A method for integrated collaborative operation control of multiple processes in a wheel-type working device

Abstract

This application provides a multi-process integrated collaborative operation control method for a wheeled walking work device, comprising: acquiring real-time load posture data and outrigger support initial state information through sensors, and fusing chassis locking state feedback signals to obtain initial linkage control parameters; determining the transition threshold from complete locking to partial release of the chassis based on the obtained initial linkage control parameters, and determining the unlocking start sequence; optimizing the matching sequence based on load swing suppression index and preset micro-movement walking state, determining whether the conditions for entering the walking stage are met, and obtaining the judgment basis for lifting instability avoidance; and gradually restoring the chassis locking state after the chassis micro-movement walking action is completed according to the obtained intermediate control sequence, and determining the end sequence of the entire process control based on the completion state of locking recovery.

Description

Technical Field

[0001] This invention relates to the field of information technology, and in particular to a multi-process integrated collaborative operation control method for a wheel-type work device. Background Technology

[0002] In the field of construction machinery, wheeled work platforms typically refer to mobile lifting equipment equipped with wheeled chassis and hydraulic outriggers, such as truck cranes or all-terrain cranes. These platforms can travel quickly on roads while simultaneously performing on-site lifting operations via outrigger support. These platforms are widely used in scenarios such as high-altitude material handling at construction sites, component placement in bridge construction, and heavy object transfer in disaster relief. In actual operations, operators often face the need for precise, small-range movement of the equipment while lifting loads. For example, in congested construction sites, after lifting a steel cage, the equipment needs to slowly advance 2-5 meters to align with the pouring position; or in disaster relief sites, when suspending stretchers for the injured, the equipment needs to make slight movements to avoid obstacles such as loose rocks. This micro-movement and coordinated operation requires the equipment to smoothly transition from a stationary lifting state to low-speed movement and then back to a stationary lifting state, forming a seamless end-to-end connection to ensure the load maintains a stable posture and avoids any unexpected swaying that could affect operational accuracy and safety. However, existing wheeled work platforms for lifting operations typically employ fragmented control logic, treating lifting operations, chassis movement, and outrigger support as completely independent processes. During the pure hoisting phase, the system fully locks the wheeled chassis and outriggers, forming a rigid, fixed support to ensure stationary stability. When switching to micro-motion travel coordination is required, the chassis and outriggers must be completely released before the travel motor is started. This abrupt, rigid switching causes the equipment to instantly transition from a completely stationary state to a movable one. This abrupt change transmits vibrations directly to the boom system and suspended load through the vehicle frame. For example, when hoisting concrete pump pipes on a construction site, the load may sway forward, backward, or laterally by 30-50 centimeters due to inertia at the moment of unlocking, severely interfering with precise positioning. In emergency rescue scenarios, similar switching could amplify load swaying, increasing the risk of secondary injury. This control logic is only suitable for the single condition of static stationary hoisting and cannot adapt to the integrated linkage control requirements of the hoisting load posture, chassis locking, travel status, and outrigger support status. A deeper contradiction lies in the fact that while wheeled walking devices are designed to balance mobility and stability, existing mechanisms exhibit significant limitations in complex, multi-process scenarios. In narrow construction site passages or uneven rescue areas, when operators attempt to perform micro-movement coordination, load swaying quickly disrupts hoisting stability, forcing a forced interruption of movement and waiting for the load to naturally decay before restarting the operation. This process prolongs the time by several minutes, resulting in low efficiency and increased safety hazards. Especially under windy or unstable ground conditions, the amplitude of swaying induced by sudden changes in conditions is further amplified, making it impossible to achieve stable and controllable load posture throughout the entire process. This functional deficiency has become a bottleneck preventing wheeled walking devices from meeting the needs of precise small-scale relocation in streamlined construction and emergency response, hindering the evolution of equipment towards intelligent multi-condition adaptability. Furthermore, manual intervention by experienced operators is insufficient to completely eliminate swaying risks, creating a sharp technical contradiction between stability requirements and mobility switching. Summary of the Invention

[0003] This invention provides a multi-process integrated collaborative operation control method for a wheel-type work device, mainly comprising: Initial linkage control parameters are obtained by collecting hoisting load attitude data, outrigger support initial state information and chassis locking state feedback signals through sensors. Based on the initial linkage control parameters, determine the transition threshold of the chassis from full locking to partial release, and determine the unlocking start sequence; If the unlocking start timing meets the micro-motion walking collaborative operation conditions, the follow-up compensation angle of the working arm is determined and adjusted according to the preset posture compensation model, the load swing state after adjustment is detected, and the load swing suppression index is obtained. Based on the load swing suppression index and the micro-motion walking state, the matching timing optimization is performed to determine whether the conditions for entering the walking stage are met, obtain the judgment basis for hoisting instability avoidance, and use the judgment basis as the execution basis for entering the walking stage. If the conditions for entering the walking phase are met, based on the judgment criteria for hoisting instability avoidance, the dynamic adjustment value of the outrigger support is extracted from the optimized matching sequence, the execution command for chassis micro-movement walking is generated, the intermediate control sequence of collaborative operation is fused to obtain the chassis micro-movement walking action; According to the intermediate control sequence, the chassis locking state is gradually restored after the chassis micro-movement walking action is completed, and the end sequence of the whole process control is determined based on the completion state of the locking restoration. Based on the end sequence of the full process control, the attitude compensation real-time feedback loop is started to maintain the stability of the load attitude, and the hoisting safety verification data is obtained. The degree of completion of the micro-motion walking is judged by combining the micro-motion walking completion status and the locking recovery status. If the completion rate reaches a preset threshold, then all time-series data and job execution parameters are integrated to generate a linkage control log, and an optimized record of the whole process collaborative control is obtained based on the linkage control log.

[0004] Furthermore, the initial linkage control parameters are obtained by collecting hoisting load attitude data, outrigger support initial state information, and chassis locking state feedback signals through sensors, including: The load's three-dimensional attitude data is collected by tilt sensors and acceleration sensors at the end of the boom and the hook. The attitude data is then low-pass filtered to obtain the load attitude reference value. Read the cylinder displacement and ground pressure of each outrigger sensor, and form an outrigger status data group according to the distribution position of the outriggers at the four corners of the chassis to obtain the initial state information of the outrigger support. Read the locking status feedback signal of the chassis brake and the engagement status feedback signal of the parking mechanism. Align the load attitude reference value, the initial state information of the outrigger support and the chassis locking status feedback signal according to the timestamp and then merge them to obtain the initial linkage control parameters.

[0005] Furthermore, determining the transition threshold from full locking to partial release of the chassis based on the initial linkage control parameters, and determining the unlocking start timing sequence, includes: The locking pressure value of the chassis brake and the engagement depth value of the parking mechanism are extracted from the initial linkage control parameters and compared with the critical pressure for brake release and the critical depth for parking disengagement to obtain the chassis locking degree evaluation result. Based on the chassis locking degree assessment results and the outrigger ground pressure distribution and load attitude deflection angle in the initial linkage control parameters, a transition threshold including the brake pressure drop magnitude and the parking mechanism exit stroke is determined. Based on the aforementioned transition threshold, the moment when the brake begins to depressurize is set as the unlocking start reference point, and the moment when the parking mechanism begins to disengage is set as the unlocking follow-up node. The unlocking start sequence is determined by arranging the reference point first and the follow-up node last.

[0006] Furthermore, if the unlocking start sequence meets the micro-motion walking collaborative operation conditions, then the follow-up compensation angle of the working arm is determined according to the preset posture compensation model and adjusted, the adjusted load swing state is detected, and the load swing suppression index is obtained, including: The time interval between the unlocking start reference point and the unlocking follow node is read according to the unlocking start timing sequence. The time interval is compared with the time interval range of the micro-motion walking cooperative operation condition. If it is within the range, it is determined that the micro-motion walking cooperative operation condition is met. Collect the current load attitude deflection angle, load swing amplitude, load swing frequency, and the current elevation angle of the working arm. Input the current load attitude deflection angle and the current elevation angle of the working arm into a preset attitude compensation model to obtain the follow-up compensation angle. The boom luffing cylinder and slewing mechanism are driven by the servo compensation angle to perform attitude adjustment actions. The adjusted load swing amplitude and frequency are collected and compared with the original load swing amplitude and frequency to obtain the swing amplitude change and frequency change. The combined values ​​are then used to obtain the load swing suppression index.

[0007] Furthermore, based on the load sway suppression index and the micro-motion travel state, the matching timing optimization is performed to determine whether the conditions for entering the travel phase are met, thereby obtaining the judgment criteria for lifting instability avoidance, and using the judgment criteria as the execution basis for entering the travel phase, including: Extract the amplitude change and frequency change from the load swing suppression index, and compare them with the upper limit of allowable amplitude and the upper limit of allowable frequency in the micro-movement walking state, respectively. If both are less than the corresponding upper limit value, a matching degree qualified mark is obtained. Read the current ground pressure distribution of each leg. If the matching degree qualification mark is valid and the ground pressure of each leg exceeds the preset load transfer lower limit, then shorten the time interval in the unlocking start sequence to the optimized interval value to obtain the optimized matching sequence. According to the optimized matching timing, the upper limit of the chassis travel speed and the current sway angle of the load are read, and the product of the two is calculated as the estimated value of inertial disturbance and compared with the preset instability critical disturbance value. The instability critical disturbance value is the maximum inertial disturbance threshold allowed under the hoisting condition. If it is less than the instability critical disturbance value, it is determined that the conditions for entering the travel stage are met, and the travel stage access flag is obtained. The walking phase access mark is used as the core content of the judgment basis for the avoidance of hoisting instability and the direct basis for executing the chassis micro-movement walking action.

[0008] Furthermore, if the conditions for entering the walking phase are met, based on the judgment criteria for lifting instability avoidance, the dynamic adjustment value of the outrigger support is extracted from the optimized matching sequence, and the execution command for chassis micro-movement walking is generated. This is then fused to obtain the intermediate control sequence for collaborative operation, and the chassis micro-movement walking action is executed, including: If the access flag is valid during the walking phase, extract the dynamic adjustment value of the outrigger support, which includes the retraction stroke and retraction rate of each outrigger cylinder, from the optimized matching sequence. The execution command for chassis micro-movement travel, including the start signal of the travel motor, the travel speed setting value, and the travel direction setting value, is generated based on the outrigger support dynamic adjustment value. The execution instructions and the outrigger support dynamic adjustment values ​​are arranged and combined in chronological order to obtain an intermediate control sequence that follows the timing rule of executing the outrigger support dynamic adjustment first. According to the intermediate control sequence, the outrigger cylinders retract and the walking motor starts, thus executing the chassis micro-movement walking action.

[0009] Furthermore, the step of gradually restoring the chassis locking state after the chassis micro-motion walking action is completed, based on the intermediate control sequence, and determining the end sequence of the entire process control based on the completion status of the lock restoration, includes: The status of the walking motor and the displacement of the wheel set are detected according to the intermediate control sequence. When the walking motor stops running and the displacement of the wheel set reaches the target displacement value, a walking completion signal is obtained. Based on the signal indicating completion of travel, the brake, parking mechanism, and outrigger cylinders are driven to gradually restore the lock. Combined with the feedback signal of the parking mechanism's engagement status, the lock restoration status data is obtained. Based on the lock-up recovery status data, determine whether the brake locking pressure, parking mechanism engagement depth, and outrigger grounding pressure have all reached the corresponding set values. If all have reached the set values, then the moment when the lock-up recovery is completed is determined as the end sequence of the entire process control.

[0010] Furthermore, the end sequence based on full-process control initiates a real-time feedback loop for attitude compensation to maintain load attitude stability, acquires hoisting safety verification data, and determines the degree of coordination completion of micro-motion walking by combining the micro-motion walking completion state and the lock recovery state, including: According to the end sequence of the whole process control, the attitude compensation real-time feedback loop is started to collect the load attitude deflection angle and swing amplitude and compare them with the static hoisting safety threshold to obtain the hoisting status detection result. Based on the hoisting status detection results, determine whether the load attitude deflection angle and swing amplitude both meet the corresponding upper limit conditions. If they do, combine the current load attitude deflection angle, swing amplitude, outrigger ground pressure distribution, and chassis locking status to obtain hoisting safety verification data. The status values ​​of the walking completion signal and the lock recovery completion are read as the execution completion status of the micro-movement walking. The compliance status of each indicator in the hoisting safety verification data and the execution completion status are comprehensively evaluated. If all indicators in the hoisting safety verification data meet the standards and both status values ​​in the execution completion status are valid, it is determined that the micro-movement walking coordination completion degree has reached the preset level.

[0011] Furthermore, if the completion rate reaches a preset threshold, then all time-series data and job execution parameters are integrated to generate a linkage control log. Based on the linkage control log, an optimized record of the entire process collaborative control is obtained, including: Once the micro-motion walking coordination completion rate reaches a preset threshold, the entire process time sequence data and operation execution parameters are read, arranged and merged in chronological order, and a linkage control log is generated. The time intervals of each timing node and the actual values ​​of each execution parameter in the linkage control log are compared with the preset standard time intervals and preset standard parameter values. The standard time intervals and standard parameter values ​​are the collaborative operation benchmark parameters calibrated by the equipment factory. The timing nodes and execution parameters with deviations exceeding the preset deviation threshold are marked to obtain the optimized record of the whole process collaborative control. The marked deviation data is written into the memory and used as the basis for parameter optimization in subsequent collaborative operations.

[0012] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects: This invention discloses a multi-process integrated collaborative operation control method for wheeled-walking lifting devices, proposing a complete solution to the complex scenario of dynamic load posture adjustment and chassis micro-motion movement collaborative control in hoisting operations. This method acquires real-time load posture and outrigger support status data, integrates chassis locking feedback signals, and accurately determines the unlocking sequence and transition threshold to ensure stability under micro-motion movement conditions. It adjusts the boom angle through a posture compensation model and optimizes the matching sequence by combining load sway suppression indicators to avoid the risk of hoisting instability. Finally, it generates dynamic adjustment values ​​and intermediate control sequences to complete the full-process control of chassis micro-motion movement and lock recovery, and optimizes subsequent operation parameters through real-time feedback loops and log recording. The core innovation of this invention lies in the collaborative mechanism of multi-process data fusion and timing optimization, which significantly improves the safety and efficiency of the lifting device under complex working conditions, providing reliable technical support for high-precision collaborative operation of wheeled-walking equipment. Attached Figure Description

[0013] Figure 1 This is a flowchart of a multi-process integrated collaborative operation control method for a wheel-type working device according to the present invention.

[0014] Figure 2 This is a schematic diagram of a multi-process integrated collaborative operation control method for a wheel-type working device according to the present invention.

[0015] Figure 3 This is another schematic diagram of a multi-process integrated collaborative operation control method for a wheel-type working device according to the present invention. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and thoroughly described below with reference to the accompanying drawings. The described embodiments are merely some embodiments of the present invention.

[0017] like Figures 1-3 The multi-process integrated collaborative operation control method for a wheel-type work device in this embodiment may specifically include: S101. The initial linkage control parameters are obtained by collecting the hoisting load posture data and outrigger support initial state information in real time through sensors and integrating the chassis locking state feedback signal.

[0018] Tilt and acceleration sensors installed at the connection point between the boom and the hook are used to collect real-time attitude data of the hoisted load in three-dimensional space. This attitude data includes the load's deflection angle and swing velocity relative to the vertical baseline. A low-pass filter is used to remove high-frequency noise interference from the attitude data, yielding the load attitude baseline value. The extension distance output from the displacement sensors of each outrigger cylinder and the ground pressure output from the support pressure sensors are read. Based on the outrigger's distribution at the four corners of the chassis, the extension distance and corresponding ground pressure of each outrigger are grouped into outrigger status data sets to obtain the initial outrigger support status information. Simultaneously, the locking status feedback signal of the chassis brake and the engagement status feedback signal of the parking mechanism are read. The load attitude baseline value, the initial outrigger support status information, and the chassis locking status feedback signal are aligned by timestamp and merged into a unified data structure to obtain the initial linkage control parameters.

[0019] In one embodiment, the tilt sensor is mounted on a fixed bracket at the connection point between the boom end and the hook. An accelerometer is arranged adjacent to the tilt sensor, and together they constitute a load attitude acquisition unit. The tilt sensor detects the deflection angle of the hook relative to the vertical reference line, and the accelerometer detects the instantaneous velocity change of the load during the swinging process. Both types of data are synchronously output to the controller.

[0020] Specifically, the low-pass filtering method uses a filter with a cutoff frequency set to a preset value. When processing the acquired attitude data, the filter retains the low-frequency signal components generated by the slow swing of the load and filters out the high-frequency noise components caused by engine vibration or wind disturbance. The output load attitude reference value reflects the current steady-state deflection state of the load.

[0021] For example, the outrigger status data group is composed as follows: the extension distance of the front left outrigger and the ground pressure of the outrigger form the first data pair; the front right outrigger forms the second data pair; the rear left outrigger forms the third data pair; and the rear right outrigger forms the fourth data pair. These four data pairs together constitute the initial outrigger support status information. During the data fusion stage, after the controller reads the locking signal output by the chassis brake and the engagement signal output by the parking mechanism, it aligns the load posture reference value, the initial outrigger support status information, and the chassis locking status feedback signal according to a unified timestamp, and merges them to form initial linkage control parameters that include load posture, outrigger support status, and chassis locking status.

[0022] S102. Based on the obtained initial linkage control parameters, determine the transition threshold of the chassis from full locking to partial release, and determine the unlocking start sequence.

[0023] Based on the initial linkage control parameters, the locking pressure value of the chassis brake and the engagement depth value of the parking mechanism are extracted. The locking pressure value is compared with a preset brake release critical pressure, and the engagement depth value is compared with a preset parking disengagement critical depth to obtain a chassis locking degree evaluation result. The chassis locking degree evaluation result includes the current locking margin of the brake and the current engagement margin of the parking mechanism. Based on the chassis locking degree evaluation result, combined with the outrigger ground pressure distribution and load attitude deflection angle in the initial linkage control parameters, assuming a uniform distribution, the pressure value P of each outrigger is... i Where i = 1 to 4, with an average value exceeding 50 kPa, if the ground pressure P of all outriggers... i If both exceed the preset lower support limit of 50 kPa and the load deflection angle is less than the preset upper stability limit of 5 degrees, then the transition threshold from full lock to partial release of the chassis is calculated. The transition threshold is defined as follows: brake pressure drop ΔP = current brake lock margin × equipment calibration coefficient K1; parking mechanism release stroke ΔD = current parking mechanism engagement margin × equipment calibration coefficient K2, where K1 and K2 are factory-calibrated values ​​within the range of 0.2 to 0.5. Based on the transition threshold, the time t1 when the brake pressure begins to drop and the time t2 when the parking mechanism begins to release are read. t1 is set as the unlocking start reference point, and t2 is set as the unlocking follow-up node, arranged in the order of reference point first, follow-up node last. Δt = t2 - t1 = ΔP / ΔD × equipment reference time T0, where T0 is a factory-calibrated reference value of 0.3 to 0.8 s, thus determining the unlocking start sequence.

[0024] In one implementation, the initial linkage control parameters are derived from the fusion data of the load attitude reference value, outrigger support initial state information, and chassis locking state feedback signal collected in the preceding steps. The controller extracts the locking pressure value of the chassis brake from this fusion data, which represents the magnitude of the clamping force currently applied by the brake to the wheel brake disc, and simultaneously extracts the engagement depth value of the parking mechanism, which represents the depth to which the parking pawl inserts into the ratchet tooth groove.

[0025] Specifically, the locking margin is obtained as follows: the locking pressure value is subtracted from the preset brake release critical pressure, and the difference is the current locking margin of the brake; the engagement depth value is subtracted from the preset parking disengagement critical depth, and the difference is the current engagement margin of the parking mechanism. The brake release critical pressure refers to the pressure threshold corresponding to when the brake begins to release braking force, and the parking disengagement critical depth refers to the depth threshold corresponding to when the pawl begins to disengage from the ratchet tooth groove.

[0026] It should be noted that the transition threshold is determined based on a joint assessment of the outrigger support status and load attitude. The controller reads the ground pressure values ​​of the four outriggers and compares them one by one with a preset lower support limit. Simultaneously, it reads the load attitude deflection angle and compares it with a preset upper stability limit. When the ground pressure of all outriggers exceeds the lower support limit and the load deflection angle is less than the upper stability limit, the current support conditions are deemed to meet the prerequisite for chassis release. Under this premise, the controller sets the brake pressure drop amplitude based on the current brake locking margin and sets the parking mechanism disengagement stroke based on the current parking mechanism engagement margin; both together constitute the transition threshold.

[0027] In one embodiment, the timing of the unlocking start follows the principle of brakes first, followed by the parking mechanism. The controller marks the moment when the brake pressure begins to decrease as the unlocking start reference point T0, and the moment when the parking mechanism begins to disengage as the unlocking follow-up node T1. A preset time interval Δt is set between T0 and T1, where Δt represents the delay time from the reference point to the follow-up node, for example, 0.5 seconds, to ensure that the parking mechanism disengages only after the brakes are released first.

[0028] For example, when a truck crane performs micro-motion walking coordinated operation, the brake pressure drop corresponds to the brake cylinder return oil volume, and the parking mechanism release stroke corresponds to the pawl release distance. The unlocking start reference point triggers the brake cylinder to start returning oil, and after a preset time interval, the unlocking follow-up node triggers the pawl motor to start reversing, executing the chassis transition action from fully locked to partially released according to this timing sequence.

[0029] S103. If the determined unlocking start sequence meets the micro-motion walking collaborative operation conditions, the follow-up compensation angle of the working arm is adjusted through the preset posture compensation model, and the adjusted load swing state is detected to obtain the load swing suppression index.

[0030] Based on the unlocking start timing, the time interval between the unlocking start reference point and the unlocking follower node is read. This time interval is compared with preset micro-motion walking cooperative operation conditions. These conditions include a lower limit and an upper limit for the time interval. If the time interval is between the lower and upper limits, the unlocking start timing is determined to meet the micro-motion walking cooperative operation conditions, and a cooperative condition satisfaction flag is obtained. Based on this flag, the current load attitude deflection angle θ is collected. c Current load swing amplitude A c Current load oscillation frequency F c And the current elevation angle β of the boom. (The last part, "θ", appears to be a typo and can be left c The input is a preset attitude compensation model with β as the input. This model is a proportional-integral-derivative controller, and its input error signal e(t) is given by θ. cThe result is calculated from β, and the output is the follow-up compensation angle (Δα). h ,Δα v This includes the horizontal angle adjustment amount Δα of the boom. h Vertical angle adjustment Δα v The controller sends angle adjustment commands to the boom luffing cylinder and slewing mechanism, driving the boom to perform attitude adjustment. Based on the execution of the attitude adjustment, the adjusted load swing amplitude A is collected by the acceleration sensor at the hook. a With the adjusted load oscillation frequency F a Calculate the change in swing amplitude ΔA = A a -A c Calculate the frequency change ΔF=F a -F c . If ΔA<0 and |ΔA|>A th A th The preset swing suppression threshold is, for example, 0.05m, while ΔF < 0 and |ΔF| > F. th F th If a preset frequency suppression threshold is set, for example, 0.1Hz, then ΔA and ΔF are combined to obtain the load sway suppression index. The attitude data sampling rate is set to 50Hz, and the Hanning window function is used to extract the main frequency component f using discrete Fourier transform. max .

[0031] In one implementation, the unlocking start timing is derived from the unlocking start reference point and unlocking follow-up node determined in the preceding steps. After reading the time interval between the two nodes, the controller compares it with preset micro-motion walking coordinated operation conditions. The lower limit of the time interval for the micro-motion walking coordinated operation conditions corresponds to the extreme condition where the chassis brake and parking mechanism complete partial release in the shortest possible time, and the upper limit of the time interval corresponds to the critical duration for the load's swing amplitude to begin to naturally decay during the waiting process. When the actual time interval is within this range, it indicates that there is a coordination window between the chassis unlocking process and the load steady-state maintenance, and the controller outputs a coordination condition satisfaction flag.

[0032] Specifically, the coordination condition is met to trigger the invocation of the attitude compensation model. Before the invocation, the controller collects four input data: the current load attitude deflection angle is output by the tilt sensor at the hook, the current load swing amplitude and current load swing frequency are output by the accelerometer at the hook, and the current boom elevation angle is output by the angle encoder installed at the base of the boom.

[0033] It should be noted that the attitude compensation model is implemented using a proportional-integral-derivative (PID) controller. A PID controller is a closed-loop feedback controller whose input is the deviation between the target value and the actual value, and whose output is a control quantity. In this embodiment, the target value is the zero-degree reference of the load attitude deflection angle and the initial set value of the boom elevation angle; the actual value is the current load attitude deflection angle and the current boom elevation angle. The proportional stage outputs an adjustment quantity proportional to the magnitude of the deviation; the larger the deviation, the larger the adjustment quantity. The integral stage accumulates the deviation to eliminate static errors. The derivative stage outputs an adjustment quantity based on the rate of change of the deviation to suppress overshoot oscillations. The outputs of the three stages are superimposed to form the follow-up compensation angle, which is decomposed into the horizontal and vertical angle adjustment quantities of the boom.

[0034] For example, when a truck crane is performing a rebar cage lifting operation, if the current load posture deflection angle is to the left, the horizontal angle adjustment amount output by the proportional-integral-derivative controller points to the right, driving the slewing mechanism to rotate to the right by the corresponding angle to compensate for the load deflection. If the current elevation angle of the boom is lower than the initial set value, the vertical angle adjustment amount is positive, driving the luffing cylinder to extend and raise the boom. Further, the controller sends angle adjustment commands to the solenoid valve of the boom luffing cylinder and the hydraulic motor of the slewing mechanism. The luffing cylinder controls the extension and retraction stroke of the piston rod according to the vertical angle adjustment amount, and the slewing mechanism controls the rotation angle of the slewing platform according to the horizontal angle adjustment amount. The two actuators operate synchronously, driving the boom to complete the posture adjustment.

[0035] In one embodiment, during the attitude adjustment process, the accelerometer at the hook continuously outputs triaxial acceleration signals of the load. The controller integrates the triaxial acceleration signals to obtain a velocity value, then integrates the velocity value to obtain a displacement value, and extracts the peak-to-peak value of the oscillation from the displacement value as the adjusted load oscillation amplitude. The controller performs a discrete Fourier transform on the triaxial acceleration signals, for example, an acceleration sequence a(n) along a certain axis, where n is the sampling point number, to obtain its spectrum A(f), where f is the frequency. The frequency component with the largest amplitude is found in the spectrum, and its corresponding frequency value f is obtained. max As the adjusted load oscillation frequency.

[0036] Understandably, the calculation of amplitude change and frequency change uses a difference operation method. The amplitude change is obtained by subtracting the current load swing amplitude from the adjusted load swing amplitude; the frequency change is obtained by subtracting the current load swing frequency from the adjusted load swing frequency. A negative amplitude change indicates that the adjusted swing amplitude is smaller than the original amplitude, and the swing is suppressed; a negative frequency change indicates that the adjusted swing frequency is lower, and the swing tends to be smoother.

[0037] Preferably, the load sway suppression index is obtained based on a dual threshold determination. The controller compares the absolute value of the sway change with a preset sway suppression threshold, and the absolute value of the frequency change with a preset frequency suppression threshold. The sway suppression threshold corresponds to the minimum effective amount of reduction in load sway amplitude, and the frequency suppression threshold corresponds to the minimum effective amount of reduction in load sway frequency. When the sway change is negative and its absolute value exceeds the sway suppression threshold, and simultaneously the frequency change is negative and its absolute value exceeds the frequency suppression threshold, it indicates that the attitude compensation action has effectively suppressed the load sway. The controller combines the sway change and the frequency change into a numerical pair, which is the load sway suppression index, used to characterize the strength of the current attitude compensation suppression effect.

[0038] S104. Based on the load swing suppression index, and combined with the preset micro-motion walking state, the matching timing is optimized to determine whether the conditions for entering the walking stage are met, and the judgment basis for hoisting instability avoidance is obtained.

[0039] Extract the amplitude and frequency changes of the load swing suppression index. Compare the absolute value of the amplitude change with the preset upper limit of allowable amplitude in the micro-movement state, and compare the absolute value of the frequency change with the preset upper limit of allowable frequency in the micro-movement state. If the absolute value of the amplitude change is less than the upper limit of allowable amplitude and the absolute value of the frequency change is less than the upper limit of allowable frequency, a matching degree qualification mark is obtained. Read the ground pressure of each outrigger and determine whether the ground pressure of each outrigger exceeds the preset lower limit of load transfer. The ground pressure of each outrigger is the output value of the ground pressure sensor of the four outriggers. If the matching degree qualification mark is valid and the ground pressure of each outrigger exceeds the lower limit of load transfer, shorten the time interval in the preset unlocking start sequence to the preset optimized interval value to obtain the optimized matching sequence. The unlocking start sequence is the initial time sequence from locking to unlocking of the outrigger. Based on the optimized matching timing, the preset upper limit of the chassis's travel speed and the current load sway angle are read. The upper limit of the travel speed multiplied by the load sway angle is used as the estimated value of inertial disturbance. This estimated value of inertial disturbance is compared with the preset critical instability disturbance value. If the estimated value of inertial disturbance is less than the critical instability disturbance value, the current state is determined to meet the conditions for entering the travel phase, and a travel phase entry flag is obtained. Based on the travel phase entry flag, combined with the optimized matching timing and the load sway suppression index, the state value of the travel phase entry flag, the optimized matching timing data, and the value of the load sway suppression index are combined and encapsulated to obtain the judgment basis for lifting instability avoidance.

[0040] In one implementation, the load sway suppression index is derived from the combined data of amplitude and frequency changes in the preceding steps. The controller extracts the absolute values ​​of amplitude and frequency changes from this combined data and compares them with the preset upper limits of allowable amplitude and frequency in the micro-motion walking state. The micro-motion walking state is a pre-calibrated set of chassis low-speed walking condition parameters, wherein the upper limit of allowable amplitude represents the permissible boundary of load sway amplitude when the chassis is walking at low speed, and the upper limit of allowable frequency represents the permissible boundary of load sway frequency.

[0041] Specifically, the matching degree qualification indicator uses a dual-condition logic. When the absolute value of the swing amplitude change is less than the upper limit of the allowable swing amplitude, it indicates that the load swing amplitude is within a controllable range; when the absolute value of the frequency change is less than the upper limit of the allowable frequency, it indicates that the load swing frequency is in a smooth state. When both conditions are met simultaneously, the controller outputs a matching degree qualification indicator. The valid state of this indicator indicates that there is a matching relationship between the current load swing suppression effect and the micro-motion walking state.

[0042] It should be noted that determining the outrigger ground pressure is a crucial step in ascertaining load transfer capability. The controller reads the output values ​​of the ground pressure sensors on the four outriggers and compares them one by one with a preset lower limit for load transfer. This lower limit corresponds to the minimum stable ground pressure maintained by the outriggers as they transition from a fully supported state to a partially unloaded state at the moment the chassis starts moving. Its value is calculated as: Rated outrigger support force × 0.3, and is the factory-calibrated value. When the ground pressure of all outriggers exceeds this lower limit, it indicates that the outriggers possess the capability to withstand dynamic load transfer.

[0043] In one embodiment, the optimized matching timing is obtained by shortening the time interval in the unlocking start timing. The extent of the time interval reduction is determined by a preset optimized interval value, which is less than the original time interval but greater than zero. The significance of shortening the time interval is that when the matching degree is qualified and the outrigger load-bearing capacity is sufficient, the waiting time between the release of the chassis brake and the disengagement of the parking mechanism is reduced, accelerating the transition speed of the chassis from the locked state to the walking state. Further, the inertial disturbance estimation value is obtained based on the correlation between the walking speed and the load attitude deflection angle. The controller reads the preset upper limit of the chassis walking speed, which corresponds to the maximum moving speed of the chassis under micro-motion walking conditions; at the same time, it reads the current yaw angle of the load, which is output by the tilt sensor at the hook. Multiplying the upper limit of the walking speed by the current yaw angle of the load, the product value is the inertial disturbance estimation value. This estimation value reflects the disturbance intensity of the chassis on the suspended load due to the change in acceleration at the moment of starting walking: the higher the walking speed or the larger the load attitude deflection angle, the stronger the inertial disturbance.

[0044] For example, when an all-terrain crane is hoisting bridge components, if the upper limit of the chassis travel speed is set low and the current sway angle of the load is close to zero degrees, the estimated value of inertial disturbance is small; if the upper limit of the travel speed is set high or the load has significant sway, the estimated value of inertial disturbance increases. The controller compares the estimated value of inertial disturbance with a preset instability critical disturbance value, which corresponds to the critical intensity at which the load begins to exhibit uncontrollable swaying after being disturbed.

[0045] Understandably, the output of the walking phase access flag is based on the relationship between the estimated inertial disturbance value and the critical instability disturbance value. When the estimated inertial disturbance value is less than the critical instability disturbance value, it indicates that starting walking under the current conditions will not cause load instability, and the controller outputs the walking phase access flag, whose status value is set to valid.

[0046] Preferably, the criteria for determining lifting instability avoidance are obtained using a combined encapsulation method. The controller encapsulates the status value of the entry flag during the walking phase, the optimized matching timing data, and the value of the load sway suppression index according to a predetermined format, forming a unified data structure. The criteria serve as input conditions for subsequent chassis micro-motion walking execution and outrigger dynamic adjustment. When the entry flag status value in the criteria is valid, it indicates that the current lifting state meets the safety conditions for entering the walking phase.

[0047] S105. If the conditions for entering the walking stage are met, the dynamic adjustment value of the outrigger support is extracted from the optimized matching timing sequence, the execution command for chassis micro-movement walking is generated, the intermediate control sequence of collaborative operation is obtained, and the chassis micro-movement walking action is executed.

[0048] If the travel phase access flag status value in the judgment criteria for lifting instability avoidance is valid, the retraction stroke and retraction rate of each outrigger cylinder are calculated based on the current lifting weight and ground conditions, and this outrigger support dynamic adjustment value is integrated into the optimized matching sequence. Subsequently, the outrigger support dynamic adjustment value is extracted from the optimized matching sequence that integrates outrigger parameters. The outrigger support dynamic adjustment value includes the retraction stroke and retraction rate of each outrigger cylinder. The retraction stroke corresponds to the distance the outrigger moves from its current extended position to its partially retracted position, and the retraction rate corresponds to the retraction speed of the outrigger cylinder piston rod. Based on the outrigger support dynamic adjustment value, an execution command for chassis micro-motion travel is generated, which includes the start signal of the travel motor, the travel speed setting value, and the travel direction setting value. The execution command and the outrigger support dynamic adjustment value are arranged and combined in chronological order to obtain an intermediate control sequence for collaborative operation. The intermediate control sequence stipulates that the time when the outrigger cylinder begins to retract is earlier than the time when the travel motor starts. According to the intermediate control sequence, the controller sends retraction commands to the solenoid valves of each outrigger cylinder in sequence according to the time order in the sequence, and sends start commands to the driver of the chassis travel motor. Each outrigger cylinder performs a retraction action according to the retraction stroke and the retraction rate. The travel motor drives the chassis wheel set to rotate according to the travel speed set value and the travel direction set value, and performs chassis micro-motion travel action.

[0049] In one implementation, the travel phase access flag status value in the hoisting instability avoidance judgment criterion is derived from the judgment output of the previous step. When this status value is valid, the controller reads the adjustment data related to the outriggers from the optimized matching timing and extracts the outrigger support dynamic adjustment value. The retraction stroke represents the distance that the piston rod of each outrigger cylinder moves from the current fully extended position to the partially retracted position, and the retraction rate represents the movement speed of the piston rod during the retraction process.

[0050] Specifically, the execution command for chassis micro-motion walking is generated by the controller based on the dynamic adjustment value of the outrigger support. The start signal of the walking motor is used to trigger the walking motor to enter the running state from the stationary state. The walking speed set value corresponds to the moving speed of the chassis under micro-motion conditions, and the walking direction set value corresponds to the forward or backward movement direction of the chassis.

[0051] It should be noted that the intermediate control sequence for collaborative operation is constructed using a time-based arrangement. The controller combines the execution instructions with the outrigger support dynamic adjustment values ​​in the order of execution, forming a time-series queue containing multiple instructions. The intermediate control sequence stipulates that the outrigger cylinders begin retracting earlier than the travel motor starts. The principle behind this timing arrangement is that the outrigger cylinders retract first, gradually reducing the ground pressure on the outriggers and gradually increasing the load borne by the chassis wheel assembly. Once the wheel assembly load reaches a level sufficient to drive the chassis to move, the travel motor then starts operating, thereby achieving a smooth transition between outrigger support and chassis movement.

[0052] For example, when a truck crane performs micro-motion traveling coordinated operation, the solenoid reversing valves of the four outrigger cylinders receive retraction commands in sequence, and each outrigger synchronously performs the retraction action according to the preset retraction stroke and retraction rate. When the outrigger retracts to the predetermined position, the driver of the chassis travel motor receives a start command, and the travel motor drives the chassis wheel set to rotate according to the preset travel speed and travel direction settings.

[0053] In one embodiment, the rotation of the chassis wheel assembly drives the entire machine to move slowly in a set direction. The outrigger cylinders remain partially retracted during the movement, neither completely detaching from the ground nor fully supporting the vehicle body, thus forming a micro-movement walking posture where the wheel assembly bears the load and the outriggers provide auxiliary support, thereby completing the micro-movement walking action of the chassis.

[0054] S106. Based on the obtained intermediate control sequence, after the chassis micro-movement walking action is completed, the chassis locking state is gradually restored, and the end sequence of the whole process control is determined according to the completion state of the locking restoration.

[0055] According to the intermediate control sequence, the operating status of the chassis travel motor and the displacement of the chassis wheel set are detected. When the travel motor stops operating and the wheel set displacement reaches the preset target displacement value, the chassis micro-motion travel action is determined to be completed, and a travel completion signal is obtained. According to the travel completion signal, the controller sends a pressurization command to the electromagnetic reversing valve of the chassis brake to gradually increase the locking pressure to the preset full locking pressure value, sends a forward rotation command to the pawl motor of the parking mechanism to gradually increase the engagement depth to the preset full engagement depth value, and sends an extension command to the electromagnetic reversing valve of each outrigger cylinder to gradually increase the outrigger ground pressure to the preset full support pressure value, thus obtaining lock recovery status data. According to the lock recovery status data, it is determined whether the brake locking pressure has reached the full locking pressure value, whether the parking mechanism engagement depth has reached the full engagement depth value, and whether the ground pressure of each outrigger has reached the full support pressure value. If all three indicators reach the corresponding preset values, the lock recovery is determined to be complete, and the moment of lock recovery completion is marked as the end sequence of the entire process control.

[0056] In one implementation, the execution status of the intermediate control sequence is continuously monitored by the controller. The controller reads the driver feedback signal of the chassis travel motor to determine whether the travel motor is running; simultaneously, it reads the output value of the displacement encoder installed on the chassis wheel axle to obtain the cumulative displacement of the wheel set. When the travel motor stops running and the wheel set displacement reaches the preset target displacement value, the controller outputs a travel completion signal.

[0057] Specifically, the lock-up release process involves the coordinated action of three actuators. After receiving the completion signal of travel, the controller sends a pressurization command to the solenoid directional valve of the chassis brake. The piston rod of the brake cylinder gradually extends, clamping the brake disc, causing the locking pressure to gradually increase from the partially released state during travel to the fully locked pressure value. At the same time, the controller sends a forward rotation command to the pawl motor of the parking mechanism. Driven by the motor, the pawl rotates forward, gradually engaging the ratchet teeth, causing the engagement depth to gradually increase from the partially disengaged state during travel to the fully engaged depth value.

[0058] It should be noted that the outrigger's recovery action is synchronized with the recovery actions of the brake and parking mechanism. The controller sends an extension command to the solenoid valves of each outrigger cylinder, causing the outrigger cylinder piston rod to extend gradually, pressing the outrigger base against the ground, thus gradually increasing the ground pressure of the outrigger from the partially retracted state during travel to the fully supported pressure value. After the recovery actions of the three actuators are completed, the controller acquires the locking recovery status data.

[0059] In one embodiment, the lock-up recovery status data includes the current brake locking pressure, the current engagement depth of the parking mechanism, and the current ground pressure of each outrigger. The controller compares the current brake locking pressure with a preset full lock-up pressure value, wherein the preset full lock-up pressure value = rated brake system pressure × 0.9; compares the current engagement depth of the parking mechanism with a preset full engagement depth value, wherein the preset full engagement depth value = parking mechanism full stroke × 0.95; and compares the current ground pressure of each outrigger with a preset full support pressure value, wherein the preset full support pressure value = outrigger rated support pressure × 0.9.

[0060] For example, after the truck crane completes the micro-motion positioning of the steel cage, if all three indicators reach the corresponding preset values, the controller determines that the locking recovery is complete and records the moment of locking recovery as the end sequence of the whole process control. This end sequence marks that the chassis has completely recovered from the micro-motion walking state to the static hoisting support state.

[0061] S107. Based on the determined end sequence, construct a real-time feedback loop for attitude compensation to continuously monitor the hoisting status, obtain the final hoisting safety verification data, and judge the completion degree of micro-motion walking coordination by combining the execution completion status of micro-motion walking.

[0062] According to the end sequence of the full-process control, a real-time feedback loop for attitude compensation is initiated. This loop continuously collects the load attitude deflection angle and swing amplitude using tilt and acceleration sensors at the hook location. The collected attitude data is compared with preset static lifting safety thresholds, which include the upper limit of the allowable deflection angle and the upper limit of the allowable swing amplitude, to obtain the lifting status detection result. Based on the lifting status detection result, it is determined whether the load attitude deflection angle is less than the upper limit of the allowable deflection angle and whether the swing amplitude is less than the upper limit of the allowable swing amplitude. If both indicators meet the conditions, the current load attitude deflection angle, swing amplitude, outrigger ground pressure distribution, and chassis locking status are combined and encapsulated to obtain the final lifting safety verification data. Based on the hoisting safety verification data, the status values ​​of the walking completion signal and the lock recovery completion are read as the execution completion status of the micro-movement walking. The compliance status of each indicator in the hoisting safety verification data and the execution completion status are comprehensively evaluated. If all indicators in the hoisting safety verification data meet the standards and both status values ​​in the execution completion status are valid, the attitude compensation real-time feedback loop automatically terminates, and it is determined that the completion degree of micro-movement walking coordination has reached the preset level.

[0063] In one implementation, the end sequence of the full-process control marks the completion of the chassis locking state restoration. Upon this timing, the controller initiates a real-time feedback loop for attitude compensation. This real-time feedback loop refers to the controller continuously reading the output data from the sensors at the hook location at a preset sampling period. Within each sampling period, a closed-loop process of data acquisition, threshold comparison, and state determination is completed once. The sampling period is 50ms. Within the loop, the controller outputs a follow-up compensation angle in real-time based on the load attitude deflection angle to adjust the boom attitude.

[0064] Specifically, the tilt sensor outputs the load attitude deflection angle, and the accelerometer outputs the load swing amplitude. The controller compares the attitude deflection angle collected in each sampling cycle with a preset upper limit for allowable deflection angle, and compares the swing amplitude with a preset upper limit for allowable swing amplitude. The upper limit for allowable deflection angle corresponds to the maximum permissible deviation angle of the load relative to the vertical baseline in a static hoisting state, and the upper limit for allowable swing amplitude corresponds to the maximum permissible swing displacement of the load in a static hoisting state. If the collected values ​​are all less than the corresponding upper limits, the hoisting state detection result is output as qualified.

[0065] It should be noted that the acquisition of hoisting safety verification data is based on the premise that the hoisting status detection results are qualified. The controller combines and encapsulates the current load attitude deflection angle, swing amplitude, ground pressure distribution of each outrigger, and chassis locking status according to a predetermined format to form a data structure containing multiple safety indicators.

[0066] In one embodiment, the completion degree of the micro-motion walking coordination is determined using a multi-indicator comprehensive evaluation method. The controller reads the status value of the walking completion signal, which indicates whether the chassis micro-motion walking action has been completed; and reads the status value of the locking recovery completion, which indicates whether the chassis locking state has been restored. The compliance status of four indicators in the hoisting safety verification data—load attitude deflection angle, swing amplitude, outrigger ground pressure, and chassis locking state—is comprehensively evaluated along with the walking completion signal status value and the locking recovery completion status value.

[0067] For example, after the truck crane completes the micro-motion positioning of the rebar cage, if all four indicators in the hoisting safety verification data meet the standards, and the walking completion signal status value is valid and the lock recovery completion status value is valid, then the controller determines that the completion degree of the micro-motion walking coordination has reached the preset level, indicating that the entire micro-motion walking coordination operation process has been completed as expected.

[0068] S108. If the completion rate is determined to reach the preset threshold, then all time-series data and job execution parameters are integrated to generate a linkage control log. Based on the log data, the optimization record of the whole process collaborative control is obtained, providing a basis for parameter optimization of subsequent collaborative operations.

[0069] If the completion rate of the micro-motion walking coordination reaches a preset threshold, all timing data and operation execution parameters of the entire process are read. The timing data includes the unlocking start timing, the optimized matching timing, and the end timing of the entire process control. The operation execution parameters include the outrigger retraction stroke, retraction rate, walking speed setpoint, walking direction setpoint, and load swing suppression index. The timing data and operation execution parameters are arranged and merged in chronological order to generate a linkage control log. Based on the linkage control log, the time interval of each timing node and the actual value of each execution parameter are extracted. The extracted time interval is compared with a preset standard time interval, and the extracted actual value is compared with a preset standard parameter value. Timing nodes with deviations exceeding a preset deviation threshold and execution parameters with deviations exceeding the preset deviation threshold are marked to obtain an optimization record of the entire process collaborative control. Based on the optimization record, the marked timing node deviation data and execution parameter deviation data are written into the memory. The deviation data includes the name of the item to be adjusted, the deviation direction, and the deviation magnitude, serving as the basis for parameter optimization in subsequent collaborative operations.

[0070] In one implementation, after the completion degree of the micro-motion walking coordination reaches a preset threshold, the controller initiates a log recording process. The controller reads all timing data generated throughout the entire process from the memory. The timing data is arranged in chronological order and includes, in sequence, the unlocking start reference point time and unlocking follow-up node time in the unlocking start timing, the optimized interval value in the optimized matching timing, and the lock recovery completion time in the end timing of the entire process control.

[0071] Specifically, the reading of operation execution parameters is synchronized with the reading of timing data. The controller reads from the memory the retraction stroke and retraction rate of each outrigger, the chassis travel speed setpoint and travel direction setpoint, and the amplitude and frequency changes in the load sway suppression index. The controller arranges the timing data and the operation execution parameters in the order of execution to form a data sequence containing timestamps and parameter values. This data sequence is the linkage control log.

[0072] It should be noted that the acquisition of optimization records is based on the comparison between the linkage control log and standard values. The controller extracts the time intervals between each timing node from the linkage control log, compares the extracted time intervals with the pre-stored standard time intervals one by one, and calculates the difference between the two as the time interval deviation; at the same time, it extracts the actual values ​​of each execution parameter, compares the actual values ​​with the pre-stored standard parameter values ​​one by one, and calculates the difference between the two as the parameter deviation value.

[0073] In one embodiment, the controller performs threshold determination on the time interval deviation and parameter deviation. If the time interval deviation of a timing node exceeds a preset deviation threshold, the timing node is marked as a node to be adjusted; if the deviation of an execution parameter exceeds a preset deviation threshold, the execution parameter is marked as a parameter to be adjusted. All marked nodes to be adjusted and parameters to be adjusted constitute an optimization record for the entire process collaborative control.

[0074] For example, after the truck crane completes multiple micro-movement collaborative operations, the controller writes the deviation data and offset data in the optimization record into the memory. The deviation data includes the name, deviation direction, and deviation magnitude of the timing node to be adjusted, and the offset data includes the name, deviation direction, and offset magnitude of the execution parameter to be adjusted. The stored data serves as the basis for parameter optimization in subsequent collaborative operations.

[0075] If the technical solution of this application involves the collection, processing, or application of personal information, the relevant products have strictly complied with the requirements of the "Personal Information Protection Law of the People's Republic of China" and other laws and regulations before implementing any personal information processing activities, clearly and explicitly informing individuals of the rules for personal information processing and obtaining their independent and voluntary authorization and consent. Specifically, if the information involved is sensitive personal information, the product has not only obtained the individual's separate consent before processing, but this consent is also an explicit consent made on the basis of full knowledge. For example, in areas where personal information collection devices such as cameras are deployed, prominent and eye-catching signs have been set up to clearly inform users that entering the area is considered as consenting to the collection of their personal information; or, on the personal information processing interface (such as applications, web pages, etc.), through pop-ups, checkboxes, or active uploads, the user is required to actively authorize the process after clearly displaying key rules such as the identity of the personal information processor, the purpose of processing, the processing method, and the types of information involved.

[0076] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the concept of this application. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A multi-process integrated collaborative operation control method for a wheel-type working device, characterized in that, The method includes: Initial linkage control parameters are obtained by collecting hoisting load attitude data, outrigger support initial state information and chassis locking state feedback signals through sensors. Based on the initial linkage control parameters, determine the transition threshold of the chassis from full locking to partial release, and determine the unlocking start sequence; If the unlocking start timing meets the micro-motion walking collaborative operation conditions, the follow-up compensation angle of the working arm is determined and adjusted according to the preset posture compensation model, the load swing state after adjustment is detected, and the load swing suppression index is obtained. Based on the load swing suppression index and the micro-motion walking state, the matching timing optimization is performed to determine whether the conditions for entering the walking stage are met, obtain the judgment basis for hoisting instability avoidance, and use the judgment basis as the execution basis for entering the walking stage. If the conditions for entering the walking phase are met, based on the judgment criteria for hoisting instability avoidance, the dynamic adjustment value of the outrigger support is extracted from the optimized matching sequence, the execution command for chassis micro-movement walking is generated, the intermediate control sequence of collaborative operation is fused to obtain the chassis micro-movement walking action; According to the intermediate control sequence, the chassis locking state is gradually restored after the chassis micro-movement walking action is completed, and the end sequence of the whole process control is determined based on the completion state of the locking restoration. Based on the end sequence of the full process control, the attitude compensation real-time feedback loop is started to maintain the stability of the load attitude, and the hoisting safety verification data is obtained. The degree of completion of the micro-motion walking is judged by combining the micro-motion walking completion status and the locking recovery status. If the completion rate reaches a preset threshold, then all time-series data and job execution parameters are integrated to generate a linkage control log, and an optimized record of the whole process collaborative control is obtained based on the linkage control log.

2. The multi-process integrated collaborative operation control method for the wheel-walking work device according to claim 1, characterized in that, The initial linkage control parameters are obtained by collecting hoisting load attitude data, outrigger support initial state information, and chassis locking state feedback signals through sensors, including: The load's three-dimensional attitude data is collected by tilt sensors and acceleration sensors at the end of the boom and the hook. The attitude data is then low-pass filtered to obtain the load attitude reference value. Read the cylinder displacement and ground pressure of each outrigger sensor, and form an outrigger status data group according to the distribution position of the outriggers at the four corners of the chassis to obtain the initial state information of the outrigger support. Read the locking status feedback signal of the chassis brake and the engagement status feedback signal of the parking mechanism. Align the load attitude reference value, the initial state information of the outrigger support and the chassis locking status feedback signal according to the timestamp and then merge them to obtain the initial linkage control parameters.

3. The multi-process integrated collaborative operation control method for the wheel-walking work device according to claim 1, characterized in that, The step of determining the transition threshold from full locking to partial release of the chassis based on the initial linkage control parameters, and determining the unlocking start sequence, includes: The locking pressure value of the chassis brake and the engagement depth value of the parking mechanism are extracted from the initial linkage control parameters and compared with the critical pressure for brake release and the critical depth for parking disengagement to obtain the chassis locking degree evaluation result. Based on the chassis locking degree assessment results and the outrigger ground pressure distribution and load attitude deflection angle in the initial linkage control parameters, a transition threshold including the brake pressure drop magnitude and the parking mechanism exit stroke is determined. Based on the aforementioned transition threshold, the moment when the brake begins to depressurize is set as the unlocking start reference point, and the moment when the parking mechanism begins to disengage is set as the unlocking follow-up node. The unlocking start sequence is determined by arranging the reference point first and the follow-up node last.

4. The multi-process integrated collaborative operation control method for the wheel-walking work device according to claim 1, characterized in that, If the unlocking start sequence meets the micro-motion walking collaborative operation conditions, then the follow-up compensation angle of the working arm is determined according to the preset posture compensation model and adjusted. The adjusted load swing state is detected, and the load swing suppression index is obtained, including: The time interval between the unlocking start reference point and the unlocking follow node is read according to the unlocking start timing sequence. The time interval is compared with the time interval range of the micro-motion walking cooperative operation conditions. If it is within the range, it is determined that the micro-motion walking cooperative operation conditions are met. Collect the current load attitude deflection angle, load swing amplitude, load swing frequency, and the current elevation angle of the working arm. Input the current load attitude deflection angle and the current elevation angle of the working arm into a preset attitude compensation model to obtain the follow-up compensation angle. The boom luffing cylinder and slewing mechanism are driven by the servo compensation angle to perform attitude adjustment actions. The adjusted load swing amplitude and frequency are collected and compared with the original load swing amplitude and frequency to obtain the swing amplitude change and frequency change. The combined values ​​are then used to obtain the load swing suppression index.

5. The multi-process integrated collaborative operation control method for the wheel-walking work device according to claim 4, characterized in that, Based on the load swing suppression index and the micro-motion travel state, the matching timing optimization is performed to determine whether the conditions for entering the travel phase are met, thereby obtaining the judgment criteria for lifting instability avoidance, and using the judgment criteria as the execution basis for entering the travel phase, including: Extract the amplitude change and frequency change from the load swing suppression index, and compare them with the upper limit of allowable amplitude and the upper limit of allowable frequency in the micro-movement walking state, respectively. If both are less than the corresponding upper limit value, a matching degree qualified mark is obtained. Read the current ground pressure distribution of each leg. If the matching degree qualification mark is valid and the ground pressure of each leg exceeds the preset load transfer lower limit, then shorten the time interval in the unlocking start sequence to the optimized interval value to obtain the optimized matching sequence. According to the optimized matching timing, the upper limit of the chassis travel speed and the current sway angle of the load are read, and the product of the two is calculated as the estimated value of inertial disturbance and compared with the preset instability critical disturbance value. The instability critical disturbance value is the maximum inertial disturbance threshold allowed under the hoisting condition. If it is less than the instability critical disturbance value, it is determined that the conditions for entering the travel stage are met, and the travel stage access flag is obtained. The walking phase access mark is used as the core content of the judgment basis for the avoidance of hoisting instability and the direct basis for executing the chassis micro-movement walking action.

6. The multi-process integrated collaborative operation control method for the wheel-walking work device according to claim 1, characterized in that, If the conditions for entering the walking phase are met, based on the judgment criteria for lifting instability avoidance, the dynamic adjustment value of the outrigger support is extracted from the optimized matching sequence, and the execution command for chassis micro-movement walking is generated. This is then fused to obtain the intermediate control sequence for collaborative operation, and the chassis micro-movement walking action is executed, including: If the access flag is valid during the walking phase, extract the dynamic adjustment value of the outrigger support, which includes the retraction stroke and retraction rate of each outrigger cylinder, from the optimized matching sequence. The execution command for chassis micro-movement travel, including the start signal of the travel motor, the travel speed setting value, and the travel direction setting value, is generated based on the outrigger support dynamic adjustment value. The execution instructions and the outrigger support dynamic adjustment values ​​are arranged and combined in chronological order to obtain an intermediate control sequence that follows the timing rule of executing the outrigger support dynamic adjustment first. According to the intermediate control sequence, the outrigger cylinders retract and the walking motor starts, thus executing the chassis micro-movement walking action.

7. The multi-process integrated collaborative operation control method for the wheel-walking work device according to claim 1, characterized in that, The step of gradually restoring the chassis to its locked state after the chassis micro-motion walking action is completed, according to the intermediate control sequence, and determining the end sequence of the entire process control based on the completion status of the lock restoration, includes: The status of the walking motor and the displacement of the wheel set are detected according to the intermediate control sequence. When the walking motor stops running and the displacement of the wheel set reaches the target displacement value, a walking completion signal is obtained. Based on the signal indicating completion of travel, the brake, parking mechanism, and outrigger cylinders are driven to gradually restore the lock. Combined with the feedback signal of the parking mechanism's engagement status, the lock restoration status data is obtained. Based on the lock-up recovery status data, determine whether the brake locking pressure, parking mechanism engagement depth, and outrigger grounding pressure have all reached the corresponding set values. If all have reached the set values, then the moment when the lock-up recovery is completed is determined as the end sequence of the entire process control.

8. The multi-process integrated collaborative operation control method for the wheel-walking work device according to claim 7, characterized in that, The end sequence based on full-process control initiates a real-time feedback loop for attitude compensation to maintain load attitude stability, acquires hoisting safety verification data, and determines the degree of coordination of micro-motion walking by combining the micro-motion walking completion status and the lock recovery status, including: According to the end sequence of the whole process control, the attitude compensation real-time feedback loop is started to collect the load attitude deflection angle and swing amplitude and compare them with the static hoisting safety threshold to obtain the hoisting status detection result. Based on the hoisting status detection results, determine whether the load attitude deflection angle and swing amplitude both meet the corresponding upper limit conditions. If they do, combine the current load attitude deflection angle, swing amplitude, outrigger ground pressure distribution, and chassis locking status to obtain hoisting safety verification data. The status values ​​of the walking completion signal and the lock recovery completion are read as the execution completion status of the micro-movement walking. The compliance status of each indicator in the hoisting safety verification data and the execution completion status are comprehensively evaluated. If all indicators in the hoisting safety verification data meet the standards and both status values ​​in the execution completion status are valid, it is determined that the micro-movement walking coordination completion degree has reached the preset level.

9. The multi-process integrated collaborative operation control method for the wheel-walking work device according to claim 1, characterized in that, If the completion rate reaches a preset threshold, then all time-series data and job execution parameters are integrated to generate a linkage control log. Based on this linkage control log, an optimized record of the entire process collaborative control is obtained, including: Once the micro-motion walking coordination completion rate reaches a preset threshold, the entire process time sequence data and operation execution parameters are read, arranged and merged in chronological order, and a linkage control log is generated. The time intervals of each timing node and the actual values ​​of each execution parameter in the linkage control log are compared with the preset standard time intervals and preset standard parameter values. The standard time intervals and standard parameter values ​​are the collaborative operation benchmark parameters calibrated by the equipment factory. The timing nodes and execution parameters with deviations exceeding the preset deviation threshold are marked to obtain the optimized record of the whole process collaborative control. The marked deviation data is written into the memory and used as the basis for parameter optimization in subsequent collaborative operations.

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