Telescopic supporting leg in-place judgment method and control system

Abstract

The invention discloses a telescopic supporting leg in-place judgment method and a control system, and relates to the field of engineering machinery, and the in-place judgment method comprises the following steps: obtaining the state of a supporting leg in-place induction sensor, the pressure of a supporting leg oil cylinder, the action running time of a supporting leg and the displacement of the supporting leg, and giving corresponding weights; judging whether the supporting leg stretches in place or not according to the size relation between the total weight and the set weight; according to the judgment method, factors which may cause failure such as the service life, accidental damage and looseness of the sensor are fully considered, normal operation of the landing leg action is ensured, the risks of accidental failure and accidental false triggering are avoided through redundancy design and weight distribution, the engineering vehicle tipping risk under the state of no human intervention is effectively reduced, and the working efficiency of the engineering vehicle is improved. The operation safety is improved; the telescopic supporting leg in-place control system comprises a controller assembly, a supporting leg state monitoring module and an action output module. The controller assembly accurately judges whether the supporting leg stretches in place or not according to a telescopic supporting leg in-place judgment method.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery, and in particular to a method for determining whether a telescopic leg is in place and a control system. Background Art

[0002] The traditional method of determining whether the outriggers of engineering vehicles are in place mainly uses the extension sensor and the retraction sensor to detect the sensing piece. First, the outrigger motion controller self-checks and detects the sensor status. If the extension sensor senses and responds, it is determined that the outrigger is in place; if the retraction sensor senses and responds, it is determined that the outrigger is in place.

[0003] The traditional method for determining whether the outriggers of engineering vehicles are in place has the following technical disadvantages:

[0004] (1) The traditional outrigger position determination method does not take into account the failure state of the sensor. At the end of the equipment’s use, if the sensor fails due to factors such as service life or accidental damage, the outrigger will be unable to move.

[0005] (2) The traditional method for determining whether the outriggers of engineering vehicles are in place does not take into account the false triggering factor. The outrigger in place detection sensor generally uses a travel displacement sensor or a proximity induction sensor. During the operation of the vehicle, there are cases where the sensor is loose, objects fall accidentally, the wind belt is dirty, or objects are left behind, which may cause the sensor to be falsely triggered, thus causing abnormal outrigger extension and retraction movements.

[0006] (3) Poor safety, unable to meet the new trend of unmanned operations. With the acceleration of the trend of unmanned and intelligent construction vehicles, the traditional method of determining whether the outriggers of construction vehicles are in place has the risk of occasional failure and accidental mis-triggering, which greatly increases the risk of overturning of construction vehicles without human intervention. Summary of the invention

[0007] The embodiments of the present application provide a method and control system for determining whether a telescopic leg is in place, which can avoid the problem of inaccurate determination of whether a leg is in place due to occasional failures and the risk of accidental mis-triggers.

[0008] In the first aspect, the present application provides a method for determining whether a telescopic leg is in place, including: obtaining the state of a leg in-place sensing sensor, the pressure of a leg cylinder, the action time of the leg, and the displacement of the leg; assigning weights corresponding to the leg in-place sensing sensor, the pressure of the leg cylinder, the action time of the leg, and the displacement of the leg according to predetermined rules; adding the weights corresponding to the leg in-place sensing sensor, the pressure of the leg cylinder, the action time of the leg, and the displacement of the leg to obtain a total weight, and determining whether the leg is in place based on the relationship between the total weight and the set weight.

[0009] In the second aspect, the present application provides a telescopic leg in-place control system, comprising a controller assembly, a leg status monitoring module and an action output module, wherein a telescopic leg in-place determination method is provided in the controller assembly; the controller assembly is respectively connected to the leg status monitoring module and the action output module, and the action output module is connected to the leg cylinder; the leg status monitoring module comprises a leg in-place sensing sensor, a first pressure sensor, a second pressure sensor and a displacement sensor, all of which are connected to the controller assembly; the leg in-place sensing sensor is used to monitor the telescopic and retractable position of the leg; the first pressure sensor and the second pressure sensor are respectively used to monitor the rod chamber pressure and the rodless chamber pressure of the leg cylinder; the displacement sensor is used to monitor the displacement of the leg.

[0010] The telescopic leg in-place determination method and control system of the present application have at least the following beneficial effects:

[0011] The determination method of the present application combines the state of the outrigger in-place sensing sensor, the pressure of the outrigger cylinder, the outrigger movement running time and the outrigger displacement as determination factors, fully considering the service life, accidental damage, looseness and other factors that may lead to failure of the sensor to ensure the normal operation of the outrigger movement, and also considering the false triggering of the sensor caused by accidental falling objects and other factors, and combines the pressure difference mutation, running time and other factors as the basis for determination to avoid abnormal outrigger extension and retraction movement; that is, the determination method of the present application avoids the occasional failure and accidental false triggering risks of traditional engineering vehicle outrigger in-place determination methods through redundant design and weight distribution, effectively reduces the risk of engineering vehicles tipping over without human intervention, and improves operation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0013] Figure 1 is a flow chart of a method for determining when a telescopic leg is in place according to an embodiment of the present application;

[0014] Figure 2 It is a schematic diagram of the control system for the outriggers in position according to an embodiment of the present application. DETAILED DESCRIPTION

[0015] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0016] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0017] like Figure 1 As shown, this embodiment discloses a method for determining whether a telescopic outrigger is in place, which is used to solve the problems of failure of detection of the telescopic outrigger in place of current engineering vehicles, false triggering, poor safety in the unmanned state, etc. First of all, it should be noted that the outrigger in this embodiment is arranged on the telescopic end of the telescopic cylinder (also called the outrigger cylinder), and the outrigger is extended or retracted by the extension of the telescopic cylinder.

[0018] The arrival determination method of this embodiment includes the following steps:

[0019] Step S100, obtaining the state of the outrigger in-position sensing sensor, the pressure of the outrigger oil cylinder, the action running time of the outrigger, and the displacement of the outrigger;

[0020] Step S200, assigning weights to the outrigger in-position sensing sensor, the pressure of the outrigger cylinder, the action running time of the outrigger, and the displacement of the outrigger respectively according to a predetermined rule;

[0021] Step S300, add the weights corresponding to the outrigger in-position sensing sensor, the pressure of the outrigger cylinder, the outrigger action running time and the outrigger displacement to obtain a total weight, and determine whether the outrigger is in position based on the relationship between the total weight and the set weight.

[0022] In this embodiment, before performing step S100, the controller assembly first performs a self-check and detects the online status of each sensor to ensure that the determination work is performed accurately.

[0023] In step S100 of this embodiment, a position sensing sensor (such as a contact sensor, etc.) is arranged on the telescopic cylinder. When the telescopic cylinder is extended or retracted to a certain position, the state of the position sensing sensor F i Can change, for example, if the in-position sensing sensor senses the position, then F i =1, otherwise F i =0.

[0024] In step S100 of this embodiment, the pressure P of the outrigger cylinder (i.e., the telescopic cylinder) is obtained. i , through the pressure P i It serves as one of the criteria for determining whether the telescopic cylinder has been extended or retracted into place.

[0025] In step S100 of this embodiment, the action running time of the outrigger refers to the time from when the controller assembly sends a signal to the action output module (the action output module is used to drive the telescopic cylinder to move) to when the outrigger is extended or retracted into position, wherein the judgment of the outrigger being extended or retracted into position here can be identified by the in-position sensing sensor set on the telescopic cylinder. The controller assembly has a built-in time recording function, which can record the action running time of the outrigger.

[0026] In step S100 of this embodiment, the displacement of the outrigger can be detected by a wire displacement sensor provided on the telescopic oil cylinder, that is, the extension or retraction displacement of the oil cylinder is detected by the wire displacement sensor.

[0027] In this embodiment, the state of the in-position sensing sensor, the pressure of the outrigger cylinder, the action running time of the outrigger and the displacement of the outrigger are used as the basis for judging whether the outrigger is fully extended or retracted, thereby avoiding interference from various factors and obtaining an accurate state of the outrigger being fully extended or retracted.

[0028] Step S200, assigning weights to the outrigger in-position sensing sensor, the pressure of the outrigger cylinder, the action running time of the outrigger, and the displacement of the outrigger respectively according to a predetermined rule;

[0029] In step S200 of this embodiment, if the leg in-position sensing sensor senses that the leg is in position, that is, F i =1, then the weight A corresponding to the leg in-place sensing sensor i =a i , on the contrary F i =0, then A i =0.

[0030] In step S200 of this embodiment, the rod chamber pressure and rodless chamber pressure of the outrigger oil cylinder (telescopic oil cylinder) are obtained respectively. If the difference ΔP (absolute value) between the rod chamber pressure and the rodless chamber pressure is greater than the pressure difference threshold λ (the pressure difference threshold λ is set according to experience), the weight B corresponding to the pressure of the outrigger oil cylinder is i =b i , otherwise B i =0.

[0031] During the operation of the outriggers, if an obstacle touches the running outriggers, the pressure difference of the outrigger cylinders will still change suddenly. Therefore, the time-out effect of the obstacle contact should be considered. In this embodiment, the difference ΔP between the rod chamber pressure and the rodless chamber pressure is used as one of the judgment factors, and such situations can be taken into account.

[0032] In step S200 of this embodiment, the running time of the outrigger when performing the extending action or the retracting action is obtained. If the running time of the outrigger when performing the extending action or the retracting action is less than the running time threshold T s (Threshold T s The specific value can be set according to the requirements), then the weight C corresponding to the action running time of the outrigger i =c i , otherwise C i =0.

[0033] In step S200 of this embodiment, the extension displacement or retraction displacement S of the leg is obtained. i , if the extension displacement or retraction displacement of the outrigger is equal to the operating displacement threshold S s , then the weight D corresponding to the displacement of the outrigger i =d i , otherwise D i =0.

[0034] This embodiment can further improve the reliability of the detection of the outrigger being in place by adding displacement detection and taking it as one of the evaluation indicators.

[0035] In this embodiment, a i , b i 、c i d i are all constants set according to actual needs. In some preferred embodiments, a i +b i +c i +d i =100%.

[0036] Step S300, add the weights corresponding to the outrigger in-position sensing sensor, the pressure of the outrigger cylinder, the outrigger action running time and the outrigger displacement to obtain a total weight, and determine whether the outrigger is in position based on the relationship between the total weight and the set weight.

[0037] Step S310: After judging according to the rules of step S200, the weights corresponding to the various indicators can be obtained, that is, the weight A corresponding to the outrigger in-place sensing sensor i , Weight B corresponding to the pressure of the outrigger cylinder i , the weight C corresponding to the running time of the outrigger i And the weight D corresponding to the displacement of the leg i , add up the weights corresponding to each indicator to get the total weight K i , as shown in formula 1):

[0038] K i =A i +B i +C i +D i 1);

[0039] Step S320: If the total weight K i Greater than or equal to the set weight k i , then it is determined that the legs have been extended and retracted. If the total weight K i Less than the set weight k i It is determined that the legs are not fully extended, as shown in formula 2):

[0040]

[0041] Among them, the weight k is set i It can be set according to actual conditions and has high flexibility.

[0042] This embodiment provides a method for determining whether a leg is in place by taking into account weights of factors. By allocating weight coefficients, the determination method can still reliably perform in-place detection in the event of partial detection failure.

[0043] like Figure 2 As shown, this embodiment also discloses a telescopic leg in-place control system, which includes a controller assembly, a leg state monitoring module, and an action output module. A telescopic leg in-place determination method is provided in the controller assembly;

[0044] The controller assembly is respectively connected to the outrigger status monitoring module and the motion output module, and the motion output module is connected to the outrigger cylinder; the outrigger status monitoring module is used to monitor the motion information of the outrigger cylinder, and the motion output module drives the outrigger cylinder to move according to the signal sent by the controller assembly.

[0045] The outrigger status monitoring module includes an outrigger in-position sensing sensor, a first pressure sensor, a second pressure sensor and a displacement sensor, all of which are connected to the controller assembly; the outrigger in-position sensing sensor is arranged on the outrigger cylinder (i.e., the telescopic cylinder) to monitor the telescopic position of the outrigger; the first pressure sensor is arranged in the rod cavity of the outrigger cylinder, and the second pressure sensor is arranged in the rodless cavity of the outrigger cylinder, and the rod cavity pressure and the rodless cavity pressure of the outrigger cylinder are respectively obtained by the first pressure sensor and the second pressure sensor; the displacement sensor (pull wire displacement sensor) is arranged on the outrigger cylinder to monitor the telescopic displacement of the outrigger.

[0046] Among them, the outrigger status monitoring module can monitor the status of the outrigger in-position sensing sensor of the outrigger cylinder, the pressure of the outrigger cylinder and the displacement of the outrigger, and the outrigger action running time is obtained through the time recording module of the controller assembly.

[0047] The outrigger control system of this embodiment takes into account the false triggering of sensors caused by loose sensors, accidental falling objects, dirty triggering, and left-behind items. The controller assembly can analyze the influence of factors such as sensor proximity sensing, sudden pressure difference, and operating time to avoid abnormal outrigger extension and retraction movements.

[0048] The above is only a specific implementation 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 determining whether a telescopic leg is in place, characterized in that: include: Obtain the status of the outrigger in-position sensing sensor, the pressure of the outrigger cylinder, the outrigger action running time, and the outrigger displacement; According to a predetermined rule, weights corresponding to the outrigger in-position sensing sensor, the pressure of the outrigger oil cylinder, the outrigger action running time and the outrigger displacement are respectively assigned; The weights corresponding to the outrigger in-position sensing sensor, the outrigger cylinder pressure, the outrigger action running time and the outrigger displacement are added together to obtain the total weight, and whether the outrigger is in position is determined based on the relationship between the total weight and the set weight.

2. The method for determining whether the telescopic legs are in position according to claim 1, characterized in that: If the outrigger in-place sensing sensor senses that it is in place, then the weight A corresponding to the outrigger in-place sensing sensor i =a i , otherwise A i =0.

3. The method for determining whether the telescopic legs are in place according to claim 1, characterized in that: If the difference between the rod chamber pressure and the rodless chamber pressure of the outrigger cylinder is greater than the pressure difference threshold, the weight B corresponding to the pressure of the outrigger cylinder is i =b i , otherwise B i =0.

4. The method for determining whether the telescopic legs are in position according to claim 1, characterized in that: Get the running time of the outrigger when it is extending or retracting. If the running time of the outrigger when it is extending or retracting is less than the running time threshold, the weight C corresponding to the running time of the outrigger is i =c i , otherwise C i =0.

5. The method for determining whether the telescopic legs are in position according to claim 1, characterized in that: Get the extension displacement or retraction displacement of the outrigger. If the extension displacement or retraction displacement of the outrigger is equal to the running displacement threshold, the weight D corresponding to the displacement of the outrigger is i =d i , otherwise D i =0.

6. The method for determining whether a telescopic leg is in position according to any one of claims 1 to 5, characterized in that: If the total weight K i Greater than or equal to the set weight k i , then it is determined that the legs have been extended and retracted. If the total weight K i Less than the set weight k i It is determined that the legs are not fully extended or retracted.

7. A telescopic leg in-place control system, characterized in that: It comprises a controller assembly, a leg state monitoring module and an action output module, wherein the controller assembly is provided with a telescopic leg in-place determination method according to any one of claims 1 to 6; The controller assembly is connected to the outrigger status monitoring module and the motion output module respectively, and the motion output module is connected to the outrigger oil cylinder; The outrigger status monitoring module includes an outrigger in-position sensing sensor, a first pressure sensor, a second pressure sensor and a displacement sensor, all of which are connected to the controller assembly; the outrigger in-position sensing sensor is used to monitor the outrigger extension and retraction status; the first pressure sensor and the second pressure sensor are used to monitor the rod chamber pressure and rodless chamber pressure of the outrigger cylinder respectively; the displacement sensor is used to monitor the displacement of the outrigger.

Images