Method for identifying outrigger collapse in construction machinery, and construction machinery and processor

Abstract

Disclosed in the present application are a method for identifying outrigger collapse in construction machinery, and construction machinery and a processor. The method comprises: acquiring a reference center of gravity and a reference plane; on the basis of the reference center of gravity, determining variation in outrigger reaction force for each outrigger; on the basis of the variation in outrigger reaction force for each outrigger, determining variation in outrigger deformation for each outrigger; on the basis of the reference plane and the variation in outrigger deformation for each outrigger, determining a rotational variation in a vehicle body plane of construction machinery; on the basis of the rotational variation in the vehicle body plane, determining a collapse rotational variation in the vehicle body plane corresponding to each outrigger; on the basis of the collapse rotational variation in the vehicle body plane, determining an outrigger collapse amount of each outrigger; and on the basis of the outrigger collapse amount and a preset outrigger collapse amount threshold, performing collapse identification on the ground where the outrigger is located. In the present application, by means of performing outrigger collapse identification on the basis of an outrigger collapse amount, the accuracy of identification of outrigger support collapse in construction machinery can be improved.

Description

Method for identifying collapse of outriggers of engineering machinery, engineering machinery and processor

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of Chinese patent application 202311656802.3 filed on December 5, 2023, the contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the technical field of engineering machinery, and in particular to a method for identifying collapse of an engineering machinery support leg, an engineering machinery, and a processor. Background Art

[0004] Professional and special vehicles often have upper parts that are in relative motion under working conditions, such as pump truck booms, crane booms, fire ladders, etc. The center of gravity of such vehicles will move within a large range in the working posture. Such equipment or vehicles often use outriggers to provide effective stabilizing torque, thereby ensuring the safety of vehicle support and preventing overturning. However, in actual operation, due to different environmental conditions of the supporting ground, when the vehicle is supported by outriggers, if the ground sinks or collapses, it may cause the equipment to overturn, resulting in personal injury, economic loss, and property loss. In existing collapse recognition technologies, most of them judge whether there is a collapse based on the force conditions of the outriggers or the inclination angle of the vehicle body. However, judging whether the equipment has collapsed based on the force conditions of the outriggers and the inclination angle of the vehicle body is subject to greater external interference. Therefore, the existing technical solutions have the problem of low recognition accuracy of the support collapse of engineering machinery outriggers. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to provide a method, engineering machinery and processor for identifying the collapse of the support legs of engineering machinery, so as to solve the problem of low accuracy and poor effect in the prior art in identifying the support collapse of the support legs of engineering machinery.

[0006] To achieve the above-mentioned objectives, a first aspect of an embodiment of the present application provides a method for identifying collapse of an engineering machinery support leg, the method comprising:

[0007] Obtain the reference center of gravity and reference plane;

[0008] Determine the change in the outrigger reaction force of each outrigger based on the reference center of gravity;

[0009] Determine the variation of the leg deformation of each leg according to the variation of the leg reaction force of each leg;

[0010] Determine the plane rotation of the construction machinery's body based on the reference plane and the deformation variation of each leg;

[0011] Determine the plane collapse rotation amount of the vehicle body corresponding to each leg according to the plane rotation amount of the vehicle body;

[0012] Determine the amount of collapse of each leg according to the amount of collapse and rotation of each vehicle body plane;

[0013] The ground where the outriggers are located is identified for collapse based on the outrigger collapse amount and the preset outrigger collapse amount threshold.

[0014] In the embodiment of the present application, obtaining the reference center of gravity and the reference plane includes: establishing a vehicle body coordinate system;

[0015] Obtain the coordinates of the center of gravity of the entire vehicle and the inclination angle of the vehicle body plane at the target time; determine the center of gravity of the entire vehicle at the target time as the reference center of gravity; and determine the vehicle body plane at the target time as the reference plane.

[0016] In an embodiment of the present application, determining the change in the leg reaction force of each leg based on the reference center of gravity includes: for any leg, obtaining the leg reaction force of the leg at the current center of gravity position and the leg reaction force at the reference center of gravity position; and determining the difference between the leg reaction force at the current center of gravity position and the leg reaction force at the reference center position as the change in the leg reaction force.

[0017] In an embodiment of the present application, obtaining the leg reaction force of the leg at the current center of gravity position and the leg reaction force at the reference center of gravity position includes: obtaining the distance from the fulcrum of each leg to the target center of gravity position respectively to obtain multiple distances; determining the distance average value based on the multiple distances; determining the leg reaction force of the leg at the target center of gravity position based on the distance from the fulcrum of the leg to the target center of gravity position, the distance average value and the gravity of the entire machine; wherein, the target center of gravity position includes the current center of gravity position and the reference center of gravity position.

[0018] In an embodiment of the present application, obtaining the leg reaction force of the leg at the current center of gravity position and the leg reaction force at the reference center of gravity position includes: obtaining the leg reaction force of each leg at the current center of gravity position and the leg reaction force at the reference center of gravity position detected by the leg reaction force sensor.

[0019] In an embodiment of the present application, determining the change in leg deformation of each leg based on the change in the leg reaction force of each leg includes: constructing a leg deformation model for each leg; obtaining the section moment of inertia, elastic modulus and leg length of each leg; and determining the leg deformation change of each leg based on the section moment of inertia, elastic modulus, leg length, the change in the leg reaction force of each leg and the deformation model.

[0020] In an embodiment of the present application, determining the plane rotation amount of the engineering machinery's body according to the reference plane and the change in leg deformation of each leg includes: determining the coordinates of the current fulcrum of each leg according to the change in leg deformation of each leg; determining the current plane according to the coordinates of the current fulcrum of each leg; and determining the angle between the current plane and the reference plane as the body plane rotation amount.

[0021] In an embodiment of the present application, determining the vehicle body plane collapse rotation amount corresponding to each leg based on the vehicle body plane rotation amount includes: determining the sub-rotational amount corresponding to each leg based on the vehicle body plane rotation amount; obtaining the current rotation amount of the vehicle body plane; determining the current sub-rotational amount corresponding to each leg based on the current rotation amount of the vehicle body plane; determining the vehicle body plane collapse rotation amount corresponding to each leg based on the sub-rotational amount corresponding to each leg and the current sub-rotational amount corresponding to each leg.

[0022] In an embodiment of the present application, determining the leg collapse amount of each leg based on the plane collapse rotation amount of each vehicle body includes: obtaining the length of each leg; and determining the leg collapse amount of each leg by multiplying the product of the plane collapse rotation amount of the vehicle body corresponding to each leg and the length of each leg.

[0023] In an embodiment of the present application, the preset leg collapse threshold includes a first preset leg collapse threshold and a second preset leg collapse threshold, the first preset leg collapse threshold is smaller than the second preset leg collapse threshold, and the method further includes: for any leg, judging whether the leg collapse amount of the leg is greater than the first preset leg collapse threshold; when the leg collapse amount is greater than the first preset leg collapse threshold, judging whether the leg collapse amount is greater than the second preset leg collapse threshold; when the leg collapse amount is not greater than the second preset leg collapse threshold, sending a graphic alarm instruction to the alarm device; when the leg collapse amount is greater than the second preset leg collapse threshold, sending a graphic alarm instruction to the alarm device, and sending a restriction action instruction to restrict the movement of the engineering machinery.

[0024] A second aspect of an embodiment of the present application provides a processor configured to execute the above-mentioned method for identifying collapse of a support leg of an engineering machinery.

[0025] A third aspect of an embodiment of the present application provides an engineering machine, comprising: a support leg; and a processor according to the above.

[0026] A fourth aspect of an embodiment 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 identifying collapse of a support leg of an engineering machinery.

[0027] The above technical solution determines the change in the leg reaction force of each leg by determining the reference center of gravity, and determines the change in the leg deformation of each leg based on the change in the leg reaction force of each leg. The body plane rotation amount of the engineering machinery is then determined based on the reference plane and the change in the leg deformation of each leg. The body plane collapse rotation amount corresponding to each leg is determined based on the body plane rotation amount. The leg collapse amount of each leg is determined based on the body plane collapse rotation amount. Finally, based on the leg collapse amount and the preset leg collapse amount threshold, the ground where the legs are located is collapsed. By performing collapse identification based on the leg collapse amount of each leg, the accuracy of identifying the collapse of the leg support of the engineering machinery can be improved.

[0028] 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

[0029] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0030] FIG1 schematically shows a flow chart of a method for identifying collapse of an outrigger of an engineering machinery according to an embodiment of the present application;

[0031] FIG2 schematically shows a schematic diagram of a vehicle body coordinate system according to a specific embodiment of the present application;

[0032] FIG3 schematically shows a simplified model diagram of a leg deformation variation according to a specific embodiment of the present application;

[0033] FIG4 schematically shows a schematic diagram of a height change of a connection position between a support leg and a vehicle body according to a specific embodiment of the present application;

[0034] FIG5 schematically shows a simplified model diagram of a leg deformation variation according to another specific embodiment of the present application;

[0035] FIG6 schematically shows a diagram of a deformation relationship model between the outrigger and the main structure of the vehicle body;

[0036] FIG7 schematically shows a schematic diagram of calculating a plane rotation amount using the 123 plane as an example according to a specific embodiment of the present application;

[0037] FIG8 schematically shows a schematic diagram of determining a component rotation momentum according to a specific embodiment of the present application;

[0038] FIG9 schematically shows a schematic diagram of a method for calculating the amount of leg collapse according to a specific embodiment of the present application;

[0039] FIG10 schematically shows a flow chart of calculating the amount of leg collapse according to a specific embodiment of the present application;

[0040] FIG11 schematically shows a flow chart of a hierarchical warning and control strategy according to an embodiment of the present application;

[0041] FIG12 schematically shows a flow chart of a warning control strategy after different legs collapse according to an embodiment of the present application;

[0042] FIG13 schematically shows a structural diagram of a system for identifying collapse of an outrigger of an engineering machinery according to a specific embodiment of the present application;

[0043] FIG14 schematically shows a functional structure diagram of a sensing system according to a specific embodiment of the present application.

[0044] In the figure: 110, sensing system; 120, collapse amount calculation model; 130, collapse early warning control system. DETAILED DESCRIPTION

[0045] 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.

[0046] 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.

[0047] 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.

[0048] FIG1 schematically shows a flow chart of a method for identifying a collapsed outrigger of an engineering machine according to an embodiment of the present application. As shown in FIG1 , the present application provides a method for identifying a collapsed outrigger of an engineering machine. The method is described using an example of a processor. The method may include the following steps:

[0049] Step S101: Acquire a reference center of gravity and a reference plane.

[0050] Step S102: Determine the change in the leg reaction force of each leg according to the reference center of gravity.

[0051] Step S103: determining the change in leg deformation of each leg according to the change in the leg reaction force of each leg.

[0052] Step S104: determining the plane rotation amount of the vehicle body of the engineering machine according to the reference plane and the deformation change amount of each leg.

[0053] Step S105: determining the vehicle body plane collapse rotation amount corresponding to each leg according to the vehicle body plane rotation amount.

[0054] Step S106: determining the amount of collapse of each leg according to the amount of collapse and rotation of each vehicle body plane.

[0055] Step S107: According to the leg collapse amount and the preset leg collapse amount threshold, the ground where the leg is located is identified to be collapsed.

[0056] It can be understood that the outrigger reaction force refers to the vertical reaction force acting on the outrigger. The outrigger reaction force change refers to the difference between the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position. The current center of gravity position refers to the position of the center of gravity at the current moment. The reference center of gravity position refers to a pre-set reference center of gravity position. The outrigger deformation change reflects the deformation of the outrigger and is also the deflection of the outrigger under the influence of the outrigger reaction force change. A change in the outrigger reaction force causes a change in the outrigger deformation change. The actual height of the outrigger supported on the ground does not change, so the deflection change can be considered a change in the height of the outrigger connected to the vehicle body. The body plane rotation refers to the angle between the body plane and the reference plane position. The reference plane position can be obtained by recording the inclination angle of the entire vehicle body plane at appropriate times. The collapse rotation refers to the angle between the body plane corresponding to each outrigger. The outrigger collapse refers to the height of each outrigger collapsed on the ground. The preset outrigger collapse threshold refers to a pre-set reference value for determining outrigger collapse. When the outrigger collapse exceeds the outrigger collapse threshold, an alarm may be issued.

[0057] Specifically, the processor first determines a reference center of gravity and a reference plane. The change in leg reaction force for each leg is then determined based on the reference center of gravity. In one example, the leg reaction force at the current center of gravity position and the leg reaction force at the reference center of gravity position can be obtained using a leg reaction force sensor, and the change in leg reaction force can be calculated. In another example, a vehicle coordinate system can be constructed, and the distance from each leg's fulcrum to the target center of gravity position can be obtained. An average distance can be determined based on multiple distances. The leg reaction force of the leg at the target center of gravity position can be determined based on the distance from the leg's fulcrum to the target center of gravity position, the average distance, and the vehicle's gravity. After obtaining the change in leg reaction force for each leg, the change in leg deformation of each leg can be determined based on the change in leg reaction force. For any leg, the leg length, section moment of inertia, and elastic modulus can be measured. Combined with the change in leg reaction force, the deflection of the leg under the influence of the change in leg reaction force, i.e., the change in leg deformation, can be obtained. The amount of rotation of the construction machinery's body plane is then determined based on the reference plane and the change in deformation of each leg. The body plane rotation can be determined based on the angle between the current body plane and the reference plane. The amount of collapse of each leg is then determined based on the amount of collapse of each leg. For any leg, if the length of the leg and the amount of collapse of the body plane are known, the amount of collapse can be obtained by multiplying the leg length and the amount of collapse of the body plane. Finally, by determining the relationship between the amount of collapse and a preset threshold for the amount of collapse, the ground on which the leg is located can be identified as collapsed.

[0058] The above technical solution determines the change in the leg reaction force of each leg by determining the reference center of gravity, and determines the change in the leg deformation of each leg based on the change in the leg reaction force of each leg. The body plane rotation amount of the engineering machinery is then determined based on the reference plane and the change in the leg deformation of each leg. The body plane collapse rotation amount corresponding to each leg is determined based on the body plane rotation amount. The leg collapse amount of each leg is determined based on the body plane collapse rotation amount. Finally, based on the leg collapse amount and the preset leg collapse amount threshold, the ground where the legs are located is collapsed. By performing collapse identification based on the leg collapse amount of each leg, the accuracy of identifying the collapse of the leg support of the engineering machinery can be improved.

[0059] In one embodiment, obtaining the reference center of gravity and the reference plane includes: establishing a vehicle body coordinate system; obtaining the coordinates of the center of gravity of the entire machine and the inclination angle of the vehicle body plane at the target moment; determining the center of gravity of the entire machine at the target moment as the reference center of gravity; and determining the vehicle body plane at the target moment as the reference plane.

[0060] Specifically, Figure 2 schematically shows a schematic diagram of a vehicle body coordinate system according to a specific embodiment of the present application. As shown in Figure 2, the origin o of the vehicle body coordinate system is defined as the center of the circle on the lower surface of the rotary turntable, the x direction is defined as the direction of the front of the vehicle, the y direction is defined as the direction of the left side of the vehicle body, and the z direction is defined as the top of the vehicle body according to the right-hand rule. The xoy plane is defined as the vehicle body plane. When determining the reference center of gravity and the reference plane, the inclination angle of the coordinates of the center of gravity of the entire machine and the vehicle body plane is recorded according to the vehicle body coordinate system at an appropriate time. The center of gravity of the entire machine at this time is used as the reference center of gravity, and the vehicle body plane at this time is used as the reference plane. For example, the appropriate time may be the moment when the boom leaves the fully retracted position. The strategy for obtaining the reference center of gravity and the reference plane is not unique, and a single reference or multiple references can be used. In one example, when the pump truck lifts the boom after completing the support, it is necessary to first expand the boom from 0 degrees to more than 70 degrees before expanding the two arms. Three reference states can be recorded at the three positions of the boom expansion a degree, b degree and c degree, and the theoretical collapse amount is calculated based on each reference state. Alternatively, three reference states may be recorded respectively at the time points a second, b second, and c second when the arm is extended, and the theoretical collapse amount may be calculated based on each reference state.

[0061] In one embodiment, the change in the leg reaction force of each leg is determined based on the reference center of gravity, including: for any leg, obtaining the leg reaction force of the leg at the current center of gravity position and the leg reaction force at the reference center of gravity position; and determining the difference between the leg reaction force at the current center of gravity position and the leg reaction force at the reference center position as the change in the leg reaction force.

[0062] Specifically, when determining the change in the leg reaction force of each leg, the leg reaction force of each leg at the current center of gravity position and at the reference center of gravity position can be first determined. The leg reaction force of each leg can be obtained using a leg reaction force sensor or by calculation. After obtaining the leg reaction force of each leg at the current center of gravity position and the leg reaction force at the reference center position, the difference between the leg reaction force at the current center of gravity position and the leg reaction force at the reference center position is determined as the change in the leg reaction force.

[0063] In one embodiment, obtaining the leg reaction force of the leg at the current center of gravity position and the leg reaction force at the reference center of gravity position includes: obtaining the distance from the fulcrum of each leg to the target center of gravity position respectively to obtain multiple distances; determining the distance average value based on the multiple distances; determining the leg reaction force of the leg at the target center of gravity position based on the distance from the fulcrum of the leg to the target center of gravity position, the distance average value and the gravity of the entire machine; wherein the target center of gravity position includes the current center of gravity position and the reference center of gravity position.

[0064] Specifically, the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position can also be calculated and determined based on the distance from the outrigger fulcrum to the target center of gravity position and the vehicle gravity. The target center of gravity position may include the current center of gravity position and the reference center of gravity position. According to the vehicle coordinate system, the coordinates (x g ,y g ) and the coordinates of each leg (x n ,y n ), then the distance from the target center of gravity to each leg support point can be obtained After obtaining the distance from the target center of gravity to the support points of each leg, the average distance from the support point of each leg to the target center of gravity can be obtained. Then, the outrigger reaction force at the target center of gravity position is determined based on the distance from the support point of the outrigger to the target center of gravity position, the average value of the distance and the gravity of the entire machine.

[0065] In one embodiment, obtaining the leg reaction force of the leg at the current center of gravity position and the leg reaction force at the reference center of gravity position also includes: obtaining the leg reaction force of each leg at the current center of gravity position and the leg reaction force at the reference center of gravity position detected by the leg reaction force sensor.

[0066] Specifically, when obtaining the leg reaction force of each leg, it can be directly obtained through a leg reaction force sensor. The leg reaction force sensor can be respectively set on each leg and respectively detect the leg reaction force of each leg at the current center of gravity position and the leg reaction force at the reference center of gravity position.

[0067] In one embodiment, determining the leg deformation change of each leg based on the leg reaction force change of each leg includes: constructing a leg deformation model for each leg; obtaining the section inertia moment, elastic modulus and leg length of each leg; and determining the leg deformation change of each leg based on the section inertia moment, elastic modulus, leg length, leg reaction force change and deformation model of each leg.

[0068] Specifically, first, a deformation model of each leg is constructed. The deformation model is a model of an elastic body under the action of a concentrated force. For example, the deformation model can be a cantilever beam model. Then, the section inertia moment, elastic modulus, leg length and leg reaction force change of each leg are substituted into the deformation model to obtain the leg deformation change of each leg. Figure 3 schematically shows a simplified model diagram of a leg deformation change according to a specific embodiment of the present application. Figure 4 schematically shows a schematic diagram of the height change of the position where a leg is connected to the vehicle body according to a specific embodiment of the present application. As shown in Figures 3 and 4, the leg can be simplified into a cantilever beam model. L1 is the length of the left front leg, I1 is the section inertia moment, E is the elastic modulus, and ΔF1 is the leg reaction force change. Before deformation, the leg is in the horizontal direction. After the leg reaction force changes, the leg deformation changes, and the actual height of the leg supported on the ground does not change. Therefore, the calculated deflection change can be regarded as the height change of the position where the leg is connected to the vehicle body. Figure 5 schematically shows a simplified model diagram of the deformation variation of a leg according to another specific embodiment of the present application. As shown in Figure 5, the leg can be simplified as a cantilever beam with a variable cross-section for calculation. In this case, the leg can be divided into three sections with different cross-sections. The structural parameters of each section are known, including length, section moment of inertia, etc., and the deformation variation of the leg can be calculated. The deformation variation of the leg can satisfy the formula Among them, w n ΔF is the deformation change of the nth leg, also known as deflection. Deflection refers to the displacement of each point on its axis in the normal plane of the axis at that point during deformation. n is the change in the leg reaction force of the nth leg, which can be determined by the difference between the leg reaction force of each leg at the current center of gravity position and the leg reaction force at the reference center position. E is the elastic modulus, which refers to the stress under unidirectional stress state divided by the strain in that direction. n is the section inertia moment of the nth leg, which is the integral of the product of the area of ​​each infinitesimal element of the section and the square of the distance from each infinitesimal element to a specified axis on the section. n is the length of the nth leg.

[0069] In one embodiment, determining the body plane rotation amount of the engineering machinery based on the reference plane and the leg deformation change of each leg includes: determining the coordinates of the current support points of each leg based on the leg deformation change of each leg; determining the current plane based on the coordinates of the current support points of each leg; and determining the angle between the current plane and the reference plane as the body plane rotation amount.

[0070] Specifically, Figure 6 schematically shows a model of the deformation relationship between the legs and the main structure of the vehicle body. As shown in Figure 6, after the deflection w of the four legs changes (after the deformation changes), the vehicle body plane will also rotate to a certain extent. Here, the vehicle body plane is regarded as a rigid body without deformation. The normal vector of the vehicle body plane before deformation is The normal vector after deformation is Since the posture and structural parameters of the outrigger are known, the coordinates of the four fulcrums can be calculated (not considering the height): the left front fulcrum (x1, y1, 0), the right front fulcrum (x2, y2, 0), the left rear fulcrum (x3, y3, 0), and the right rear fulcrum (x4, y4, 0). The reference plane is considered to be a horizontal plane, that is, the plane when the outrigger deformation deflection is 0. At this time, the normal vector After the legs are deformed and changed, that is, w1, w2, w3, and w4 are in a non-zero state, the coordinates of the fulcrums of the four legs are: left front fulcrum (x1, y1, w1), right front fulcrum (x2, y2, w2), left rear fulcrum (x3, y3, w3), and right rear fulcrum (x4, y4, w4). Three fulcrums can determine a plane, so any three of the four fulcrums can be used to calculate a plane, and the normal vectors of the 123 plane, 134 plane, 234 plane, and 124 plane are calculated respectively. Figure 7 schematically shows a schematic diagram of a plane rotation calculation using the 123 plane as an example according to a specific embodiment of the present application. As shown in Figure 7, Then normalize the vector to get Similarly, we can calculate After summing the vectors and normalizing them, we get Finally, according to The angle between the current plane and the reference plane is determined as the vehicle body plane rotation.

[0071] In one embodiment, determining You can also use the method of fitting a plane. Assume that the plane to be fitted is: ax+by-z+c=0, where a, b and c are the unknown parameters of the plane to be fitted. Then you can set up the equation system Among them, (x i ,y i ,z i ) are the coordinates of the four support points. The equations can be solved to obtain a, b, and c, that is, to find the equation of the plane to be fitted. At this time, the normal vector of the plane is obtained

[0072] In one embodiment, determining the vehicle body plane collapse rotation amount corresponding to each leg based on the vehicle body plane rotation amount includes: determining the sub-rotational amount corresponding to each leg based on the vehicle body plane rotation amount; obtaining the current rotation amount of the vehicle body plane; determining the current sub-rotational amount corresponding to each leg based on the current rotation amount of the vehicle body plane; determining the vehicle body plane collapse rotation amount corresponding to each leg based on the sub-rotational amount corresponding to each leg and the current sub-rotational amount corresponding to each leg.

[0073] Specifically, first, the component rotational momentum corresponding to each leg can be determined based on the rotational momentum of the vehicle body plane. FIG8 schematically shows a schematic diagram of determining the component rotational momentum according to a specific embodiment of the present application. As shown in FIG8, after obtaining the normal vector of the vehicle body plane, the projection of the vector on the reference plane can be calculated, that is, x in the figure. At this time, on the reference plane, the angles between the directions of the four legs and the projection x can be obtained, which are α, α, and α, respectively. RF , α LF , α LR and α RR Taking the right front leg as an example, The corresponding sub-rotational momentum of each leg can be obtained. Then the current rotational momentum of the vehicle body plane is obtained. The current rotational momentum can be directly detected by the sensor. Then the current sub-rotational momentum corresponding to each leg is determined based on the current rotational momentum of the vehicle body plane. Finally, the vehicle body plane collapse rotation amount θ corresponding to each leg can be determined based on the sub-rotational momentum corresponding to each leg and the current sub-rotational momentum corresponding to each leg. RF =θ A_RF -θ M_RF .

[0074] In one embodiment, determining the leg collapse amount of each leg based on the plane collapse rotation amount of each vehicle body includes: obtaining the length of each leg; and determining the leg collapse amount of each leg by multiplying the vehicle body plane collapse rotation amount corresponding to each leg by the length of each leg.

[0075] Specifically, Figure 9 schematically shows a schematic diagram of a leg collapse calculation according to a specific embodiment of the present application. As shown in Figure 9, after the leg collapses, the vehicle body plane rotates at a small angle. At this time, the angle and leg size are known, and the theoretical leg collapse amount C can be calculated. Taking the left front leg as an example, the leg length is L LF , the amount of vehicle body plane collapse rotation corresponding to the left front leg is θ LF The amount of collapse of the left front leg is C LF =L LF θ LF .

[0076] In a specific embodiment, after the pump truck completes the support and lifts the boom, it is necessary to first expand the boom from 0 degrees to more than 70 degrees before expanding the two arms. The three reference states can be recorded at the three positions of the boom expansion a degree, b degree and c degree respectively, and the theoretical collapse amount can be calculated based on each reference state. The three reference states can also be recorded at the three moments of the boom expansion a second, b second and c second respectively, and the theoretical collapse amount can be calculated based on each reference state. Taking the left front leg as an example, the theoretical collapse amount calculated based on the reference state is C LF1 , based on the reference state 2, the theoretical collapse amount is calculated as C LF2 , based on the baseline state three, the theoretical collapse amount is calculated as CLF3 Different calculation strategies can be developed to calculate the final theoretical collapse of the left front leg. Strategy 1: Arithmetic mean, then Strategy 2: Geometric mean, then Strategy 3: Calculate the average value after removing the maximum value. If C LF1 is the maximum value, then Strategy 4: Calculate the average value after removing the minimum value. If C LF1 is the minimum value, then

[0077] In one embodiment, the preset leg collapse threshold includes a first preset leg collapse threshold and a second preset leg collapse threshold, the first preset leg collapse threshold is smaller than the second preset leg collapse threshold, and the method further includes: for any leg, judging whether the leg collapse amount of the leg is greater than the first preset leg collapse threshold; when the leg collapse amount is greater than the first preset leg collapse threshold, judging whether the leg collapse amount is greater than the second preset leg collapse threshold; when the leg collapse amount is not greater than the second preset leg collapse threshold, sending a graphic alarm instruction to the alarm device; when the leg collapse amount is greater than the second preset leg collapse threshold, sending a graphic alarm instruction to the alarm device, and sending a restriction action instruction to restrict the movement of the engineering machinery.

[0078] Specifically, the preset leg collapse threshold refers to a pre-set reference value for determining leg collapse. The preset leg collapse threshold may include a first preset leg collapse threshold and a second preset leg collapse threshold, and the first preset leg collapse threshold is smaller than the second preset leg collapse threshold. By setting two preset leg collapse thresholds, graded warning and control of leg collapse can be achieved according to the different leg collapse amounts. For any leg, first determine whether the leg collapse amount of the leg is greater than the first preset leg collapse threshold. In the case that the leg collapse amount is not greater than the first preset leg collapse threshold, no alarm prompt is required. In the case that the leg collapse amount is greater than the first preset leg collapse threshold, then determine whether the leg collapse amount is greater than the second preset leg collapse threshold. If the outrigger collapse amount is not greater than a second preset outrigger collapse amount threshold, a graphic alarm command is sent to the alarm device. If the outrigger collapse amount is greater than the second preset outrigger collapse amount threshold, a graphic alarm command is sent to the alarm device, and a restricted action command is sent to restrict the movement of the construction machinery. The restricted action command may include, but is not limited to, restricting the pumping function of the pump truck, restricting the movement of the pump truck's boom, and restricting the pumping speed of the pump truck. These restrictions may be controlled individually or in combination.

[0079] The above technical solution determines the change in the leg reaction force of each leg by determining the reference center of gravity, and determines the change in the leg deformation of each leg based on the change in the leg reaction force of each leg. The body plane rotation amount of the engineering machinery is then determined based on the reference plane and the change in the leg deformation of each leg. The body plane collapse rotation amount corresponding to each leg is determined based on the body plane rotation amount. The leg collapse amount of each leg is determined based on the body plane collapse rotation amount. Finally, based on the leg collapse amount and the preset leg collapse amount threshold, the ground where the legs are located is collapsed. By performing collapse identification based on the leg collapse amount of each leg, the accuracy of identifying the collapse of the leg support of the engineering machinery can be improved.

[0080] Figure 10 schematically shows a flow chart of a leg collapse amount calculation according to a specific embodiment of the present application. As shown in Figure 10, in the embodiment of the present application, the real-time center of gravity and the reference center of gravity are first obtained, and the center of gravity movement is determined based on the real-time center of gravity and the reference center of gravity. The change in the leg reaction force is then determined based on the center of gravity movement. The change in the leg deformation can be determined based on the change in the leg reaction force. The theoretical rotation amount of the vehicle body plane can be determined based on the change in the leg deformation. The actual rotation amount of the vehicle body plane can be determined based on the pre-set reference plane and the real-time data collected by the sensor system. The theoretical rotation amount of the vehicle body plane and the actual rotation amount of the vehicle body plane can be used to determine whether the leg has collapsed and the collapse rotation amount can be determined. Finally, the leg collapse amount of each leg can be determined based on the collapse rotation amount.

[0081] Figure 11 schematically shows a flow chart of a hierarchical early warning and control strategy according to an embodiment of the present application. As shown in Figure 11, after obtaining the theoretical collapse amount of the outrigger (i.e., the collapse amount of the outrigger in the present application), it is first determined whether the collapse amount of the outrigger is greater than the first-level threshold a. In the case that the collapse amount of the outrigger is not greater than the first-level threshold, the state 1 is entered, and there is no alarm state. In the case that the collapse amount of the outrigger is greater than the first-level threshold a, it is determined whether the collapse amount of the outrigger is greater than the second-level threshold b. In the case that the collapse amount of the outrigger is not greater than the second-level threshold b, the state 2 is entered, and the display screen displays a graphic alarm and a text alarm. In the case that the collapse amount of the outrigger is greater than the second-level threshold b, the state 3 is entered, and the display screen displays a graphic alarm and a text alarm, and the movement of the engineering machinery is controlled. Controlling the movement of the engineering machinery may include limiting the pumping function of the pump truck, limiting the movement of the pump truck boom, limiting the pumping speed of the pump truck, etc., or a combination control of the above-mentioned restriction items.

[0082] FIG12 schematically shows a flow chart of a warning control strategy after different outrigger collapses according to an embodiment of the present application. As shown in FIG12 , first, the collapse status of the left front outrigger, the right front outrigger, the left rear outrigger, and the right rear outrigger are obtained respectively. It is determined whether any outrigger is in state 3. State 3 means that the amount of outrigger collapse is greater than the secondary threshold value b. The display screen displays a graphic alarm and a text alarm, and controls the movement of the engineering machinery. If any outrigger is in state 3, the display screen displays a graphic alarm and a text alarm, restricts the alarming outrigger, and controls the movement of the engineering machinery. If no outrigger is in state 3, it is determined whether any outrigger is in state 2. State 2 means that the amount of outrigger collapse is greater than the primary threshold value a and less than the secondary threshold value b. The display screen displays a graphic alarm and a text alarm. If any outrigger is in state 2, the display screen displays a graphic alarm and a text alarm, and restricts the alarming outrigger. If no outrigger is in state 2, no alarm is required.

[0083] An embodiment of the present application provides a processor configured to execute the above-mentioned method for identifying collapse of a support leg of an engineering machinery.

[0084] An embodiment of the present application provides an engineering machine, comprising: a support leg and a processor according to the above.

[0085] FIG13 schematically shows a structural diagram of a system for identifying the collapse of an engineering machinery support leg according to a specific embodiment of the present application. As shown in FIG13 , the system may include a sensing system 110, a collapse amount calculation model 120, and a collapse warning control system 130. The sensing system 110 can be used to collect real-time data such as the posture and force of the sensing device, and obtain data such as the real-time center of gravity position, fulcrum coordinates, and vehicle body plane inclination state of the device. The collapse amount calculation model 120 is used to calculate the amount of leg collapse of each support leg. The collapse warning control system 130 is used to issue a collapse warning based on the amount of leg collapse. FIG14 schematically shows a structural diagram of the function of a sensing system 110 according to a specific embodiment of the present application. As shown in FIG14 , the sensing system 110 can detect the posture of all movable parts of the device through a posture model, combined with the device's structural size, structural mass, and structural center of gravity position. The center of gravity position, vehicle body plane inclination angle, and fulcrum coordinates can then be obtained through calculation.

[0086] An embodiment of the present application further provides a machine-readable storage medium having stored thereon instructions for causing a machine to execute the above-mentioned method for identifying collapse of a support leg of an engineering machine.

[0087] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can 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.) that contain computer-usable program code.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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 identifying collapse of outriggers of construction machinery, characterized in that: The method comprises: Obtain the reference center of gravity and reference plane; Determine the change in the leg reaction force of each leg according to the reference center of gravity; Determining a change in the leg deformation of each leg according to a change in the leg reaction force of each leg; Determine the plane rotation amount of the body of the engineering machinery according to the reference plane and the deformation change amount of each leg; Determine the plane collapse rotation amount of the vehicle body corresponding to each of the legs according to the plane rotation amount of the vehicle body; Determining the amount of collapse of each leg according to the amount of collapse and rotation of each vehicle body plane; The ground where the legs are located is identified to have collapsed according to the amount of collapse of the legs and a preset threshold value of the amount of collapse of the legs.

2. The method according to claim 1, characterized in that The obtaining of the reference center of gravity and the reference plane comprises: Establish vehicle body coordinate system; Obtain the coordinates of the center of gravity of the entire vehicle and the inclination angle of the vehicle body plane at the target time; Determining the center of gravity of the whole machine at the target moment as the reference center of gravity; The vehicle body plane at the target moment is determined as the reference plane.

3. The method according to claim 1, characterized in that Determining the change in the leg reaction force of each leg according to the reference center of gravity includes: For any outrigger, obtaining the outrigger reaction force of the outrigger at the current center of gravity position and the outrigger reaction force at the reference center of gravity position; The difference between the outrigger reaction force at the current center of gravity position and the outrigger reaction force at the reference center of gravity position is determined as the outrigger reaction force variation.

4. The method according to claim 3, characterized in that The obtaining of the outrigger reaction force of the outrigger at the current center of gravity position and the outrigger reaction force at the reference center of gravity position comprises: The distance from the fulcrum of each leg to the target center of gravity position is obtained respectively to obtain multiple distances; determining a distance average based on the plurality of distances; Determine the outrigger reaction force of the outrigger at the target center of gravity position according to the distance from the fulcrum of the outrigger to the target center of gravity position, the average value of the distance and the whole machine gravity; The target center of gravity position includes a current center of gravity position and a reference center of gravity position.

5. The method according to claim 3, characterized in that: The obtaining of the outrigger reaction force of the outrigger at the current center of gravity position and the outrigger reaction force at the reference center of gravity position comprises: The leg reaction force of each leg at the current center of gravity position and the leg reaction force at the reference center of gravity position detected by the leg reaction force sensor are obtained.

6. The method according to claim 1, characterized in that Determining the change in the leg deformation of each leg according to the change in the leg reaction force of each leg comprises: Constructing a deformation model of each leg respectively; Obtaining the section inertia moment, elastic modulus and leg length of each leg; The leg deformation variation of each leg is determined according to the section inertia moment, elastic modulus, leg length, leg reaction force variation of each leg and the deformation model.

7. The method according to claim 1, characterized in that The step of determining the plane rotation amount of the engineering machinery according to the reference plane and the deformation variation of each leg comprises: Determining the coordinates of the current fulcrums of each of the legs according to the amount of change in deformation of each of the legs; Determine the current plane according to the coordinates of the fulcrums of each of the legs; The angle between the current plane and the reference plane is determined as the amount of rotation of the vehicle body plane.

8. The method according to claim 1, characterized in that Determining the plane collapse rotation amount of the vehicle body corresponding to each of the legs according to the plane rotation amount of the vehicle body comprises: Determine the component rotation amount corresponding to each of the legs according to the plane rotation amount of the vehicle body; Obtaining the current rotation amount of the vehicle body plane; Determine the current rotation amount of each leg according to the current rotation amount of the vehicle body plane; The vehicle body plane collapse rotation amount corresponding to each leg is determined according to the component rotation amount corresponding to each leg and the current component rotation amount corresponding to each leg.

9. The method according to claim 1, characterized in that: The step of determining the collapse amount of each leg according to the collapse rotation amount of each vehicle body plane comprises: Obtaining the length of each of the legs; The product of the plane collapse rotation amount of the vehicle body corresponding to each of the legs and the length of each of the legs is determined as the leg collapse amount of each of the legs.

10. The method according to claim 1, characterized in that The preset leg collapse threshold comprises a first preset leg collapse threshold and a second preset leg collapse threshold, the first preset leg collapse threshold is smaller than the second preset leg collapse threshold, and the method further comprises: For any outrigger, determining whether the outrigger collapse amount of the outrigger is greater than the first preset outrigger collapse amount threshold; In the case where the amount of collapse of the outrigger is greater than the first preset outrigger collapse amount threshold, determining whether the amount of collapse of the outrigger is greater than the second preset outrigger collapse amount threshold; When the amount of collapse of the outrigger is not greater than the second preset outrigger collapse amount threshold, sending a graphic alarm instruction to the alarm device; When the outrigger collapse amount is greater than the second preset outrigger collapse amount threshold, the graphic alarm instruction is sent to the alarm device, and a limiting action instruction is sent to limit the movement of the engineering machinery.

11. A processor, characterized in that: The method is configured to execute the method for identifying collapse of a construction machinery leg according to any one of claims 1 to 10.

12. An engineering machine, characterized in that: include: Outriggers; as well as A processor according to claim 11.

13. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for causing a machine to execute the method for identifying collapse of a construction machinery leg according to any one of claims 1 to 10.

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