Method for controlling outrigger of pump truck, pump truck and method for controlling pump truck

1 . A method for controlling an outrigger of a pump truck, comprising:

obtaining a first tilting angle of an entire pump truck after a boom is unfolded; and

in a case that the first tilting angle is larger than or equal to a first preset value, obtaining a current error count, and controlling the outrigger to act based on the current error count, wherein

the step of controlling an outrigger to act based on the current error count comprises:

in a case that the current error count is less than a preset maximum allowable error count, controlling the outrigger to act; and

the step of obtaining a current error count comprises:

obtaining a second tilting angle of the entire pump truck when the boom is at its primary support position, and calculating a first difference value between the first tilting angle and the second tilting angle; and

in a case that the first difference value is larger than or equal to a second preset value, setting the current error count to be one.

2 . The method for controlling the outrigger of the pump truck according to claim 1 , wherein after the step of, in a case that the first difference value is larger than or equal to a second preset value, setting the current error count to be one, the method further comprises:

obtaining a third tilting angle of the entire pump truck at a current moment;

in a case that the third tilting angle is larger than the first tilting angle, setting the current error count to be: an accumulation of one plus a previous current error count; and

in a case that the third tilting angle is less than or equal to the first tilting angle, setting not to count an error count.

3 . The method for controlling the outrigger of the pump truck according to claim 2 , wherein the step of, in a case that the current error count is less than a preset maximum allowable error count, controlling the outrigger to act, comprises:

determining the maximum allowable error count.

4 . The method for controlling the outrigger of the pump truck according to claim 3 , wherein the step of determining the maximum allowable error count comprises:

obtaining a fourth tilting angle of the entire pump truck when the boom departs from its primary support position, and determining the maximum allowable error count based on the fourth tilting angle.

5 . The method for controlling the outrigger of the pump truck according to claim 4 , wherein the determining the maximum allowable error count based on the fourth tilting angle comprises:

in a case that the fourth tilting angle is less than a fourth preset value, the maximum allowable error count is set to be 3;

in a case that the fourth tilting angle is larger than or equal to the fourth preset value but less than a fifth preset value, the maximum allowable error count is set to be 2;

in a case that the fourth tilting angle is larger than or equal to the fifth preset value and less than a sixth preset value, the maximum allowable error count is set to be 1; and

in a case that the fourth tilting angle is larger than or equal to the sixth preset value, the maximum allowable error count is set to be 0.

6 . The method for controlling the outrigger of the pump truck according to claim 5 , wherein the fourth preset value is 1 degree, the fifth preset value is 2 degrees, and the sixth preset value is 3 degrees.

7 . The method for controlling the outrigger of the pump truck according to claim 1 , wherein the first preset value is 0.5 degrees.

8 . The method for controlling the outrigger of the pump truck according to claim 2 , wherein the method further comprises:

in a case that the first tilting angle is less than the first preset value, controlling the outrigger to act.

9 . The method for controlling the outrigger of the pump truck according to claim 8 , wherein the step of, in a case that the first tilting angle is less than the first preset value, controlling the outrigger to act, comprises:

in a case that the third tilting angle is larger than the first tilting angle, controlling the outrigger to stop acting.

10 . The method for controlling the outrigger of the pump truck according to claim 9 , wherein after the step of, in a case that the third tilting angle is larger than the first tilting angle, controlling the outrigger to stop acting, the method further comprises:

obtaining an operation instruction, and controlling the outrigger to operate according to an emergency mode or an observation mode based on the operation instruction.

11 . The method for controlling the outrigger of the pump truck according to claim 10 , wherein the controlling the outrigger to operate according to an emergency mode or an observation mode based on the operation instruction comprises:

in a case that a fault of a sensor occurs, entering the emergency mode.

12 . The method for controlling the outrigger of the pump truck according to claim 10 , wherein the controlling the outrigger to operate according to an emergency mode or an observation mode based on the operation instruction comprises:

in a case that there is no fault of the sensor, entering the observation mode.

13 . The method for controlling the outrigger of the pump truck according to claim 11 , wherein the fault of the sensor refers to: a sensor signal is not received, a datum detected by the sensor exceeds a limit value, or the datum detected by the sensor is wrong.

14 . A pump truck, comprising a controller, an outrigger and a boom, wherein the controller is configured to execute following steps:

obtaining a first tilting angle of an entire pump truck when a boom is unfolded;

obtaining a current error count when the first tilting angle is larger than or equal to a first preset value; and

controlling the outrigger to act based on the current error count, wherein

the step of controlling an outrigger to act based on the current error count comprises:

in a case that the current error count is less than a preset maximum allowable error count, controlling the outrigger to act; and

the step of obtaining a current error count comprises:

obtaining a second tilting angle of the entire pump truck when the boom is at its primary support position, and calculating a first difference value between the first tilting angle and the second tilting angle; and

in a case that the first difference value is larger than or equal to a second preset value, setting the current error count to be one.

15 . A method for controlling a pump truck, comprising:

obtaining a second tilting angle of an entire pump truck when a boom is at its primary support position, and in a case that the second tilting angle is less than a second preset value, controlling the boom to be unfolded;

obtaining a first tilting angle of an entire pump truck after a boom is unfolded; and

in a case that the first tilting angle is larger than or equal to a first preset value, obtaining a current error count, and controlling the outrigger to act based on the current error count, wherein

after the step of, controlling the boom to be unfolded, the method further comprises:

obtaining a third tilting angle of the entire pump truck when the boom is unfolded; and

calculating a second difference value between the third tilting angle and the second tilting angle, and in a case that the second difference value is larger than a torsion angle, controlling the boom to stop acting; and

after the step of, in a case that the second difference value is larger than a torsion angle, controlling the boom to stop acting, the method further comprises:

obtaining an operation instruction, and controlling the outrigger to operate according to an emergency mode or an observation mode based on the operation instruction.

16 . The method for controlling the pump truck according to claim 15 , wherein the torsion angle is a test limit value.