Vehicle body posture control method of milling machine, controller and milling machine

Abstract

The invention provides a vehicle body attitude control method of a milling machine, a controller and the milling machine, relates to the technical field of engineering machinery, and solves the technical problems of low leveling efficiency and extremely high technical dependence on operators of the milling machine in the prior art. According to the vehicle body posture control method of the milling machine, in the working process of the milling machine, the running speed of the supporting legs and the running speed of the side sliding plate are detected all the time to judge whether leveling is needed or not, if leveling is needed, the proportional valves or the switch valves corresponding to the supporting legs needing to be adjusted and controlled are adjusted and controlled, and then leveling is completed. The absolute value of the difference between the running speeds of the front supporting leg and the rear supporting leg is smaller than the lower limit threshold value, and vehicle body posture leveling is completed. Through combined regulation and control of the two proportional valves and the switch valves, independent regulation and control of each supporting leg can be realized, and combined regulation and control of a plurality of supporting legs can also be realized, so that the controllability of the supporting legs of the milling machine is greatly improved, and the milling and leveling efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a body posture control method of a milling machine, a controller, and a milling machine. Background Art

[0002] A milling machine is a type of construction equipment that uses milling operations to renovate, expand, or maintain road surfaces. Traditional milling machines use a separate valve group for the front legs, while the rear legs share the same valve group logic. The hardware structure of this valve group prevents the legs from cooperating with each other, requiring independent control. Therefore, during the movement of the milling machine, it is easy for one leg to press against an obstacle, leaving the other legs suspended in the air, which can easily cause the vehicle to roll over. Therefore, the body posture of the milling machine needs to be leveled, but because the front and rear legs are independent, it is difficult to control the rear legs during the leveling process. When the rear legs encounter an obstacle, they need to be manually adjusted by a person behind the vehicle. This results in low leveling efficiency for the milling machine and a high degree of technical dependence on the operator. Summary of the Invention

[0003] In view of this, the present application provides a body posture control method, a controller and a milling machine of a milling machine, which solve the technical problems in the prior art that the leveling efficiency of the milling machine is low and the operator has a high degree of technical dependence.

[0004] As a first aspect of the present application, the present application provides a method for controlling the body posture of a milling machine, characterized in that the milling machine includes four legs and a leg cylinder corresponding to each leg; four side slides and a side slide cylinder corresponding to each side slide; a hydraulic oil circuit, the hydraulic oil circuit including a first proportional valve, a second proportional valve, and four switch valves, wherein the movement speed of the two legs on the left and the movement speed of the two legs on the right are respectively controlled by regulating the current of the first proportional valve and the second proportional valve;

[0005] The vehicle body posture control method includes:

[0006] Acquire the working state of the milling machine, the running speed of the support legs in the lifting state and the running speed of the side slide in the lifting state in the working state;

[0007] According to the running speed of the outrigger and the running speed of the side slide, the current of the proportional valve corresponding to the outrigger and / or the closing or opening of the corresponding switch valve are regulated to regulate the running speed of the outrigger until the absolute value of the running speed difference between the front and rear outriggers is less than the lower limit threshold.

[0008] In a possible implementation of the present application, the working state is a manual state of the outriggers;

[0009] Among them, regulating the current of the proportional valve corresponding to the support leg and / or the closing or opening of the corresponding switch valve according to the running speed of the support leg and the running speed of the side slide includes:

[0010] Controlling the current of the first proportional valve to be a first preset current, and controlling the current of the second proportional valve to be a second preset current;

[0011] When the two legs located on the same side move up and down, the running speed changes of the two legs located on the same side are calculated respectively, and the leg corresponding to the running speed change greater than the first preset change threshold is determined as the target control leg, and the switch valve corresponding to the target control leg is disconnected to reduce the running speed of the target control leg until the absolute value of the running speed difference of the two legs located on the same side is less than the lower limit threshold.

[0012] In a possible implementation of the present application, regulating the current of the proportional valve corresponding to the leg and / or the closing or opening of the corresponding switch valve according to the running speed of the leg and the running speed of the side slide further includes:

[0013] When all four legs are moving up and down, the mean change in the running speed of the two legs on the front side and the two legs on the rear side are calculated respectively; and the two target control legs corresponding to the two legs whose mean change is greater than the second preset change threshold are determined, and the switch valve corresponding to the target control leg is disconnected to reduce the running speed of the target control leg until the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold.

[0014] In a possible implementation of the present application, the working state is a milling and cutting state, and the four legs are in a descending operating state;

[0015] Among them, regulating the current of the proportional valve corresponding to the support leg and / or the closing or opening of the corresponding switch valve according to the running speed of the support leg and the running speed of the side slide includes:

[0016] Determining a first maximum drop current of the first proportional valve and a second maximum drop current of the second proportional valve according to four pre-constructed nonlinear parabolic transformation curves corresponding to the four legs, wherein the pre-constructed nonlinear parabolic change curves are used to represent the corresponding relationship between the operating speed of the legs and the corresponding proportional valves;

[0017] Controlling the initial current of the first proportional valve to be the first maximum descent current to control the two left legs to descend, and controlling the initial current of the second proportional valve to be the second maximum descent current to control the two right legs to descend;

[0018] When the side slide is suspended in the air, the first velocity change mean of the left leg and the second velocity change mean of the right leg are calculated respectively;

[0019] When the first speed change mean value is greater than a first preset mean value, determining a first real-time current based on the nonlinear parabolic transformation curve corresponding to the left leg and the real-time operating speed of the left leg, and controlling the first proportional valve according to the first real-time current so that the current of the first proportional valve gradually decreases to a target current as the operating speed of the left leg changes;

[0020] When the second speed change mean value is greater than the first preset mean value, determining a second real-time current based on the nonlinear parabolic transformation curve corresponding to the right leg and the real-time operating speed of the right leg, and controlling the second proportional valve according to the second real-time current so that the current of the second proportional valve gradually decreases to a target current as the operating speed of the right leg changes;

[0021] Calculate the third speed change mean of the two front legs and the fourth speed change mean of the two rear legs respectively;

[0022] When the third speed change mean value is greater than the second preset mean value, the switch valves corresponding to the two front legs are controlled to be disconnected until the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold;

[0023] When the fourth speed change mean is greater than the second preset mean, the switch valves corresponding to the two rear legs are controlled to be disconnected until the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold.

[0024] In a possible implementation of the present application, the current of the proportional valve corresponding to the support leg and / or the closing or opening of the corresponding switch valve are controlled according to the running speed of the support leg and the running speed of the side slide, and further includes:

[0025] When the side slide hits the ground, calculating the fifth change speed of the left side slide and the sixth change speed of the right side slide respectively;

[0026] When the fifth change speed is greater than the third preset change speed, a corresponding third real-time current is queried in a corresponding nonlinear parabolic transformation curve based on the real-time speed of the left leg, and the first proportional valve is controlled according to the third real-time current, so that the current of the first proportional valve gradually decreases to a target current as the operating speed of the left leg changes;

[0027] When the sixth change speed is greater than the third preset change speed, a corresponding fourth real-time current is queried in a corresponding nonlinear parabolic transformation curve based on the real-time speed of the right leg, and the second proportional valve is controlled according to the fourth real-time current, so that the current of the second proportional valve gradually decreases to a target current as the operating speed of the right leg changes;

[0028] Calculating the seventh speed change average of the two front side slides and the eighth speed change average of the two rear side slides respectively;

[0029] When the seventh speed change mean is greater than the fourth preset mean, the switch valves corresponding to the two front legs are controlled to be disconnected until the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold;

[0030] When the eighth speed change value is greater than the fourth preset average value, the switch valves corresponding to the two rear legs are controlled to be disconnected until the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold.

[0031] In a possible implementation of the present application, the vehicle body posture control method further includes:

[0032] When the feeder is in the middle position, the displacements of the legs under different proportional valve currents are detected to obtain a first data set, wherein the first data set includes a plurality of first data groups, each of which includes the proportional valve current and the corresponding displacements of the legs;

[0033] When the legs are at different height stages, the displacement of the legs under the same proportional valve current is detected to obtain a second data set, wherein the second data set includes a plurality of second data groups, each of which includes the height of the legs, the proportional valve current, and the corresponding displacement of the legs;

[0034] According to the plurality of the first data groups and the plurality of the second data groups, a nonlinear parabolic transformation curve between the proportional valve current and the movement speed of the support leg is constructed using a polynomial fitting algorithm.

[0035] In a possible implementation of the present application, the working state is a milling depth state;

[0036] Among them, regulating the current of the proportional valve corresponding to the support leg and / or the closing or opening of the corresponding switch valve according to the running speed of the support leg and the running speed of the side slide includes:

[0037] Calculate the real-time displacement of the four side slides and the speed change of the four side slides;

[0038] Calculating based on the real-time displacement of the four side slides and a pre-built leveling model to obtain a real-time leveling proportional valve current corresponding to the center position of the milling hub, and controlling the first proportional valve and the second proportional valve with the real-time leveling proportional valve current;

[0039] Determine the pitching trend of the vehicle body posture according to the speed changes of the four side skateboards;

[0040] According to the pitching trend of the vehicle body posture and the real-time leveling proportional valve current, the closing or opening of the switch valves corresponding to the four legs are regulated.

[0041] In a possible implementation of the present application, the closing or opening of the switch valves corresponding to the four legs is regulated according to the pitch trend of the vehicle body posture and the real-time leveling proportional valve current, including:

[0042] When the pitching trend of the vehicle body posture is a forward tilting trend and the changing trend of the current of the real-time leveling proportional valve is an upward trend, disconnecting the switch valves corresponding to the two rear legs;

[0043] When the pitching trend of the vehicle body posture is a forward tilting trend and the changing trend of the current of the real-time leveling proportional valve is a downward trend, disconnecting the switch valves corresponding to the two front legs;

[0044] When the pitching trend of the vehicle body posture is a backward trend and the changing trend of the current of the real-time leveling proportional valve is an upward trend, disconnecting the switch valves corresponding to the two front legs;

[0045] When the pitching trend of the vehicle body posture is a backward tilting trend, and the changing trend of the current of the real-time leveling proportional valve is a downward trend, the switch valves corresponding to the two rear legs are disconnected.

[0046] As a second aspect of the present application, the present application further provides a body posture controller for a milling machine, comprising:

[0047] A calculation module, configured to obtain a working state of the milling machine, a running speed of the legs in a lifting state in the working state, and a running speed of the side slide in a lifting state;

[0048] The control module is used to control the current of the proportional valve corresponding to the support leg and / or the closing or opening of the corresponding switch valve according to the operating speed of the support leg and the operating speed of the side slide, so as to control the operating speed of the support leg until the absolute value of the operating speed difference between the front and rear support legs is less than the lower limit threshold.

[0049] As a third aspect of the present application, the present application further provides a milling machine, comprising:

[0050] Four outriggers and an outrigger cylinder corresponding to each outrigger;

[0051] Four side slides and a side slide cylinder corresponding to each side slide;

[0052] A hydraulic oil circuit, the hydraulic oil circuit comprising: four floating valves, one of the floating valves being connected to a corresponding outrigger cylinder for controlling the floating of the corresponding outrigger; a first outrigger oil circuit corresponding to the outrigger cylinders corresponding to the two outriggers on the first side, the first outrigger oil circuit being provided with a first proportional valve and two switch valves; a second outrigger oil circuit corresponding to the outrigger cylinders corresponding to the two outriggers on the second side, the second outrigger oil circuit being provided with a second proportional valve and two switch valves, wherein the movement speed of the two outriggers on the first side is regulated by regulating the current of the first proportional valve, the movement speed of the two outriggers on the second side is regulated by regulating the current of the second proportional valve, and the oil circuit of the corresponding outrigger cylinder is closed or cut off by closing or opening the switch valve; and

[0053] The vehicle body posture controller described above.

[0054] The present application provides a method for controlling the body posture of a milling machine. During the operation of the milling machine, the operating speed of the outriggers and the operating speed of the side slides are constantly detected to determine whether leveling is required. If leveling is required, the proportional valve or switch valve corresponding to the outrigger to be regulated is adjusted to adjust the operating speed of the outrigger so that the absolute value of the operating speed difference between the front and rear outriggers is less than a lower threshold value, thereby completing the body posture leveling. Through the combined regulation of the two proportional valves and the switch valve, each outrigger can be individually regulated, and the combined regulation of multiple outriggers can also be achieved, greatly improving the controllability of the milling machine's outriggers, thereby improving the efficiency of milling and leveling. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0056] Figure 1 The figure shows a flow chart of a body posture control method of a milling machine provided in one embodiment of the present application.

[0057] Figure 2 Shown is a flow chart of a body posture control method for a milling machine provided in another embodiment of the present application.

[0058] Figure 3 Shown is a flow chart of a body posture control method for a milling machine provided in another embodiment of the present application.

[0059] Figure 4 Shown is a flow chart of a body posture control method for a milling machine provided in another embodiment of the present application.

[0060] Figure 5 Shown is a flow chart of a body posture control method for a milling machine provided in another embodiment of the present application.

[0061] Figure 6 Shown is a flow chart of a body posture control method for a milling machine provided in another embodiment of the present application.

[0062] Figure 7 The figure shows a structural block diagram of a body posture controller of a milling machine provided in one embodiment of the present application.

[0063] Figure 8 Shown is a structural block diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0064] In the description of the application, the meaning of "multiple" is at least two, for example two, three, etc., unless otherwise clearly and specifically limited. In the embodiments of the present application, all directional indications (such as up, down, left, right, front, back, top, bottom ...) are only used to explain the relative position relationship, motion situation, etc. between each component under a certain specific posture (as shown in the drawings). If this specific posture changes, this directional indication also changes accordingly. In addition, the terms "comprise" and "have" and any deformation thereof are intended to cover non-exclusive inclusion. For example, the process, method, system, product or equipment comprising a series of steps or units is not limited to the steps or units listed, but optionally also includes the steps or units not listed, or optionally also includes other steps or units inherent to these processes, methods, products or equipment.

[0065] In addition, references to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of such phrases in various places in the specification does not necessarily refer to the same embodiment, nor does it necessarily refer to independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0066] Exemplary milling machine

[0067] As a first aspect of the present application, the present application provides a milling machine, comprising: a frame, four travel devices, four legs, and a leg cylinder corresponding to each leg, wherein the four travel devices are supported on the four travel devices respectively, and the legs can be controlled to move up and down by extending and retracting the leg cylinders to adjust the distance between the frame and the ground; four side slides are arranged below the frame, and a side slide cylinder corresponding to each side slide, and the side slide cylinder can be controlled to move up and down by extending and retracting the side slide cylinders to adjust the side slide's relative movement to the frame;

[0068] The milling machine also includes a hydraulic oil circuit, which includes: four floating valves, one floating valve is connected to a corresponding support leg cylinder, and is used to control the floating of the corresponding support leg; a first support leg oil circuit corresponding to the support leg cylinders corresponding to the two support legs located on the left, and the first support leg oil circuit is provided with a first proportional valve and two switch valves; a second support leg oil circuit corresponding to the support leg cylinders corresponding to the two support legs located on the right, and the second support leg oil circuit is provided with a second proportional valve and two switch valves, wherein the movement speed of the two support legs located on the left and right can be controlled by regulating the current of the first proportional valve, and the movement speed of the two support legs located on the right can be controlled by regulating the current of the second proportional valve; in addition, the four switch valves correspond to the four support legs respectively, for example, the two switch valves corresponding to the two front support legs can be opened or closed at the same time, and the two switch valves corresponding to the two rear support legs can be opened or closed at the same time; for example, each switch valve can also be opened or closed independently.

[0069] By closing or opening the switch valve, the oil circuit of the support leg cylinder corresponding to the corresponding support leg can be closed or opened to control whether the support leg cylinder moves up and down, thereby controlling whether the support leg moves up and down.

[0070] The milling machine also includes a body posture controller, which is used to execute the body posture control method of the milling machine. Through the combination of a first proportional valve, a second proportional valve and four switch valves, single-leg and multi-leg control can be achieved, greatly improving the controllability of the milling machine legs, thereby improving the efficiency of milling and leveling.

[0071] It should be noted that the left side, right side, front side and rear side proposed in this application are all directions defined as reference directions in the forward direction of the milling machine.

[0072] Exemplary Methods

[0073] As a first aspect of the present application, the present application provides a body posture control method of a milling machine, which is used to control the body posture of the above-mentioned milling machine to achieve milling and leveling of the milling machine during operation. Figure 1 FIG. 1 is a flow chart of a method for controlling the body posture of a milling machine according to an embodiment of the present application. Figure 1As shown, a body posture control method of a milling machine includes the following steps:

[0074] S1: Acquire the working state of the milling machine, the running speed of the legs in the lifting state in the working state, and the running speed of the side slide in the lifting state;

[0075] Specifically, the milling machine's operating states include: (1) Manual leg state: The milling machine's legs are raised and lowered independently by manually selecting the current of the proportional valves (for example, the first proportional valve for the two left legs and the second proportional valve for the two right legs). (2) Milling cutter state: The milling machine's cutter enters the working state and begins cutting the road surface. (3) Milling depth state: The cutter cuts into the road surface during milling operation.

[0076] Therefore, when the milling machine is in different working states, the operating speeds of the four legs during the lifting and lowering movement and the operating speed of the side slide are obtained.

[0077] Specifically, the running speed of the legs can be calculated by detecting the position between the legs and the ground. Similarly, the running speed of the side slide can also be calculated by detecting the position between the side slide and the ground.

[0078] S2: According to the running speed of the outrigger and the running speed of the side slide, the current of the proportional valve corresponding to the outrigger and / or the closing or opening of the corresponding switch valve are regulated to regulate the running speed of the outrigger until the absolute value of the running speed difference between the front and rear outriggers is less than the lower limit threshold.

[0079] Specifically, the lower threshold is a pre-set value, and the lower threshold varies with the height between the outriggers and the ground. The higher the height between the outriggers and the ground, the larger the lower threshold. The lower threshold varies with the height between the outriggers and the ground. When the height between the outriggers and the ground is higher, the lower threshold increases, resulting in lower control accuracy. This allows for rough leveling of the milling machine's body posture. As the height between the outriggers and the ground gradually decreases, the lower threshold gradually decreases, achieving high-precision leveling of the milling machine's body posture, thereby ensuring more stable operation of the milling machine.

[0080] Specifically, during the operation of the milling machine, the running speed of the legs and the running speed of the side slide are constantly detected to determine whether leveling is required. If leveling is required, the proportional valve or switch valve corresponding to the leg that needs to be regulated is adjusted to adjust the running speed of the leg so that the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold. When the absolute value of the running speed difference is less than the lower limit threshold, it indicates that the leveling of the milling machine during operation is completed. Through the combined regulation of the first proportional valve, the second proportional valve, and the switch valves corresponding to the four legs, 14 motion modes can be achieved: left front rise / fall, right front rise / fall, rear leg rise / fall, four-leg rise / fall, left side rise / fall, right side rise / fall, and four-leg rise / fall. Therefore, through the combined regulation of the two proportional valves and the switch valve, each leg can be individually regulated, and the combined regulation of multiple legs can also be achieved, which greatly improves the controllability of the milling machine legs, thereby improving the efficiency of milling and leveling.

[0081] The present application provides a method for controlling the body posture of a milling machine. During the operation of the milling machine, the operating speed of the outriggers and the operating speed of the side slides are constantly detected to determine whether leveling is required. If leveling is required, the proportional valve or switch valve corresponding to the outrigger to be regulated is adjusted to adjust the operating speed of the outrigger so that the absolute value of the operating speed difference between the front and rear outriggers is less than a lower threshold value, thereby completing the body posture leveling. Through the combined regulation of the two proportional valves and the switch valve, each outrigger can be individually regulated, and the combined regulation of multiple outriggers can also be achieved, greatly improving the controllability of the milling machine's outriggers, thereby improving the efficiency of milling and leveling.

[0082] The following is a specific control method for leveling the vehicle body posture through the milling machine under different operating conditions.

[0083] (1) The working state of the milling machine is: the outriggers are in manual state.

[0084] When the milling machine is in manual leg operation, the current of the first proportional valve and the current of the second proportional valve are manually selected. Therefore, under the control of the first proportional valve and the second proportional valve, the lifting and lowering states of the four legs can be: (1) the two legs on the same side are lifting and lowering, while the two legs on the other side are stationary: the two legs on the left side are in lifting and lowering motion, while the two legs on the right side are stationary; the two legs on the right side are in lifting and lowering motion, while the two legs on the left side are stationary; (2) all four legs are lifting and lowering motion: the four legs on both sides are in lifting and lowering motion.

[0085] Therefore, when the four legs are in different lifting states, the control method of the vehicle body posture is also different, as follows:

[0086] like Figure 2As shown, when only the two legs on the same side move up and down and the two legs on the other side do not move, S2 (controlling the current of the proportional valve corresponding to the leg and / or the closing or opening of the corresponding switch valve according to the running speed of the leg and the running speed of the side slide) specifically includes the following steps:

[0087] S20: controlling the current of the first proportional valve to be a first preset current and controlling the current of the second proportional valve to be a second preset current;

[0088] The current of the first proportional valve and the current of the second proportional valve are both manually set. During the entire operation of the milling machine with the outriggers in manual mode, the first preset current of the first proportional valve and the second preset current of the second proportional valve remain unchanged.

[0089] S21: When the two legs located on the same side move up and down, the running speed changes of the two legs located on the same side are calculated respectively, and the leg corresponding to the running speed change greater than the first preset change threshold is determined to be the target control leg, and the switch valve corresponding to the target control leg is disconnected to reduce the running speed of the target control leg until the absolute value of the running speed difference of the two legs located on the same side is less than the lower limit threshold.

[0090] Specifically, when only two legs on the same side are moving up and down, that is, only the two legs on the left side are moving up and down, or only the two legs on the right side are moving up and down, the distances between the two legs and the ground are detected to calculate the operating speeds of the two legs. The operating speed changes of the two legs are also calculated, and the leg with an operating speed change greater than a first preset change threshold is determined as the target control leg. The switch valve corresponding to the target control leg is disconnected to reduce the operating speed of the target control leg until the absolute value of the operating speed difference between the two legs on the same side is less than a lower threshold.

[0091] For example, only the two legs on the left side are raised or lowered. When the change in the operating speed of the left front leg is greater than a first preset change value, and the change in the operating speed of the left rear leg is less than the first preset change value, the left front leg becomes the target leg for control. At this point, the switch valve corresponding to the left front leg is opened to reduce the operating speed of the left front leg. After control, if the absolute value of the difference between the operating speeds of the left front leg and the left rear leg is less than a lower threshold, the switch valve corresponding to the left front leg is closed again. Similarly, when the change in the operating speed of the left rear leg is greater than the first preset change value, and the change in the operating speed of the left front leg is less than the first preset change value, the left rear leg becomes the target leg for control. At this point, the switch valve corresponding to the left rear leg is opened to reduce the operating speed of the left rear leg. After control, if the absolute value of the difference between the operating speeds of the left rear leg and the left rear leg is less than a lower threshold, the switch valve corresponding to the left rear leg is closed again.

[0092] For another example, only the two outriggers on the right side are moving up and down. When the change in the operating speed of the right front outrigger is greater than a first preset change value, and the change in the operating speed of the right rear outrigger is less than the first preset change value, the right front outrigger becomes the target regulated outrigger. At this point, the on-off valve corresponding to the right front outrigger is opened to reduce the operating speed of the right front outrigger. After regulation, if the absolute value of the difference between the operating speeds of the right front outrigger and the right rear outrigger is less than a lower threshold, the on-off valve corresponding to the right front outrigger is closed again. Similarly, when the change in the operating speed of the right rear outrigger is greater than the first preset change value, and the change in the operating speed of the right front outrigger is less than the first preset change value, the right rear outrigger becomes the target regulated outrigger. At this point, the on-off valve corresponding to the right rear outrigger is opened to reduce the operating speed of the right rear outrigger. After regulation, if the absolute value of the difference between the operating speeds of the right rear outrigger and the right rear outrigger is less than a lower threshold, the on-off valve corresponding to the right rear outrigger is closed again.

[0093] like Figure 3 As shown, when all four legs are moving up and down, S2 (controlling the current of the proportional valve corresponding to the leg and / or the closing or opening of the corresponding switch valve according to the running speed of the leg and the running speed of the side slide) further includes the following steps:

[0094] S23: When all four legs are moving up and down, the mean change in the running speed of the two legs on the front side and the two legs on the rear side are calculated respectively; and the two target control legs corresponding to the two legs whose mean change is greater than the second preset change threshold are determined, and the switch valve corresponding to the target control leg is disconnected to reduce the running speed of the target control leg until the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold.

[0095] When all four legs are moving up and down, the speed change value of each leg can be calculated. Then, the mean change of the two front legs (i.e., the average of the speed change values ​​of the left front and right front legs) and the mean change of the two rear legs (i.e., the average of the speed change values ​​of the left rear and right rear legs) can be calculated. The two legs with a mean change greater than the second preset change threshold are the target control legs.

[0096] For example: when the average change in the running speed of the two front legs is greater than the second preset threshold, the two front legs are determined as the target control legs, and the switch valves corresponding to the two front legs (the left front leg and the right front leg) are disconnected to reduce the running speed of the left front leg and the right front leg until the absolute value of the speed difference between the left front leg and the rear front leg is less than the lower limit threshold, and the absolute value of the speed difference between the right front leg and the right rear front leg is less than the lower limit threshold.

[0097] Similarly, for example: when the average change in the running speed of the two legs located at the rear side is greater than the second preset threshold, the two legs at the rear side are determined to be the target control legs, and the switch valves corresponding to the two legs at the rear side (the left rear leg and the right rear leg) are disconnected to reduce the running speed of the left rear leg and the right rear leg at the rear side, until the absolute value of the speed difference between the left rear leg and the left front leg is less than the lower limit threshold, and the absolute value of the speed difference between the right front leg and the right rear front leg is less than the lower limit threshold.

[0098] (2) The working state of the milling machine is: milling down state. At this time, the four legs are in the lowered running state, and the four side slides are also in the lowered running state.

[0099] like Figure 4 As shown, the specific leveling method of the vehicle body posture, i.e., S2 (controlling the current of the proportional valve corresponding to the outrigger and / or the closing or opening of the corresponding switch valve according to the running speed of the outrigger and the running speed of the side skateboard) specifically includes the following steps:

[0100] S24: Determine a first maximum drop current of the first proportional valve and a second maximum drop current of the second proportional valve according to four pre-constructed nonlinear parabolic transformation curves corresponding to the four legs, wherein the pre-constructed nonlinear parabolic change curves are used to represent the corresponding relationship between the operating speed of the legs and the corresponding proportional valves;

[0101] Specifically, a nonlinear parabolic change curve corresponding to each leg is pre-constructed. The specific construction method can be:

[0102] (1) When the feeder is in the middle position, the displacement of the support legs under different proportional valve currents is detected respectively to obtain a first data set. The first data set includes multiple first data groups. The first data group includes the proportional valve current and the corresponding displacement of the support legs, as shown in Table 1 below.

[0103] Table 1

[0104] Specific valve current 600mA 650mA 700mA 750mA ……… 1150mA 1200mA Displacement

[0105] (2) When the legs are at different height stages, the displacement of the legs under the same proportional valve current is detected respectively to obtain a second data set. The second data set includes multiple second data groups. The second data group includes the height of the legs, the proportional valve current and the corresponding displacement of the legs, as shown in Table 2 below.

[0106] Table 2

[0107] Height (cm) 0-5 5-10 10-15 15-20 ……… 60-65 65-70 Displacement

[0108] (3) Based on the multiple first data groups and the multiple second data groups, a polynomial fitting algorithm is used to construct a nonlinear parabolic transformation curve between the proportional valve current and the movement speed of the support leg.

[0109] After the nonlinear parabolic variation curve corresponding to each leg is constructed, the first maximum drop current of the first proportional valve and the second maximum drop current of the second proportional valve can be determined according to the four nonlinear parabolic variation curves.

[0110] S25: Controlling the initial current of the first proportional valve to be the first maximum descending current to control the two left legs to descend, and controlling the initial current of the second proportional valve to be the second maximum descending current to control the two right legs to descend;

[0111] After determining the first maximum descent current of the first proportional valve and the second maximum descent current of the second proportional valve, the initial current of the first proportional valve in the milling knife down state can be controlled to be the first maximum descent current, thereby controlling the two legs on the left to descend; similarly, the initial current of the second proportional valve in the milling knife down state can be controlled to be the second maximum descent current, thereby controlling the two legs on the right to descend.

[0112] S260: When the side slide is suspended in the air, respectively calculating a first velocity change average of the left leg and a second velocity change average of the right leg;

[0113] When the milling machine is aligning the cutter, the initial displacement of the four side slides (i.e. the initial height from the ground) is detected. When the cutter starts, the initial displacement of the four legs (i.e. the initial height from the ground) is detected. In the subsequent milling process, the real-time displacement of the four side slides is detected in real time to calculate the descending speed and change speed of each side slide; at the same time, the real-time displacement of the four legs is detected in real time to calculate the descending speed and change speed of each leg.

[0114] It should be noted that whether the side slide is suspended can be determined based on the real-time displacement of the side slide. For example, when the real-time displacement of the side slide (the real-time distance between the side slide and the ground) is greater than 0, the side slide is suspended.

[0115] S261: When the first speed change mean value is greater than a first preset mean value, determining a first real-time current based on the nonlinear parabolic transformation curve corresponding to the left leg and the real-time operating speed of the left leg, and controlling the first proportional valve according to the first real-time current so that the current of the first proportional valve gradually decreases to a target current as the operating speed of the left leg changes;

[0116] Specifically, the target current may be determined according to the target milling depth.

[0117] When the first speed change mean is greater than the first preset mean, it means that the speed change of the two left legs is too fast. Therefore, the first real-time current is determined based on the nonlinear parabolic transformation curve corresponding to any one of the two left legs and the real-time operating speed, and then the current of the first proportional valve is controlled to be the first real-time current to reduce the operating speed of the two left legs, and the real-time speed of the legs after the operating speed is reduced is detected, and the corresponding real-time current is found in the nonlinear parabolic transformation curve according to the real-time speed, and the first proportional valve is regulated according to the real-time current, so that the current of the first proportional valve can be slowly reduced to the target current.

[0118] S262: When the second speed change mean value is greater than the first preset mean value, determining a second real-time current based on the nonlinear parabolic transformation curve corresponding to the right leg and the real-time operating speed of the right leg, and controlling the second proportional valve according to the second real-time current so that the current of the second proportional valve gradually decreases to a target current as the operating speed of the right leg changes;

[0119] When the second speed change mean is greater than the first preset mean, it means that the speed change of the two legs on the right is too fast. Therefore, the second real-time current is determined based on the nonlinear parabolic transformation curve corresponding to any one of the two legs on the right and the real-time operating speed, and then the current of the second proportional valve is controlled to be the second real-time current to reduce the operating speed of the two legs on the right, and the real-time speed of the legs after the operating speed is reduced is detected, and the corresponding real-time current is found in the nonlinear parabolic transformation curve according to the real-time speed, and the second proportional valve is adjusted according to the real-time current, so that the current of the second proportional valve can be slowly reduced to the target current.

[0120] Specifically, the specific calculation method for determining whether the first speed change mean is greater than the first preset mean and whether the second speed change mean is greater than the first preset mean may be:

[0121] A first left-right adjustment mathematical model is constructed based on the speed changes of the left and right legs. The real-time descent speeds of the two left legs and the real-time descent speeds of the two right legs are then simultaneously input into the first left-right adjustment mathematical model for calculation, and the output speed change mean is greater than the corresponding preset mean. For example, if the first speed change mean is greater than the first preset mean, then the output is "the first speed change mean is greater than the first preset mean"; if the second speed change mean is greater than the first preset mean, then the output is "the second speed change mean is greater than the first preset mean."

[0122] S263: Calculate the third speed change average of the two front legs and the fourth speed change average of the two rear legs respectively;

[0123] S264: When the third speed change mean value is greater than the second preset mean value, the switch valves corresponding to the two front legs are controlled to be disconnected until the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold;

[0124] When the third speed change mean is greater than the second preset mean, it means that the descending speed of the two front legs is too fast. Therefore, the switch valves corresponding to the two front legs are controlled to be disconnected to reduce the descending speed of the two front legs.

[0125] S265: When the fourth speed change value is greater than the second preset average value, the switch valves corresponding to the two rear legs are controlled to be disconnected until the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold.

[0126] Similarly, when the fourth speed change mean is greater than the second preset mean, it means that the descent speed of the two rear legs is too fast. Therefore, the switch valves corresponding to the two rear legs are controlled to be disconnected to reduce the descent speed of the two rear legs.

[0127] Specifically, the specific calculation method for determining whether the third speed change mean is greater than the second preset mean and whether the fourth speed change mean is greater than the second preset mean may be:

[0128] A first fore-aft adjustment mathematical model is constructed based on the speed changes of the front and rear legs. The real-time descent speeds of the two front legs and the real-time descent speeds of the two rear legs are then simultaneously input into the first fore-aft adjustment mathematical model for calculation, and the output speed change mean is greater than the corresponding preset mean. For example, if the third speed change mean is greater than the second preset mean, then the output is that the third speed change mean is greater than the second preset mean; if the fourth speed change mean is greater than the second preset mean, then the output is that the fourth speed change mean is greater than the second preset mean.

[0129] In one embodiment of the present application, when the legs are lowered, the side slides also lower. Therefore, when the distance between the side slides and the ground is 0, that is, when the side slides touch the ground, Figure 5 As shown, S2 (regulating the current of the proportional valve corresponding to the support leg and / or the closing or opening of the corresponding switch valve according to the running speed of the support leg and the running speed of the side slide) further includes the following steps:

[0130] S270: When the side slide hits the ground, respectively calculating a fifth speed change average of the left side slide and a sixth speed change average of the right side slide;

[0131] Specifically, when the distance between the side slide and the ground is 0, it can be determined that the side slide has touched the ground.

[0132] S271: When the fifth change speed is greater than the third preset average value, querying a corresponding third real-time current in a corresponding nonlinear parabola transformation curve based on the real-time speed of the left leg, and controlling the first proportional valve according to the third real-time current so that the current of the first proportional valve gradually decreases to a target current as the operating speed of the left leg changes;

[0133] Specifically, the target current may be determined according to the target milling depth.

[0134] When the fifth speed change mean is greater than the third preset mean, the third real-time current is determined based on the nonlinear parabolic transformation curve corresponding to any one of the two left legs and the real-time operating speed, and then the current of the first proportional valve is controlled to be the third real-time current to reduce the operating speed of the two left legs, and the real-time speed of the legs after the operating speed is reduced is detected, and the corresponding real-time current is searched in the nonlinear parabolic transformation curve according to the real-time speed, and the first proportional valve is regulated according to the real-time current, so that the current of the first proportional valve can be slowly reduced to the target current.

[0135] S272: When the sixth speed change mean value is greater than the third preset mean value, querying a corresponding fourth real-time current in a corresponding nonlinear parabola transformation curve based on the real-time speed of the right leg, and controlling the second proportional valve according to the fourth real-time current so that the current of the second proportional valve gradually decreases to a target current as the operating speed of the right leg changes;

[0136] Specifically, the specific calculation method for determining whether the fifth speed change mean is greater than the third preset mean and whether the sixth speed change mean is greater than the third preset mean may be:

[0137] A second left-right adjustment mathematical model is constructed based on the speed changes of the left and right legs. The real-time descending speeds of the two left side slides and the real-time descending speeds of the two right side slides are then simultaneously input into the second left-right adjustment mathematical model for calculation, and the output speed change mean is greater than the corresponding preset mean. For example, if the fifth speed change mean is greater than the third preset mean, then the output is "the fifth speed change mean is greater than the third preset mean"; if the sixth speed change mean is greater than the third preset mean, then the output is "the sixth speed change mean is greater than the third preset mean."

[0138] Similarly, when the sixth speed change mean is greater than the third preset mean, the fourth real-time current is determined based on the nonlinear parabolic transformation curve corresponding to any one of the two legs on the right and the real-time operating speed, and then the current of the second proportional valve is controlled to be the fourth real-time current to reduce the operating speed of the two legs on the right, and the real-time speed of the legs after the operating speed is reduced is detected, and the corresponding real-time current is searched in the nonlinear parabolic transformation curve according to the real-time speed, and the second proportional valve is adjusted according to the real-time current, so that the current of the second proportional valve can be slowly reduced to the target current.

[0139] S273: Calculating the seventh speed change average of the two front side slides and the eighth speed change average of the two rear side slides respectively;

[0140] S274: When the seventh speed change mean value is greater than the fourth preset mean value, the switch valves corresponding to the two front legs are controlled to be disconnected until the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold;

[0141] S275: When the eighth speed change value is greater than the fourth preset average value, the switch valves corresponding to the two rear legs are controlled to be disconnected until the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold.

[0142] Specifically, the specific calculation method for determining whether the seventh speed change mean is greater than the fourth preset mean and whether the eighth speed change mean is greater than the fourth preset mean may be:

[0143] A second fore-aft adjustment mathematical model is constructed based on the speed changes of the front and rear side slides. The real-time descent speeds of the two front side slides and the real-time descent speeds of the two rear side slides are then simultaneously input into the second fore-aft adjustment mathematical model for calculation, and the output speed change mean is greater than the corresponding preset mean. For example, if the seventh speed change mean is greater than the seventh preset mean, then the output speed change mean is greater than the fourth preset mean; if the eighth speed change mean is greater than the fourth preset mean, then the output speed change mean is greater than the fourth preset mean.

[0144] (3) The working state of the milling machine is: milling depth state;

[0145] like Figure 6 As shown, S2 (regulating the current of the proportional valve corresponding to the support leg and / or the closing or opening of the corresponding switch valve according to the running speed of the support leg and the running speed of the side slide) specifically includes the following steps:

[0146] S280: Calculating the real-time displacement of the four side slides and calculating the speed change of the four side slides;

[0147] Collectively, the speed change of the side slide can be calculated based on the real-time displacement and the initial displacement.

[0148] S281: Calculating based on the real-time displacements of the four side slides and a pre-built leveling model to obtain a real-time leveling proportional valve current corresponding to the center position of the milling hub, and controlling the first proportional valve and the second proportional valve with the real-time leveling proportional valve current;

[0149] When the real-time displacement of the side slide is input into a pre-built leveling mathematical model to calculate the real-time leveling proportional valve current, the first proportional valve and the second proportional valve can be controlled according to the real-time leveling proportional valve current.

[0150] S282: Determine the pitch trend of the vehicle body posture based on the speed changes of the four side slides;

[0151] The speed changes of the four side slides are detected in real time, and the speed changes of the four side slides are input into a pre-built posture calculation mathematical model for calculation to obtain the pitch trend of the vehicle body posture.

[0152] Specifically, the pitching tendency of the vehicle body posture includes: a forward leaning tendency and a backward leaning tendency.

[0153] S283: According to the pitch trend of the vehicle body posture and the real-time leveling proportional valve current, the switch valves corresponding to the four legs are controlled to be closed or opened.

[0154] Specifically, S283 (regulating the closing or opening of the switch valves corresponding to the four legs according to the pitching trend of the vehicle body posture and the real-time leveling proportional valve current) specifically includes the following steps:

[0155] S2831: When the vehicle body's pitching tendency is forward and the current of the real-time leveling proportional valve is increasing, the switch valves corresponding to the two rear legs are disconnected.

[0156] S2382: When the vehicle body's pitching tendency is forward and the current of the real-time leveling proportional valve is decreasing, the switch valves corresponding to the two front legs are disconnected.

[0157] S2383: When the vehicle body's pitching tendency is rearward and the current of the real-time leveling proportional valve is increasing, the switch valves corresponding to the two front legs are disconnected.

[0158] S2384: When the vehicle body's pitching trend is a backward trend and the current change trend of the real-time leveling proportional valve is a downward trend, disconnect the switch valves corresponding to the two rear legs.

[0159] Exemplary Controller

[0160] As a third aspect of the present application, the present application also provides a body posture controller for a milling machine, such as Figure 7 As shown, the vehicle body posture controller 100 includes: a calculation module 101, which is used to obtain the working state of the milling machine, the running speed of the support legs in the lifting motion state in the working state, and the running speed of the side slide in the lifting motion state;

[0161] The control module 102 is used to control the current of the proportional valve corresponding to the leg and / or the closing or opening of the corresponding switch valve according to the running speed of the leg and the running speed of the side slide, so as to control the running speed of the leg until the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold.

[0162] The present application provides a body posture controller for a milling machine. During the operation of the milling machine, the controller constantly detects the operating speed of the legs and the operating speed of the side slide to determine whether leveling is required. If leveling is required, the proportional valve or switch valve corresponding to the leg to be regulated is adjusted to adjust the operating speed of the leg so that the absolute value of the operating speed difference between the front and rear legs is less than a lower threshold value, thereby completing the body posture leveling. Through the combined control of the two proportional valves and the switch valve, each leg can be individually controlled, and the combined control of multiple legs can also be achieved, greatly improving the controllability of the milling machine legs, thereby improving the efficiency of milling and leveling.

[0163] Exemplary electronic devices

[0164] Next, as a fourth aspect of the present application, the present application further provides an electronic device. Figure 8 To describe the electronic device according to the embodiment of the present application.

[0165] Figure 8 The figure shows a structural block diagram of an electronic device according to an embodiment of the present application.

[0166] like Figure 8 As shown, the electronic device 60 includes one or more processors 601 and a memory 602 .

[0167] The processor 601 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 60 to perform desired functions.

[0168] The memory 602 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 601 may execute the program instructions to implement the body posture control method of a milling machine of the various embodiments of the present application described above and / or other desired functions.

[0169] In one example, the electronic device 60 may further include an input device 603 and an output device 604 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0170] When the electronic device is a stand-alone device, the input device 603 may be a communication network connector, configured to receive collected input signals from the first device and the second device.

[0171] In addition, the input device 603 may also include, for example, a keyboard, a mouse, etc.

[0172] The output device 604 can output various information to the outside, including determined distance information, direction information, etc. The output device 604 can include, for example, a display, a speaker, a printer, a communication network and its connected remote output device, etc.

[0173] Of course, to simplify, Figure 8 Only some of the components related to the present application in the electronic device 60 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, the electronic device 60 may further include any other appropriate components according to specific application scenarios.

[0174] As a fifth aspect of the present application, the present application provides a computer-readable storage medium, which stores a computer program, and the computer program is used to execute the steps in the body posture control method of a milling machine in each of the above embodiments.

[0175] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0176] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program information. When the computer program information is run by a processor, the processor executes the steps in a body posture control method of a milling machine in various embodiments of the present application.

[0177] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0178] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0179] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0180] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

Claims

1. A method for controlling the body posture of a milling machine, characterized in that: The milling machine includes four outriggers and an outrigger cylinder corresponding to each outrigger; four side slides and a side slide cylinder corresponding to each side slide; and a hydraulic circuit including a first proportional valve, a second proportional valve, and four switch valves. The movement speeds of the two outriggers on the left and the two outriggers on the right are respectively controlled by regulating the currents of the first proportional valve and the second proportional valve. The vehicle body posture control method includes: Acquire the working state of the milling machine, the running speed of the support legs in the lifting state and the running speed of the side slide in the lifting state in the working state; According to the running speed of the outrigger and the running speed of the side slide, the current of the proportional valve corresponding to the outrigger and / or the closing or opening of the corresponding switch valve are regulated to regulate the running speed of the outrigger until the absolute value of the running speed difference between the front and rear outriggers is less than the lower limit threshold.

2. The vehicle body posture control method according to claim 1, characterized in that: The working state is the manual state of the outriggers; Among them, regulating the current of the proportional valve corresponding to the support leg and / or the closing or opening of the corresponding switch valve according to the running speed of the support leg and the running speed of the side slide includes: Controlling the current of the first proportional valve to be a first preset current, and controlling the current of the second proportional valve to be a second preset current; When the two legs located on the same side move up and down, the running speed changes of the two legs located on the same side are calculated respectively, and the leg corresponding to the running speed change greater than the first preset change threshold is determined as the target control leg, and the switch valve corresponding to the target control leg is disconnected to reduce the running speed of the target control leg until the absolute value of the running speed difference of the two legs located on the same side is less than the lower limit threshold.

3. The vehicle body posture control method according to claim 2, characterized in that: in, The method further includes regulating the current of the proportional valve corresponding to the support leg and / or closing or opening the corresponding switch valve according to the running speed of the support leg and the running speed of the side slide. When all four legs are moving up and down, the mean change in the running speed of the two legs on the front side and the two legs on the rear side are calculated respectively; and the two target control legs corresponding to the two legs whose mean change is greater than the second preset change threshold are determined, and the switch valve corresponding to the target control leg is disconnected to reduce the running speed of the target control leg until the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold.

4. The vehicle body posture control method according to claim 1, characterized in that: The working state is the milling and planing down state, and the four legs are in the descending operation state; Among them, regulating the current of the proportional valve corresponding to the support leg and / or the closing or opening of the corresponding switch valve according to the running speed of the support leg and the running speed of the side slide includes: Determining a first maximum drop current of the first proportional valve and a second maximum drop current of the second proportional valve according to four pre-constructed nonlinear parabolic transformation curves corresponding to the four legs, wherein the pre-constructed nonlinear parabolic change curves are used to represent the corresponding relationship between the operating speed of the legs and the corresponding proportional valves; Controlling the initial current of the first proportional valve to be the first maximum descending current to control the two left legs to descend, and controlling the initial current of the second proportional valve to be the second maximum descending current to control the two right legs to descend; When the side slide is suspended in the air, the first velocity change mean of the left leg and the second velocity change mean of the right leg are calculated respectively; When the first speed change mean value is greater than a first preset mean value, determining a first real-time current based on the nonlinear parabolic transformation curve corresponding to the left leg and the real-time operating speed of the left leg, and controlling the first proportional valve according to the first real-time current so that the current of the first proportional valve gradually decreases to a target current as the operating speed of the left leg changes; When the second speed change mean value is greater than the first preset mean value, determining a second real-time current based on the nonlinear parabolic transformation curve corresponding to the right leg and the real-time operating speed of the right leg, and controlling the second proportional valve according to the second real-time current so that the current of the second proportional valve gradually decreases to a target current as the operating speed of the right leg changes; Calculate the third speed change mean of the two front legs and the fourth speed change mean of the two rear legs respectively; When the third speed change mean value is greater than the second preset mean value, the switch valves corresponding to the two front legs are controlled to be disconnected until the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold; When the fourth speed change mean is greater than the second preset mean, the switch valves corresponding to the two rear legs are controlled to be disconnected until the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold.

5. The vehicle body posture control method according to claim 4, characterized in that: The method further includes regulating the current of the proportional valve corresponding to the support leg and / or closing or opening the corresponding switch valve according to the running speed of the support leg and the running speed of the side slide. When the side slide hits the ground, respectively calculating a fifth change speed of the left side slide and a sixth change speed of the right side slide; When the fifth change speed is greater than the third preset change speed, a corresponding third real-time current is queried in a corresponding nonlinear parabolic transformation curve based on the real-time speed of the left leg, and the first proportional valve is controlled according to the third real-time current, so that the current of the first proportional valve gradually decreases to a target current as the operating speed of the left leg changes; When the sixth change speed is greater than the third preset change speed, a corresponding fourth real-time current is queried in a corresponding nonlinear parabolic transformation curve based on the real-time speed of the right leg, and the second proportional valve is controlled according to the fourth real-time current, so that the current of the second proportional valve gradually decreases to a target current as the operating speed of the right leg changes; Calculating the seventh speed change average of the two front side slides and the eighth speed change average of the two rear side slides respectively; When the seventh speed change mean is greater than the fourth preset mean, the switch valves corresponding to the two front legs are controlled to be disconnected until the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold; When the eighth speed change value is greater than the fourth preset average value, the switch valves corresponding to the two rear legs are controlled to be disconnected until the absolute value of the running speed difference between the front and rear legs is less than the lower limit threshold.

6. The vehicle body posture control method according to claim 4, characterized in that: The vehicle body posture control method further includes: When the feeder is in the middle position, the displacements of the legs under different proportional valve currents are detected to obtain a first data set, wherein the first data set includes a plurality of first data groups, each of which includes the proportional valve current and the corresponding displacements of the legs; When the legs are at different height stages, the displacement of the legs under the same proportional valve current is detected to obtain a second data set, wherein the second data set includes a plurality of second data groups, each of which includes the height of the legs, the proportional valve current, and the corresponding displacement of the legs; According to the plurality of the first data groups and the plurality of the second data groups, a nonlinear parabolic transformation curve between the proportional valve current and the movement speed of the support leg is constructed using a polynomial fitting algorithm.

7. The vehicle body posture control method according to claim 1, characterized in that: The working state is the milling depth state; Among them, regulating the current of the proportional valve corresponding to the support leg and / or the closing or opening of the corresponding switch valve according to the running speed of the support leg and the running speed of the side slide includes: Calculate the real-time displacement of the four side slides and the speed change of the four side slides; Calculating based on the real-time displacement of the four side slides and a pre-built leveling model to obtain a real-time leveling proportional valve current corresponding to the center position of the milling hub, and controlling the first proportional valve and the second proportional valve with the real-time leveling proportional valve current; Determine the pitching trend of the vehicle body posture according to the speed changes of the four side skateboards; According to the pitching trend of the vehicle body posture and the real-time leveling proportional valve current, the closing or opening of the switch valves corresponding to the four legs are regulated.

8. The vehicle body posture control method according to claim 7, characterized in that: According to the pitching trend of the vehicle body posture and the real-time leveling proportional valve current, the on / off valves corresponding to the four legs are regulated to be closed or opened, including: When the pitching trend of the vehicle body posture is a forward tilting trend and the changing trend of the current of the real-time leveling proportional valve is an upward trend, disconnecting the switch valves corresponding to the two rear legs; When the pitching trend of the vehicle body posture is a forward tilting trend and the changing trend of the current of the real-time leveling proportional valve is a downward trend, disconnecting the switch valves corresponding to the two front legs; When the pitching trend of the vehicle body posture is a backward trend and the changing trend of the current of the real-time leveling proportional valve is an upward trend, disconnecting the switch valves corresponding to the two front legs; When the pitching trend of the vehicle body posture is a backward tilting trend, and the changing trend of the current of the real-time leveling proportional valve is a downward trend, the switch valves corresponding to the two rear legs are disconnected.

9. A body posture controller for a milling machine, characterized in that: include: A calculation module, configured to obtain a working state of the milling machine, a running speed of the legs in a lifting state in the working state, and a running speed of the side slide in a lifting state; The control module is used to control the current of the proportional valve corresponding to the support leg and / or the closing or opening of the corresponding switch valve according to the operating speed of the support leg and the operating speed of the side slide, so as to control the operating speed of the support leg until the absolute value of the operating speed difference between the front and rear support legs is less than the lower limit threshold.

10. A milling machine, characterized in that: include: Four outriggers and an outrigger cylinder corresponding to each outrigger; Four side slides and a side slide cylinder corresponding to each side slide; A hydraulic oil circuit, the hydraulic oil circuit comprising: four floating valves, one of the floating valves being connected to a corresponding outrigger cylinder for controlling the floating of the corresponding outrigger; a first outrigger oil circuit corresponding to the outrigger cylinders corresponding to the two outriggers on the first side, the first outrigger oil circuit being provided with a first proportional valve and two switch valves; a second outrigger oil circuit corresponding to the outrigger cylinders corresponding to the two outriggers on the second side, the second outrigger oil circuit being provided with a second proportional valve and two switch valves, wherein the movement speed of the two outriggers on the first side is regulated by regulating the current of the first proportional valve, the movement speed of the two outriggers on the second side is regulated by regulating the current of the second proportional valve, and the oil circuit of the corresponding outrigger cylinder is closed or cut off by closing or opening the switch valve; and The vehicle body posture controller according to claim 9.

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