Method for controlling leveling of chassis, controller, and walking excavator

Abstract

A method for controlling leveling of a chassis, a controller, and a walking excavator. The method comprises: acquiring supporting leg pressure data of each supporting leg and initial displacement data of each oil cylinder; according to the supporting leg pressure data of each supporting leg and the initial displacement data of each oil cylinder, adjusting the position of each supporting leg until the stress on each supporting leg is balanced; when the stress on each supporting leg is balanced, according to the supporting leg pressure data of each supporting leg, determining a supporting leg adjustment sequence for adjusting the supporting legs; on the basis of the supporting leg adjustment sequence, adjusting the angles of the supporting legs in sequence according to target displacement data of each oil cylinder and acquired tilt angle data of the chassis, so as to level the chassis, the target displacement data of each oil cylinder being the displacement data of each oil cylinder obtained when the stress on each supporting leg is balanced. The method can improve the leveling effect of the chassis of the walking excavator.

Description

Method, controller and walking excavator for controlling chassis leveling

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of Chinese patent application No. 202311244950.4 filed on September 25, 2023, the contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the technical field of walking excavators, and in particular to a method for controlling chassis leveling, a controller, and a walking excavator. Background Art

[0004] Crawler excavators are gradually being used in urban road rescue, mountain slope operations, geological disaster rescue, narrow ground passage and other operational scenarios due to their flexibility and high passability. At present, the existing chassis leveling method detects the tilt angle of the chassis through a dual-axis inclination sensor installed on the chassis to determine the tilt direction of the entire machine based on the tilt angle of the chassis, and then uses negative feedback to adjust the drive solenoid valve to control the movement of the corresponding outrigger cylinder to keep the chassis level. However, this leveling method cannot determine the force condition of the outriggers by detecting the tilt angle through a dual-axis inclination sensor and further controlling it based on the tilt angle. It is easy for the chassis to tilt again after leveling due to unbalanced force on the outriggers. Therefore, the chassis leveling method of the prior art has the problem of poor leveling effect due to unbalanced force on the outriggers.

[0005] Summary of the Invention

[0006] The purpose of the embodiments of the present application is to provide a method, a controller and a walking excavator for controlling chassis leveling, so as to solve the problem of poor leveling effect caused by unbalanced force on the legs in the chassis leveling method of the prior art.

[0007] To achieve the above-mentioned objectives, the present application provides, in a first aspect, a method for controlling chassis leveling, which is applied to a controller of a walking excavator. The walking excavator includes a plurality of legs, each of which includes an oil cylinder, and the plurality of legs are connected to the chassis of the walking excavator. The method comprises:

[0008] Obtain the outrigger pressure data of each outrigger and the initial displacement data of each cylinder;

[0009] According to the outrigger pressure data of each outrigger and the initial displacement data of each oil cylinder, the position of each outrigger is adjusted to make the force on each outrigger balanced;

[0010] Under the condition that each leg is subjected to balanced force, the leg adjustment order for each leg is determined according to the leg pressure data of each leg;

[0011] Based on the leg adjustment sequence, the angle of each leg is adjusted in turn according to the target displacement data of each cylinder and the obtained inclination data of the chassis to level the chassis; among which, the target displacement data of each cylinder is the displacement data of each cylinder obtained when the force of each leg is balanced.

[0012] In the embodiment of the present application, the position of each leg is adjusted according to the leg pressure data of each leg and the initial displacement data of each cylinder so that the force on each leg is balanced, including:

[0013] Determine the relative deviation value of the outrigger pressure of each outrigger according to the outrigger pressure data of each outrigger;

[0014] The corresponding force balance control signal is output in combination with the relative deviation value of the leg pressure of each leg and the initial displacement data of each oil cylinder to adjust the position of each leg so that the force of each leg is balanced.

[0015] In the embodiment of the present application, the force balance control signal corresponding to the relative deviation value of the leg pressure of each leg and the initial displacement data of each cylinder is output, including:

[0016] For any leg, determine whether the relative deviation value of the leg pressure of any leg is less than the preset deviation value;

[0017] When it is determined that the relative deviation value of the leg pressure of any leg is less than the preset deviation value, the force balance control signal of any leg is output in combination with the relative deviation value of the leg pressure of any leg and the initial displacement data of any leg.

[0018] In the embodiment of the present application, the force balance control signal of any leg includes a first displacement distance and a first displacement speed, and the first displacement distance satisfies the formula (1): s1=s0+Δs; (1)

[0019] Where s1 is the first displacement distance, s0 is the initial displacement distance in the initial displacement data, and Δs is the displacement increment;

[0020] The first displacement velocity satisfies formula (2):

[0021] Among them, v1 is the first displacement velocity, v j is the basic speed, ΔP is the relative deviation value of the outrigger pressure, and K1 is the preset speed adjustment coefficient.

[0022] In an embodiment of the present application, the plurality of legs include four legs, and a leg adjustment order for adjusting each leg is determined according to leg pressure data of each leg, including:

[0023] Determine the relative deviation value of the outrigger pressure of each outrigger according to the outrigger pressure data of each outrigger;

[0024] The leg corresponding to the minimum value among the relative deviation values ​​of the leg pressures of the multiple legs is used as the reference leg, and the leg at the diagonal position of the reference leg is used as the first adjustment leg;

[0025] comparing relative deviation values ​​of leg pressures of two legs other than the reference leg and the first adjustment leg among the plurality of legs;

[0026] The leg corresponding to the larger relative deviation value of the leg pressure of the two legs is used as the second adjustment leg, and the leg corresponding to the smaller relative deviation value of the leg pressure of the two legs is used as the third adjustment leg;

[0027] The leg adjustment sequence is determined according to the order of the first adjustment leg, the second adjustment leg and the third adjustment leg, wherein the adjustment sequence of the first adjustment leg is prior to the second adjustment leg, and the adjustment sequence of the second adjustment leg is prior to the third adjustment leg.

[0028] In the embodiment of the present application, determining the relative deviation value of the leg pressure of each leg according to the leg pressure data of each leg includes:

[0029] Determine an average outrigger pressure value based on outrigger pressure data of a plurality of outriggers;

[0030] For any leg, the relative deviation value of the leg pressure of any leg is determined based on the leg pressure data of any leg and the average value of the leg pressure.

[0031] In the embodiment of the present application, based on the leg adjustment sequence, the angle of each leg is adjusted in sequence according to the target displacement data of each cylinder and the acquired chassis inclination data, including:

[0032] When the tilt angle data is not within a preset range, determining the tilt direction and the non-tilt direction of the chassis according to the range of the tilt angle data;

[0033] Output corresponding angle adjustment control signal according to the inclination data and target displacement data;

[0034] Through the angle adjustment control signal, based on the leg adjustment sequence, the legs located in the inclined direction of the chassis are controlled to rise in sequence, and the legs located in the non-inclined direction of the chassis are controlled to descend in sequence, until the inclination angle data is within the preset range, so as to complete the adjustment of the angle of each leg.

[0035] In the embodiment of the present application, when the tilt angle data is positive and the legs located in the tilted direction of the chassis are sequentially controlled to rise, or when the tilt angle data is negative and the legs located in the non-tilted direction of the chassis are sequentially controlled to descend, the second displacement distance in the angle adjustment control signal satisfies the formula (3): s2=s+Δs*φ*K2; (3)

[0036] When the tilt angle data is negative and the legs located in the tilted direction of the chassis are sequentially controlled to rise, or when the tilt angle data is positive and the legs located in the non-tilted direction of the chassis are sequentially controlled to descend, the second displacement distance in the angle adjustment control signal satisfies the formula (4): s2=s-Δs*φ*K2; (4)

[0037] Wherein, s2 is the second displacement distance, s is the target displacement distance in the target displacement data, Δs is the displacement increment, K2 is the preset displacement adjustment coefficient, and φ is the inclination angle data.

[0038] A second aspect of the present application provides a controller, comprising:

[0039] a memory configured to store instructions; and

[0040] The processor is configured to call instructions from the memory and implement the above method for controlling chassis leveling when executing the instructions.

[0041] A third aspect of the present application provides a walking excavator, comprising:

[0042] Controller;

[0043] chassis, which communicates with the controller;

[0044] Multiple legs, each leg includes an oil cylinder, and the multiple legs are connected to the chassis.

[0045] In an embodiment of the present application, the walking excavator further includes:

[0046] an inclination sensor disposed on the chassis and configured to collect inclination data;

[0047] a plurality of pressure sensors, each pressure sensor being disposed in a corresponding oil cylinder, and the plurality of pressure sensors being configured to collect leg pressure data of the plurality of legs;

[0048] A plurality of oil cylinder displacement sensors are provided, each oil cylinder displacement sensor is respectively arranged in a corresponding oil cylinder, and the plurality of oil cylinder displacement sensors are configured to collect initial displacement data and target displacement data of the plurality of oil cylinders.

[0049] A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions for causing a machine to execute the above-mentioned method for controlling chassis leveling.

[0050] Through the above technical solution, the leg pressure data of each leg and the initial displacement data of each cylinder are obtained, and then the position of each leg is adjusted according to the leg pressure data of each leg and the initial displacement data of each cylinder to balance the force on each leg. When the force on each leg is balanced, the leg adjustment order for adjusting each leg is determined according to the leg pressure data of each leg, and then based on the leg adjustment order, the angle of each leg is adjusted in sequence according to the target displacement data of each cylinder and the obtained inclination data of the chassis to level the chassis. The present application first adjusts the position of each leg according to the leg pressure data of each leg and the initial displacement data of each cylinder to balance the force on each leg, and then adjusts the angle of each leg in sequence according to the target displacement data of each cylinder and the obtained inclination data of the chassis. This reduces the impact of the unbalanced force on the leveling effect of the chassis caused by the unbalanced force on multiple legs, making the chassis more stable after leveling.

[0051] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0053] FIG1 schematically shows a structure diagram of a walking excavator dismounting according to an embodiment of the present application;

[0054] FIG2 schematically shows a control principle diagram of a walking excavator according to an embodiment of the present application;

[0055] FIG3 schematically shows a flow chart of a method for controlling chassis leveling according to an embodiment of the present application;

[0056] FIG4 schematically shows a structural block diagram of a controller according to an embodiment of the present application.

[0057] In the figure: 1. Left front outrigger cylinder displacement sensor; 2. Right front outrigger cylinder displacement sensor; 3. Left rear outrigger cylinder displacement sensor; 4. Right rear outrigger cylinder displacement sensor; 5. Left front outrigger pressure sensor; 6. Right front outrigger pressure sensor; 7. Left rear outrigger pressure sensor; 8. Right rear outrigger pressure sensor; 201. Controller; 202. Display; 203. Operation panel. DETAILED DESCRIPTION

[0058] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0059] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0060] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0061] Figure 1 schematically illustrates the dismounting structure of a walking excavator according to an embodiment of the present application. As shown in Figure 1 , the walking excavator includes multiple outriggers. With the front of the walking excavator as the front direction, the multiple outriggers may include a left front outrigger, a right front outrigger, a left rear outrigger, and a right rear outrigger. It should be noted that the number of outriggers is not limited to four and can be changed based on actual needs. Each outrigger is equipped with a cylinder, and each cylinder is equipped with a pressure sensor and a cylinder displacement sensor. The left front outrigger cylinder displacement sensor 1, the right front outrigger cylinder displacement sensor 2, the left rear outrigger cylinder displacement sensor 3, and the right rear outrigger cylinder displacement sensor 4 can respectively collect initial and target displacement data for each cylinder. The left front outrigger pressure sensor 5, the right front outrigger pressure sensor 6, the left rear outrigger pressure sensor 7, and the right rear outrigger pressure sensor 8 can respectively collect outrigger pressure data for the left front outrigger, right front outrigger, left rear outrigger, and right rear outrigger.

[0062] FIG2 schematically shows a control principle diagram of a walking excavator according to an embodiment of the present application. As shown in FIG2 , the controller 201 communicates with the display 202, the control panel 203, multiple cylinder displacement sensors, and multiple pressure sensors respectively. The display 202 can be used to display the working mode and various parameters. The control panel 203 can be used to switch the working mode. The multiple cylinder displacement sensors include a left front outrigger cylinder displacement sensor 1, a right front outrigger cylinder displacement sensor 2, a left rear outrigger cylinder displacement sensor 3, and a right rear outrigger cylinder displacement sensor 4. The multiple pressure sensors include a left front outrigger pressure sensor 5, a right front outrigger pressure sensor 6, a left rear outrigger pressure sensor 7, and a right rear outrigger pressure sensor 8. Based on the initial displacement data and target displacement data sent by the multiple cylinder displacement sensors, and the outrigger pressure data sent by the multiple pressure sensors, the controller 201 can output corresponding control signals to control the multiple outriggers to rise or fall.

[0063] FIG3 schematically illustrates a flow chart of a method for controlling chassis leveling according to an embodiment of the present application. As shown in FIG3 , the present application provides a method for controlling chassis leveling, which is applied to a controller of a walking excavator. The walking excavator includes a plurality of legs, each of which includes a cylinder, and the plurality of legs are connected to the chassis of the walking excavator. The method may include the following steps:

[0064] Step 301: Obtain the leg pressure data of each leg and the initial displacement data of each cylinder;

[0065] Step 302: Adjust the position of each leg according to the leg pressure data of each leg and the initial displacement data of each oil cylinder so that the force on each leg is balanced;

[0066] Step 303: When each leg is under balanced force, determine the leg adjustment order for each leg according to the leg pressure data of each leg;

[0067] Step 304: Based on the leg adjustment sequence, adjust the angle of each leg in turn according to the target displacement data of each cylinder and the obtained chassis inclination data to level the chassis; wherein the target displacement data of each cylinder is the displacement data of each cylinder obtained when the force of each leg is balanced.

[0068] In an embodiment of the present application, the operating modes of the walking excavator include manual mode, off-road mode, and walking mode. When the walking excavator is in off-road mode or walking mode, the controller can level the chassis of the walking excavator. The walking excavator includes multiple legs connected to the chassis of the walking excavator. Each leg is equipped with a cylinder, and each cylinder is equipped with a pressure sensor and a cylinder displacement sensor. First, the controller can detect the leg pressure signal transmitted by each pressure sensor and normalize the leg pressure signal to obtain leg pressure data for each leg. The controller can also obtain initial displacement data of each cylinder collected by the cylinder displacement sensor. At the same time, the chassis of the walking excavator is equipped with an inclination sensor, and the controller can also obtain chassis inclination data collected by the inclination sensor. Based on the leg pressure data of the multiple legs, the controller can determine the average leg pressure value and then determine the relative deviation value of the leg pressure for each leg. In this way, based on the relative deviation of the leg pressure of each leg, the controller can determine the leg that needs force balance adjustment. After determining the leg that needs force balance adjustment, the controller can output the force balance control signal of the leg based on the relative deviation of the leg pressure and the initial displacement data, thereby adjusting the position of the leg to achieve force balance on each leg.

[0069] When each leg is under balanced force, the controller can obtain the target displacement data for each cylinder collected by the cylinder displacement sensor and determine the leg adjustment order for each leg based on the relative deviation value of the leg pressure. Furthermore, the controller can determine whether the inclination angle data is within a preset range. If the inclination angle data is not within the preset range, the controller can determine the tilted and non-tilted directions of the chassis based on the inclination angle data. The preset range can be adjusted according to actual conditions. After determining the tilted and non-tilted directions of the chassis, the controller can adjust the legs in sequence according to the leg adjustment order. When adjusting any leg, the controller can output an angle adjustment control signal based on the inclination angle data and the target displacement data of the cylinder corresponding to each leg, causing the leg to raise or lower, thereby achieving the purpose of leveling the chassis. During the adjustment process, the controller can use a proportional integral differential (PID) algorithm to adjust the cylinder control current in real time, ensuring smoother and more accurate cylinder movement.

[0070] Through the above technical solution, the leg pressure data of each leg and the initial displacement data of each cylinder are obtained, and then the position of each leg is adjusted according to the leg pressure data of each leg and the initial displacement data of each cylinder to balance the force on each leg. When the force on each leg is balanced, the leg adjustment order for adjusting each leg is determined according to the leg pressure data of each leg, and then based on the leg adjustment order, the angle of each leg is adjusted in sequence according to the target displacement data of each cylinder and the obtained inclination data of the chassis to level the chassis. The present application first adjusts the position of each leg according to the leg pressure data of each leg and the initial displacement data of each cylinder to balance the force on each leg, and then adjusts the angle of each leg in sequence according to the target displacement data of each cylinder and the obtained inclination data of the chassis. This reduces the impact of the unbalanced force on the leveling effect of the chassis caused by the unbalanced force on multiple legs, making the chassis more stable after leveling.

[0071] In the embodiment of the present application, step 302, adjusting the position of each leg according to the leg pressure data of each leg and the initial displacement data of each cylinder to balance the force on each leg, may include:

[0072] Determine the relative deviation value of the outrigger pressure of each outrigger according to the outrigger pressure data of each outrigger;

[0073] The corresponding force balance control signal is output in combination with the relative deviation value of the leg pressure of each leg and the initial displacement data of each oil cylinder to adjust the position of each leg so that the force of each leg is balanced.

[0074] In an embodiment of the present application, the controller can adjust each leg based on the leg pressure data of each leg and the initial displacement data of each oil cylinder, so that each leg is force balanced. Based on the leg pressure data of multiple legs, the controller can determine the average leg pressure. Furthermore, the controller can determine the relative deviation value of the leg pressure of any leg based on the leg pressure data of any leg and the average leg pressure. In this way, based on the relative deviation value of the leg pressure of each leg, the controller can determine the leg that needs to be force balanced. After determining the leg that needs to be force balanced, the controller can output the force balance control signal of the leg based on the relative deviation value of the leg pressure and the initial displacement data corresponding to the leg, thereby driving the leg to descend. In this way, each leg can be force balanced.

[0075] In the embodiment of the present application, the force balance control signal outputted in combination with the relative deviation value of the leg pressure of each leg and the initial displacement data of each cylinder may include:

[0076] For any leg, determine whether the relative deviation value of the leg pressure of any leg is less than the preset deviation value;

[0077] When it is determined that the relative deviation value of the leg pressure of any leg is less than the preset deviation value, the force balance control signal of any leg is output in combination with the relative deviation value of the leg pressure of any leg and the initial displacement data of any leg.

[0078] In an embodiment of the present application, the controller can combine the relative deviation of leg pressure for each leg and the initial displacement data of each cylinder to output a corresponding force balance control signal. After determining the relative deviation of leg pressure for each of the multiple legs, the controller can determine whether the relative deviation of leg pressure for any leg is less than a preset deviation. The preset deviation can be adjusted based on actual conditions. If the relative deviation of leg pressure for any leg is less than the preset deviation, the controller can combine the relative deviation of leg pressure for any leg and the initial displacement data for any leg to output a force balance control signal for that leg. If the relative deviation of leg pressure for any leg is greater than or equal to the preset deviation, the controller does not need to output a corresponding force balance control signal for that leg. In one example, if the relative deviation of leg pressure for the left front leg is less than , the controller can determine that the support force between the left front leg and the ground is insufficient and requires adjustment. In this case, the controller outputs a force balance control signal corresponding to the left front leg to drive the left front leg downward. In this way, the controller can determine which leg requires force balance adjustment and output the corresponding force balance control signal.

[0079] In the embodiment of the present application, the force balance control signal of any leg may include a first displacement distance and a first displacement speed, and the first displacement distance may satisfy the formula (1): s1=s0+Δs; (1)

[0080] Where s1 is the first displacement distance, s0 is the initial displacement distance in the initial displacement data, and Δs is the displacement increment;

[0081] The first displacement velocity can satisfy formula (2):

[0082] Among them, v1 is the first displacement velocity, v j is the basic speed, ΔP is the relative deviation value of the outrigger pressure, and K1 is the preset speed adjustment coefficient.

[0083] In an embodiment of the present application, after determining any leg that needs to be force-balanced, the controller can output a force-balance control signal for any leg, thereby controlling the descent of any leg. The force-balance control signal for any leg includes a first displacement distance and a first displacement speed. Based on the displacement increment and the initial displacement distance in the initial displacement data, the controller can determine the first displacement distance. Based on the basic speed, the relative deviation value of the leg pressure of any leg, and the preset speed adjustment coefficient, the controller can determine the first displacement speed. Both the basic speed and the displacement increment need to be determined by debugging the walking excavator.

[0084] In the embodiment of the present application, the plurality of legs may include four legs, and determining the leg adjustment order for each leg according to the leg pressure data of each leg may include:

[0085] Determine the relative deviation value of the outrigger pressure of each outrigger according to the outrigger pressure data of each outrigger;

[0086] The leg corresponding to the minimum value among the relative deviation values ​​of the leg pressures of the multiple legs is used as the reference leg, and the leg at the diagonal position of the reference leg is used as the first adjustment leg;

[0087] comparing relative deviation values ​​of leg pressures of two legs other than the reference leg and the first adjustment leg among the plurality of legs;

[0088] The leg corresponding to the larger relative deviation value of the leg pressure of the two legs is used as the second adjustment leg, and the leg corresponding to the smaller relative deviation value of the leg pressure of the two legs is used as the third adjustment leg;

[0089] The leg adjustment sequence is determined according to the order of the first adjustment leg, the second adjustment leg and the third adjustment leg, wherein the adjustment sequence of the first adjustment leg is prior to the second adjustment leg, and the adjustment sequence of the second adjustment leg is prior to the third adjustment leg.

[0090] In an embodiment of the present application, the controller can determine the leg adjustment order for each leg based on the leg pressure data of each leg. The multiple legs may include four legs. In the case where the walking excavator includes four legs, the controller can determine the leg pressure relative deviation value of each leg based on the leg pressure data of each leg, and use the leg corresponding to the minimum value of the leg pressure relative deviation values ​​of the multiple legs as the reference leg, and use the leg at the diagonal position of the reference leg as the first adjustment leg. The controller can then compare the leg pressure relative deviation values ​​of two legs other than the reference leg and the first adjustment leg among the multiple legs, and then use the leg corresponding to the larger value of the leg pressure relative deviation value of the two legs as the second adjustment leg, and use the leg corresponding to the smaller value of the leg pressure relative deviation value of the two legs as the third adjustment leg. After determining the first, second, and third adjustment legs, the controller determines the leg adjustment sequence according to the order of the first, second, and third adjustment legs, with the first adjustment leg being adjusted before the second adjustment leg, and the second adjustment leg being adjusted before the third adjustment leg. In this way, the controller can determine the leg adjustment sequence, facilitating subsequent adjustment of the angles of the multiple legs.

[0091] In the embodiment of the present application, determining the relative deviation value of the leg pressure of each leg according to the leg pressure data of each leg may include:

[0092] Determine an average outrigger pressure value based on outrigger pressure data of a plurality of outriggers;

[0093] For any leg, the relative deviation value of the leg pressure of any leg is determined based on the leg pressure data of any leg and the average value of the leg pressure.

[0094] In an embodiment of the present application, the controller can determine the relative deviation value of the leg pressure of each leg based on the leg pressure data of each leg. The controller can determine the average value of the leg pressure based on the leg pressure data of multiple legs. Then, the controller can determine the relative deviation value of the leg pressure of each leg based on the average value of the leg pressure. In the process of determining the relative deviation value of the leg pressure of each leg, for any leg, the controller can determine the relative deviation value of the leg pressure of any leg based on the leg pressure data of any leg and the average value of the leg pressure. The relative deviation value of the leg pressure satisfies formula (5):

[0095] Among them, ΔP is the relative deviation value of the outrigger pressure, P is the outrigger pressure data, is the average outrigger pressure.

[0096] In this way, the controller can determine the relative deviation value of the leg pressure of each leg, which is convenient for subsequent adjustment of the force condition of each leg and determination of the leg adjustment sequence.

[0097] In the embodiment of the present application, based on the leg adjustment sequence, according to the target displacement data of each cylinder and the acquired chassis inclination data, the angle of each leg is adjusted in sequence, which may include:

[0098] When the tilt angle data is not within a preset range, determining the tilt direction and the non-tilt direction of the chassis according to the range of the tilt angle data;

[0099] Output corresponding angle adjustment control signal according to the inclination data and target displacement data;

[0100] Through the angle adjustment control signal, based on the leg adjustment sequence, the legs located in the inclined direction of the chassis are controlled to rise in sequence, and the legs located in the non-inclined direction of the chassis are controlled to descend in sequence, until the inclination angle data is within the preset range, so as to complete the adjustment of the angle of each leg.

[0101] In an embodiment of the present application, the controller can sequentially adjust the angle of each leg to level the chassis. Specifically, a coordinate system can be established based on the installation position of the inclination sensor, and the origin of the coordinate system can be adjusted based on actual conditions. The coordinate system uses the front-to-back direction of the walking excavator as the X-axis and the left-to-right direction of the walking excavator as the Y-axis. Therefore, when the chassis tilts left or right, it corresponds to the roll angle x, and when the chassis tilts front or back, it corresponds to the pitch angle y. It should be noted that the X-axis and Y-axis of the coordinate system are adjustable and are not limited to this. The inclination data includes the roll angle x and the pitch angle y. The controller can determine whether the roll angle x and the pitch angle y are within a preset range. If the roll angle x is not within the preset range, the tilted and non-tilted directions of the chassis are determined based on the range of the roll angle x. If the pitch angle y is not within the preset range, the tilted and non-tilted directions of the chassis are determined based on the range of the pitch angle y. After determining the tilted and non-tilted directions of the chassis, the controller can output a corresponding angle adjustment control signal based on the inclination data and the target displacement data. Through the angle adjustment control signal, the controller can control the legs located in the tilted direction of the chassis to rise in sequence according to the leg adjustment order, and control the legs located in the non-tilted direction of the chassis to fall in sequence, until the roll angle x and pitch angle y are both within the preset range, thereby completing the adjustment of the angle of each leg.

[0102] In one example, the preset range is from -2 degrees to 2 degrees. When the roll angle x is greater than 2 degrees, it can be determined that the left front and left rear legs are in the tilted direction of the chassis, while the right front and right rear legs are in the non-tilted direction of the chassis. The controller can then output corresponding angle adjustment control signals based on the roll angle x and the target displacement data to control the left front and left rear legs to rise, and the right front and right rear legs to fall. In another example, the preset range is from -2 degrees to 2 degrees. When the pitch angle y is greater than 2 degrees, it can be determined that the left front and right front legs are in the tilted direction of the chassis, while the left rear and right rear legs are in the non-tilted direction of the chassis. The controller can then output corresponding angle adjustment control signals based on the pitch angle y and the target displacement data to control the left front and right front legs to rise, and the left rear and right rear legs to fall. In this way, the chassis of the crawler excavator can be leveled.

[0103] In the embodiment of the present application, when the tilt angle data is positive and the legs located in the tilted direction of the chassis are sequentially controlled to rise, or when the tilt angle data is negative and the legs located in the non-tilted direction of the chassis are sequentially controlled to descend, the second displacement distance in the angle adjustment control signal satisfies the formula (3): s2=s+Δs*φ*K2; (3)

[0104] When the tilt angle data is negative and the legs located in the tilted direction of the chassis are sequentially controlled to rise, or when the tilt angle data is positive and the legs located in the non-tilted direction of the chassis are sequentially controlled to descend, the second displacement distance in the angle adjustment control signal satisfies the formula (4): s2=s-Δs*φ*K2; (4)

[0105] Wherein, s2 is the second displacement distance, s is the target displacement distance in the target displacement data, Δs is the displacement increment, K2 is the preset displacement adjustment coefficient, and φ is the inclination angle data.

[0106] In an embodiment of the present application, after the force on each leg is balanced, the controller obtains the target displacement data sent by the cylinder displacement sensor. Since the displacement data of each cylinder may change after adjusting the force on each leg, it is necessary to obtain the target displacement data of each cylinder sent by the cylinder displacement sensor again. The angle adjustment control signal includes a second displacement distance and a second displacement speed. In this way, according to the order of leg adjustment, the second displacement distance is determined based on whether the inclination data is positive or negative, and the target displacement distance, displacement increment, preset displacement adjustment coefficient and inclination data in the target displacement data, and the second displacement speed is determined as the preset speed, and the controller can output the corresponding angle adjustment control signal. The preset speed needs to be determined according to the actual situation after debugging the crawler excavator. In this way, the controller can output the angle adjustment control signal to control the rise or fall of multiple legs.

[0107] Figure 4 schematically shows a block diagram of a controller according to an embodiment of the present application. As shown in Figure 4, the present application provides a controller, which may include:

[0108] Memory 410 configured to store instructions; and

[0109] The processor 420 is configured to call instructions from the memory 410 and implement the above-mentioned method for controlling chassis leveling when executing the instructions.

[0110] Specifically, in the embodiment of the present application, the processor 420 may be configured to:

[0111] Obtain the outrigger pressure data of each outrigger and the initial displacement data of each cylinder;

[0112] According to the outrigger pressure data of each outrigger and the initial displacement data of each oil cylinder, the position of each outrigger is adjusted to make the force on each outrigger balanced;

[0113] Under the condition that each leg is subjected to balanced force, the leg adjustment order for each leg is determined according to the leg pressure data of each leg;

[0114] Based on the leg adjustment sequence, the angle of each leg is adjusted in turn according to the target displacement data of each cylinder and the obtained inclination data of the chassis to level the chassis; among which, the target displacement data of each cylinder is the displacement data of each cylinder obtained when the force of each leg is balanced.

[0115] Furthermore, the processor 420 may be further configured to:

[0116] Determine the relative deviation value of the outrigger pressure of each outrigger according to the outrigger pressure data of each outrigger;

[0117] The corresponding force balance control signal is output in combination with the relative deviation value of the leg pressure of each leg and the initial displacement data of each oil cylinder to adjust the position of each leg so that the force of each leg is balanced.

[0118] Furthermore, the processor 420 may be configured to:

[0119] For any leg, determine whether the relative deviation value of the leg pressure of any leg is less than the preset deviation value;

[0120] When it is determined that the relative deviation value of the leg pressure of any leg is less than the preset deviation value, the force balance control signal of any leg is output in combination with the relative deviation value of the leg pressure of any leg and the initial displacement data of any leg.

[0121] In the embodiment of the present application, the force balance control signal of any leg includes a first displacement distance and a first displacement speed, and the first displacement distance satisfies the formula (1): s1=s0+Δs; (1)

[0122] Where s1 is the first displacement distance, s0 is the initial displacement distance in the initial displacement data, and Δs is the displacement increment;

[0123] The first displacement velocity satisfies formula (2):

[0124] Among them, v1 is the first displacement velocity, v j is the basic speed, ΔP is the relative deviation value of the outrigger pressure, and K1 is the preset speed adjustment coefficient.

[0125] Furthermore, the processor 420 may be configured to:

[0126] Determine the relative deviation value of the outrigger pressure of each outrigger according to the outrigger pressure data of each outrigger;

[0127] The leg corresponding to the minimum value among the relative deviation values ​​of the leg pressures of the multiple legs is used as the reference leg, and the leg at the diagonal position of the reference leg is used as the first adjustment leg;

[0128] comparing relative deviation values ​​of leg pressures of two legs other than the reference leg and the first adjustment leg among the plurality of legs;

[0129] The leg corresponding to the larger relative deviation value of the leg pressure of the two legs is used as the second adjustment leg, and the leg corresponding to the smaller relative deviation value of the leg pressure of the two legs is used as the third adjustment leg;

[0130] The leg adjustment sequence is determined according to the order of the first adjustment leg, the second adjustment leg and the third adjustment leg, wherein the adjustment sequence of the first adjustment leg is prior to the second adjustment leg, and the adjustment sequence of the second adjustment leg is prior to the third adjustment leg.

[0131] Furthermore, the processor 420 may be configured to:

[0132] Determine an average outrigger pressure value based on outrigger pressure data of a plurality of outriggers;

[0133] For any leg, the relative deviation value of the leg pressure of any leg is determined based on the leg pressure data of any leg and the average value of the leg pressure.

[0134] Furthermore, the processor 420 may be configured to:

[0135] When the tilt angle data is not within a preset range, determining the tilt direction and the non-tilt direction of the chassis according to the range of the tilt angle data;

[0136] Output corresponding angle adjustment control signal according to the inclination data and target displacement data;

[0137] Through the angle adjustment control signal, based on the leg adjustment sequence, the legs located in the inclined direction of the chassis are controlled to rise in sequence, and the legs located in the non-inclined direction of the chassis are controlled to descend in sequence, until the inclination angle data is within the preset range, so as to complete the adjustment of the angle of each leg.

[0138] In the embodiment of the present application, when the tilt angle data is positive and the legs located in the tilted direction of the chassis are sequentially controlled to rise, or when the tilt angle data is negative and the legs located in the non-tilted direction of the chassis are sequentially controlled to descend, the second displacement distance in the angle adjustment control signal satisfies the formula (3): s2=s+Δs*φ*K2; (3)

[0139] When the tilt angle data is negative and the legs located in the tilted direction of the chassis are sequentially controlled to rise, or when the tilt angle data is positive and the legs located in the non-tilted direction of the chassis are sequentially controlled to descend, the second displacement distance in the angle adjustment control signal satisfies the formula (4): s2=s-Δs*φ*K2; (4)

[0140] Wherein, s2 is the second displacement distance, s is the target displacement distance in the target displacement data, Δs is the displacement increment, K2 is the preset displacement adjustment coefficient, and φ is the inclination angle data.

[0141] Through the above technical solution, the leg pressure data of each leg and the initial displacement data of each cylinder are obtained, and then the position of each leg is adjusted according to the leg pressure data of each leg and the initial displacement data of each cylinder to balance the force on each leg. When the force on each leg is balanced, the leg adjustment order for adjusting each leg is determined according to the leg pressure data of each leg, and then based on the leg adjustment order, the angle of each leg is adjusted in sequence according to the target displacement data of each cylinder and the obtained inclination data of the chassis to level the chassis. The present application first adjusts the position of each leg according to the leg pressure data of each leg and the initial displacement data of each cylinder to balance the force on each leg, and then adjusts the angle of each leg in sequence according to the target displacement data of each cylinder and the obtained inclination data of the chassis. This reduces the impact of the unbalanced force on the leveling effect of the chassis caused by the unbalanced force on multiple legs, making the chassis more stable after leveling.

[0142] The present application also provides a walking excavator, comprising:

[0143] Controller;

[0144] chassis, which communicates with the controller;

[0145] Multiple legs, each leg includes an oil cylinder, and the multiple legs are connected to the chassis.

[0146] In an embodiment of the present application, a walking excavator includes a controller, a chassis, and multiple outriggers. The controller communicates with the chassis, and the multiple outriggers are connected to the chassis. Each outrigger is equipped with a cylinder. The controller can thereby transmit corresponding force balance control signals and angle adjustment control signals, adjust the cylinder control current in real time based on the force balance control signals and angle adjustment control signals, and output the cylinder control current to a proportional solenoid valve to drive the cylinder movement, thereby adjusting the multiple outriggers and leveling the chassis.

[0147] In an embodiment of the present application, the walking excavator further includes:

[0148] an inclination sensor disposed on the chassis and configured to collect inclination data;

[0149] a plurality of pressure sensors, each pressure sensor being disposed in a corresponding oil cylinder, and the plurality of pressure sensors being configured to collect leg pressure data of the plurality of legs;

[0150] A plurality of oil cylinder displacement sensors are provided, each oil cylinder displacement sensor is respectively arranged in a corresponding oil cylinder, and the plurality of oil cylinder displacement sensors are configured to collect initial displacement data and target displacement data of the plurality of oil cylinders.

[0151] In an embodiment of the present application, the walking excavator further includes an inclination sensor, a plurality of pressure sensors, and a plurality of cylinder displacement sensors. The inclination sensor is disposed on the chassis and can be used to collect inclination data of the chassis. Each of the plurality of pressure sensors is respectively disposed in each corresponding cylinder and can be used to collect leg pressure data of each leg. The plurality of pressure sensors are voltage-type pressure sensors. Each of the plurality of cylinder displacement sensors is respectively disposed in each corresponding cylinder and can be used to collect initial displacement data and target displacement data of each cylinder.

[0152] An embodiment of the present application further provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned method for controlling chassis leveling.

[0153] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0154] The present application is described with reference to the flow chart and / or block diagram of the method, device (system), and computer program product according to the embodiment of the present application. It should be understood that each flow process and / or box in the flow chart and / or block diagram and the combination of the flow process and / or box in the flow chart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processing machine or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for realizing the function specified in one flow chart flow or multiple flows and / or one box or multiple boxes of the block diagram.

[0155] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0156] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0157] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0158] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0159] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0160] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0161] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for controlling chassis leveling, characterized in that: A controller applied to a walking excavator, the walking excavator comprising a plurality of legs, each leg comprising an oil cylinder, the plurality of legs being connected to a chassis of the walking excavator, the method comprising: Obtain the outrigger pressure data of each outrigger and the initial displacement data of each cylinder; According to the leg pressure data of each leg and the initial displacement data of each oil cylinder, the position of each leg is adjusted to make the force of each leg balanced; Under the condition that each leg is subjected to balanced force, determining a leg adjustment sequence for adjusting each leg according to the leg pressure data of each leg; Based on the leg adjustment sequence, the angle of each leg is adjusted in turn according to the target displacement data of each cylinder and the acquired inclination data of the chassis to level the chassis; wherein the target displacement data of each cylinder is the displacement data of each cylinder acquired when each leg is under balanced force.

2. The method according to claim 1, characterized in that The step of adjusting the position of each leg according to the leg pressure data of each leg and the initial displacement data of each oil cylinder so that the force of each leg is balanced includes: Determine a relative deviation value of the leg pressure of each leg according to the leg pressure data of each leg; The corresponding force balance control signal is output in combination with the relative deviation value of the leg pressure of each leg and the initial displacement data of each oil cylinder to adjust the position of each leg so that the force of each leg is balanced.

3. The method according to claim 2, characterized in that Combining the relative deviation value of the leg pressure of each leg and the initial displacement data of each oil cylinder to output a corresponding force balance control signal, including: For any leg, determining whether the relative deviation value of the leg pressure of the leg is less than a preset deviation value; When it is determined that the relative deviation value of the leg pressure of any leg is less than the preset deviation value, a force balance control signal of any leg is output in combination with the relative deviation value of the leg pressure of any leg and the initial displacement data of any leg.

4. The method according to claim 3, characterized in that The force balance control signal of any leg includes a first displacement distance and a first displacement speed, and the first displacement distance satisfies formula (1): s1=s0+Δs; (1) Wherein, s1 is the first displacement distance, s0 is the initial displacement distance in the initial displacement data, and Δs is the displacement increment; The first displacement velocity satisfies formula (2): Wherein, v1 is the first displacement velocity, v j is the basic speed, ΔP is the relative deviation value of the outrigger pressure, and K1 is the preset speed adjustment coefficient.

5. The method according to claim 1, characterized in that The plurality of legs include four legs, and determining a leg adjustment sequence for adjusting each leg according to leg pressure data of each leg includes: Determine a relative deviation value of the leg pressure of each leg according to the leg pressure data of each leg; The leg corresponding to the minimum value of the relative deviation values ​​of the leg pressures of the multiple legs is used as a reference leg, and the leg at a diagonal position of the reference leg is used as a first adjustment leg; comparing relative deviation values ​​of leg pressures of two legs other than the reference leg and the first adjustment leg among the plurality of legs; The leg corresponding to the larger relative deviation value of the leg pressure of the two legs is used as the second adjustment leg, and the leg corresponding to the smaller relative deviation value of the leg pressure of the two legs is used as the third adjustment leg; The leg adjustment sequence is determined according to the order of the first adjustment leg, the second adjustment leg and the third adjustment leg, wherein the adjustment sequence of the first adjustment leg is prior to that of the second adjustment leg, and the adjustment sequence of the second adjustment leg is prior to that of the third adjustment leg.

6. The method according to any one of claims 2 to 5, characterized in that Determining the relative deviation value of the leg pressure of each leg according to the leg pressure data of each leg includes: Determine an average outrigger pressure value based on outrigger pressure data of a plurality of outriggers; For any leg, the relative deviation value of the leg pressure of the any leg is determined according to the leg pressure data of the any leg and the average value of the leg pressure.

7. The method according to claim 1, characterized in that Based on the leg adjustment sequence, the angle of each leg is adjusted in turn according to the target displacement data of each oil cylinder and the acquired inclination angle data of the chassis, including: When the inclination angle data is not within a preset range, determining the inclination direction and the non-inclination direction of the chassis according to the range of the inclination angle data; Outputting a corresponding angle adjustment control signal according to the inclination angle data and the target displacement data; Through the angle adjustment control signal, based on the leg adjustment sequence, the legs located in the inclined direction of the chassis are controlled to rise in sequence, and the legs located in the non-inclined direction of the chassis are controlled to descend in sequence, until the inclination angle data is within a preset range, so as to complete the adjustment of the angle of each leg.

8. The method according to claim 7, characterized in that When the inclination angle data is a positive value and the legs located in the inclined direction of the chassis are sequentially controlled to rise, or when the inclination angle data is a negative value and the legs located in the non-inclined direction of the chassis are sequentially controlled to descend, the second displacement distance in the angle adjustment control signal satisfies formula (3): s2=s+Δs*φ*K2; (3) When the inclination angle data is a negative value and the legs located in the inclined direction of the chassis are sequentially controlled to rise, or when the inclination angle data is a positive value and the legs located in the non-inclined direction of the chassis are sequentially controlled to descend, the second displacement distance in the angle adjustment control signal satisfies formula (4): s2=s-Δs*φ*K2; (4) Among them, s2 is the second displacement distance, s is the target displacement distance in the target displacement data, Δs is the displacement increment, K2 is the preset displacement adjustment coefficient, and φ is the inclination angle data.

9. A controller, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instructions from the memory and implement the method for controlling chassis leveling according to any one of claims 1 to 8 when executing the instructions.

10. A walking excavator, characterized in that: include: The controller according to claim 9; a chassis in communication with the controller; A plurality of legs, each of which includes an oil cylinder, and the plurality of legs are connected to the chassis.

11. The walking excavator according to claim 10, characterized in that: The walking excavator also includes: An inclination sensor is disposed on the chassis and is configured to collect inclination data; A plurality of pressure sensors, each of which is disposed in a corresponding oil cylinder, and the plurality of pressure sensors are configured to collect leg pressure data of the plurality of legs; A plurality of oil cylinder displacement sensors are provided, each of which is disposed in a corresponding oil cylinder, and the plurality of oil cylinder displacement sensors are configured to collect initial displacement data and target displacement data of the plurality of oil cylinders.

12. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for causing a machine to execute the method for controlling chassis leveling according to any one of claims 1 to 8.

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