation matrix according to the vehicle body tilt data; The updated rotation transformation matrix and the height transformation matrix are used to horizontally rotate and vertically elevate the coordinate information before conversion to obtain target coordinate information.

5. The method for leveling the outriggers of an engineering vehicle according to claim 1, characterized in that: The step of adjusting the extension distance of the corresponding leg according to each target length information includes: Determine a first adjustment interval and a second adjustment interval according to the target length information, wherein the adjustment length corresponding to the second adjustment interval is smaller than the length corresponding to the first adjustment interval; When the outrigger extension length is within the first adjustment interval, controlling the outrigger to extend at a second speed, the second speed being less than the first speed; When the extended length of the outrigger is within the second adjustment range, the extension speed of the outrigger is gradually reduced until the deviation angle between the body plane of the engineering vehicle and the absolute horizontal plane is smaller than a preset leveling angle threshold, wherein the extension speed of the outrigger is negatively correlated with the extended length of the outrigger.

6. The method for leveling the outriggers of an engineering vehicle according to claim 5, characterized in that: When the outrigger extension length is within the second adjustment interval, gradually reducing the outrigger extension speed until the deviation angle between the body plane of the engineering vehicle and the absolute horizontal plane is less than a preset leveling angle threshold, including: Acquiring the current length of each of the legs through the leg length detection unit; Input the target length information corresponding to each leg and the length difference between the corresponding current length into the PID controller to obtain the extension speed required for each leg; Controlling each of the legs to extend according to the corresponding extension speed required to be executed; Obtain vehicle body tilt data; When the vehicle body tilt data indicates that the deviation angle between the vehicle body plane and the absolute horizontal plane of the engineering vehicle is less than a preset leveling angle threshold, the control of extending the outriggers is stopped.

7. The method for leveling the outriggers of an engineering vehicle according to claim 5, characterized in that: The adjustment length corresponding to the second adjustment interval is half of the length corresponding to the first adjustment interval.

8. A leveling device for outriggers of an engineering vehicle, characterized in that: The engineering vehicle is provided with an outrigger length detection unit, an outrigger ground contact detection unit, and a vehicle body tilt detection unit. The outrigger length detection unit is used to detect the extension length of each outrigger of the engineering vehicle, the outrigger ground contact detection unit is used to detect the ground contact state of each outrigger of the engineering vehicle, and the vehicle body tilt detection unit is used to detect the vehicle body tilt data in the horizontal direction; The engineering vehicle outrigger leveling device comprises: A first adjustment module, configured to control each of the legs to extend at a first speed in response to a leveling instruction; A ground contact detection module, used for acquiring the ground contact status of each of the legs detected by the leg ground contact detection unit; A ground contact stop module, used for controlling the corresponding outrigger to stop extending when the ground contact state indication corresponding to any outrigger has touched the ground; A tilt data acquisition module, used to acquire the vehicle body tilt data collected by the vehicle body tilt detection unit; A hinge point leveling coordinate acquisition module, for obtaining target coordinate information of a hinge point of each of the legs by using the vehicle body tilt data based on a pre-acquired target coordinate acquisition model and pre-acquired vehicle body structure information when the contact state corresponding to each of the legs indicates that the legs have contacted the ground; A leg target length acquisition module, used to obtain target length information corresponding to each leg according to the grounding coordinate information of the grounding point of each leg and the target coordinate information of the hinge point corresponding to the leg; A second adjustment module, used for adjusting the extension distance of the corresponding leg according to each target length information; Wherein, the target coordinate acquisition model is obtained by the following steps: Determine a rotation transformation matrix according to the corresponding conversion relationship between the vehicle body tilt posture and the absolute horizontal plane, wherein the vehicle body tilt data is the vehicle body tilt posture at the current moment; Determine a height transformation matrix according to a preset leveling height, wherein the preset leveling height is a height difference between a plane of the vehicle body after leveling and an absolute horizontal plane; The target coordinate acquisition model is obtained according to the rotation transformation matrix and the height transformation matrix.

9. An electronic device, characterized in that: The electronic device comprises a processor and a memory storing computer program instructions; When the processor executes the computer program, the method for leveling the outriggers of an engineering vehicle as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the engineering vehicle outrigger leveling method as described in any one of claims 1 to 7.

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