A telescopic leg in place determination method and control system

Abstract

The application discloses a telescopic support leg in-place determination method and a control system, relates to the field of engineering machinery, and comprises the following steps: acquiring the state of a support leg in-place sensing sensor, the pressure of a support leg oil cylinder, the action running time of the support leg and the displacement of the support leg, and assigning corresponding weights; and determining whether the support leg is telescoped in place according to the size relationship between the total weight and the set weight. The determination method fully considers factors that may cause failure, such as the service life of the sensor, accidental damage, loosening and the like, ensures normal operation of the support leg action, avoids existing incidental failure and accidental mis-triggering risks through redundant design and weight distribution, effectively reduces the risk of tipping over of an engineering vehicle in a state without intervention, and improves operation safety. The telescopic support leg in-place control system comprises a controller assembly, a support leg state monitoring module and an action output module, and the controller assembly accurately determines whether the support leg is telescoped in place according to the telescopic support leg in-place determination method.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engineering machinery, in particular to a telescopic support leg in-place determination method and control system. BACKGROUND

[0002] The traditional engineering vehicle support leg in-place determination method mainly realizes in-place determination through the detection of sensing pieces of extension sensors and retraction sensors. First, the support leg action controller is self-checked, and the sensor state is detected. If the extension sensor senses and responds, it is determined that the support leg is extended in place. If the retraction sensor senses and responds, it is determined that the support leg is retracted in place.

[0003] The traditional engineering vehicle support leg in-place determination method has the following technical defects:

[0004] (1) The traditional support leg in-place determination method does not consider the failure state of the sensor. At the end of the use of the equipment, if the sensor fails due to service life, accidental damage, etc., the support leg cannot be actuated;

[0005] (2) The traditional engineering vehicle support leg in-place determination method does not consider the false triggering factor. The support leg in-place detection sensor generally uses a stroke displacement sensor or a proximity sensing sensor. During vehicle operation, the sensor may be loosened, accidentally dropped, contaminated by wind, and left with items, etc., causing the sensor to be falsely triggered, thereby causing abnormal extension and retraction of the support leg;

[0006] (3) Poor safety, unable to meet the new trend of unmanned operation. With the acceleration of the unmanned and intelligent trend of engineering vehicles, due to the occasional failure and accidental false triggering risk of the traditional engineering vehicle support leg in-place determination method, the risk of tipping over of the engineering vehicle is greatly increased in the absence of human intervention. SUMMARY

[0007] The telescopic support leg in-place determination method and control system provided by the embodiments of the present application can avoid the problem of inaccurate support leg in-place determination caused by occasional failure and accidental false triggering risk.

[0008] In a first aspect, the present application provides a telescopic support leg in-place determination method, comprising: acquiring the state of a support leg in-place sensing sensor, the pressure of a support leg oil cylinder, the action running time of the support leg, and the displacement of the support leg; according to a predetermined rule, respectively assigning corresponding weights to the support leg in-place sensing sensor, the pressure of the support leg oil cylinder, the action running time of the support leg, and the displacement of the support leg; adding the corresponding weights of the support leg in-place sensing sensor, the pressure of the support leg oil cylinder, the action running time of the support leg, and the displacement of the support leg to obtain a total weight, and determining whether the support leg is extended or retracted in place according to the size relationship between the total weight and a set weight.

[0009] In a second aspect, the application provides a telescopic support leg in-place control system, comprising a controller assembly, a support leg state monitoring module, and an action output module, the controller assembly is provided with a telescopic support leg in-place determination method; the controller assembly is connected with the support leg state monitoring module and the action output module respectively, and the action output module is connected with a support leg oil cylinder; the support leg state monitoring module comprises a support leg in-place sensing sensor, a first pressure sensor, a second pressure sensor, and a displacement sensor, all of which are connected with the controller assembly; the support leg in-place sensing sensor is used for monitoring the telescopic in-place condition of the support leg; the first pressure sensor and the second pressure sensor are respectively used for monitoring the rod cavity pressure and the rodless cavity pressure of the support leg oil cylinder; and the displacement sensor is used for monitoring the displacement of the support leg.

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

[0011] The determination method of the application combines the state of the support leg in-place sensing sensor, the pressure of the support leg oil cylinder, the action running time of the support leg, and the displacement of the support leg as the determination factors, fully considers the service life, accidental damage, loosening, and other factors that may cause failure of the sensor, ensures the normal operation of the support leg action, and also considers the sensor false triggering caused by factors such as accidental falling objects, combines the pressure difference mutation, running time, and other factors as the determination basis, and avoids the abnormal telescopic action of the support leg; that is, the determination method of the application avoids the occasional failure and accidental false triggering risk existing in the traditional engineering vehicle support leg in-place determination method through redundant design and weight distribution, effectively reduces the risk of the engineering vehicle tipping over in the state of no human intervention, and improves the operation safety. BRIEF DESCRIPTION OF DRAWINGS

[0012] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not intended to limit the scope of the application. Moreover, like reference numerals designate like parts throughout the several views in the drawings. In the drawings:

[0013] Figure 1 is a flowchart of the telescopic support leg in-place determination method of the embodiment of the application;

[0014] Figure 2 is a schematic diagram of the support leg in-place control system of the embodiment of the application. DETAILED DESCRIPTION

[0015] The features and exemplary embodiments of various aspects of the present application will be described below in detail, in order to make the purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0016] It should be noted that, in this paper, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitation, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or equipment including the elements.

[0017] As shown in Figure 1 The present embodiment discloses a telescopic support leg in-place determination method, which is used to solve the problems of invalid detection, false triggering and poor safety in the state of no human intervention of the current telescopic support leg of engineering vehicle. First of all, it should be pointed out that the support leg in the present embodiment is arranged on the telescopic end of the telescopic cylinder (also called support leg cylinder), and the support leg is extended or retracted by the telescoping of the telescopic cylinder.

[0018] The in-place determination method of the present embodiment includes the following steps:

[0019] Step S100, acquiring the state of the support leg in-place sensing sensor, the pressure of the support leg cylinder, the action running time of the support leg and the displacement of the support leg;

[0020] Step S200, according to the predetermined rules, the corresponding weights of the support leg in-place sensing sensor, the pressure of the support leg cylinder, the action running time of the support leg and the displacement of the support leg are respectively given;

[0021] Step S300, the corresponding weights of the support leg in-place sensing sensor, the pressure of the support leg cylinder, the action running time of the support leg and the displacement of the support leg are added to obtain the total weight, and whether the support leg is telescoped in place is determined according to the size relationship between the total weight and the set weight.

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

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

[0024] In step S100 of this embodiment, the pressure P i of the outrigger oil cylinder (i.e. the telescopic oil cylinder) is obtained. The pressure P i is used as one of the determination bases for the telescopic oil cylinder to extend or retract to the position.

[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 oil cylinder to act) to when the outrigger is extended or retracted to the position. Here, the determination of the outrigger being extended or retracted to the position can be recognized by the position sensing sensor arranged on the telescopic oil cylinder. The controller assembly has a time recording function and 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 the pull wire displacement sensor arranged on the telescopic oil cylinder, i.e. the extension or retraction displacement of the oil cylinder is detected by the pull wire displacement sensor.

[0027] In this embodiment, the state of the position sensing sensor, the pressure of the outrigger oil cylinder, the action running time of the outrigger, and the displacement of the outrigger are used as the determination bases to measure whether the outrigger is extended or retracted to the position, which can avoid interference from various factors and obtain an accurate outrigger extension or retraction to the position state.

[0028] In step S200, weights corresponding to the outrigger position sensing sensor, the pressure of the outrigger oil cylinder, the action running time of the outrigger, and the displacement of the outrigger are respectively assigned according to predetermined rules.

[0029] In step S200 of this embodiment, if the outrigger position sensing sensor senses the position, i.e. F i = 1, then the weight A i corresponding to the outrigger position sensing sensor is a i , otherwise F i = 0, then A i = 0.

[0030] In step S200 of the embodiment, the rod cavity pressure and the rodless cavity pressure of the outrigger oil cylinder (telescopic oil cylinder) are obtained respectively, and if the difference ΔP (absolute value) between the rod cavity pressure and the rodless cavity 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 i = b i , otherwise B i = 0.

[0031] During the operation of the outrigger, if an obstacle touches the running outrigger, the pressure difference of the outrigger oil cylinder will still change suddenly, so the influence of the obstacle touch timeout should be considered, and in the embodiment, the difference ΔP between the rod cavity pressure and the rodless cavity pressure is taken as one of the judgment factors, so that such a situation can be considered.

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

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

[0034] The embodiment further improves the reliability of the outrigger to position detection by adding displacement detection and taking it as one of the evaluation indexes.

[0035] In the embodiment, a i , b i , c i , d i are constants set according to actual requirements, and in some preferred embodiments, a i +b i +c i +d i = 100%.

[0036] In step S300, the weights corresponding to the outrigger to position sensing sensor, the pressure of the outrigger oil cylinder, the action running time of the outrigger, and the displacement of the outrigger are added to obtain the total weight, and the outrigger is determined to be extended or retracted to position according to the size relationship between the total weight and the set weight.

[0037] Step S310, after judging by the rule of step S200, the weight corresponding to each index can be obtained, that is, the weight A corresponding to the outrigger in-place sensing sensor i , the weight B corresponding to the pressure of the outrigger oil cylinder i , the weight C corresponding to the action running time of the outrigger i , and the weight D corresponding to the displacement of the outrigger i , the weights corresponding to each index are added to obtain 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 is greater than or equal to the set weight k i , it is determined that the outrigger has been extended to the position, and if the total weight K i is less than the set weight k i , it is determined that the outrigger has not been extended to the position, as shown in formula 2):

[0040]

[0041] The set weight k i may be set according to the actual situation, and has high flexibility.

[0042] The embodiment provides an outrigger in-place determination method considering factor weights, which can still reliably perform in-place detection in the case of partial detection failure by assigning weight coefficients.

[0043] As shown in Figure 2 , the embodiment also discloses an outrigger in-place control system, which comprises a controller assembly, an outrigger state monitoring module and an action output module, and the outrigger in-place determination method is arranged in the controller assembly.

[0044] The controller assembly is connected with the outrigger state monitoring module and the action output module, and the action output module is connected with the outrigger oil cylinder; the outrigger state monitoring module is used for monitoring the action information of the outrigger oil cylinder, and the action output module drives the outrigger oil cylinder to act according to the signal sent by the controller assembly.

[0045] The outrigger state monitoring module comprises 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. telescopic cylinder) and is used 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; the rod cavity pressure and the rodless cavity pressure of the outrigger cylinder are obtained through the first pressure sensor and the second pressure sensor respectively; the displacement sensor (wire displacement sensor) is arranged on the outrigger cylinder and is used to monitor the telescopic displacement of the outrigger.

[0046] The outrigger state monitoring module can monitor the state 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 action running time of the outrigger is obtained through the time recording module of the controller assembly.

[0047] The outrigger-in-position control system of the embodiment takes into account the factors such as sensor loosening, accidental falling objects, dirty triggering, lost objects and the like, which may cause the sensor to be triggered by mistake; the controller assembly can analyze the factors such as sensor proximity sensing, pressure difference mutation and running time, so as to avoid abnormal telescopic action of the outrigger.

[0048] The above is only a specific implementation of the present application, and those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, module and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here. It should be understood that the protection scope of the present application is not limited to this, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A method for determining the position of a telescopic outrigger, characterized in that, include: Acquire the status of the outrigger positioning sensor, the pressure of the outrigger cylinder, the outrigger's movement time, and the outrigger's displacement. According to predetermined rules, the pressure of the outrigger positioning sensor, the outrigger cylinder, the outrigger's movement time, and the outrigger's displacement are assigned corresponding weights. The total weight is obtained by adding the weights corresponding to the outrigger positioning sensor, the pressure of the outrigger cylinder, the outrigger's movement time, and the outrigger's displacement. The outrigger is then used to determine whether it has extended or retracted to the correct position based on the relationship between the total weight and the set weight. If the outrigger positioning sensor detects a positioning position, then the weight corresponding to the outrigger positioning sensor... Conversely ; If the difference between the pressure in the rod chamber and the pressure in the rodless chamber of the outrigger cylinder is greater than the differential pressure threshold, then the pressure corresponding to the outrigger cylinder is weighted... Conversely ; Obtain the runtime of the outrigger when it extends or retracts. If the runtime of the outrigger when it extends or retracts is less than a runtime threshold, then assign a weight to the runtime of the outrigger's movement. Conversely ; Obtain the extension or retraction displacement of the outrigger. If the extension or retraction displacement of the outrigger equals the operating displacement threshold, then the weight corresponding to the outrigger displacement is determined. Conversely .

2. The method for determining the position of the telescopic outrigger according to claim 1, characterized in that, If the total weight Greater than or equal to the set weight If the total weight is within the specified range, then it is determined that the outrigger has extended or retracted to its full position. Less than the set weight If the outrigger has not extended or retracted fully, it is determined that the outrigger has not extended or retracted fully.

3. A telescopic outrigger positioning control system, characterized in that, It includes a controller assembly, a leg status monitoring module, and an action output module. The controller assembly is equipped with the telescopic leg positioning determination method as described in claim 1. The controller assembly is connected to the outrigger status monitoring module and the motion output module, respectively. The motion output module is connected to the outrigger cylinder. The outrigger status monitoring module includes an outrigger positioning sensor, a first pressure sensor, a second pressure sensor, and a displacement sensor, all connected to the controller assembly. The outrigger positioning sensor is used to monitor the outrigger's extension and retraction position. The first and second pressure sensors are used to monitor the rod-side and rodless-side pressures of the outrigger cylinder, respectively. The displacement sensor is used to monitor the outrigger's displacement.

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