The embodiment of the invention provides a control method and a control device for supporting leg leveling, a processor and engineering machinery, and belongs to the field of engineering machinery. The control method for supporting leg leveling comprises the steps that under the condition that a plurality of supporting legs are in a stress starting state, the vehicle frame inclination angle and ground point cloud data of a vehicle frame are obtained; the target hinge point position of the hinge point is determined according to the vehicle frame dip angle, and the target hinge point position is the position of the hinge point when the vehicle frame is in the target leveling state; determining the motion track of the tail end of the supporting leg according to the target hinge point position and the pre-stored length of the supporting leg; determining a target landing position of the tail end of the supporting leg according to the motion trail and the ground point cloud data; and controlling the landing leg to move according to the target landing position so as to enable the landing leg to be in a leveling state. According to the embodiment of the invention, the delay hysteresis of the landing leg leveling control process can be reduced.

    本发明实施例提供一种用于支腿调平的控制方法及控制装置、处理器及工程机械,属于工程机械领域。用于支腿调平的控制方法包括:在多个支腿处于开始受力状态的情况下,获取车架的车架倾角和地面点云数据;根据车架倾角确定铰点的目标铰点位置,其中,目标铰点位置为车架位于目标调平状态时铰点的位置;根据目标铰点位置和预存储的支腿长度确定支腿末端的运动轨迹;根据运动轨迹和地面点云数据确定支腿末端的目标落地位置;根据目标落地位置控制支腿运动,以使得支腿处于调平状态。本发明实施例可以减少支腿调平控制过程的延时滞后性。


    Access

    Download


    Export, share and cite



    Title :

    Control method and control device for supporting leg leveling, processor and engineering machinery


    Additional title:

    用于支腿调平的控制方法及控制装置、处理器及工程机械


    Contributors:
    TANG HAO (author) / HUANG HONGLIANG (author) / WU QINGSHAO (author) / XIONG LU (author) / ZHANG LIANG (author) / CHEN YUANYANG (author)

    Publication date :

    2024-01-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01L Messen von Kraft, mechanischer Spannung, Drehmoment, Arbeit, mechanischer Leistung, mechanischem Wirkungsgrad oder des Drucks von Fluiden , MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE / G01S RADIO DIRECTION-FINDING , Funkpeilung



    Control method for leveling engineering machinery, processor and engineering machinery

    JIANG GUICHUN / ZHANG YUANBO / TANG NINGDONG | European Patent Office | 2023

    Free access

    Leveling system, leveling method and engineering machinery

    ZHU HOU / XIONG LU / YUE ZEQING et al. | European Patent Office | 2022

    Free access

    Control method and control device for engineering machinery, processor and engineering machinery

    XIAO YAOWU / CHEN HUA / HE SHENGLONG et al. | European Patent Office | 2024

    Free access

    Control method and control device for engineering machinery, processor and engineering machinery

    TANG XIAOJUN / GAO YAJIE / ZHU LIYING et al. | European Patent Office | 2023

    Free access

    Control method and control device for engineering machinery, processor and engineering machinery

    GAO YAJIE / ZE ZHANBIN / CHEN ZHIGANG et al. | European Patent Office | 2023

    Free access