Gesture control method and device for leveling of pavement construction equipment and milling machine

Abstract

The invention provides an attitude control method and device for leveling of pavement construction equipment and a milling machine. The method comprises the following steps: calculating a milling depth deviation value corresponding to each side sliding plate according to an actual milling depth and a preset milling depth of a milling drum cutter when pavement construction equipment executes milling operation; determining the side sliding plate corresponding to the maximum milling depth deviation value in the milling depth deviation values as a target side sliding plate; based on a preset mathematical model, target control current corresponding to the maximum milling depth deviation value is determined, and the preset mathematical model is used for representing the incidence relation between the preset milling depth deviation value and the control current; and based on the target control current, a target proportional valve corresponding to the target side sliding plate is controlled, so that the oil cylinder displacement amount of a target supporting leg corresponding to the target side sliding plate is adjusted till the milling depth deviation value of the target side sliding plate is smaller than a preset deviation value. The technical problem that the milling leveling efficiency is low in the operation process of the milling machine is solved.

Description

Technical Field

[0001] The present application relates to the field of motion control, and in particular to a posture control method and device for leveling road construction equipment and a milling machine. Background Art

[0002] Traditional milling machines utilize separate valve groups for the front outriggers and a shared valve group for the rear outriggers. This hardware structure prevents the outriggers from coordinating with each other, requiring independent control. Consequently, one outrigger can easily press against an obstacle, leaving the others suspended in the air. This can severely cause the machine to roll over. Furthermore, since the front and rear outriggers operate independently during operation, leveling cannot control the rear outriggers. Consequently, manual adjustments are required behind the vehicle if the rear outriggers encounter obstacles.

[0003] Therefore, the valve group structure not only brings great safety hazards to the milling machine body, but also has extremely high technical dependence on the operator, resulting in low milling and leveling efficiency of the milling machine during operation. Summary of the Invention

[0004] In view of this, the present application provides a posture control method, device and milling machine for leveling road construction equipment, which solves the technical problem of low milling and leveling efficiency of the milling machine during operation.

[0005] As a first aspect of the present application, the present application provides a posture control method for leveling road construction equipment, including: when the road construction equipment performs milling operations, the milling depth deviation value corresponding to each side slide is calculated according to the actual milling depth of the milling drum tool and the preset milling depth, wherein the milling drum and the side slide are connected to the hydraulic system of the road construction equipment through a hydraulic cylinder; the side slide corresponding to the maximum milling depth deviation value among the milling depth deviation values ​​is determined as the target side slide; based on a preset mathematical model, the target control current corresponding to the maximum milling depth deviation value is determined, wherein the preset mathematical model is used to characterize the correlation between the preset milling depth deviation value and the control current; based on the target control current, the target proportional valve corresponding to the target side slide is controlled to adjust the cylinder displacement of the target support leg corresponding to the target side slide until the milling depth deviation value of the target side slide is less than the preset deviation value.

[0006] In a possible implementation of the present application, based on a preset mathematical model, a target control current corresponding to the maximum milling depth deviation value is determined, including: based on a first preset mathematical model, a target displacement change of the target outrigger cylinder corresponding to the maximum milling depth deviation value is determined, wherein the first preset mathematical model is used to characterize the correlation between the preset side slide cylinder displacement change and the outrigger cylinder displacement change, and the milling depth deviation value changes based on the change in milling drum height caused by the side slide cylinder displacement change; based on a second preset mathematical model, a target control current corresponding to the target displacement change of the target outrigger cylinder is determined, wherein the second preset mathematical model is used to characterize the correlation between different preset control currents and the displacement change of the outrigger cylinder.

[0007] In a possible implementation of the present application, the method includes: controlling multiple side slides of road construction equipment to land on the ground, and detecting the displacement changes of the lower slide cylinder and the outrigger cylinder at different times; constructing a first change trend of the displacement change of the outrigger cylinder as the displacement change of the side slide cylinder changes according to the displacement changes of the lower slide cylinder and the outrigger cylinder at different times; and constructing a first preset mathematical model based on the first change trend.

[0008] In a possible implementation of the present application, a first preset mathematical model is constructed based on the first change trend, including: obtaining the initial displacement of the side slide cylinder when calibrating the tool on the milling drum before the road construction equipment starts working; and constructing the first preset mathematical model based on the initial displacement of the side slide cylinder and the first change trend.

[0009] In a possible implementation of the present application, the method further includes: controlling the feeding equipment to be in a preset position, and detecting the displacement change of the outrigger cylinder of the road construction equipment under different control currents, wherein the feeding equipment is used to transport waste generated when the road construction equipment performs milling operations; based on the displacement change of the outrigger cylinder of the road construction equipment under different control currents, constructing a second change trend of the displacement change of the outrigger cylinder as the control current changes; and constructing a second preset mathematical model based on the second change trend.

[0010] In a possible implementation of the present application, a second preset mathematical model is constructed based on the second change trend, including: obtaining the initial displacement of the outrigger cylinder when the road construction equipment starts working; and constructing the second preset mathematical model based on the initial displacement of the outrigger cylinder and the second change trend.

[0011] In a possible implementation of the present application, based on a preset mathematical model, the target control current corresponding to the maximum milling depth deviation value is determined, and it also includes: based on the preset mathematical model, determining the initial control current corresponding to the maximum milling depth deviation value; based on a preset correction algorithm, correcting the initial control current to obtain the target control current, so as to adjust the cylinder displacement of the target leg.

[0012] In a possible implementation of the present application, the initial control current is corrected based on a preset correction algorithm to obtain a target control current, including: setting the initial control current as a proportional gain; integrating the current cumulative deviation caused by the movement of other legs of the road construction equipment on the target leg to obtain an integral gain; performing a differential operation on the current cumulative deviation caused by the movement of other legs of the road construction equipment on the target leg to obtain a differential gain; and calculating based on the proportional gain, integral gain and differential gain to obtain the target control current.

[0013] In a possible implementation of the present application, when the road construction equipment performs a leveling operation, in response to the milling depth deviation value of the slide on either side of the road construction equipment being greater than or equal to a preset deviation value, the control current corresponding to the milling depth deviation value of the slide on either side is determined based on a preset mathematical model; the control current is used to control the displacement of the support leg cylinder corresponding to the slide on either side to adjust until the milling depth deviation value of the slide on either side is less than the preset deviation value.

[0014] As a second aspect of the present application, the present application also provides a posture control device for leveling road construction equipment, including: a calculation module, used to calculate the milling depth deviation value corresponding to each side slide according to the actual milling depth and preset milling depth of the milling drum tool when the road construction equipment performs milling operations, wherein the milling drum and the side slide are connected to the hydraulic system of the road construction equipment through a hydraulic cylinder; a first determination module, used to determine the side slide corresponding to the maximum milling depth deviation value among the milling depth deviation values ​​as the target side slide; a second determination module, used to determine the target control current corresponding to the maximum milling depth deviation value based on a preset mathematical model, wherein the preset mathematical model is used to characterize the correlation between the preset milling depth deviation value and the control current; a control module, used to control the target proportional valve corresponding to the target side slide based on the target control current, so as to adjust the cylinder displacement of the target support leg corresponding to the target side slide until the milling depth deviation value of the target side slide is less than the preset deviation value.

[0015] As the third aspect of the present application, the present application also provides a milling machine, including: a milling drum; outriggers, and outrigger cylinders for controlling the movement of the outriggers; side slides, and side slide cylinders for controlling the movement of the side slides; and a posture control device, the posture control device being used to execute any of the above-mentioned posture control methods for leveling road construction equipment.

[0016] As a fourth aspect of the present application, the present application also provides a computer-readable storage medium, which stores a computer program, and the computer program is used to execute any of the above-mentioned posture control methods for leveling road construction equipment.

[0017] The present application provides a posture control method for leveling road construction equipment. When the road construction equipment performs milling operations, the milling depth deviation value corresponding to each side slide is calculated based on the actual milling depth of the milling drum tool and the preset milling depth, wherein the milling drum and the side slide are connected to the hydraulic system of the road construction equipment through a hydraulic cylinder; the side slide corresponding to the maximum milling depth deviation value among the milling depth deviation values ​​is determined as the target side slide; based on a preset mathematical model, the target control current corresponding to the maximum milling depth deviation value is determined, wherein the preset mathematical model is used to characterize the correlation between the preset milling depth deviation value and the control current; based on the target control current, the target proportional valve corresponding to the target side slide is controlled to adjust the cylinder displacement of the target support leg corresponding to the target side slide until the milling depth deviation value of the target side slide is less than the preset deviation value. It is easy to notice that by mapping the maximum milling depth deviation value among the milling depth deviation values ​​corresponding to each side slide through the correlation between the pre-set milling depth deviation value and the control current, the corresponding target control current can be obtained. The proportional valve is controlled by the target current to adjust the cylinder displacement of the target leg corresponding to the target side slide, thereby achieving the purpose of correcting the milling depth deviation value of the target side slide, and further achieving the technical effect of improving the milling and leveling efficiency of the milling machine during operation, thereby solving the technical problem of low milling and leveling efficiency of the milling machine during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 Shown is a flow chart of posture control for leveling of road construction equipment provided by one embodiment of the present application.

[0020] Figure 2 Shown is a module schematic diagram of a posture control device for leveling road construction equipment provided in one embodiment of the present application.

[0021] Figure 3 Shown is a schematic structural diagram of a milling machine provided in one embodiment of the present application.

[0022] Figure 4Shown is a device block diagram of road construction equipment provided in one embodiment of the present application. DETAILED DESCRIPTION

[0023] 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.

[0024] 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.

[0025] The milling machine mentioned in this article is merely an example of road construction equipment. A milling machine consists of a milling drum, outriggers, and side skids. Specifically, the milling drum is located in the middle of the milling machine, between the front and rear outriggers, and is connected to the outriggers via a frame. The raising and lowering of the outriggers directly affects the relative position of the milling drum and the road surface, thereby adjusting the milling depth. The side skids are connected to the frame via displacement cylinders and can slide up and down relative to the milling machine body. The raising and lowering of the outriggers indirectly affects the contact between the side skids and the road surface. The up and down sliding of the side skids also provides feedback on the road surface, in turn influencing the adjustment of the outriggers. The side skids are located on either side of the milling drum and have no direct mechanical connection to the milling drum, but they work together during operation. The side skids sense road surface undulations and transmit this information to the control system via sensors, which in turn controls the raising and lowering of the milling drum to maintain a stable milling depth. The milling drum is the core component of the milling machine, equipped with a cutter head for milling the road surface. By rotating and moving, the milling drum can mill off the old road surface material, providing a basis for subsequent road repair or reconstruction work.

[0026] In addition, this application introduces a fully connected floating valve group with four legs to the main hydraulic system of the milling machine. Using the magnetostrictive displacement of the four legs and the magnetostrictive displacement of the four side slides as input, the hydraulic valve group adjusts the vehicle body's posture in real time, always maintaining the vehicle body at a specific angle. This hydraulic valve group includes four floating valves, four switching valves, and two proportional valves. The four floating valve groups are arranged on each of the four legs, with two proportional valves controlling the pulse width modulation current on the left and right sides, and four switching valves controlling the oil circuits on the front and rear sides. The combination of proportional valves and switching valves enables single-leg and multi-leg motion modes, greatly improving the vehicle's controllability. The milling machine's built-in magnetostrictive displacement sensors for the four legs and the four side slides monitor the oil cylinder displacements of the four legs and the four side slides, allowing adjustments to be made to the oil cylinder displacements of the legs based on the monitoring data.

[0027] Based on the characteristics of the hydraulic valve group, a side-to-side motion switch (PTS) has been added to the milling machine. By integrating the states of the proportional valve and on / off valve, 14 motion modes are combined. When the PTS switch is off, the left front and right front arms raise / lower, the rear legs raise / lower, and all four outriggers raise / lower. When the PTS switch is on, the left side raises / lowers, the right side raises / lowers, and all four outriggers raise / lower.

[0028] Exemplary Methods

[0029] As a first aspect of the present application, the present application provides a posture control method for leveling road construction equipment. Figure 1 FIG. 1 is a flow chart of a method for controlling the posture of a road construction equipment leveling device according to an embodiment of the present application. Figure 1 As shown, the method includes the following steps:

[0030] Step S101, when the road construction equipment performs a milling operation, calculating a milling depth deviation value corresponding to each side slide according to an actual milling depth of a milling drum cutter and a preset milling depth, wherein the milling drum and the side slide are connected to a hydraulic system of the road construction equipment via a hydraulic cylinder;

[0031] Specifically, the above-mentioned road construction equipment includes but is not limited to mixers, pavers, rollers, and milling machines, etc. The milling machine is used as an example for illustrative description in this application.

[0032] The actual milling depth described above can be used to indicate the depth of road pavement cut by the milling cutter head during actual milling operations. Generally, the actual milling depth can be measured using a length sensor or by controlling the displacement of a hydraulic cylinder controlling the milling cutter head. The method for measuring the actual milling depth is not strictly limited herein.

[0033] The above-mentioned preset milling depth can be used to indicate the preset cutting depth of the milling cutter head. The preset milling depth is not specifically set here and can be adjusted according to actual conditions.

[0034] The aforementioned milling depth deviation can be calculated by subtracting the actual milling depth from the preset milling depth of the milling drum cutter. Generally, milling depth deviation can occur due to wear of the milling drum cutter head over time, or due to a malfunction in the hydraulic system causing inaccurate leg raising and lowering. Based on this, the present application uses the milling depth deviation value to control the displacement of the leg control cylinder, achieving equipment leveling during milling machine operation and ensuring smooth milling operations.

[0035] In an optional embodiment, since the milling drum and side slides are connected to the hydraulic system of the road construction equipment via hydraulic cylinders, the milling depth deviation corresponding to each of the four side slides can be determined based on the difference between the actual milling depth of the milling drum cutter measured in real time and the preset milling depth. Since the milling machine must maintain overall stability during operation, this application calculates the milling depth deviation of each side slide during operation, allowing correction of larger milling depth deviations to maintain stability during operation.

[0036] Step S102, determining the side slide corresponding to the maximum milling depth deviation value among the milling depth deviation values ​​as the target side slide;

[0037] Specifically, after obtaining the milling depth deviation value corresponding to each side slide, the maximum value thereof can be obtained as the maximum milling depth deviation value, and the target side slide corresponding to the maximum milling depth deviation value can be obtained at the same time.

[0038] For example, if the milling depth deviation value corresponding to side slide a is 5cm, the milling depth deviation value corresponding to side slide b is 6cm, the milling depth deviation value corresponding to side slide c is 7cm, and the milling depth deviation value corresponding to side slide d is 8cm, then the maximum milling depth deviation value can be obtained as 8cm, and side slide d is determined as the target side slide. After the target side slide and the corresponding maximum milling depth deviation value are known, the maximum milling depth deviation value can be corrected to ensure that the milling depth deviation of the side slide meets the requirements.

[0039] Step S103: determining a target control current corresponding to the maximum milling depth deviation value based on a preset mathematical model, wherein the preset mathematical model is used to characterize a correlation between a preset milling depth deviation value and the control current;

[0040] Specifically, this application records the displacement of the side slide cylinder and the cylinder displacement of the support leg of the milling machine under different control currents, and can obtain multiple sets of data corresponding to the milling depth deviation value and the control current. By calculating and analyzing multiple sets of data, the correlation between the milling depth deviation value and the control current can be obtained, and then the above-mentioned preset mathematical model is constructed through this correlation.

[0041] Applied to an optional embodiment, after determining the maximum milling depth deviation value, the maximum milling depth deviation value can be used as input data and input into a preset mathematical model for calculation to obtain an output target control current. The target control current can control the proportional valve corresponding to the target side slide, thereby controlling the cylinder displacement of the corresponding support leg to change, thereby realizing the correction of the milling depth deviation value of the target side slide.

[0042] Step S104, based on the target control current, control the target proportional valve corresponding to the target side slide to adjust the cylinder displacement of the target leg corresponding to the target side slide until the milling depth deviation value of the target side slide is less than the preset deviation value.

[0043] Specifically, the above-mentioned preset deviation value can be used to represent the preset milling depth deviation value of the side slide. For example, it can be 1 cm or 0.5 cm. The preset deviation value is not specifically limited here and can be adjusted according to actual conditions.

[0044] Applied to an optional embodiment, after obtaining the target control current, since the milling machine acts on the proportional valve by controlling the current to adjust the displacement of the support leg cylinder, the target proportional valve corresponding to the target side slide can be controlled to adjust the cylinder displacement of the target support leg corresponding to the target side slide, and finally realize the correction of the milling depth deviation value of the target side slide.

[0045] The present application provides a posture control method for leveling road construction equipment. When the road construction equipment performs milling operations, the milling depth deviation value corresponding to each side slide is calculated based on the actual milling depth of the milling drum tool and the preset milling depth, wherein the milling drum and the side slide are connected to the hydraulic system of the road construction equipment through a hydraulic cylinder; the side slide corresponding to the maximum milling depth deviation value among the milling depth deviation values ​​is determined as the target side slide; based on a preset mathematical model, the target control current corresponding to the maximum milling depth deviation value is determined, wherein the preset mathematical model is used to characterize the correlation between the preset milling depth deviation value and the control current; based on the target control current, the target proportional valve corresponding to the target side slide is controlled to adjust the cylinder displacement of the target support leg corresponding to the target side slide until the milling depth deviation value of the target side slide is less than the preset deviation value. It is easy to notice that by mapping the maximum milling depth deviation value among the milling depth deviation values ​​corresponding to each side slide through the correlation between the pre-set milling depth deviation value and the control current, the corresponding target control current can be obtained. The proportional valve is controlled by the target current to adjust the cylinder displacement of the target leg corresponding to the target side slide, thereby achieving the purpose of correcting the milling depth deviation value of the target side slide, and further achieving the technical effect of improving the milling and leveling efficiency of the milling machine during operation, thereby solving the technical problem of low milling and leveling efficiency of the milling machine during operation.

[0046] In a possible implementation of the present application, based on a preset mathematical model, a target control current corresponding to the maximum milling depth deviation value is determined, including: based on a first preset mathematical model, a target displacement change of the target outrigger cylinder corresponding to the maximum milling depth deviation value is determined, wherein the first preset mathematical model is used to characterize the correlation between the preset side slide cylinder displacement change and the outrigger cylinder displacement change, and the milling depth deviation value changes based on the change in milling drum height caused by the side slide cylinder displacement change; based on a second preset mathematical model, a target control current corresponding to the target displacement change of the target outrigger cylinder is determined, wherein the second preset mathematical model is used to characterize the correlation between different preset control currents and the displacement change of the outrigger cylinder.

[0047] Specifically, the first preset mathematical model can be constructed through the correlation between the displacement change of the side slide cylinder and the displacement change of the outrigger cylinder.

[0048] The above-mentioned second preset mathematical model can be constructed through the correlation between different control currents and the displacement changes of the outrigger cylinders.

[0049] Since the milling depth deviation value of the side slide is affected by the milling drum height, and the milling drum height is affected by the change of the side slide cylinder displacement, the milling depth deviation value can be directly obtained according to the side slide cylinder displacement.

[0050] Applied in an optional embodiment, after obtaining the maximum milling depth deviation value and its corresponding target side slide, the maximum milling depth deviation value can be input as input data into a first preset mathematical model for calculation to obtain a target displacement change of the target leg cylinder associated with the maximum milling depth deviation value. After obtaining the target displacement change, the target displacement change can be input as input data into a second preset mathematical model for calculation to obtain a target control current associated with the target displacement change. The target control current can control the proportional valve corresponding to the target side slide.

[0051] In a possible implementation of the present application, the method includes: controlling multiple side slides of road construction equipment to land on the ground, and detecting the displacement changes of the lower slide cylinder and the outrigger cylinder at different times; constructing a first change trend of the displacement change of the outrigger cylinder as the displacement change of the side slide cylinder changes according to the displacement changes of the lower slide cylinder and the outrigger cylinder at different times; and constructing a first preset mathematical model based on the first change trend.

[0052] Specifically, in order to construct the above-mentioned first preset mathematical model, multiple side slides of the road construction equipment can be controlled to land on the ground, and the displacement changes of the side slide cylinder and the outrigger cylinder at different times can be detected at the same time, that is, at time a, there is a group of correlation data between the displacement changes of the side slide cylinder and the displacement changes of the outrigger cylinder, and at time b, there is a group of correlation data between the displacement changes of the side slide cylinder and the displacement changes of the outrigger cylinder, etc. By analyzing the multiple groups of correlation data at the above-mentioned different times, a first change trend of the displacement change of the outrigger cylinder as the displacement change of the side slide cylinder changes can be obtained, and then the first preset mathematical model can be constructed through the above-mentioned first change trend.

[0053] In a possible implementation of the present application, a first preset mathematical model is constructed based on the first change trend, including: obtaining the initial displacement of the side slide cylinder when calibrating the tool on the milling drum before the road construction equipment starts working; and constructing the first preset mathematical model based on the initial displacement of the side slide cylinder and the first change trend.

[0054] Specifically, in the process of constructing the first preset mathematical model according to the first change trend, in addition to obtaining the first change trend of the displacement change of the above-mentioned outrigger cylinder as the displacement change of the side slide cylinder changes, it is also necessary to obtain the initial displacement of the outrigger cylinder and the initial displacement of the side slide cylinder.

[0055] Applied in an optional embodiment, in order to obtain the initial displacement of the outrigger cylinder and the initial displacement of the side skateboard cylinder, the initial displacement of the side skateboard cylinder can be obtained when the tool on the milling drum is calibrated before the road construction equipment starts working, and the initial displacement of the side skateboard cylinder can be recorded. At the same time, the initial displacement of the outrigger cylinder can be obtained. After obtaining the initial displacement of the outrigger cylinder and the initial displacement of the side skateboard cylinder, the above-mentioned first preset mathematical model can be constructed based on the initial displacement of the outrigger cylinder and the initial displacement of the side skateboard cylinder, as well as the first changing trend of the displacement change of the outrigger cylinder as the displacement change of the side skateboard cylinder.

[0056] In a possible implementation of the present application, the method further includes: controlling the feeding equipment to be in a preset position, and detecting the displacement change of the outrigger cylinder of the road construction equipment under different control currents, wherein the feeding equipment is used to transport waste generated when the road construction equipment performs milling operations; based on the displacement change of the outrigger cylinder of the road construction equipment under different control currents, constructing a second change trend of the displacement change of the outrigger cylinder as the control current changes; and constructing a second preset mathematical model based on the second change trend.

[0057] Specifically, the above-mentioned preset position can be used to represent a preset middle position of the feeding device relative to the milling machine.

[0058] In order to construct the above-mentioned second preset mathematical model, the feeding equipment can be controlled to be in a preset position, and at the same time, the displacement change of the outrigger cylinder of the milling machine under different control currents can be detected, that is, at time a there is a set of associated data of the displacement change of the outrigger cylinder under the control current, at time b there is a set of associated data of the displacement change of the outrigger cylinder under the control current, and so on. By analyzing the multiple sets of associated data at the above-mentioned different moments, the second change trend of the displacement change of the outrigger cylinder with different control currents can be obtained, and then the second preset mathematical model can be constructed through the above-mentioned second change trend.

[0059] In a possible implementation of the present application, a second preset mathematical model is constructed based on the second change trend, including: obtaining the initial displacement of the outrigger cylinder when the road construction equipment starts working; and constructing the second preset mathematical model based on the initial displacement of the outrigger cylinder and the second change trend.

[0060] Specifically, in the process of constructing the second preset mathematical model according to the second variation trend, in addition to obtaining the second variation trend of the displacement variation of the outrigger cylinder with different control currents, it is also necessary to obtain the initial displacement of the outrigger cylinder.

[0061] In an optional embodiment, in order to obtain the initial displacement of the outrigger cylinder, the initial displacement of the outrigger cylinder can be obtained when the road construction equipment starts working, and the initial displacement of the outrigger cylinder can be recorded. After obtaining the initial displacement of the outrigger cylinder, the second preset mathematical model can be constructed based on the initial displacement of the outrigger cylinder and the second change trend of the displacement change of the outrigger cylinder with different control currents.

[0062] In addition, the proportional valves on both sides of the milling machine can be set to a maximum lowering current when the side slide remains suspended.

[0063] In a possible implementation of the present application, based on a preset mathematical model, the target control current corresponding to the maximum milling depth deviation value is determined, and it also includes: based on the preset mathematical model, determining the initial control current corresponding to the maximum milling depth deviation value; based on a preset correction algorithm, correcting the initial control current to obtain the target control current, so as to adjust the cylinder displacement of the target leg.

[0064] Specifically, the aforementioned initial control current can be used to represent the control current for the target leg obtained by calculation using a preset mathematical model.

[0065] The above-mentioned preset correction algorithm can be used to represent a pre-set automatic control algorithm, which can be a PID (proportional-integral-differential control algorithm) algorithm, a fuzzy logic control algorithm, a sliding mode control algorithm, and a linear quadratic control algorithm. The preset correction algorithm is not specifically set here and can be adjusted according to actual conditions. The PID algorithm is used as an example in this application.

[0066] The core goal of a PID controller is to adjust the control variable based on the system error (the difference between the desired value and the actual value), thereby achieving precise control of the system. The output of a PID controller consists of three parts: a proportional component (P), which is proportional to the error and used to quickly respond to errors; an integral component (I), which is proportional to the integral of the error and used to eliminate steady-state errors; and a differential component (D), which is proportional to the rate of change of the error and used to predict the error's changing trend and adjust the control variable in advance.

[0067] Because the milling machine in this application utilizes a hydraulic structure with four interconnected legs, all legs are connected. During travel, the four legs move synchronously in real time, increasing the difficulty of controlling the entire vehicle. When the target leg is controlled, its hydraulic oil is affected by gravity and automatically squeezed into the other legs. Simultaneously, the movement of the other legs also affects the leveling control of the target leg. Therefore, in order to compensate for the deviation of the target leg caused by the movement of the other legs, the control current of the target leg can be corrected in real time.

[0068] In an optional embodiment, after determining the initial control current corresponding to the maximum milling depth deviation value based on a preset mathematical model, the initial control current can be corrected based on the deviation caused to the target leg by the movement of the other legs. Generally, the correction can be achieved through a correction algorithm. In this application, the obtained initial control current can be corrected through a preset correction algorithm to obtain a target control current, thereby adjusting the cylinder displacement of the target leg. This solves the deviation effect caused by the movement of the other legs on the target leg and ensures that the deviation value of the target side slide after adjustment meets the requirements.

[0069] In a possible implementation of the present application, the initial control current is corrected based on a preset correction algorithm to obtain a target control current, including: setting the initial control current as a proportional gain; integrating the current cumulative deviation caused by the movement of other legs of the road construction equipment on the target leg to obtain an integral gain; performing a differential operation on the current cumulative deviation caused by the movement of other legs of the road construction equipment on the target leg to obtain a differential gain; and calculating based on the proportional gain, integral gain and differential gain to obtain the target control current.

[0070] Specifically, in the process of correcting the initial control current through the PID algorithm to obtain the target control current, since the calculation process requires proportional, integral and differential parameters, in the embodiment of the present application, the initial control current can be set as the proportional gain; the current cumulative deviation caused by the movement of other legs of the road construction equipment to the target leg is integrated to obtain the integral gain; the current cumulative deviation caused by the movement of other legs of the road construction equipment to the target leg is differentiated to obtain the differential gain, thereby obtaining the proportional, integral and differential parameters required for the calculation, and then calculating the above-mentioned proportional gain, integral gain and differential gain to obtain the above-mentioned target control current.

[0071] It should be noted that, in addition to the target leg, the deviation adjustment of other legs can also use the above-mentioned PID algorithm, that is, when the leg movement is adjusted, the PID algorithm is introduced for adjustment of each leg. The mapped current is set as the proportional gain Kp. When the leg movement is switched, the other legs will affect the floating of the current leg, causing the leg deviation value to change. Therefore, the cumulative deviation caused by the movement of other legs is integrated, and the integral gain Ki is calculated in real time. At the same time, in order to reduce the long-term oscillation of the legs, the differential gain Kd is calculated in real time according to the current deviation value. By calculating the proportional gain Kp, the integral gain Ki and the differential gain Kd, the final target control current can be obtained.

[0072] In a possible implementation of the present application, when the road construction equipment performs a leveling operation, in response to the milling depth deviation value of the slide on either side of the road construction equipment being greater than or equal to a preset deviation value, the control current corresponding to the milling depth deviation value of the slide on either side is determined based on a preset mathematical model; the control current is used to control the displacement of the support leg cylinder corresponding to the slide on either side to adjust until the milling depth deviation value of the slide on either side is less than the preset deviation value.

[0073] Specifically, during milling machine operation, leveling is a critical step in ensuring road surface flatness. Since the side skids are key components of the milling machine, they contact the road surface and serve as a reference for milling depth. Any changes in the side skid height directly affect the accuracy of the milling depth.

[0074] Applied in an optional embodiment, when the road construction equipment performs a leveling operation, it is necessary to monitor the milling depth deviations of the four side slides of the milling machine in real time. If the milling depth deviation value of the slide on any side is greater than or equal to the preset deviation value, it means that the slide on any side has a milling depth deviation and needs to be adjusted. Specifically, the control current corresponding to the milling depth deviation value of the slide on any side can be determined through the correlation between the milling depth deviation value and the control current pre-set in the above-mentioned preset mathematical model, so as to control the current to control the proportional valve corresponding to the slide on any side to adjust the displacement of the support leg cylinder corresponding to the slide on any side until the milling depth deviation value of the slide on any side is less than the preset deviation value. By ensuring that the milling depth deviation value of each side slide is less than the preset deviation value when the road construction equipment performs a leveling operation, the leveling posture of the milling machine is adjusted to ensure the flatness and construction quality of the road surface.

[0075] Exemplary devices

[0076] As a second aspect of the present application, the present application also provides a posture control device for leveling road construction equipment. Figure 2 The figure shows a schematic diagram of a module of a posture control device for leveling road construction equipment provided by an embodiment of the present application. Figure 2 As shown, the posture control device 2 includes:

[0077] a calculation module 21 for calculating a milling depth deviation value corresponding to each side slide according to an actual milling depth of a milling drum cutter and a preset milling depth when the road construction equipment performs a milling operation, wherein the milling drum and the side slide are connected to a hydraulic system of the road construction equipment via a hydraulic cylinder;

[0078] A first determining module 22 is configured to determine a side slide corresponding to a maximum milling depth deviation value among the milling depth deviation values ​​as a target side slide;

[0079] A second determining module 23 is configured to determine a target control current corresponding to the maximum milling depth deviation value based on a preset mathematical model, wherein the preset mathematical model is configured to characterize a correlation between a preset milling depth deviation value and the control current;

[0080] The control module 24 is used to control the target proportional valve corresponding to the target side slide based on the target control current to adjust the cylinder displacement of the target support leg corresponding to the target side slide until the milling depth deviation value of the target side slide is less than the preset deviation value.

[0081] The present embodiment provides a posture control device for leveling road construction equipment, including: a calculation module, used to calculate the milling depth deviation value corresponding to each side slide according to the actual milling depth and preset milling depth of the milling drum tool when the road construction equipment performs milling operations, wherein the milling drum and the side slide are connected to the hydraulic system of the road construction equipment through a hydraulic cylinder; a first determination module, used to determine that the side slide corresponding to the maximum milling depth deviation value among the milling depth deviation values ​​is the target side slide; a second determination module, used to determine the target control current corresponding to the maximum milling depth deviation value based on a preset mathematical model, wherein the preset mathematical model is used to characterize the correlation between the preset milling depth deviation value and the control current; a control module, used to control the target proportional valve corresponding to the target side slide based on the target control current, so as to adjust the cylinder displacement of the target support leg corresponding to the target side slide until the milling depth deviation value of the target side slide is less than the preset deviation value. It is easy to notice that by mapping the maximum milling depth deviation value among the milling depth deviation values ​​corresponding to each side slide through the correlation between the pre-set milling depth deviation value and the control current, the corresponding target control current can be obtained. The proportional valve is controlled by the target current to adjust the cylinder displacement of the target leg corresponding to the target side slide, thereby achieving the purpose of correcting the milling depth deviation value of the target side slide, and further achieving the technical effect of improving the milling and leveling efficiency of the milling machine during operation, thereby solving the technical problem of low milling and leveling efficiency of the milling machine during operation.

[0082] Optionally, the second determination module includes: a target displacement change determination module, which is used to determine the target displacement change of the target support leg cylinder corresponding to the maximum milling depth deviation value based on a first preset mathematical model, wherein the first preset mathematical model is used to characterize the correlation between the preset side slide cylinder displacement change and the support leg cylinder displacement change, and the milling depth deviation value changes based on the change in milling drum height caused by the side slide cylinder displacement change; a target control current determination module, which is used to determine the target control current corresponding to the target displacement change of the target support leg cylinder based on a second preset mathematical model, wherein the second preset mathematical model is used to characterize the correlation between different preset control currents and the displacement change of the support leg cylinder.

[0083] Optionally, the posture control device also includes: a first control module, used to control the landing of multiple side skateboards of the road construction equipment, and detect the displacement changes of the lower skateboard cylinder and the outrigger cylinder at different times; a first change trend construction module, used to construct a first change trend in which the displacement change of the outrigger cylinder changes with the displacement change of the side skateboard cylinder according to the displacement change of the lower skateboard cylinder and the outrigger cylinder at different times; a first preset mathematical model construction module, used to construct a first preset mathematical model according to the first change trend.

[0084] Optionally, the first preset mathematical model construction module includes: a first initial displacement acquisition module, used to obtain the initial displacement of the side slide cylinder when calibrating the tool on the milling drum before the road construction equipment starts operation; a first preset mathematical model construction module, used to construct a first preset mathematical model based on the initial displacement of the side slide cylinder and the first change trend.

[0085] Optionally, the posture control device also includes: a second control module, used to control the feeding equipment to be in a preset position, and detect the displacement change of the outrigger cylinder of the road construction equipment under different control currents, wherein the feeding equipment is used to transport waste generated when the road construction equipment performs milling operations; a second change trend construction module, used to construct a second change trend of the displacement change of the outrigger cylinder as the control current changes according to the displacement change of the outrigger cylinder of the road construction equipment under different control currents; a second preset mathematical model construction module, used to construct a second preset mathematical model according to the second change trend.

[0086] Optionally, the second preset mathematical model construction module includes: a second initial displacement acquisition module, used to obtain the initial displacement of the outrigger cylinder when the road construction equipment starts working; a second preset mathematical model construction module, used to construct a second preset mathematical model based on the initial displacement of the outrigger cylinder and the second change trend.

[0087] Optionally, the second determination module also includes: an initial control current determination module, which is used to determine the initial control current corresponding to the maximum milling depth deviation value based on a preset mathematical model; and a correction module, which is used to correct the initial control current based on a preset correction algorithm to obtain a target control current to adjust the cylinder displacement of the target leg.

[0088] Optionally, the correction module includes: a proportional gain acquisition module, used to set the initial control current as the proportional gain; an integral gain acquisition module, used to perform an integral operation on the current cumulative deviation caused by the movement of other legs of the road construction equipment on the target leg to obtain the integral gain; a differential gain acquisition module, used to perform a differential operation on the current cumulative deviation caused by the movement of other legs of the road construction equipment on the target leg to obtain the differential gain; and a target current acquisition module, used to calculate based on the proportional gain, the integral gain and the differential gain to obtain the target control current.

[0089] Exemplary milling machine

[0090] As a third aspect of the present application, the present application also provides a milling machine. Figure 3 The figure shows a schematic diagram of the structure of a milling machine provided by an embodiment of the present application. Figure 3 As shown, the milling machine 3 includes:

[0091] Milling drum 31;

[0092] Outriggers 32, and outrigger cylinders for controlling movement of the outriggers;

[0093] A side slide 33 and a side slide cylinder for controlling the movement of the side slide;

[0094] And a posture control device 2, the posture control device is used to execute any one of the above-mentioned posture control methods for leveling road construction equipment.

[0095] Figure 4 The figure shows a block diagram of the road construction equipment provided by an embodiment of the present application. Figure 4 As shown, road construction equipment 4 includes one or more processors 41 and memory 42 .

[0096] Processor 41 may be a central processing unit (CPU) or other form of processing unit having data processing capabilities and / or instruction execution capabilities, and may control other components in the road construction equipment to perform desired functions.

[0097] The memory 42 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. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), a hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 41 may execute the program instructions to implement the posture control method for leveling road construction equipment of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0098] In one example, the road construction equipment 4 may further include an input device 43 and an output device 44 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0099] When the road construction equipment 4 is a stand-alone device, the input device 43 may be a communication network connector for receiving collected input signals from the first device and the second device.

[0100] In addition, the input device 43 may also include, for example, a keyboard, a mouse, and the like.

[0101] The output device 44 can output various information to the outside, including determined distance information, direction information, etc. The output device 44 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0102] Of course, to simplify, Figure 4 Only some of the components of the road construction equipment related to the present application are shown, omitting components such as buses, input / output interfaces, etc. In addition, the road construction equipment may further include any other appropriate components depending on the specific application.

[0103] Exemplary computer-readable storage media

[0104] As a fourth aspect of the present application, the present application provides a computer-readable storage medium, the storage medium storing a computer program, the computer program being configured to perform the following steps:

[0105] S1, when the road construction equipment performs a milling operation, calculating a milling depth deviation value corresponding to each side slide according to an actual milling depth of a milling drum cutter and a preset milling depth, wherein the milling drum and the side slide are connected to a hydraulic system of the road construction equipment via a hydraulic cylinder;

[0106] S2, determining the side slide corresponding to the maximum milling depth deviation value among the milling depth deviation values ​​as the target side slide;

[0107] S3, determining a target control current corresponding to the maximum milling depth deviation value based on a preset mathematical model, wherein the preset mathematical model is used to characterize a correlation between a preset milling depth deviation value and the control current;

[0108] S4, based on the target control current, controls the target proportional valve corresponding to the target side slide to adjust the cylinder displacement of the target leg corresponding to the target side slide until the milling depth deviation value of the target side slide is less than the preset deviation value.

[0109] 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, which, when executed by a processor, enables the processor to execute the steps of the posture control method for leveling road construction equipment according to various embodiments of the present application described in this specification.

[0110] 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.

[0111] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program information is stored. When the computer program information is executed by a processor, the processor executes the steps in the posture control method for leveling road construction equipment according to various embodiments of the present application described in this specification.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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 posture of a road construction equipment leveling device, characterized in that: include: When the road construction equipment performs milling operations, a milling depth deviation value corresponding to each side slide is calculated based on the actual milling depth of the milling drum tool and the preset milling depth, wherein the milling drum and the side slide are connected to the hydraulic system of the road construction equipment through a hydraulic cylinder; Determine the side slide corresponding to the maximum milling depth deviation value among the milling depth deviation values ​​as the target side slide; Determining a target control current corresponding to the maximum milling depth deviation value based on a preset mathematical model, wherein the preset mathematical model is used to characterize a correlation between a preset milling depth deviation value and the control current; Based on the target control current, the target proportional valve corresponding to the target side slide is controlled to adjust the cylinder displacement of the target leg corresponding to the target side slide until the milling depth deviation value of the target side slide is less than the preset deviation value.

2. The method for controlling the posture of the road construction equipment leveling according to claim 1, characterized in that: Determining a target control current corresponding to the maximum milling depth deviation value based on a preset mathematical model includes: determining, based on a first preset mathematical model, a target displacement change of a target outrigger cylinder corresponding to the maximum milling depth deviation value, wherein the first preset mathematical model is used to characterize a correlation between a preset displacement change of the side slide cylinder and a displacement change of the outrigger cylinder, and the milling depth deviation value varies based on a change in milling drum height caused by the displacement change of the side slide cylinder; Based on a second preset mathematical model, a target control current corresponding to the target displacement change of the target outrigger cylinder is determined, wherein the second preset mathematical model is used to characterize the correlation between different preset control currents and the displacement change of the outrigger cylinder.

3. The method for controlling the posture of the road construction equipment leveling according to claim 2, characterized in that: The method comprises: Controlling the multiple side slides of the road construction equipment to touch the ground, and detecting the displacement changes of the lower slide cylinder and the outrigger cylinder at different times; According to the displacement changes of the lower slide cylinder and the outrigger cylinder at different moments, a first variation trend of the displacement change of the outrigger cylinder following the displacement change of the side slide cylinder is constructed; A first preset mathematical model is constructed according to the first change trend.

4. The method for controlling the posture of the road construction equipment leveling according to claim 3, characterized in that: The constructing of a first preset mathematical model according to the first change trend includes: Before the road construction equipment starts working, when calibrating the cutter on the milling drum, obtaining the initial displacement of the side slide cylinder; The first preset mathematical model is constructed based on the initial displacement of the side slide cylinder and the first change trend.

5. The method for controlling the posture of the road construction equipment leveling according to claim 2, characterized in that: The method further comprises: Controlling a material conveying device to be in a preset position and detecting a displacement change of an outrigger cylinder of the road construction equipment under different control currents, wherein the material conveying device is used to transport waste materials generated when the road construction equipment performs a milling operation; Constructing a second variation trend of the displacement variation of the outrigger oil cylinder as the control current changes according to the displacement variation of the outrigger oil cylinder of the road construction equipment under different control currents; A second preset mathematical model is constructed according to the second change trend.

6. The method for controlling the posture of the road construction equipment leveling according to claim 5, characterized in that: The constructing of a second preset mathematical model according to the second change trend includes: When the road construction equipment starts working, obtaining the initial displacement of the outrigger cylinder; Based on the initial displacement of the outrigger oil cylinder and the second change trend, the second preset mathematical model is constructed.

7. The method for controlling the posture of the road construction equipment leveling according to claim 1, characterized in that: The step of determining the target control current corresponding to the maximum milling depth deviation value based on a preset mathematical model further includes: Determining an initial control current corresponding to the maximum milling depth deviation value based on a preset mathematical model; Based on a preset correction algorithm, the initial control current is corrected to obtain the target control current, so as to adjust the oil cylinder displacement of the target leg.

8. The method for controlling the posture of the road construction equipment leveling according to claim 7, characterized in that: The correcting the initial control current based on a preset correction algorithm to obtain the target control current includes: Setting the initial control current to a proportional gain; Integrating the current accumulated deviation caused by the movement of the other legs of the road construction equipment to the target leg to obtain an integral gain; Performing a differential operation on the current accumulated deviation caused by the movement of the other legs of the road construction equipment to the target leg to obtain a differential gain; The target control current is obtained by performing calculation according to the proportional gain, the integral gain, and the differential gain.

9. The method for controlling the posture of the road construction equipment leveling according to claim 1, characterized in that: The method further comprises: When the road construction equipment performs a leveling operation, in response to a milling depth deviation value of a slide plate on either side of the road construction equipment being greater than or equal to the preset deviation value, determining a control current corresponding to the milling depth deviation value of the slide plate on either side based on the preset mathematical model; The control current is used to control the displacement of the support leg cylinder corresponding to the slide on either side to adjust until the milling depth deviation value of the slide on either side is less than the preset deviation value.

10. A milling machine, characterized in that: include: milling drum; Outriggers, and outrigger cylinders that control outrigger movement; A side slide, and a side slide cylinder for controlling the movement of the side slide; as well as A posture control device, wherein the posture control device is used to execute the posture control method for leveling road construction equipment as described in any one of claims 1 to 9.

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