Vehicle supporting leg leveling control method and system and engineering machinery

Abstract

The invention discloses a vehicle landing leg leveling control method and system and engineering machinery. The method comprises the steps that a real-time inclination angle signal of a vehicle frame and a real-time torque signal of each landing leg driving device are obtained; on the basis of the real-time torque signals, the grounding state of each supporting leg is judged; according to the ground contact state and the real-time inclination angle signal of each supporting leg, one supporting leg is determined from the multiple supporting legs to serve as a leveling reference supporting leg; the height adjustment amount between the leveling reference supporting leg and the other supporting legs is calculated, and the supporting legs are controlled to execute differentiated telescopic movement based on the height adjustment amount, so that the frame reaches the level. According to the invention, high-precision, fast-response and stable-process automatic leveling of the support legs can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to a vehicle outrigger leveling control method, system and engineering machinery, and belongs to the technical field of engineering machinery control. BACKGROUND

[0002] When working, large engineering machinery such as cranes and concrete pump trucks must be stably supported on the ground by outriggers and the vehicle frame must be adjusted to a horizontal state to ensure the stability and anti-overturning ability of the work. This process is outrigger leveling. The traditional outrigger leveling relies heavily on manual operation by the operator, who needs to observe the bubble position of the level and control the extension and retraction of each outrigger hydraulic cylinder based on experience. The traditional outrigger leveling is inefficient, highly dependent on the skills and experience of the operator, and there is a risk of human error.

[0003] To improve the automation level of leveling, existing technologies have appeared automatic leveling solutions combining hydraulic drive and electric control. For example, the invention patent CN107191422A discloses a heavy vehicle hydraulic outrigger leveling system that combines mechanical locking and loop locking hydraulic cylinders to improve reliability and control costs. However, this system is still essentially based on hydraulic drive and has the risk of hydraulic oil leakage, and the hydraulic system is complex to maintain, difficult to troubleshoot, and relatively slow in response.

[0004] With the development of new energy technology, using electric cylinders instead of hydraulic cylinders has become a new trend. Electric cylinders have the advantages of fast response, high leveling precision, easy maintenance, and no hydraulic oil pollution. However, existing solutions still have deficiencies in the leveling control of electric cylinder outriggers. For example, the invention patent CN107817808A discloses a method, system and vehicle for controlling outrigger leveling, which compares the difference between the actual ground contact time and the preset ground contact time to correct the control current. However, the preset ground contact time of this method relies on historical data and has limited accuracy, and when multiple outriggers touch the ground asynchronously, uneven force can cause the vehicle to vibrate, affecting the stability and precision of the leveling process.

[0005] In summary, in existing technologies, whether it is manual leveling relying on experience, hydraulic automatic leveling with oil leakage and maintenance problems, or electric cylinder leveling with imperfect control strategies, it is difficult to achieve an ideal balance in leveling efficiency, precision, process stability, and system reliability. SUMMARY

[0006] The present application aims to overcome the deficiencies in the prior art and provide a vehicle outrigger leveling control method, system and engineering machinery that can achieve high-precision, fast-response and process-stable automatic leveling. To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a vehicle outrigger leveling control method, comprising:

[0008] obtaining a real-time inclination signal of the vehicle frame and a real-time torque signal of each leg driving device;

[0009] judging the ground contact state of each leg based on the obtained real-time torque signal;

[0010] determining one leg as a leveling reference leg from the plurality of legs according to the ground contact state of each leg and the obtained real-time inclination signal;

[0011] calculating a height adjustment amount between the leveling reference leg and the remaining legs, and controlling each leg to perform a differential extension and retraction motion based on the height adjustment amount, so that the vehicle frame reaches a horizontal state.

[0012] With reference to the first aspect, optionally, the judging the ground contact state of each leg based on the obtained real-time torque signal comprises:

[0013] comparing the real-time torque signal at the current sampling time with the torque signal at the last sampling time to obtain a torque change amount;

[0014] when the torque change amount is greater than or equal to a preset torque change amount threshold, determining that the corresponding leg is in the ground contact state.

[0015] With reference to the first aspect, optionally, the method further comprises a step of processing a virtual leg:

[0016] when there is a leg in the non-ground contact state, controlling the leg in the non-ground contact state to retract at a third speed, and controlling the leg in the ground contact state to retract at a fourth speed until the leg in the non-ground contact state becomes in the ground contact state; wherein the third speed is less than the fourth speed.

[0017] With reference to the first aspect, optionally, the determining one leg as a leveling reference leg from the plurality of legs according to the ground contact state of each leg and the obtained real-time inclination signal comprises:

[0018] in response to all legs being in the ground contact state;

[0019] determining the leg of the lowest point of the vehicle as the leveling reference leg according to the real-time inclination signal of the vehicle frame.

[0020] With reference to the first aspect, optionally, the determining one leg as a leveling reference leg from the plurality of legs according to the ground contact state of each leg and the real-time inclination signal of the vehicle frame comprises:

[0021] determining the leg that is first determined to be in the ground contact state as the leveling reference leg.

[0022] With reference to the first aspect, optionally, the controlling each leg to perform a differential extension and retraction motion based on the height adjustment amount comprises:

[0023] If the leveling reference leg is the leg with the lowest point of the vehicle, the remaining legs are controlled to retract synchronously according to the corresponding height adjustment amount, so that the vehicle frame reaches the horizontal state;

[0024] If the leveling reference leg is the first leg to touch the ground, while the leveling reference leg continues to extend, the remaining legs are controlled to extend synchronously according to the corresponding height adjustment amount, so that the legs reach the same height as the leveling reference leg at the same time, and the vehicle frame reaches the horizontal state.

[0025] In combination with the first aspect, after the legs reach the same height as the leveling reference leg, the vehicle frame reaches the horizontal state, the method further includes:

[0026] controlling all the legs to continue to extend synchronously;

[0027] taking the leg with the longest extension length as the reference, when the extension length of the leg reaches the second preset position, controlling all the legs to uniformly decelerate and extend;

[0028] when the extension speed of each leg is reduced to zero, all the legs reach the third preset position and are locked.

[0029] In combination with the first aspect, before acquiring the real-time inclination angle signal of the vehicle frame and the real-time torque signal of each leg driving device, the method further includes:

[0030] controlling all the legs to extend at a first speed;

[0031] acquiring the real-time position signal of each leg;

[0032] when it is determined according to the real-time position signal that the extension length of any leg reaches the first preset position, controlling all the legs to continue to extend after the extension speed is reduced to a second speed; wherein the first speed is greater than the second speed.

[0033] In a second aspect, the present application provides a vehicle leg leveling control system, comprising:

[0034] an inclination angle sensor for detecting the inclination angle of the vehicle frame;

[0035] a plurality of leg driving devices, each leg driving device comprising: a vertical electric cylinder for driving the leg to extend and retract, a position detection unit for detecting the extension position of the vertical electric cylinder, and a torque detection unit for detecting the driving torque of the vertical electric cylinder;

[0036] a controller, the input end of the controller being in communication connection with the inclination angle sensor, the position detection unit and the torque detection unit, and the output end of the controller being in communication connection with the vertical electric cylinder, the controller being configured to execute the vehicle leg leveling control method of the first aspect.

[0037] In a third aspect, the present application provides an engineering machine comprising the vehicle outrigger leveling control system of the first aspect.

[0038] Compared with the prior art, the vehicle outrigger leveling control method, system and engineering machine provided by the embodiments of the present application have the following beneficial effects:

[0039] The vehicle outrigger leveling control method provided by the present application acquires real-time inclination angle signals of the vehicle frame and real-time torque signals of each outrigger driving device; judges the ground contact state of each outrigger based on the acquired real-time torque signals; determines one of the multiple outriggers as a leveling reference outrigger according to the ground contact state of each outrigger and the acquired real-time inclination angle signals; calculates the height adjustment amount between the leveling reference outrigger and the remaining outriggers, and controls each outrigger to perform differentiated extension and retraction movements based on the height adjustment amount, so that the vehicle frame reaches a horizontal state. The present application discards the traditional leveling mode relying on manual observation and operation, automatically completes the whole process from outrigger extension, state judgment to horizontal adjustment through real-time fusion of inclination angle and torque to form a closed-loop control, significantly improves the leveling precision and operation efficiency, reduces the dependence on the experience of the operator, and significantly improves the efficiency and consistency of the leveling operation. The present application ensures that the leveling process is fast and smooth, effectively suppresses the vibration of the whole vehicle, and greatly improves the operation safety and comfort.

[0040] The vehicle outrigger leveling control system provided by the present application comprises an inclination angle sensor for detecting the inclination angle of the vehicle frame; and multiple outrigger driving devices, each of which comprises a vertical electric cylinder, a position detection unit and a torque detection unit. The vertical electric cylinder is used to drive the outrigger to extend and retract, the position detection unit is used to detect the extension position of the vertical electric cylinder, and the torque detection unit is used to detect the driving torque of the vertical electric cylinder. The present application uses an electric cylinder as the core execution unit, completely revolutionizes the traditional hydraulic system, eliminates the risk of oil leakage, and makes the system cleaner, more environmentally friendly and easier to maintain.

[0041] The vehicle outrigger leveling control system provided by the present application comprises an inclination angle sensor for detecting the inclination angle of the vehicle frame; and multiple outrigger driving devices, each of which comprises a vertical electric cylinder, a position detection unit and a torque detection unit. The vertical electric cylinder is used to drive the outrigger to extend and retract, the position detection unit is used to detect the extension position of the vertical electric cylinder, and the torque detection unit is used to detect the driving torque of the vertical electric cylinder. The present application uses an electric cylinder as the core execution unit, completely revolutionizes the traditional hydraulic system, eliminates the risk of oil leakage, and makes the system cleaner, more environmentally friendly and easier to maintain.

[0042] The present application discards the traditional leveling mode relying on manual observation and operation, automatically completes the whole process from outrigger extension, state judgment to horizontal adjustment through real-time fusion of inclination angle and torque to form a closed-loop control, significantly improves the leveling precision and operation efficiency, and reduces the dependence on the experience of the operator. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 This is a flowchart illustrating a vehicle outrigger leveling control method provided in Embodiment 1 of the present invention. Detailed Implementation

[0044] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0045] Example 1:

[0046] This embodiment provides a method for controlling the leveling of vehicle outriggers, including:

[0047] Acquire the real-time tilt angle signal of the chassis and the real-time torque signal of each outrigger drive device;

[0048] Based on the acquired real-time torque signal, the ground contact status of each outrigger is determined;

[0049] Based on the ground contact status of each outrigger and the acquired real-time tilt angle signal, one outrigger is selected from multiple outriggers as the leveling reference outrigger.

[0050] Calculate the height adjustment amount between the leveling reference leg and the other legs, and control each leg to perform differentiated telescopic movements based on the height adjustment amount to make the frame level.

[0051] like Figure 1 As shown, this embodiment provides a vehicle outrigger leveling control method suitable for the descent and leveling of vehicles with small outrigger spans, which can shorten the outrigger leveling time.

[0052] The specific steps include:

[0053] Step 1: Initial extension.

[0054] Step 1.1: Control all outriggers to extend at the first speed.

[0055] First speed ( Figure 1 V1 is the speed at which the outrigger extends rapidly, which is no greater than the speed provided by the motor after overcoming friction when it is fully loaded.

[0056] Step 1.2: Obtain the real-time position signal of each outrigger.

[0057] Step 1.3: When the extension length of any leg reaches the first preset position based on the real-time position signal ( Figure 1 When the speed is L1, control all outriggers to reduce the extension speed to the second speed and then continue to extend.

[0058] The first preset position is the extension length of the outrigger near the contact point.

[0059] Second speed ( Figure 1V2) is the slow extension speed of the outrigger, which is not greater than the speed provided by the motor when overcoming the friction and the weight of the vehicle body under full load.

[0060] It should be noted that the first speed is greater than the second speed.

[0061] Step 2: Obtain the real-time inclination angle signal of the vehicle frame and the real-time torque signal of each outrigger driving device.

[0062] In some embodiments, step 2 also obtains the real-time position signal of each outrigger, and determines whether the outrigger is fully extended according to the real-time position signal of each outrigger.

[0063] If there is an outrigger that is not fully extended, the outrigger is controlled to continue to extend until the outrigger is fully extended.

[0064] If all the outriggers are fully extended, step 3 is entered.

[0065] Step 3: Determine the ground contact state of each outrigger based on the obtained real-time torque signal.

[0066] Step 3.1: Compare the real-time torque signal at the current sampling time with the torque signal at the previous sampling time to obtain the torque change.

[0067] Step 3.2: When the torque change is greater than or equal to a preset torque change threshold, it is determined that the corresponding outrigger is in the ground contact state.

[0068] Step 3.3: Process the virtual leg.

[0069] When there is an outrigger in the non-ground contact state, the outrigger in the non-ground contact state is controlled to retract at a third speed, and the outrigger in the ground contact state is controlled to retract at a fourth speed, until the outrigger in the non-ground contact state becomes the ground contact state.

[0070] It should be noted that the third speed (V3) is close to 0, which is the minimum speed that can output the real-time torque signal, and the third speed is less than the fourth speed (V4). Figure 1 Figure 1 It should be noted that the third speed (V3) is close to 0, which is the minimum speed that can output the real-time torque signal, and the third speed is less than the fourth speed (V4).

[0071] In some other embodiments, other steps for processing the virtual leg are adopted. For example, after each outrigger is retracted by ΔX, the outrigger in the non-ground contact state is extended at a speed V3 (the speed V3 is close to 0, so that the torque ring of the virtual leg has a degree), and the other outriggers are extended at a speed V4 (V3

[0072] Step 4: Determine one of the multiple outriggers as a leveling reference outrigger according to the ground contact state of each outrigger and the obtained real-time inclination angle signal. ​

[0073] In response to all the legs being in the state of touching the ground; determining the leg of the lowest point of the vehicle as the leveling reference leg according to the real-time inclination signal of the vehicle frame.

[0074] Step 5: calculating the height adjustment amount between the leveling reference leg and the remaining legs, and controlling the legs to perform differentiated extension and retraction movements based on the height adjustment amount to make the vehicle frame horizontal.

[0075] Controlling the remaining legs to be retracted synchronously according to the corresponding height adjustment amount to make the vehicle frame horizontal.

[0076] Specifically, according to the vehicle body inclination value of the real-time inclination signal of the vehicle frame, the position difference value of the remaining legs to the lowest point is calculated, and then the position difference value is taken as the control signal of the fuzzy PID controller of each leg, and the error e is obtained by comparing the control signal with the current actual displacement value, and the fuzzy PID controller calculates the distance for controlling the retraction of each leg, so that the remaining legs are retracted to the leveling position at different speeds and accelerations, and the vehicle frame is made horizontal.

[0077] Step 6: cutting off the control signal, and locking the legs.

[0078] In some embodiments, before cutting off the control signal, it is judged according to the real-time inclination signal of the vehicle frame whether the inclination values in the X direction and the Y direction of the vehicle frame are less than a threshold value If the inclination values are less than the threshold value , the control signal is cut off. If the inclination values are not less than the threshold value , return to step 5.

[0079] Specifically, the threshold value is the maximum inclination value allowed by the leg leveling vehicle.

[0080] The embodiment provides a method for simultaneously and at the same speed extending all the legs when the vehicle rises, and leveling the legs through the feedback information of the torque ring, inclination sensor and position ring after full extension. The method has fast leveling speed, but is prone to vehicle vibration during full extension, and is suitable for small-span legs.

[0081] As shown in Figure 1 , the embodiment provides a vehicle leg leveling control method suitable for large leg span vehicles rising and leveling, which can avoid violent vibration caused by inconsistent leg touching ground sequence and sudden change of leg speed at the end of leveling, and further affect the leveling time.

[0082] The specific steps include:

[0083] Step 1: initial extension.

[0084] Step 1.1: controlling all the legs to extend at a first speed (V1 in the embodiment). Figure 1 ​

[0085] Step 1.2: Obtain real-time position signals of each leg.

[0086] Step 1.3: When it is determined according to the real-time position signals that the extension length of any leg reaches a first preset position (L1 in the embodiment), control all legs to reduce the extension speed to a second speed (V2 in the embodiment) and continue to extend. Figure 1 Figure 1 Step 1.4: When it is determined according to the real-time position signals that the extension length of any leg reaches a second preset position (L2 in the embodiment), control all legs to stop extending.

[0087] It should be noted that the first speed is greater than the second speed.

[0088] This step is the same as step 1 of the vehicle leg leveling control method applicable to a small leg span vehicle descending leveling.

[0089] Step 2: Obtain real-time inclination signals of the vehicle frame and real-time torque signals of each leg driving device.

[0090] Step 3: Determine the ground contact state of each leg based on the obtained real-time torque signals.

[0091] Step 3.1: Compare the real-time torque signal at the current sampling time with the torque signal at the last sampling time to obtain a torque change amount.

[0092] Step 3.2: When the torque change amount is greater than or equal to a preset torque change amount threshold, it is determined that the corresponding leg is in a ground contact state.

[0093] Specifically, when the leg electric cylinder torque value suddenly becomes large, it indicates that the leg electric cylinder is overcoming its own friction while overcoming the weight of the vehicle body, so the leg is in a ground contact state.

[0094] When there is a leg in a ground contact state, determine whether the leg in the ground contact state is the leg of the highest point of the vehicle. If so, go to step 4; if not, control the leg of the highest point of the vehicle to extend until it is in a ground contact state.

[0095] When there is no leg in a ground contact state, return to step 1 until there is a leg in a ground contact state.

[0096] Step 4: Determine a leveling reference leg from the plurality of legs according to the ground contact state of each leg and the obtained real-time inclination signals.

[0097] The leg that is first determined to be in a ground contact state is taken as the leveling reference leg.

[0098] Step 5: Calculate the height adjustment amount between the leveling reference leg and the remaining legs, and control the legs to perform differentiated extension and contraction movements based on the height adjustment amount, so that the vehicle frame reaches a horizontal state.

[0099] ​While the leveling reference outrigger continues to extend, the rest of the outriggers are controlled to extend synchronously according to the corresponding height adjustment amount, and the outriggers reach the same height as the leveling reference outrigger at the same time, so that the vehicle frame reaches the horizontal state.

[0100] Specifically, the leveling reference outrigger continues to extend at a uniform speed, the position difference of the rest of the outriggers to the highest point is calculated according to the vehicle body inclination angle value detected in real time by the inclination sensor, the position difference value is taken as the control signal of the fuzzy PID controller of each outrigger, the control signal is compared with the actual displacement value to obtain the error e, and the fuzzy PID controller calculates the distance for controlling the extension of each outrigger, so that each outrigger extends to the leveling position at different speeds and accelerations at the same time, and the vehicle frame reaches the horizontal state.

[0101] Step 6: terminal deceleration and precise positioning.

[0102] According to the real-time inclination angle signal of the vehicle frame, it is judged whether the inclination angle values in the X direction and the Y direction of the vehicle frame are less than the threshold value If the inclination angle values are less than the threshold value , step 6 is entered. If the inclination angle values are not less than the threshold value , step 5 is returned to.

[0103] Step 6.1: control all the outriggers to continue to extend synchronously.

[0104] Step 6.2: take the outrigger with the longest extension length as the reference, and when the extension length of the outrigger reaches the second preset position (L2 in the embodiment) Figure 1 , control all the outriggers to uniformly decelerate and extend.

[0105] Step 6.3: when the extension speed of each outrigger is reduced to zero, all the outriggers reach the third preset position (L3 in the embodiment) Figure 1 and are locked.

[0106] It should be noted that the third preset position is not less than the length of the vertical cylinder extended when the tire of the engineering machinery is at the minimum safe distance from the ground. The deceleration distance between the second preset position and the third preset position is used to prevent the vehicle from shaking.

[0107] Step 7: cut off the control signal, and the outriggers are locked.

[0108] It should be noted that the first speed, the second speed, the third speed, the fourth speed, the first preset position, the second preset position and the third preset position are determined values, or a reasonable range value preset according to the vehicle model, weight and ground working condition. The “fuzzy PID controller” in step 5 combines the advantages of fuzzy logic and classical PID control, and can better handle the nonlinearity and uncertainty in the leveling process, but the core control logic of the embodiment is not limited to this specific controller form.

[0109] The embodiment provides leveling of the support leg after the support leg touches the ground, so that the vehicle remains in a horizontal state without change in the process of extension of the support leg, avoids vehicle shaking, overturning and other problems caused by vehicle inclination, and is suitable for large-span support legs. In the embodiment, the extension speed of the support leg is slowed down before leveling ends, and the support leg stops extending when reaching the expected position, so that violent vibration caused by sudden change of the extension speed of the support leg at the end of leveling can be avoided.

[0110] To sum up, the embodiment discards the traditional leveling mode relying on manual observation and operation, automatically completes the whole process from extension of the support leg, state judgment to horizontal adjustment through real-time fusion of the inclination angle and the torque to form a closed-loop control, significantly improves the leveling precision and the operation efficiency, reduces the dependence on the experience of the operator, and significantly improves the efficiency and consistency of the leveling operation. The application ensures that the leveling process is fast and stable, effectively suppresses the vibration of the whole vehicle, and greatly improves the operation safety and comfort.

[0111] Embodiment two:

[0112] The embodiment provides a vehicle support leg leveling control system, which comprises:

[0113] An inclination sensor is configured to detect the inclination angle of the vehicle frame.

[0114] A plurality of support leg driving devices, each of which comprises a vertical cylinder, a position detection unit and a torque detection unit. The vertical cylinder is configured to drive the support leg to extend and retract. The position detection unit is configured to detect the extension position of the vertical cylinder. The torque detection unit is configured to detect the driving torque of the vertical cylinder.

[0115] A controller is configured to communicate with the inclination sensor, the position detection unit and the torque detection unit at the input end, and is configured to communicate with the vertical cylinder at the output end. The controller is configured to execute the vehicle support leg leveling control method of the embodiment one.

[0116] The number of the plurality of support leg driving devices is consistent with the number of the vehicle support legs, and is usually four support leg driving devices for four support legs.

[0117] In the embodiment, the vertical cylinder is composed of a ball screw, a speed reducer, a servo motor (including a brake), and a gear box.

[0118] In the embodiment, the position detection unit is a position ring, for example, an encoder. The position ring is configured to detect the extension position (i.e., the extension length of the support leg) of the vertical cylinder and detect whether the vertical cylinder is fully extended, so as to form a position ring feedback.

[0119] In the embodiment, the torque detection unit is a torque ring.

[0120] In some embodiments, a speed ring for detecting the extension and retraction speed of the support leg is further provided.

[0121] The embodiment changes the original hydraulic driving oil cylinder control outrigger telescopic system to a motor driven electric cylinder to realize the telescoping of the outrigger, which is cleaner, faster in response and solves the poor maintainability of the original vertical oil cylinder.

[0122] Embodiment three:

[0123] The embodiment provides an engineering machine, which comprises the vehicle outrigger leveling control system in embodiment two.

[0124] The engineering machine provided by the embodiment is, for example, a truck crane, an all-terrain crane, an off-road tire crane or a concrete pump truck. When the engineering machine needs to be deployed for work, the outrigger leveling system thereof can automatically, quickly and smoothly level the vehicle frame, greatly improving the work preparation efficiency, the operation safety and the intelligent level of the whole machine.

[0125] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the specific embodiments described above, and the specific embodiments described above are only illustrative but not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, which are all within the protection of the present application.

Claims

1. A method for controlling the leveling of vehicle outriggers, characterized in that, include: Acquire the real-time tilt angle signal of the chassis and the real-time torque signal of each outrigger drive device; Based on the acquired real-time torque signal, the ground contact status of each outrigger is determined; Based on the ground contact status of each outrigger and the acquired real-time tilt angle signal, one outrigger is selected from multiple outriggers as the leveling reference outrigger. Calculate the height adjustment amount between the leveling reference leg and the other legs, and control each leg to perform differentiated telescopic movements based on the height adjustment amount to make the frame level.

2. The vehicle outrigger leveling control method according to claim 1, characterized in that, The determination of the ground contact state of each outrigger based on the acquired real-time torque signal includes: The torque change is obtained by comparing the real-time torque signal at the current sampling time with the torque signal at the previous sampling time. When the torque change is greater than or equal to the preset torque change threshold, the corresponding outrigger is determined to be in contact with the ground.

3. The vehicle outrigger leveling control method according to claim 2, characterized in that, The method further includes: When there is an outrigger that is not in contact with the ground, the outrigger in the non-ground-contact state is controlled to retract at a third speed, and the outrigger in the ground-contact state is controlled to retract at a fourth speed, until the outrigger in the non-ground-contact state becomes in the ground-contact state; wherein, the third speed is less than the fourth speed.

4. The vehicle outrigger leveling control method according to claim 2, characterized in that, The step of determining one outrigger as the leveling reference outrigger from multiple outriggers based on the ground contact state of each outrigger and the acquired real-time tilt angle signal includes: In response to all outriggers being in contact with the ground; The lowest point of the vehicle's support leg is determined based on the real-time tilt angle signal of the chassis, serving as the leveling reference support leg.

5. The vehicle outrigger leveling control method according to claim 2, characterized in that, The step of determining one outrigger as the leveling reference outrigger from multiple outriggers based on the ground contact status of each outrigger and the real-time tilt angle signal of the frame includes: The outrigger that is first determined to be in contact with the ground is used as the reference outrigger for leveling.

6. The vehicle outrigger leveling control method according to claim 4 or 5, characterized in that, The method of controlling the differentiated extension and retraction movements of each outrigger based on height adjustment includes: If the leveling reference leg is the leg at the lowest point of the vehicle, control the other legs to retract synchronously according to the corresponding height adjustment amount so that the frame is level. If the leveling reference leg is the first leg to touch the ground, while the leveling reference leg continues to extend, the remaining legs are controlled to extend synchronously according to their corresponding height adjustments, so that each leg reaches the same height as the leveling reference leg, thus making the frame level.

7. The vehicle outrigger leveling control method according to claim 6, characterized in that, After all the outriggers simultaneously reach the same height as the leveling reference outriggers, making the frame level, the following steps are also included: Control all outriggers to continue extending synchronously; Using the outrigger with the longest extension length as a reference, when the extension length of that outrigger reaches the second preset position, control all outriggers to extend at a uniform deceleration. When the extension speed of each leg is reduced to zero, all legs reach the third preset position and lock.

8. The vehicle outrigger leveling control method according to claim 1, characterized in that, Before acquiring the real-time tilt angle signal of the chassis and the real-time torque signal of each outrigger drive unit, the following steps are also included: Control all outriggers to extend at the initial speed; Acquire the real-time position signals of each outrigger; When the real-time position signal indicates that the extension length of any leg has reached the first preset position, all legs are controlled to reduce their extension speed to the second speed before continuing to extend; wherein, the first speed is greater than the second speed.

9. A vehicle outrigger leveling control system, characterized in that, include: Tilt sensor, used to detect the tilt angle of the vehicle frame; Multiple outrigger drive devices, each outrigger drive device including: a vertical electric cylinder, a position detection unit and a torque detection unit, wherein the vertical electric cylinder is used to drive the outrigger to extend and retract, the position detection unit is used to detect the extended position of the vertical electric cylinder, and the torque detection unit is used to detect the driving torque of the vertical electric cylinder; The controller has its input terminal communicatively connected to the tilt sensor, the position detection unit, and the torque detection unit, and its output terminal communicatively connected to the vertical electric cylinder. The controller is configured to perform the vehicle outrigger leveling control method as described in any one of claims 1 to 8.

10. An engineering machinery, characterized in that, It includes the vehicle outrigger leveling control system as described in claim 9.

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