CN101284636A - Intelligence control system for aerial platform, aerial platform and control method thereof - Google Patents

Intelligence control system for aerial platform, aerial platform and control method thereof Download PDF

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Publication number
CN101284636A
CN101284636A CN 200810061693 CN200810061693A CN101284636A CN 101284636 A CN101284636 A CN 101284636A CN 200810061693 CN200810061693 CN 200810061693 CN 200810061693 A CN200810061693 A CN 200810061693A CN 101284636 A CN101284636 A CN 101284636A
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arm
turntable
operation
controller
telescopic
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CN 200810061693
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Chinese (zh)
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麟 姚
毛立武
卫 翁
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杭州爱知工程车辆有限公司
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Abstract

The invention relates to an intelligent control system of an insulative aerial platform vehicle, an aerial platform vehicle with the intelligent control system and a control method thereof. The intelligent control system of the aerial platform vehicle comprises a wireless remote control device, an upper arm length sensor, an upper and lower arm angle encoder, a turntable rotating angle encoder, a leg grounding detection travel switch, a horizontal extending detection travel switch, a controller, a lower arm angle sensor, a lower arm length sensor, an arm bracket travel switch, a program download port, an LCD display, a quintuplex proportioning valve group, an oil circuit switching valve, a turntable operating switch, a leg action switch and a turntable potentiometer handle. A TTC200 controller is adopted as the controller of the aerial working platform, a wireless remote control handle is arranged at the insulative bucket part, the turntable is provided with the potentiometer handle to control the mechanism movement; the setting and the adjustment of various important parameters in the controller are completed through displaying the work condition of the vehicle body on the LCD display and debugging the software. The method has wide operational range, safety, reliability and high automatization through controlling the work condition of the entire vehicle by the controller.

Description

高空作业车智能控制系统、高空作业车及其控制方法 Aerial intelligent control systems, truck and its control method

技术领域: FIELD:

本发明涉及一种绝缘高空作业车智能控制系统、带该智能控制系统的高空作业车及其控制方法。 The present invention relates to a work vehicle and a control method for high-altitude aerial insulating intelligent control system with the intelligent control system. 背景技术: Background technique:

随着市场经济的迅速发展,高空作业车在我国许多领域得到了广泛的应用。 With the rapid development of market economy, aerial vehicles has been widely applied in many fields in China. 在输配电线 In transmission and distribution wires

路带电检修作业中,需要有一种作业高度26米,作业幅度ll米,并能在高压电线空隙中穿过作业的绝缘高空作业车,传统车辆在转台用机械调速阀对机构进行操作,精确动作性能差。 Charging road maintenance operations, it is necessary to have a working height of 26 m, ll meter operating range, and can pass through the insulation aerial power lines operating in the gap, in a conventional vehicle with a turntable mechanically operated control valve mechanism for precisely action poor performance. 转台操作人员必须凭经验控制高空作业人员的作业位置,由于距离远,操控难度相当大,而离作业环境更近的高空作业人员却无法控制车辆。 Turntable operator must empirically position aerial work operations control personnel, because of distance, control rather difficult, but from the work environment more recent high-altitude operations personnel can not control the vehicle. 另外为满足整车的稳定性,原车型体积庞大,重量重。 Also, to meet the stability of the vehicle, the original models are bulky, heavy weight. 而折叠臂加双伸縮臂绝缘高空车来说,智能控制作业范围控制仍存在较大困难。 The folding arm telescopic arm with double insulation aerial vehicles, the range of intelligent control operations are still more difficult to control. 因此,开发一种高空作业车全智能控制系统,使得操作人员只需经过简单的培训即可安全平稳的操作车辆,有着极其重要的意义。 Therefore, to develop a high-altitude vehicles all intelligent control system allows the operator just after a simple training can be safe and stable operation of the vehicle, has very important significance.

发明内容: SUMMARY:

本发明所要解决的技术问题是提供一种全智能高效方便的高空作业车智能控制系统、带该智能控制系统的高空作业车及其控制方法。 The present invention solves the technical problem is to provide a convenient and efficient full intelligent Aerial intelligent control system, aerial vehicles with the smart control system and a control method.

本发明解决上述技术问题所采用的技术方案是:该高空作业车智能控制系统,其特征在于设置有无线遥控装置、上臂长度传感器、上下臂夹角编码器、转台回转角度编码器、支腿接地检测行程开关、水平伸出检测行程开关、控制器、下臂角度传感器、下臂长度传感器、 臂托架行程开关、程序下载端口、液晶显示屏、五联比例阀组、油路切换阀、转台操作开关、 支腿动作开关、转台电位器手柄,无线遥控装置包括无线发射装置和无线接收装置两部分, 无线发射装置安装在绝缘斗上,无线接收装置设置在转台操作箱内,无线发射装置的动作信 The present invention is to solve the above technical problem technical solution: Aerial the intelligent control system, characterized in that the apparatus is provided with a wireless remote control, the length of the sensor arm, upper and lower arm angle encoder, angle encoder for rotating the turntable, the ground leg detection limit switch, detects the horizontal extension limit switch, the controller, the lower arm angle sensor, lower arm length sensor, limit switch arm bracket, program download interface, LCD, five of the ratio valve, the oil passage switching valve, the turntable operation switches, operation of the switching leg, the turntable potentiometer handle means comprises a wireless remote control transmitting device and two wireless part of a wireless receiving apparatus, wireless transmission device mounted on the insulating bucket, the wireless reception device disposed inside the turret operation, wireless transmission means action letter

号通过无线方式传送至无线接收装置,控制器设置有CAN总线端口、模拟量输入口、 P丽信 No. wirelessly transmitted to the wireless reception device, the controller is provided with a CAN bus port, analog input ports, P Lai letter

号输出口、开关量输入口、开关量输出口,无线接收装置、上下臂夹角编码器、转台回转角 Signal output port, digital input, digital output port, radio receiving apparatus, upper and lower arm angle encoder, turntable rotational angle

度编码器、程序下载端口、液晶显示屏均与控制器的CAN总线端口连接,上臂长度传感器、 下臂角度传感器、下臂长度传感器、转台电位器手柄均与控制器的模拟量输入口连接,五联比例阀组、油路切换阀均与控制器的P丽信号输出口连接,支腿接地检测行程开关、水平伸出检测行程开关、臂托架行程开关、转台操作开关、支腿动作开关均与控制器的开关量输入口连接,控制器的开关量输出口与工程灯、系统故障报警灯、作业范围限制灯、应急泵、发动机连接,上臂长度传感器安装在上臂上并用来检测绝缘伸縮臂的伸缩位置,下臂长度传感器安装在下臂上并用来检测下伸縮臂的伸縮位置,上下臂夹角编码器安装在上臂与下伸縮臂连接部并用来检测上臂与下臂之间的夹角,下臂角度传感器安装在下臂的尾部并用来检测下臂与水平面的仰角角度,转台回 Coder, download port, both CAN bus LCD controller port, the length of the sensor arm, the lower arm angle sensor, lower arm length sensor, turret handle potentiometer are connected to the analog input of the controller , five of the ratio valve, the oil passage selector valve are connected to the P Li controller's output signal, the detection limit switch grounding leg, projecting horizontally detection limit switch, limit switch arm bracket, the turret operation switch, the operation of the legs switches are connected to the input port of the switch controller, the switch output port of the light controller and Engineering, system failure alarm lamp, lamp operation range limits, emergency pump, connected to the engine, mounted on the upper arm length sensor for detecting the arm and insulation telescopic position of the telescopic arm, a lower arm mounted on the lower arm and length sensor for detecting the position of the lower telescoping telescopic arm, upper and lower arms mounted on the upper arm angle encoder with the lower telescopic arm and the connecting portion for detecting sandwiched between the upper and lower arms angle, arm angle sensor mounted at the tail of the lower arm and lower arm for detecting the elevation angle and the horizontal plane, the turntable back 角度编码器安装在转台内部的电刷里并用来检测转台回转的角度,转台操作箱安装在转台上,转台操作箱设置有转台操作开关、转台电位器手柄、液晶显示屏、控制器、无线接收装置,臂托架行程开关安装臂托架上并用来检测下臂是否已复位,支腿动作开关安装在车架上并用来检测是否进行支腿操作,四个支腿接地检测行程开关分别安装在四个水平支腿上并用来检测垂直支腿是否可靠接地,八个水平伸出检测行程开关安装在车架上并用来检测四个水平支腿的伸出位置,控制器通过PWM信号来控制五联比例阀组和油路切换阀,五联比例阀组直接控制上臂升降油缸、上臂伸縮油缸、下臂升降油缸、下臂伸縮油缸、转台回转马达,油路切换阀用来控制支腿动作与上部机构动作的油路切换,控制器与调试电脑连接,以便用调试软件对高空作业车进行调试,控 An angle encoder is mounted in the turret and the interior of the brush for detecting rotation angle of the turntable, the turntable operation box mounted on the turntable, the turntable operating an operation switch box provided with a turntable, the turntable potentiometer handle, the LCD controller, the radio receiving means on the trip arm bracket arm switch mounting bracket and used for detecting whether the lower arm has been reset, operation of the switching legs and mounted on the frame for detecting whether or not the operation of the legs, four legs are attached to the ground fault detection limit switch in four horizontal leg and a vertical leg used to detect grounded, eight horizontal extension stroke detection switch mounted on the frame for detecting and four horizontal leg extended position, the PWM signal is controlled by the controller five of the path selector valve and the proportional valve, proportional valve directly controls five of the upper arm lift cylinder, the telescopic arm cylinders, the lift cylinder lower arm, the lower arm telescopic cylinder, a motor for rotating the turntable, a valve for controlling the oil passage switching operation of the leg the upper oil passage switching mechanism is operated, the controller connected to the computer and debugging, aerial vehicles in order to use a debugger for debugging software control 制器与转台操作开关中的发动机起动熄火开关、应急泵开关、发动机油门自动控制开关、紧急停止开关、作业范围限制解除开关连接,转台电位器手柄用来实现在转台上对上部机构动作的控制。 Turret system with engine start switch operation stop switch, the emergency pump switch, the automatic engine throttle control switches, emergency stop switch, the operation range limit release switch is connected, the potential of the turntable upper handle mechanism used to implement the operation of the turntable control.

本发明所述无线发射装置设置有遥控自动油门开关、遥控应急泵开关、遥控发动机起动熄火开关、遥控紧急停止开关、遥控上臂升降手柄、遥控上臂伸縮手柄、遥控下臂升降手柄、 遥控下臂伸缩手柄、遥控转台回转手柄。 The radio transmitting apparatus of the present invention is provided with a remote control switch autothrottle, emergency pump remote control switch, remote engine start stop switch, a remote control emergency stop switch, a remote lift handle arm, the upper arm telescoping handle remote control, remote lifter knob lower arm, the lower telescopic arm remote handle, remote control handle for rotating the turntable.

本发明所述转台电位器手柄包括上臂升降手柄、上臂伸縮手柄、下臂升降手柄、下臂伸縮手柄、转台回转手柄,上臂升降手柄、上臂伸縮手柄、下臂升降手柄、下臂伸縮手柄、转台回转手柄均与控制器连接。 The present invention comprises a turret arm potentiometer lifter knob handles, telescoping handle upper arm, lower arm lifting the handle, the lower arm telescoping handle, the handle for rotating the turntable, the lifter knob arm, telescoping handle upper arm, lower arm lifting the handle, the lower arm telescoping handle, rotating the turntable handles being connected to the controller.

本发明智能控制系统根据水平支腿和垂直支腿的具体位置确定上部机构有效动作范围。 Intelligent control system of the present invention to determine the effective range of the upper operation means depending on the position of the horizontal leg and a vertical leg.

本发明智能控制系统在下臂、下伸縮臂、上臂、绝缘伸縮臂、转台动作接近设定位置时进行自动速度控制。 Intelligent automatic speed control system according to the present invention, the lower control arm, the lower telescopic arm, an upper arm, an insulating telescopic arm, a position close to the set operation of the turntable.

本发明所述液晶显示屏对高空作业车作业状况进行全面显示,包括下臂长度、下臂仰角、 上臂长度、上臂仰角、转台回转角度、作业高度、作业幅度以及水平支腿和垂直支腿的伸出和接地状态,且在系统故障时显示故障情况。 The LCD of the present invention aerial work vehicle comprehensive job status display includes a lower arm length, the boom angle, arm length, arm elevation, the turntable swing angle, working height, and the operating range of the horizontal leg and a vertical leg and projecting the ground state and the fault condition is a fault in the system.

本发明所述控制器采用TTC200控制器,控制器采用独立的看门狗电路监视程序运行, 内置CPU温度检测功能,具有输入输出端口的短路保护及自诊断功能和电磁比例阀的PB1信号的内部电流反馈功能。 The controller of the present invention uses TTC200 a controller circuit using a separate watchdog monitoring program runs, the temperature detection function built-in CPU, input-output ports having an internal short-circuit protection and self-diagnostic function and a signal PB1 electromagnetic proportional valve current feedback.

本发明解决上述技术问题所采用的技术方案还包括一种带上述智能控制系统的高空作业车,该高空作业车设置有高空作业车智能控制系统、绝缘斗、绝缘伸縮臂、上臂、上臂升降油缸、下伸縮臂、下臂、下臂升降油缸、转台、转台操作箱、垂直支腿、水平支腿、车架、臂托架、工程灯、系统故障报警灯、作业范围限制灯、应急泵、发动机、上臂伸縮油缸、下臂伸縮油缸,绝缘伸縮臂与绝缘斗绞接,绝缘伸縮臂与上臂活动连接,上臂伸縮油缸安装在上臂里并用来推动绝缘伸縮臂的伸縮,上臂与下伸縮臂头部连接,下伸縮臂与下臂活动连接, 下臂伸縮油缸安装在下臂里并用来推动下伸縮臂的伸縮,上臂升降油缸安装在上臂上并与下伸縮臂头部的连杆连接,下臂起伏油缸安装在转台上并与下臂连接,转台操作箱安装在转台上,转台、臂托架均安装在车架 The present invention is to solve the above technical problem technical solution further comprises one aerial with the smart control system, which is provided with aerial vehicles Aerial intelligent control system, bucket insulation, insulation telescopic arm, an upper arm, an upper arm lift cylinder , the lower telescopic arm, lower arm, the lower arm lift cylinder, a turntable operation box, the vertical leg, a horizontal leg, a frame, a bracket arm, light engineering, system failure alarm lamp, lamp operation range limits, emergency pump, engine, arm telescopic cylinder, the telescopic arm cylinders, the insulating telescopic arm and the insulating arm hinged insulating telescopic arm and the upper arm movably connected, an upper arm telescopic cylinder being mounted arm in and used to drive the telescopic insulating telescopic arm, upper arm and lower telescopic arm head connection portion, and the lower the lower telescopic arm articulating arm, lower arm telescopic cylinder mounted in the lower arm and to push the telescopic lower telescopic arm, an upper arm lift cylinder mounted on the arm and telescopic arm connected to the link head, the lower arm relief cylinder mounted on the turntable and connected to the lower arm, the turn table control box mounted on the turntable, the turntable, an arm mounted on the carriage frame are 上,发动机通过取力器驱动液压泵来提供整车液压动力,四个水平支腿与车架活动连接,每个水平支腿与安装在其上的垂直支腿活动连接。 On the engine driven by the PTO hydraulic pump to provide hydraulic power the vehicle, four horizontal leg movably connected with the frame, each horizontal leg and a vertical leg mounted thereon activity on the connection.

本发明解决上述技术问题所采用的技术方案还包括一种上述高空作业车的控制方法,其特征在于包括以下步骤:读取控制器EEPROM中的系统参数值,系统参数赋值,CAN总线初始化,CAN数据读取,读输入信号,传感器故障判断,车体姿态计算,作业范围计算,动作速度系数计算,手柄信号处理,系统故障判断,当系统故障情形存在时进入紧急处理机制,没有系统故障情形或者紧急处理机制完成后进入PM4信号处理,控制信号输出,显示数据发送。 The present invention is to solve the above technical problem technical solution further comprises a method of controlling the above-described aerial platforms, comprising the steps of: reading the EEPROM controller system parameter values, the parameter assignment system, CAN bus initialization, CAN data reading, the read signal is input, a sensor failure judgment, the vehicle body posture calculating, computing operating range, the operation speed coefficient calculation, the handle signal processing, fault diagnosis system, an emergency handling mechanism into the system when the fault condition is present, no system or fault conditions emergency PM4 processing mechanism into the signal processing after the completion, the control signal output, the display data transmitted.

本发明在CAN数据读取和读输入信号之间还有智能控制系统调试步骤,智能控制系统调试包括以下歩骤:调试软件联机判断,若调试软件己经联机,则依据调试软件发送的修改指令与监视指令对系统执行参数初始化,当前参数读取,系统参数修改,监视数据发送。 Analyzing online debugging software modification instruction, if already online debugging software, debugging software based on the transmitted: reading between the present invention and the CAN data read control input signals as well as intelligent system commissioning step, intelligent control system comprises the following debugging step ho performs parameter initialization of the monitoring system instruction, the current parameter read, modify system parameters, monitoring data transmission.

本发明针对整车控制系统实施的整车调试系统,主要包括CAN设备的设定,传感器起终点的参数标定,电位器手柄的中位、死区、输出曲线设定,比例阀起点电流、终点电流,上升斜坡、下降斜坡设定,车体结构参数设定,减速缓冲位置及减速系数设定,动作范围限制参数设定。 Debugging system of the present invention for the vehicle control system according to a vehicle, comprising a main device for CAN, from the end of the sensor calibration parameters, the potentiometer of the handle, the dead zone, the output curve is set, the proportional valve current starting point, end point current, rising ramp, descending ramp set, parameter setting body structure, the position of the deceleration and the deceleration coefficient setting buffer, the operation range limit parameter set.

本发明来用的智能控制系统,通过控制器实施对整车作业状况的控制,作业范围大,安全可靠,取代了传统折叠臂加多节式伸缩臂式高空作业车人为控制车辆安全的作业方式。 Intelligent control system according to the present invention is used by the controller to control the implementation of the job status of the vehicle, a large operating range, reliable, replacing the traditional folding arms Cadogan section telescopic arm practices aerial vehicle safety control artificially . 附图说明: BRIEF DESCRIPTION OF:

图1为本发明实施例的结构示意图。 FIG 1 is a schematic structural diagram of an embodiment of the present invention.

图2为本发明实施例的电路控制图。 Figure 2 a control circuit diagram of an embodiment of the present invention. 图3为本发明实施例的控制程序框图。 FIG 3 a block diagram of a control program according to an embodiment of the present invention.

图中:1、绝缘斗1 2、无线遥控装置3、绝缘伸縮臂4、上臂长度传感器5、上臂6、上臂升降油缸7、上下臂夹角编码器8、下伸縮臂9、下臂10、下臂升降油缸11、 转台12、转台回转角度编码器13、转台操作箱14、垂直支腿15、支腿接地检测行程开关16、水平支腿17、水平伸出检测行程开关18、控制器19、下臂角度传感器20、 下臂长度传感器21、车架22、臂托架行程开关23、臂托架24、程序下载端口25、液晶显示屏26、五联比例阀组27、油路切换阀28、调试电脑29、通讯转换接口30、工程灯31、系统故障报警灯32、作业范围限制灯33、应急泵34、发动机35、连杆37、 转台操作开关38、支腿动作开关39、转台电位器手柄。 In FIG: 1, the insulating 12 bucket, the wireless remote control means 3, an insulating telescopic arm 4, an upper arm length sensor 5, 6 arm, lift arm cylinder 7, the upper and lower arm angle encoder 8, the telescopic arm 9, the lower arm 10, lower arm lift cylinder 11, the turntable 12, the turntable swing angle encoder 13, the turn table control box 14, the vertical leg 15, the detection limit switch 16 is grounded leg, the horizontal leg 17, projecting horizontally detection limit switch 18, the controller 19 the lower arm angle sensor 20, the lower arm length sensor 21, the frame 22, the trip switch arm bracket 23, the bracket arm 24, download port 25, the LCD 26, five of the proportion valve 27, oil path switching valve 28, debugging computer 29, the communication conversion interface 30, the lamp 31 projects, system failure alarm lamp 32, the lamp 33 to limit the range of operation, emergency pump 34, motor 35, rod 37, the turret operation switch 38, operation of the switching leg 39, turn TPC bit handle.

具体实施方式: Detailed ways:

参见图l、图2,本发明实施例高空作业车智能控制系统包括无线遥控装置2、上臂长度传感器4、上下臂夹角编码器7、转台回转角度编码器12、支腿接地检测行程开关15、水平伸出检测行程开关17、控制器18、下臂角度传感器19、下臂长度传感器20、臂托架行程开关22、程序下载端口24、液晶显示屏25、五联比例阀组26、油路切换阀27、调试电脑28、 通讯转换接口29、转台操作开关37、支腿动作开关38、转台电位器手柄39,无线遥控装置2包括无线发射装置2—1和无线接收装置2_2两部分,无线发射装置2_1安装在绝缘斗1上, 无线接收装置2—2设置在转台操作箱13内,无线发射装置2_1的动作信号通过无线方式传送至无线接收装置2_2。 Referring to FIG. L, FIG. 2, for example, intelligent control Aerial system according to the present invention comprises 2, the length of the sensor arm 4, upper and lower arm angle encoder 7, the turntable swing angle encoder 12, the ground fault detection leg stroke wireless remote control switch 15 , horizontal extension stroke detection switch 17, the controller 18, the arm angle sensor 19, the lower arm length sensor 20, the trip switch arm bracket 22, download port 24, the LCD 25, five of the proportion valve 26, the oil channel switching valve 27, debugging computer 28, the communication conversion interface 29, the turret operation switch 37, operation of the switching leg 38, the potential of the turntable handle 39, the wireless remote control device 2 comprises a two part 2_2 wireless transmission device and the wireless reception device 2-1 , 2_1 wireless transmission device mounted on the insulating bucket 1, the radio receiving apparatus 22 is provided within the turret operation box 13, the operation of the radio transmitting apparatus transmits a signal 2_1 to the wireless receiving apparatus wirelessly 2_2. 本发明实施例高空作业车包括高空作业车智能控制系统以及绝缘斗 Example embodiments of the present invention Aerial Aerial includes intelligent control system, and an insulating arm

I、 绝缘伸縮臂3、上臂5、上臂升降油缸6、下伸縮臂8、下臂9、下臂升降油缸IO、转台 I, the insulating telescopic arm 3, the upper arm 5, the lift arm cylinder 6, the lower telescopic arm 8, the lower arm 9, the IO lower arm lift cylinder, the turntable

II、 转台操作箱13、垂直支腿14、水平支腿16、车架21、臂托架23、工程灯30、系统故障报警灯31、作业范围限制灯32、应急泵33 (应急泵33是发动机故障时提供备用动力的装置)、发动机34、连杆35、上臂伸縮油缸、下臂伸縮油缸。 II, the turn table control box 13, the vertical leg 14, horizontal leg 16, the frame 21, the bracket arms 23, 30 project light, the system failure alarm lamp 31, the lamp 32 to limit the range of operation, the emergency pump 33 (emergency pump 33 is means for providing backup power engine failure), the engine 34, a link 35, the telescopic arm cylinders, the telescopic arm cylinder. 无线发射装置2—1安装在绝缘斗1上,无线接收装置2_2设置在转台操作箱13内,绝缘伸縮臂3与绝缘斗1绞接,绝缘伸縮臂3与上臂5活动连接,上臂伸縮油缸安装在上臂5里并用来推动绝缘伸縮臂3的伸縮,上臂长度传感器4安装在上臂5上并用来检测绝缘伸縮臂3的伸縮位置,上臂5与下伸縮臂8 头部绞接,下伸縮臂8与下臂9活动连接,下臂伸縮油缸安装在下臂9里并用来推动下伸縮臂8的伸縮,下臂长度传感器20安装在下臂9上并用来检测下伸縮臂8的伸縮位置,上下臂夹角编码器7安装在上臂5与下伸縮臂8连接部,上臂升降油缸6安装在上臂5上,伸縮时推动下伸縮臂8头部的连杆35,使得上下臂夹角编码器7转动轴旋转,检测出上臂5与下臂9之间的夹角,下臂起伏油缸10安装在转台11上并与下臂9连接,下臂角度传感器19安装在下臂9的尾部并用来检测下臂9与水平面的倾斜角度 Wireless transmission device 2-1 mounted on the insulating hopper 1, radio reception apparatus provided in the turret 2_2 operation box 13, the telescopic arm 3 and the insulating insulating hinged hopper 1, the insulating telescopic arm 3 is connected to the upper arm 5 activity, the telescopic arm cylinder installed 5 in the upper arm and the telescopic arm to push the insulating telescopic 3, arm length sensor 4 mounted on the arm 5 and used to detect the position of the insulating telescoping the telescopic arm 3, the head arm 5 and the lower telescopic arm 8 hinged, lower telescopic arm 8 connected to the arm 9 activities, the lower arm telescopic cylinder attached to the lower arm 9 in and used to drive the telescopic lower telescopic arm 8 lower arm length sensor 20 mounted on the lower arm 9 and to the detector telescoping the telescopic position of the arm 8, the upper and lower arm clamp angle encoder 7 is mounted on the lower portion 5 and the telescopic arm 8 is connected to the upper arm, the upper arm 6 is mounted on the lift arm cylinder 5, the lower telescopic arm push link 35 telescopic head 8, so that the upper and lower arm rotation shaft angle encoder 7 rotation detecting the angle between the upper arm 5 and the lower arm 9, the lower arm 10 is mounted on the cylinder downs turret 11 and connected to the lower arm 9, the arm angle sensor 19 is mounted aft of the lower arm 9 and lower arm 9 is used to detect the horizontal tilt angle ,转台回转角度编码器12安装在转台11内部的电刷里并用来检测转台11回转的角度,转台操作箱13安装在转台11上,转台操作箱13设置有转台操作开关37、转台电位器手柄39、液晶显示屏25、控制器18、无线接收装置2—2,转台操作箱13上的系统故障报警灯31、作业范围限制灯32用来提醒操作人员安全操作,臂托架行程开关22安装臂托架23上,用来检测下臂9是否已复位,支腿动作开关38检测是否进行支腿操作,转台11安装在车架21上,臂托架23安装在车架21上, 四个水平支腿16与车架21活动连接,安装在汽车底盘上的发动机34通过取力器驱动液压泵,提供上臂升降油缸6、上臂伸縮油缸、下臂升降油缸IO、下臂伸縮油缸、转台回转马达、水平支腿油缸、垂直支腿油缸的液压动力,每个水平支腿16与安装在其上的垂直支腿14活动连接,四个支腿接地检测行程开关15分别安 , The turntable swing angle encoder 12 is mounted inside the brush 11 in the turntable and 11 for detecting the rotation angle of the turntable, the turntable operation box 13 is mounted on the turntable 11, the turntable 13 the operation box 37 is provided with an operation switch turntable, the turntable potentiometer the handle 39, the LCD 25, a controller 18, a wireless reception device 2-2, system failure alarm lamp on the operation box 13 of the turntable 31, the lamp 32 to limit the working range used to alert operators safe operation, the trip switch arm bracket 22 arm mounting bracket 23, for detecting whether the lower arm 9 has been reset, operation of the switching leg 38 detects whether or not the leg operation, the turntable 11 is mounted on a frame 21, an arm bracket 23 mounted on the frame 21, four horizontal leg 16 is movably connected with the frame 21, mounted on the chassis of the vehicle engine 34 is driven by hydraulic power take off, there is provided an upper arm lift cylinder 6, the telescopic arm cylinders, the IO lower arm lift cylinder, the telescopic arm cylinders, the turntable rotary motor, a horizontal outrigger cylinder, a hydraulic power cylinder of vertical legs, each horizontal leg 16 and is mounted thereon in the vertical leg 14 is movably connected, four legs 15 are ground detection safety limit switch 在四个水平支腿16上并用来检测垂直支腿14是否可靠着地,八个水平伸出检测行程开关17安装在车架21上并用来检测四个水平支腿16的伸出位置。 On four horizontal leg 16 and vertical leg 14 is used to detect the ground reliably, eight horizontal extension detection limit switch 17 mounted on the frame 21 and used to detect the position of four legs 16 extending horizontally.

本发明实施例的无线发射装置2—l有五个遥控手柄(遥控上臂升降手柄、遥控上臂伸縮手柄、遥控下臂升降手柄、遥控下臂伸縮手柄、遥控转台回转手柄)和四个遥控开关(遥控自动油门开关、遥控应急泵开关、遥控发动机起动熄火开关、遥控紧急停止开关),遥控手柄与开关动作信号通过无线方式传送至无线接收装置2—2。 2-l wireless transmission device of the present embodiment of the invention has five remote controller (remote lift handle upper arm, the upper arm telescoping handle remote control, remote lifter knob lower arm, the lower arm telescoping handle remote control, remote control handle for rotating the turntable) and a remote control switch four ( remote Auto throttle switch, emergency pump remote control switch, remote engine start stop switch, a remote control emergency stop switch), and the switching operation of remote controller signal transmitted by wireless to the wireless reception device 2-2. 控制器18通过CAN总线端口CAN一A 与无线接收装置2—2连接,接收无线操作信号。 2-2 CAN bus controller 18 is connected to a CAN port A and the wireless receiving device receives a wireless signal operation. 程序下载端口24、液晶显示屏25、转台回转角度编码器12、上下臂夹角编码器7均与控制器18通过CAN总线端口CAN—A连接,程序下载端口24可以进行控制程序的下载。 Download port 24, the LCD 25, an angle encoder for rotating the turntable 12, the upper and lower arms are angle encoder 7 to the controller 18 via the CAN bus port CAN-A connection port 24 can download the download control program. 下臂长度传感器20、上臂长度传感器4、下臂角度传感器19的模拟量信号分别输入到控制器18的模拟量输入口的EA01、 EA02、 EA03端口。 Length sensor 20 of the lower arm, an upper arm length sensor 4, the analog signal in the arm angle sensor 19 are input to the controller 18 EA01 analog input port, EA02, EA03 port. 控制器18的PWM(脉冲宽度调制)信号输出口的LA24、 LA25、 LAOO、 LAOl、 LA02、 LA03、 LA04、 LA05端口与五联比例阀组26连接,控制器18的P丽信号输出口的LA26、 LA27端口与油路切换阀27连接,五联比例阀组26直接控制上臂升降油缸6、上臂伸縮油缸、下臂升降油缸10、下臂伸縮油缸、转台回转马达,控制器18用脉冲宽度调制信号通过五联比例阀组26分别实现上臂升降动作、上臂伸縮动作、下臂升降动作、下臂伸縮动作、转台回转动作,控制器18用脉冲宽度调制信号通过油路切换阀27控制支腿(包括水平支腿16、垂直支腿14) 动作与上部机构(绝缘臂3、上臂5、下伸縮臂8、下臂9、转台11)动作的油路切换。 The controller 18 of the PWM (pulse width modulation) signal output of LA24, LA25, LAOO, LAOl, LA02, LA03, LA04, LA05 port associated with proportional valve 26 is connected to five, P Li signal output of the controller 18 LA26 , LA27 port 27 is connected with the oil passage switching valve, five of the control arm 26 is directly proportional valve lift cylinders 6, the telescopic arm cylinders, the lift arm cylinder 10, the telescopic arm cylinder, a motor for rotating the turntable, the controller 18 using pulse width modulation five of the signal proportional valve 26, respectively, to achieve vertical movement of the upper arm, the upper arm telescoping operation, the vertical movement of the lower arm, the lower arm stretching operation, the operation for rotating the turntable, the controller 18 with a pulse width modulated signal through the oil passage selector valve 27 controls the leg ( It includes a horizontal leg 16, vertical leg 14) and an upper operation means (3 insulating arm, an upper arm 5, the lower telescopic arm 8, the lower arm 9, the turntable 11) of the oil passage switching operation. 控制器18通过C緒总线端口CAN_B经过通讯转换接口29与调试电脑28连接,以便用调试软件对整车进行调试。 Communication controller 18 converts the interface bus 29 is connected via port C CAN_B thread through and debug the computer 28, the vehicle in order to use a debugger to debug the software. 控制器18的开关量输出口的LA17、 LA18、 LA19端口与发动机34连接, 分别输出发动机高速信号、发动机中速信号、发动机起动熄火信号,控制器18的开关量输出口的LA20、 LA21、 LA22、 LA120端口分别输出应急泵33、作业范围限制灯32、系统故障报警灯31、工程灯30的控制信号。 The controller switch output port 18 LA17, LA18, LA19 is connected with the engine 34, the engine output the speed signal, engine speed signal LA20, turn off the engine start signal, the output port of the switch controller 18, LA21, LA22 , LA120 emergency pump output port 33, respectively, to limit the operation range 32, 31, 30 of the lamp control signal engineering system failure alarm lamp lights. 控制器18的开关量输入口的ET00、 ETOl、 ET02、 ET03、 ET04端口分别与转台操作开关37中的发动机起动熄火开关、应急泵开关、发动机油门自动控制开关、紧急停止开关、作业范围限制解除开关连接,用来完成相应的动作。 Switch controller 18 input port ET00, ETOl, ET02, ET03, ET04 operation switch port, respectively the turntable engine kill switch 37 starter, the emergency pump switch, automatic engine throttle control switches, emergency stop switch, operation restriction removal range switch is connected, to complete the appropriate action. 控制器18 的开关量输入口的EAD11与臂托架行程开关22连接,控制器18的开关量输入口的EAD05与支腿动作开关38连接。 Switch controller 18 and the input port EAD11 limit switch arm bracket 22 is connected, the controller 18 of the switch input port EAD05 operation switch 38 is connected to the leg. 水平伸出检测行程开关17 (包括车辆左侧前后两只水平支腿16全伸检测行程开关、车辆右侧前后两只水平支腿16全伸检测行程开关、车辆左侧前后两只水平支腿16半伸检测行程开关、车辆右侧前后两只水平支腿16半伸检测行程开关)共有八只, 安装在车架21上,分别用来检测车辆左侧前后和右侧前后水平支腿16的全伸、半伸状态,当没有全伸和半伸信号时判断水平支腿16处于全縮状态,车辆左侧前后两只水平支腿16全伸检测行程开关串联后与控制器18的开关量输入口的EAD06连接,车辆右侧前后两只水平支腿16全伸检测行程开关串联后与控制器18的开关量输入口的EAD07连接,车辆左侧前后两只水平支腿16半伸检测行程开关串联后与控制器18的开关量输入口的EAD08连接,车辆右侧前后两只水平支腿16半伸检测行程开关串联后与控制器18的开关量输入口的EAD09连接。 Horizontal extension stroke detection switch 17 (including two horizontal leg fully extended detection limit switch 16, the right front of the vehicle two horizontal leg fully extended detection limit switch 16, two front left of the vehicle before and after the vehicle left leg detection limit switch 16 extends half, the right front of the vehicle two horizontal leg 16 extending half stroke detection switch) total eight, mounted on the frame 21, it is used to detect the left front of the vehicle and the right front leg 16 levels the fully extended, semi-stretched state, determining when no signal is fully extended and half horizontal leg 16 extending in the full-retracted state, two horizontal leg 16 fully extended after the stroke detection switch in series with the switch controller 18 of the left front of the vehicle EAD06 input port connected to the switch control input port 18 of the front right of the vehicle 16 two horizontal leg fully extended EAD07 detection limit switch connected in series, two horizontal leg 16 extending half stroke front left of the vehicle detected switch controller 18 and the input port of the switch EAD08 connected in series with the switch input port of the controller 18 after the front right side of the vehicle two horizontal leg 16 extending half EAD09 detection limit switch connected in series. 四只支腿接地检测行程开关15串联后与控制器18的开关量输入口的EAD10连接。 Four leg after the ground fault detection limit switch 15 in series with the switch controller 18 is connected to input port EAD10. 转台电位器手柄39包括上臂升降手柄、上臂伸縮手柄、下臂升降手柄、下臂伸縮手柄、转台回转手柄五个,分别与控制器18的模拟量输入口的EAD00、 EADOl、 EAD02、 EAD03、 EAD04连接,用来检测转台电位器手柄信号的输入。 Potentiometer 39 includes a turret arm lifter knob handle, telescoping handle upper arm, lower arm lifting the handle, the lower arm telescoping handle, the handle for rotating the turntable five, respectively, the analog input of the controller 18 EAD00 port, EADOl, EAD02, EAD03, EAD04 connection, the turntable potentiometer for detecting input signals handle.

本实施例通过八只水平伸出检测行程开关17检测四只水平支腿16伸出的状态,判断左右侧水平支腿16在全縮状态,半伸出状态,还是全伸出状态。 The present embodiment detects the state of limit switch 17 detects four extending horizontal leg 16 extends through eight levels, the left and right side of the horizontal leg 16 is determined in the full-retracted state, semi-extended state or the fully extended state. 四只支腿接地行程开关15检测四只垂直支腿14是否可靠着地。 Four legs limit switch 15 detects the ground four vertical leg 14 is reliably ground. 通过回转电刷内安装的转台回转角度编码器12检测转台ll的回转角度,通过下臂角度传感器19检测下臂9仰角,通过上下臂夹角编码器7检测上下臂之间的夹角。 A rotation angle by the rotation of the turret rotary brush mounting angle encoder 12 detects the turntable ll through 9 elevation of the lower arm angle sensor 19 detects the lower arm, the angle between the upper and lower arms and lower arms through the detection of the angle encoder 7. 通过拉线式下臂长度传感器20检测下臂5伸出长度,通过拉线式上臂长度传感器4检测绝缘臂3伸出长度。 Formula 20 by detecting the cable length sensor arm extension length of the lower arm 5, the length of the projecting arm 4 detects the insulating cable length sensor arm by formula 3.

本实施例在转台操作箱13上设置了五只转台电位器手柄39控制整车的动作,另外设有转台操作开关37。 The present embodiment is provided five turret 39 operation control potentiometer handle vehicle operation box 13 on the turntable, the turntable is provided with additional operating switch 37. 转台操作部还配置了一款CAN总线接口的液晶显示屏25,对整车的作业状况全面显示,包括下臂长度、下臂仰角、上臂长度、上臂仰角、回转角度、作业高度、作业幅度、以及四只水平支腿16和垂直支腿14的伸出和接地状态,同时也是系统故障时显示故障情况的界面。 Turntable operation unit is also equipped with a liquid crystal display CAN bus interface 25, job status display of the overall vehicle, comprising a lower arm length, the boom angle, arm length, arm elevation, angle of rotation, working height, operating range, and four horizontal leg 16 and vertical leg 14 extends and a ground state, but also a display interface fault condition when a system fault.

本实施例的无线遥控装置2可在绝缘斗1内操作无线发射装置2_1,无线接收装置2—2 接收到无线信号,并通过CAN总线将信号传输给控制器18,实现对整车机构的操作,操作功能与转台操作箱13相同,但转台操作具有动作优先权。 Wireless remote control device 2 of the present embodiment may be an insulating operating arm 2_1 radio transmission apparatus 1, the radio reception apparatus 22 receives a radio signal, and transmits a signal through the CAN bus to the controller 18, to realize the operation of the vehicle bodies function is the same operation box 13 and the turntable, the turntable having the operation priority operation.

依据水平支腿伸出的状态,控制器18根据程序内部设定的允许作业范围,对各种机构动作进行控制,实现在整车有效作业范围的安全动作,当超出有效作业范围时,作业范围限制指示灯32点亮,危险操作动作自动被禁止。 Depending on the state extending horizontal leg, the controller 18 is programmed to allow the internal operating range, controls the operation of various mechanisms to achieve the safe operation of vehicle valid operating range when operating outside the valid range, the operation range in accordance with limit indicator 32 is lit, the operation is automatically disabled dangerous operation. 依据检测到的各种信号判断整车的工作姿态, 实现对五联比例阀组26控制信号进行自动调整,从而控制机构的最大动作速度,实现高空作业的平稳操作。 Based on various operational attitude of the detected signal determining the vehicle, to achieve the ratio of 26, five of the control signal for automatic adjustment valve, so that the maximum operating speed of control means, smooth operation of the aerial work. 当各机构动作时,控制器18根据机构动作情况,自动给出发动机高速信号和发动机中速信号,控制发动机34转速改变。 When each of the operation means, the controller means 18 based on the operation situation, automatically gives the engine speed signal and the engine speed signal, speed control of the engine 34 changes. 当检测到传感器系统出现故障时,系统故障报警灯31点亮,所有动作将停止,此时只允许通过转台操作开关37的作业范围限制解除开关强行操作机构,此时的操作无法受到控制器18的安全保障控制,必须人为控制车辆的 When the sensor failure detection system, the system failure alarm lamp 31 is lit, all operation is stopped, at this time only by operating the working range of the turret 37 limit switch forcibly release switch operating mechanism, the operation at this time is not subject to the controller 18 security control, control of the vehicle must be man-made

9安全,此项功能是在传感器系统出现故障时进行收车的保障办法。 9 security, this feature is a way to protect the collection vehicle at the time of the sensor system failure. 另外在控制系统出现异常时,通过无线发射装置2_1上的遥控紧急停止开关或转台操作开关37的紧急停止开关使控制器18的所有输出全部停止,确保整车的安全。 Further when the control system is abnormal, by remote control on the wireless transmission device 2_1 emergency stop switch or emergency stop switch turntable operation switch 37 so that all output controller 18 are stopped to ensure the safety of the vehicle.

本实施例的核心控制部件是TTC200控制器。 The core control means according to the present embodiment is TTC200 controller. 它是一款专用于特种工程车辆控制的高可靠性的可编程序控制器,能适用于长期恶略工作环境。 It is a dedicated highly reliable programmable controller special engineering vehicle control can be applied to evil little long-term work environment. 它硬件资源丰富,具有20路模拟量输入、12路开关量输入、12路PWM信号输出、19路开关量输出、2路C緒总线接口,另外还能提供2个5V的传感器标准电源和一个10V的电位器手柄的标准电源。 It is rich hardware resources having 20 analog inputs, digital inputs 12, outputs the PWM signal path 12, switching outputs 19, 2 C bus interface thread, but also provides two additional sensors 5V power supply and a standard potentiometer handle standard power of 10V. 除此之外,控制器18釆用独立的看门狗电路监视程序运行,内置CPU温度检测功能,还有输入输出端口的短路保护及自诊断功能,电磁比例阀的P丽信号的内部电流反馈功能,大幅提高了控制系统安全可靠性及控制输出的准确性。 In addition, the controller 18 preclude independent watchdog circuit operating with a monitoring program, the temperature detection function built-in CPU, input and output ports as well as short-circuit protection of an internal current feedback and diagnostic functions, the solenoid proportional valve signal from the P Li function, greatly improving the accuracy and reliability of control systems security control output. TTC200的编程平台采用了符合IEC61131-3标准的C0DESYS 软件,可采用ST结构化文本语言进行编程,能适用于各种复杂的控制运算系统。 TTC200 programming software platform uses C0DESYS with IEC61131-3 standard, ST can be structured text programming language, it can be applied to a variety of complex control operation system. TTC200共提供高达160K的程序代码空间,和2K用户参数存储空间。 TTC200 providing a total of up to 160K of code space program, and 2K user parameter storage space. 另外丰富的程序库文件可以使控制程序精炼有效。 In addition a rich library file can refine effective control program. TTC200的控制程序下载通过C認总线,调试电脑28与C緒总线的连接转换采用了通信转换接口29,它实现了调试电脑28的USB端口与CAN总线的通讯。 TTC200 control program download bus identified by C, and debugging computer 28 C threaded connection switching communication bus using a conversion interface 29, which implements the debugging computer USB port 28 correspond CAN bus.

参见图3,本发明解决上述技术问题所采用的技术方案还包括一种上述高空作业车的控制方法,包括以下步骤:读取控制器18的EEPR0M中的系统参数值,CAN总线初始化,系统参数赋值,CAN数据读取,读输入信号(包括各类传感器及行程开关信号),传感器故障判断, 计算车体姿态,动作速度系数计算,手柄信号处理,作业范围计算,系统故障判断,当系统故障情形存在时进入紧急处理机制,没有系统故障情形或者紧急处理机制完成后进入PmH言号处理,控制信号输出,显示数据发送。 Referring to Figure 3, the present invention is to solve the above technical problem technical solution further comprises a method of controlling the above-described aerial vehicles, comprising the steps of: reading a parameter value of the system controller 18 in EEPR0M, CAN bus initialization, the system parameters assignment, CAN data reading, the read signal input (including various types of sensors and limit switch signals), sensor failure is determined, calculates the vehicle body posture, the operation speed coefficient calculation, the handle signal processing, computing operating range, the system failure is determined, when the system failure when there is an emergency situation into the processing mechanism, not after a system failure or an emergency situation into the processing mechanism is completed words PmH process number, a control signal is output, the display data transmitted.

本发明在控制器18执行CAN数据读取步骤和读输入信号步骤之间还可设置智能控制系统调试步骤,智能控制系统调试步骤包括以下步骤:调试软件联机判断,当检测到调试软件请求时,依据调试软件发出的修改指令,可对控制器18的2K EEPROM进行系统参数的初始化,将车辆控制的经验参数存储到控制器中,也可对当前EEPROM中的数据进行读取,通过调试软件显示当前EEPROM中的参数值,可以对EEPROM中的任何单个参数进行更改,同时通过调试软件的监控指令对控制系统的各种输入输出信号,及相关运算参数进行读取,以作为系统检査及故障检修时的依据。 The present invention performs data CAN controller 18 may also be provided in the intelligent control system commissioning and reading step reading step between the step of the input signal, the intelligent control system commissioning step comprises the steps of: determining online debugging software, debugging software when the request is detected, based on a modification instruction issued by the debug software, system parameters can be initialized to 2K EEPROM controller 18, the vehicle control parameters stored in the controller experience, can read the data currently in the EEPROM, displayed by the software debugging the current parameter values ​​in the EEPROM can be changed to any single parameter in EEPROM, while monitoring the instruction read by the debug software, various input and output signals, and associated operation parameters of the control system, as a system failure and checking according to the time of inspection.

控制流程中的主要工作包括: Control flow in the main work includes:

系统开机后,程序读取EEPROM中的数据,对系统参数进行赋值,启动系统中的CAN设备,接受CAN总线数据,读取各类传感器及行程开关信号,并检测传感器故障情况,计算车体姿态,计算有效作业范围,计算当前车体状态下的所有动作的速度系数,处理操作手柄控制信号,对五联比例阀组和油路切换阀相应端口进行PWM控制信号处理及输出,对其它控制信号端口进行输出,通过CAN总线对液晶显示屏发送显示数据。 After system startup, the program reads the data in the EEPROM, the system assigns the parameters, the CAN device activation system, receiving CAN bus data, and various types of sensors read limit switch signals, and fault detection sensor, calculates the vehicle body posture , calculate the effective operation range, the operation speed coefficient is calculated for all the current state of the vehicle body, a control signal processing operation lever, the proportion of five of the corresponding valve and switching valve port passage PWM control signal processing and output, other control signals output port, transmits display data to the LCD via the CAN bus. 当控制系统检测到系统故障(包括传感器故障,作业范围故障)时,执行紧急处理程序,控制所有动作停止并发出故障报警信号,此时可以通过作业范围解除开关,进行收车动作。 When the control system detects a system fault (including sensor failure, the failure operation range), performs emergency procedures, and controls all the operation of a fault alarm signal is stopped, the switch can be released at this time by the operation range, a closed car operation. 程序中留有调试软件的接口, 可以根据调试软件的修改指令和监控指令执行相应的功能。 Left debugging software program interface, the corresponding function can be performed according to a modification commands and monitor debug software instructions. , 专用调试软件 Dedicated debugging software

整车装配完成后,须采用调试软件对整车进行调试,使其性能优化。 After the assembled vehicle, the vehicle shall be used for debugging software debugging, optimizing its performance. 调试软件主要完成以下功能。 Debugging software provides the following functions.

1、通过该调试软件对TTC200内的2K Byte EEPROM进行改写,从而对车辆进行全面的性能调试。 1, rewritten for 2K Byte EEPROM in TTC200 by the debugging software to the vehicle's overall performance tuning. 主要包括传感器起终点的参数标定,电位器手柄的中位、死区、输出曲线设定, 比例阀起点电流、终点电流,上升斜坡、下降斜坡设定,车体结构参数设定,减速缓冲位置及减速系数设定,动作范围限制参数设定。 Including sensor calibration parameters from the end of the handle of the potentiometer, the dead zone, the output curve is set, starting proportional valve current, the current end point, the rising ramp, descending ramp set, parameter setting body structure, the position of the deceleration buffer and the reduction coefficient setting, parameter setting operation range limits. 在车辆初次调试时导入近三百个经验数据,然后对所有动作逐一进行检査,并适当修改参数,可以满足车辆性能全面提升。 Import during the first commissioning nearly 300 vehicles empirical data, and then one by one check for all actions, and appropriate to modify the parameters to meet vehicle performance overall. 另外调试软件具有强大监视功能,对程序内部数据进行显示。 In addition debugging software has powerful monitoring features, internal data show program. 包括传感器的输入,电位器手柄的输入,各种开关的输入,无线遥控信号的输入,速度控制系数当前值,比例阀输出,开关量的出,以及车体当前姿态的显示,及系统故障情况的显示。 Comprises a sensor input, the input potential of the handle, various input switches, wireless remote control input signal, the current value of the speed control coefficients, proportional valve, of the switch, and a display of the current attitude of the vehicle body, and system failure display. 通过监视系统内部数据可以对车辆出现故障时进行全面又方便检测。 Internal data can be comprehensive and convenient detection of the failure by the vehicle monitoring system.

2、通过调试软件可对CAN总线旋转编码器进行元件ID号设定,数据通讯速度设定, 零点位置设定,旋转方向设定。 2, debugging can be performed by software rotary encoder CAN bus ID number setting element, data communication speed setting, zero position setting, rotational direction setting.

该智能控制系统的几个创新点包括: Several innovations of the intelligent control system include:

一、各种工作情况下的作业范围自动控制。 First, the operation range under various operation of automatic control.

检测水平支腿16的六种状态,左侧水平支腿16的全縮状态,即左侧两只垂直支腿14 的中心与转台11的中心之间的距离均大于等于1100mm,但其中一只或两只垂直支腿14的中心与转台11的中心之间的距离小于1555mm;左侧水平支腿16的半伸状态,即左侧两只垂直支腿14的中心与转台11的中心之间的距离均大于等于1555mm,但其中一只或两只垂直支腿14的中心与转台11的中心之间的距离小于2120mm;左侧水平支腿16的全伸状态,即左侧两只垂直支腿14的中心与转台11的中心之间的距离均大于等于2120mm;右侧水平支腿16 的全縮状态,即右侧两只垂直支腿M的中心与转台11的中心之间的距离均大于等于1100mm,但其中一只或两只垂直支腿14的中心与转台11的中心之间的距离小于1555mm;右侧水平支腿16的半伸状态,即右侧两只垂直支腿14的中心与转台11的中心之间的距离均大于等于1555,,但 Detecting the horizontal leg 16 of each state, full-retracted state of the left horizontal leg 16, i.e. the center distance between the center of the left two perpendicular leg 11 and the turntable 14 are greater than or equal to 1100mm, but a or distance between the center of the turntable 11 and the center of the vertical leg 14 is less than two 1555mm; semi-stretched state between the centers of the left horizontal leg 16, i.e. the left side of two vertical central leg 11 and the turntable 14 greater than a distance equal to 1555mm, but wherein a distance between the center or the center of two vertical legs 14 of the turntable 11 is less than 2120mm; fully extended state of the left horizontal leg 16, i.e. the left side of two vertical support the distance between the center of the turntable 11 and the center leg 14 is equal to greater than 2120mm; right horizontal leg 16 of the full-retracted state, i.e. the distance between the center of the right side of the two vertical legs of the center M and the turntable 11 are 1100mm or greater, but the distance between the center where the center of one or both vertical legs 14 of the turntable 11 is less than 1555mm; semi-stretched state of the horizontal leg 16 of the right side, i.e. the right side of the vertical leg 14 of the two the distance between the centers of the center of the turntable 11 ,, but not less than 1555 中一只或两只垂直支腿14的中心与转台11的中心之间的距离小于2120mm;右侧水平支腿16的全伸状态,即右侧两只垂直支腿14的中心与转台11的中心之间的距离均大于等于2120mm。 One or two of the center leg 14 and the vertical distance between the center of the turn table 11 is less than 2120mm; fully extended state of the horizontal leg 16 of the right side, i.e., the center of the right side of two vertical legs 14 of the turntable 11 greater than the distance between the centers is equal to 2120mm.

整车作业范围分为四个区域,正前方40°范围、正后方40°范围、正左侧14(T范围、 正右侧140°范围,水平支腿16的全縮,半伸,全伸状态决定了上部机构(指转台ll以上机构)在正左侧、正右侧两个区域内的有效动作范围。正前方、正后方的作业范围与两侧水平支腿16全伸状态时的正左侧、正右侧的作业范围相同,即当下臂9仰角超出45。后,下伸縮臂8可伸出0〜5000mm,绝缘伸縮臂3可伸出0〜1900mm,此时作业范围最大;当下臂9 仰角小于等于45。时正前方、正后方的作业范围与两侧水平支腿16全縮时的正左侧、正右侧的作业范围相同,即绝缘伸縮臂3与下伸縮臂8均不能够伸出。正左侧、正右侧两个区域内的有效动作范围根据左右侧水平支腿16伸出状态不同以水平支腿16伸出较小的一侧确定作业范围,水平支腿16在半伸状态下当下臂9仰角超出60。时,下伸縮臂8可 Vehicle operating range is divided into four regions, the range of 40 ° in front of, directly behind the range of 40 °, a positive left 14 (T range, the positive range of the right 140 °, the horizontal leg 16 of the full-shrink, stretch half, fully extended It determines the timing of the upper state (referring to the above mechanism turntable ll) in the immediate left, just as effective operating range in the right two areas in front of, directly behind the work area on both sides of the horizontal leg 16 fully extended state left, right n the same operating range, i.e., beyond the lower arm 45. after the elevation 9, the extendable telescopic arm 8 0~5000mm, insulating extendable telescopic arm 3 0~1900mm, at this time the maximum operating range; current front, left precisely at the working range of the horizontal leg 16 on both sides of the rear of the full-retracted, is the same as the working range of the arm 9 on the right side elevation 45. the less, i.e. the insulating telescopic arm 3 and the lower telescopic arm 8 are can not be extended. left n, n the effective operating range in the right side region of two different states in accordance with the left and right sides extending horizontal leg 16 to the horizontal leg 16 protruding side of the smaller operating range is determined, the horizontal leg 16 in a semi-stretched state outside the lower arm 60. the elevation 9, the lower telescopic arm 8 may be 伸出0〜 5000mra,绝缘伸缩臂3可伸出0〜1900mm,当下臂9仰角小于等于60°而大于45°时,下伸縮臂8可伸出0〜2000rnm,绝缘伸縮臂3可伸出0〜900rnm;当下臂9仰角小于等于45°时绝缘伸縮臂3与下伸縮臂8均不能够伸出;水平支腿16在全縮状态下时,不管下臂9仰角如何绝缘伸縮臂3与下伸縮臂8均不能够伸出。该方案使车辆能适应了各种狭小道路环境,最大限度的发挥车辆的作业能力。 The extended 0~ 5000mra, insulating extendable telescopic arm 3 0~1900mm, the lower arm 9 and the elevation angle larger than 60 ° or less 45 °, the lower extendable telescopic arm 8 0~2000rnm, insulating extendable telescopic arm 3 0 ~900rnm; lower arm 9 is equal to the elevation angle is less than 45 ° and the lower insulating telescopic arm 3 are not capable of extending the telescopic arm 8; horizontal leg 16 at the full-retracted state, regardless of how the elevation of the lower arm 9 telescopic arm 3 and the lower insulating 8 telescopic arm can extend not. the program enables the vehicle to adapt to a variety of narrow road environment, the ability to maximize the work vehicle.

二、动作速度的人性化控制- Second, the operation speed of the control human -

为了满足绝缘斗l操作人员操作的平稳舒适性,对以下三个方面的做了速度控制。 In order to meet the smooth and comfortable insulating l operator operates the arm, a speed control made the following three aspects.

1、 在计算完车体姿态后,将在允许机械机构接近设定位置时进行自动速度控制,使其在设定位置时能准确停止而没有冲击状况的产生。 1, after calculating the vehicle body posture, will allow close mechanical mechanism for automatic speed control set position, the set position so that it can accurately stopped without generating impact conditions. 在下伸縮臂8,绝缘伸縮臂3伸縮到设定位置前200腿时,通过控制器18控制,使得相应动作P丽信号的占空比逐渐减小,进行减速控制,在接近设定位置时动作速度逐渐减小为0,从而实现动作的平稳停止。 When the lower telescopic arm 8, the insulating retractable telescopic arm 3 to the front of the legs 200 is set position, the control of the controller 18, so that the operation of the respective signal P gradually decreases the duty ratio of Li, the deceleration control operation in a position close to the set speed is gradually reduced to zero, whereby a smooth operation is stopped.

2、 在油缸匀速伸縮时,各动作机构因绞点位置原因造成绝缘斗1运动速度差异较大,给操作人员操作带来不便。 2, when the telescopic cylinder uniform, each operation mechanism due to the position of hinge point reasons bucket 1 caused by insulating velocity differences, the operation to the operator inconvenience. 在上下臂夹角从(T到140°的全范围升降动作时,由机械机构造成的绝缘斗1速度差异最大达到4倍,为此依据上下臂夹角的不同范围,控制器18对上臂升降动作P丽信号的占空比进行不同的系数修正,从而使得绝缘斗1的运动速度基本不变, 确保绝缘斗1操作人员操作的舒适平稳性。 When the angle from the upper and lower arms (full range of 140 ° to the vertical movement T, the insulating bucket 1 caused by the mechanical means up to four times the maximum speed difference, for this range depending on the angle between the upper and lower arms, upper arm lift controller 18 P Li duty cycle operation signal is different from the correction coefficients, so that the speed of movement of the insulating arm 1 is substantially constant, ensuring a smooth comfortable insulating the operator operates the bucket 1.

3、 根据机构回转半径对回转时绝缘斗l速度的影响,制定了机构回转周速的控制方案, 当工作半径从7000mm到11000mm的变化中,控制器18对回转动作P丽信号的占空比进行不同的系数修正,使得回转动作的越来越慢,确保回转动作时绝缘斗1的回转线速度基本不变, 确保绝缘斗1操作人员操作的舒适平稳性。 3. The radius of gyration of the swivel mechanism Effect insulating l bucket speed, the peripheral speed of the rotary mechanism developed control scheme, when the change in operating radius from 7000mm to 11000mm, the duty cycle of operation of the controller 18 for turning signal P Li different correction coefficients, so that the more slowly turning operation, the linear velocity rotation insulating hopper 1 substantially unchanged to ensure turning operation, to ensure the comfort of the insulating smooth operator operates the bucket 1. 三、 采用上下臂夹角编码器7测量上下臂夹角,通过下臂9尾部安装的下臂角度传感器19测量下臂9仰角,从而计算得出上臂5与水平面之间的夹角实现上臂5的仰角动作范围控制,该方案避免了直接在上臂5上测量上臂5与水平面之间的夹角,最大限度的解决了机构晃动造成的上臂5仰角检测角度数据波动较大的情况。 Third, the use of upper and lower arm angle encoder 7 measures the angle between the upper and lower arm, the lower arm angle sensor 9 through the lower arm mounting tail 19 measures the elevation of the lower arm 9, so that the calculated angle between the upper arm 5 and the horizontal arm 5 to achieve elevation control operation range, the program avoids measuring the angle between the upper arm 5 and the horizontal upper arm 5 directly, the maximum shaking mechanism to solve the arm 5 caused by the elevation angle data detecting volatile situations.

四、 传感器系统的高安全性控制。 Fourth, high security control sensor system.

对每一模拟量传感器设定了其信号有效的范围,系统工作时实时检测传感器数值,当超出最大或最小设定值后出现传感器故障信号。 Each analogue sensor setting range of valid signals, the detection operation of the system in real time sensor values, sensor failure occurs when the signal exceeds the maximum or minimum setting. 对CAN总线传感器也实施定时数据回传检测, 在规定时间未接收到有效的回传数据时,判断CAN设备故障。 When the CAN bus embodiment of the sensor also detects the timing of the return data is not received a valid return data in a predetermined time, determining CAN equipment failure. 在传感器故障时停止所有危险的动作,系统故障报警灯31报警提示,并通过液晶显示屏25显示故障情况。 Stop all dangerous operation when the sensor fault, system fault alarm warning lights 31, 25 and displayed through the LCD screen fault conditions. 此时必须通过转台操作箱13内设置的作业范围解除开关才可以进行强制操作,进行收车动作。 In this case it can be forced by operating the operation range setting operation box 13 of the turret release switch, a closed car operation.

五、 误操作提醒功能。 V. misuse alerts.

整车作业范围情况复杂,操作人员有时无法对操作方向的正确性做出判断,当动作操作方向错误时,机构不动作,作业范围限制灯32会发出声光报警,提醒操作者。 Vehicle operating range complicated, sometimes the operator can not judge the correctness of the operation direction, the operation direction when the operation error, no operation mechanism, the lamp 32 will limit the operating range audible alarm to alert the operator. 此时只有不报警的动作才是安全有效的动作。 Only this time no alarm action is safe and effective action.

六、 机构保护功能。 Six bodies protection.

对绝缘伸縮臂3及绝缘斗1设定了干涉防止功能,可有效的防止人员操作不当对结构造成损害。 Insulating telescopic arm 3 and the insulating arm 1 is set to prevent interference, which can effectively prevent unauthorized personnel to operate the damage to the structure. 通过控制器18,计算绝缘斗1底面距离地面的位置,当小于最小安全距离200mm 时,控制绝缘斗1继续向下的绝缘伸縮臂3的伸动作,上臂5的降动作,下伸縮臂8的縮动作,下臂9的升动作全部停止,防止绝缘斗1与地面的碰撞。 By the controller 18 calculates the position of the bottom surface of the insulation from the ground bucket 1, when less than the minimum safety distance 200mm, a control arm extending action of the insulating dielectric continue down the telescopic arm 3, the operation of lowering the upper arm 5, the lower telescopic arm 8 shrinking operation, operation in lift arm 9 are stopped to prevent a collision with the ground insulating bucket. 当上下臂夹角角度小于3°时禁止绝缘伸縮臂3、下伸缩臂8的伸縮动作停止,防止绝缘伸縮臂3与下臂9的摩擦造成绝缘伸縮臂3的磨损。 Telescopic prohibited when the insulating upper and lower arms 3 [deg.] Included angle of less than 3, the telescopic arm 8 is stopped telescopic action, prevent the insulation telescopic arm 3 caused by the wear of the insulating telescopic arm 3 and the friction of the lower arm 9. 当上下臂夹角小于10°时,计算绝缘斗1的位置,当绝缘斗1的位置距离转台ll、下臂9的距离小于200mm时,控制绝缘伸縮臂3的縮动作,上臂6的降动作,下伸縮臂8的伸动作停止,防止绝缘斗l与转台ll、下臂9的碰撞。 When the upper and lower arm angle of less than 10 °, calculates the position of the insulating basin 1, when the position of the insulation from the hopper 1 turntable ll, 9 from the lower arm is less than 200mm when the control operation condensing insulating telescopic arm 3, the operation of lowering the upper arm 6 , the lower telescopic arm extension 8 to stop operation to prevent the turntable insulating bucket l ll, the lower arm 9 of the collision.

七、 发动机油门自动控制功能。 Seven automatic engine throttle control.

根据不同的动作状况对供油量的需求不同,实施发动机转速高中低三速控制,改变液压泵的转速,提高供油的效率。 Depending on the operation conditions of the supply of fuel to the different needs, the implementation of the third speed low-high engine speed control, changing the rotational speed of the hydraulic pump, oil supply efficiency. 当机构不动作时或人为要求低速操作时,油门为低速,充分降低工作噪音、节约能源消耗。 When the operation mechanism is not required or human low-speed operation, the accelerator is low, the operating noise is sufficiently reduced, saving energy consumption. 当上部机构进行单独动作时或进行支腿操作时,油门为中速, 当上部机构进行多机构复合动作时,油门为高速,提高整车的作业效率。 When the upper operation means individually or leg operation speed of the accelerator, when the upper mechanism plurality mechanism combined operation, throttle high speed, improve the operating efficiency of the vehicle. 油门的控制可通过无线发射装置2-l、和转台操作开关37中的油门自动开关进行选择,是进行低速操作还是由控制器18自动控制油门的速度。 The throttle control may be automatically selected by the throttle switch 37 of radio transmitting apparatus 2-l, operation switches and the turntable, is low-speed operation by the speed controller 18 or automatically controlled throttle.

八、功能完善的调试软件。 Eight, functional debugging software. 该控制系统另一主要特点是配置了强大的调试软件,调试软件可以对该车型控制功能进行设定,使车辆性能最佳,同时也是该控制系统故障检修的重要依据。 Another key feature of the control system is equipped with powerful debugging software, debug software can be set to the vehicle control functions, the optimal vehicle performance, but also an important basis for the control system troubleshooting.

本发明提高了高空作业车在智能控制技术领域的先进性,大幅提高了高空作业人员及车辆的安全性。 The invention improves the advanced nature of aerial work platforms in the field of intelligent control technology, significantly improves the safety of high-altitude operations personnel and vehicles. 随着该产品的推广,必将产生良好的社会效益和经济利益。 With the promotion of the product, it will have a good social and economic benefits.

Claims (10)

  1. 1. 一种高空作业车智能控制系统,其特征在于:设置有无线遥控装置、上臂长度传感器、上下臂夹角编码器、转台回转角度编码器、支腿接地检测行程开关、水平伸出检测行程开关、控制器、下臂角度传感器、下臂长度传感器、臂托架行程开关、程序下载端口、液晶显示屏、五联比例阀组、油路切换阀、转台操作开关、支腿动作开关、转台电位器手柄,无线遥控装置包括无线发射装置和无线接收装置两部分,无线发射装置安装在绝缘斗上,无线接收装置设置在转台操作箱内,无线发射装置的动作信号通过无线方式传送至无线接收装置,控制器设置有CAN总线端口、模拟量输入口、PWM信号输出口、开关量输入口、开关量输出口,无线接收装置、上下臂夹角编码器、转台回转角度编码器、程序下载端口、液晶显示屏均与控制器的CAN总线端口连接,上臂长 An aerial intelligent control system, comprising: means provided with a wireless remote control, the length of the sensor arm, upper and lower arm angle encoder, angle encoder for rotating the turntable, detection limit switch grounding leg, the horizontal extension stroke detection switch, the controller, the lower arm angle sensor, lower arm length sensor, limit switch arm bracket, program download interface, LCD, five of the ratio valve, the oil passage switching valve, the switching operation of the turntable, operation of the switching leg, turn TPC bit handle, the wireless part of a wireless remote control means comprises two radio receiving apparatus and a transmitting apparatus, wireless transmission device mounted on the insulating bucket transmitted to the wireless reception device provided in a radio operating signal by wirelessly tank turret operation, the wireless transmission device receiving means is provided with a CAN bus interface controller, analog input, the PWM signal output, digital input, digital output port, radio receiving apparatus, upper and lower arm angle coder, angle encoder for rotating the turntable, download port, are connected to the LCD panel CAN bus port of the controller, arm length 传感器、下臂角度传感器、下臂长度传感器、转台电位器手柄均与控制器的模拟量输入口连接,五联比例阀组、油路切换阀均与控制器的PWM信号输出口连接,支腿接地检测行程开关、水平伸出检测行程开关、臂托架行程开关、转台操作开关、支腿动作开关均与控制器的开关量输入口连接,控制器的开关量输出口与工程灯、系统故障报警灯、作业范围限制灯、应急泵、发动机连接,上臂长度传感器安装在上臂上并用来检测绝缘伸缩臂的伸缩位置,下臂长度传感器安装在下臂上并用来检测下伸缩臂的伸缩位置,上下臂夹角编码器安装在上臂与下伸缩臂连接部并用来检测上臂与下臂之间的夹角,下臂角度传感器安装在下臂的尾部并用来检测下臂与水平面的仰角角度,转台回转角度编码器安装在转台内部的电刷里并用来检测转台回转的角度,转台操作箱 Sensor, the lower arm angle sensor, lower arm length sensor, turret potentiometer handle both analog input port connected to the controller, five of the ratio valve, the oil passage selector valve is connected with the PWM signal output controller, branched leg grounding detection limit switch, the horizontal extension stroke detection switch, limit switch arm bracket, the turret operation switches, operation of the switching legs are connected to the input port of the switch controller, the switch controller engineering light output port, the system fault warning lamp, lamp operation range limits, emergency pump, connected to the engine, mounted on the upper arm length sensor for detecting the arm and the telescopic position of the insulating telescopic arm, lower arm length sensor is mounted to the lower arm and the telescopic position is detected telescopic arm, upper and lower arm angle encoder is mounted to the upper arm and the telescopic arm and the connecting portion for detecting the angle between the upper arm and the lower arm, the lower arm angle sensor mounted aft of the lower arm and lower arm for detecting the angle of elevation and the horizontal plane, for rotating the turntable an angle encoder is mounted in the turret and the interior of the brush for detecting rotation angle of the turntable, the turntable control box 装在转台上,转台操作箱设置有转台操作开关、转台电位器手柄、液晶显示屏、控制器、无线接收装置,臂托架行程开关安装臂托架上并用来检测下臂是否已复位,支腿动作开关安装在车架上并用来检测是否进行支腿操作,四个支腿接地检测行程开关分别安装在四个水平支腿上并用来检测垂直支腿是否可靠接地,八个水平伸出检测行程开关安装在车架上并用来检测四个水平支腿的伸出位置,控制器通过PWM信号来控制五联比例阀组和油路切换阀,五联比例阀组直接控制上臂升降油缸、上臂伸缩油缸、下臂升降油缸、下臂伸缩油缸、转台回转马达,油路切换阀用来控制支腿动作与上部机构动作的油路切换,控制器与转台操作开关中的发动机起动熄火开关、应急泵开关、发动机油门自动控制开关、紧急停止开关、作业范围限制解除开关连接,转台电位器 Mounted on the turntable, the turntable operating an operation switch box provided with a turntable, the turntable potentiometer handle, the LCD controller, the wireless reception device, the trip switch arm bracket mounted on the arm bracket and used for detecting whether the lower arm has been reset, operation of the switching legs and mounted on the frame for detecting whether or not the leg operation, detects the stroke four legs grounding switches are mounted on the four horizontal leg and a vertical leg used to detect grounded, eight horizontal extension detection limit switch mounted on the frame for detecting and four horizontal leg extended position, the controller controls the proportional valve, and five of the path selector valve by the PWM signal, five of the proportional valve lift cylinder direct control of the upper arm, telescopic arm cylinder, lift cylinder lower arm, the lower arm telescopic cylinder, a motor for rotating the turntable, for controlling the path selector valve passage switching operation of the upper leg mechanism is operated, the controller switches the operation of the turntable engine start stop switch, emergency pump switch, automatic engine throttle control switches, emergency stop switch, the operation range limit release switch is connected, the turntable potentiometer 手柄用来实现在转台上对上部机构动作的控制。 Handle means to achieve control of the operation of the upper portion of the turntable.
  2. 2、 根据权利要求l所述的高空作业车智能控制系统,其特征在于:所述无线发射装置设置有遥控自动油门开关、遥控应急泵开关、遥控发动机起动熄火开关、遥控紧急停止开关、遥控上臂升降手柄、遥控上臂伸縮手柄、遥控下臂升降手柄、遥控下臂伸縮手柄、遥控转台回转手柄。 2. Aerial intelligent control system according to claim l, characterized in that: the wireless remote control transmitting device provided with an automatic throttle switch, emergency pump remote control switch, remote engine start stop switch, a remote control emergency stop switch, remote control arm lifter knob, remote telescoping handle upper arm, lower arm lifter knob remote control, remote control of the lower arm telescoping handle, remote control handle for rotating the turntable.
  3. 3、 根据权利要求1所述的高空作业车智能控制系统,其特征在于:所述转台电位器手柄包括上臂升降手柄、上臂伸縮手柄、下臂升降手柄、下臂伸縮手柄、转台回转手柄,上臂升降手柄、上臂伸缩手柄、下臂升降手柄、下臂伸縮手柄、转台回转手柄均与控制器连接。 3, truck intelligent control system according to claim 1, characterized in that: said handle comprises a potentiometer turret arm lifter knob, telescoping handle upper arm, lower arm lifting the handle, the lower arm telescoping handle, the handle for rotating the turntable, lifter knob arm, telescoping handle upper arm, lower arm lifting the handle, the lower arm telescoping handle, the handle for rotating the turntable are connected to the controller.
  4. 4、 根据权利要求1所述的高空作业车智能控制系统,其特征在于:智能控制系统根据水平支腿的具体位置确定上部机构有效动作范围。 4. Aerial according to claim intelligent control system according to claim 1, wherein: the intelligent control system determines the effective range of the upper operation means depending on the position of the horizontal leg.
  5. 5、 根据权利要求1所述的高空作业车智能控制系统,其特征在于:智能控制系统在下臂、 下伸縮臂、上臂、绝缘伸縮臂、转台动作接近设定位置时进行自动速度控制。 5. Aerial according to claim intelligent control system according to claim 1, wherein: the intelligent control system of the lower arm, the lower telescopic arm, an upper arm, an insulating telescopic arm, close to the turret for automatic speed control operation of the set position.
  6. 6、 根据权利要求1所述的高空作业车智能控制系统,其特征在于:所述液晶显示屏对高空作业车作业状况进行全面显示,包括下臂长度、下臂仰角、上臂长度、上臂仰角、转台回转角度、作业高度、作业幅度以及水平支腿和垂直支腿的伸出和接地状态,且在系统故障时显示故障情况。 6. Aerial according to claim intelligent control system according to claim 1, wherein: said liquid crystal display of high job status display a full working vehicle, comprising a lower arm length, the boom angle, arm length, arm elevation, rotating the turntable angle, the height of the job, the job and the horizontal amplitude and vertical leg extension and leg grounded state, and the fault condition is a fault in the system.
  7. 7、 根据权利要求1所述的高空作业车智能控制系统,其特征在于:所述控制器采用TTC200 控制器,控制器采用独立的看门狗电路监视程序运行,内置CPU温度检测功能,具有输入输出端口的短路保护及自诊断功能和电磁比例阔的Pmi信号的内部电流反馈功能。 7. Aerial according to claim intelligent control system according to claim 1, wherein: said controller using TTC200 a controller circuit using a separate watchdog monitoring program runs, the temperature detection function built-in CPU, an input and an internal short-circuit protection function of the output current feedback port self-diagnosis function and the width of the solenoid proportional Pmi signal.
  8. 8、 一种带如权利要求l所述智能控制系统的高空作业车,其特征在于:设置有高空作业车智能控制系统、绝缘斗、绝缘伸縮臂、上臂、上臂升降油缸、下伸縮臂、下臂、下臂升降油缸、转台、转台操作箱、垂直支腿、水平支腿、车架、臂托架、工程灯、系统故障报警灯、作业范围限制灯、应急泵、发动机、上臂伸縮油缸、下臂伸縮油缸,绝缘伸縮臂与绝缘斗绞接, 绝缘伸縮臂与上臂活动连接,上臂仲縮油缸安装在上臂里并用来推动绝缘伸縮臂的伸縮,上臂与下伸縮臂头部连接,下伸縮臂与下臂活动连接,下臂伸縮油缸安装在下臂里并用来推动下伸縮臂的伸縮,上臂升降油缸安装在上臂上并与下伸縮臂头部的连杆连接,下臂起伏油缸安装在转台上并与下臂连接,转台操作箱安装在转台上,转台、臂托架均安装在车架上,发动机通过取力器驱动液压泵 8. A tape as l the Aerial intelligent control system as claimed in claim, wherein: there is provided Aerial intelligent control system, bucket insulation, insulation telescopic arm, upper arm, the upper arm lift cylinder, the telescopic arm, the arm, lower arm lift cylinder, a turntable operation box, the vertical leg, a horizontal leg, a frame, a bracket arm, light engineering, system failure alarm lamp, lamp operation range limits, emergency pumps, motors, telescopic arm cylinders, the telescopic arm cylinder, bucket insulating telescopic arm articulated insulating, insulating telescopic arm and the upper arm is movably connected, the upper arm cylinder installed in a secondary reduction for urging the telescopic arm in and insulated telescopic arm, upper arm and the lower telescopic arm connected to the head, the telescopic articulating arm and the lower arm, the lower arm telescopic cylinder mounted in the lower arm and to push the telescopic lower telescopic arm, an upper arm lift cylinder mounted on the arm and telescopic arm connected to the link head, the lower arm is mounted on the turntable cylinder downs connected to the lower and upper arm, the operation box turntable mounted on the turntable, the turntable, the arm bracket is mounted on the frame, a hydraulic pump driven by the engine power take off 来提供整车液压动力,四个水平支腿与车架活动连接,每个水平支腿与安装在其上的垂直支腿活动连接。 Vehicle to provide hydraulic power to the four horizontal leg frame movably connected, each horizontal leg and a vertical leg which is movably mounted on the connector.
  9. 9、 一种如权利要求8所述高空作业车的控制方法,其特征在于包括以下步骤:读取控制器EEPROM中的系统参数值,系统参数赋值,CAN总线初始化,CAN数据读取,读输入信号,传感器故障判断,车体姿态计算,作业范围计算,动作速度系数计算,手柄信号处理,系统故障判断,当系统故障情形存在时进入紧急处理机制,没有系统故障情形或者紧急处理机制完成后进入PWM信号处理,控制信号输出,显示数据发送。 9. A control method of claim 8 Aerial claims, characterized in that it comprises the steps of: read a parameter in the EEPROM system controller, the system parameter assignment, CAN bus initialization, CAN data read, read input signal, sensor failure is determined, the vehicle body posture calculating, computing operating range, the operation speed coefficient calculation, the handle signal processing, fault diagnosis system, an emergency handling mechanism into the system when the fault condition exists, the fault condition is no system or emergency handling mechanism into the complete PWM signal processing circuit, a control signal is output, the display data transmitted.
  10. 10、 根据权利要求9所述高空作业车的控制方法,其特征在于:在CAN数据读取和读输入信号之间还有智能控制系统调试,智能控制系统调试包括以下步骤:调试软件联机判断,若调试软件已经联机,则依据调试软件发送的修改指令与监视指令对系统执行参数初始化,当前参数读取,系统参数修改,监视数据发送。 10. The control method of claim 9 Aerial claims, characterized in that: reading between the input signal and a read intelligent control system debugging as well, the intelligent control system comprising the steps of debugging data in CAN: determining online debugging software, If debugging software is already online, is performed according to the modified instruction and monitoring software debugging command sent to initialize the system parameters, current parameters read, modify system parameters, monitoring data transmission.
CN 200810061693 2008-05-23 2008-05-23 Intelligence control system for aerial platform, aerial platform and control method thereof CN101284636A (en)

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Cited By (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101830414A (en) * 2010-05-04 2010-09-15 大连益利亚工程机械有限公司;常州益利亚重工机械科技有限公司;大连理工大学 Car body supporting leg device of high-altitude operation car
CN101615007B (en) 2009-07-20 2011-04-13 中国电子科技集团公司第五十二研究所 Control method of intelligent controller of overhead working truck
CN102328894A (en) * 2011-10-12 2012-01-25 中国人民解放军总后勤部建筑工程研究所 Safety monitoring system for multifunctional cross-country fork truck
CN102372238A (en) * 2010-08-05 2012-03-14 徐州重型机械有限公司 Crank arm locking detection device and aerial work engineering machinery with same
CN101670984B (en) 2009-09-29 2012-06-06 长沙中联重工科技发展股份有限公司 Optimal control method and control system of single-cylinder bolt type telescopic boom trail
CN102607860A (en) * 2012-02-23 2012-07-25 中联重科股份有限公司 Fault detection method, device and system for engineering mechanical vehicle
CN102707730A (en) * 2012-04-05 2012-10-03 大连理工大学 Hydraulic aerial cage operation platform trajectory control device
CN102743832A (en) * 2012-06-20 2012-10-24 中联重科股份有限公司 Control method, device and system for fire extinguishing operation of fire-fighting machinery
CN102822006A (en) * 2009-11-05 2012-12-12 特拉哈克有限责任公司 Vehicle for deploying a mobile surveillance module
CN102830685A (en) * 2012-09-19 2012-12-19 三一矿机有限公司 Electric wheel dumper and control system
CN101767549B (en) 2008-12-31 2013-01-02 宝山钢铁股份有限公司 Power-driven lift platform carrier vehicle for steel mill
CN102849659A (en) * 2012-03-05 2013-01-02 中联重科股份有限公司 Hydraulic aerial cage control system and method
CN102897696A (en) * 2012-10-18 2013-01-30 三一重工股份有限公司 Elevating fire truck boom control system, elevating fire truck boom control method and elevating fire truck
CN103072924A (en) * 2012-12-19 2013-05-01 江苏安德信超导加速器科技有限公司 Removing and relieving robot for high-rise building
CN103434990A (en) * 2013-09-11 2013-12-11 徐州重型机械有限公司 Aerial work platform truckHigh-altitude operation car for finishing high-altitude operation tasks
CN104132029A (en) * 2013-12-05 2014-11-05 北京中金泰达电液科技有限公司 Large-sized, high-precision and ultra-low-speed two-degree-of-freedom electro-hydraulic servo turntable
CN104229690A (en) * 2014-09-12 2014-12-24 浙江鼎力机械股份有限公司 Overhead operation platform lifting arm provided with safety monitoring device
CN104591051A (en) * 2014-12-02 2015-05-06 徐州重型机械有限公司 Multi-mode amplitude control system of crank arm type overhead working truck
CN104843616A (en) * 2015-04-17 2015-08-19 徐州徐工随车起重机有限公司 Overhead working truck boom and control method for working radius of overhead working truck boom
CN105321312A (en) * 2014-05-29 2016-02-10 江苏柳工机械有限公司 Aerial work vehicle wireless remote control apparatus
CN105329811A (en) * 2015-10-19 2016-02-17 徐州重型机械有限公司 Flexible control method for action starting and stopping of upper-air work platform car cantilever crane
CN105329823A (en) * 2015-10-20 2016-02-17 徐州重型机械有限公司 Control system for intelligent walking of aerial work platform and control method of control system
CN105329824A (en) * 2015-11-23 2016-02-17 江阴市华澄特种机械工程有限公司 Multifunctional aerial working platform
CN105366603A (en) * 2015-12-24 2016-03-02 倍特(常州)机械科技有限公司 Control system of high-altitude operation vehicle
CN105480878A (en) * 2016-01-20 2016-04-13 徐州重型机械有限公司 Telescopic arm telescopic operation detection device, aerial work platform and control method
CN105480899A (en) * 2015-11-30 2016-04-13 徐州重型机械有限公司 Closed-loop self-adaptive control system of aerial working platform and method thereof
CN105502180A (en) * 2015-12-25 2016-04-20 长沙中联消防机械有限公司 Lifting appliance and aerial ladder fire truck
WO2016155561A1 (en) * 2015-03-27 2016-10-06 江苏省电力公司常州供电公司 Amplitude limiting system of insulated aerial work platform
CN106006490A (en) * 2016-06-15 2016-10-12 国网重庆市电力公司电力科学研究院 High-voltage electrified working robot
CN106093619A (en) * 2016-05-30 2016-11-09 国网山东省电力公司济南供电公司 Adjustable lightning arrester live-working testing vehicle
CN106093617A (en) * 2016-05-30 2016-11-09 国网山东省电力公司济南供电公司 Monitoring lightning arrester live-working testing vehicle
CN106094814A (en) * 2016-05-30 2016-11-09 国网山东省电力公司济南供电公司 Full-automatic lightning arrester live-working testing vehicle
CN106276730A (en) * 2016-11-10 2017-01-04 山东理工大学 3-RPS-based self-leveling foldable arm elevator
CN106371146A (en) * 2016-11-25 2017-02-01 同方威视技术股份有限公司 Inspection System
CN106430015A (en) * 2016-08-24 2017-02-22 浙江鼎力机械股份有限公司 Vehicle body with reversible control box and aerial work platform
CN106481080A (en) * 2016-08-29 2017-03-08 北汽福田汽车股份有限公司 Control method and control device for controlling rotation of turnplate of pump truck and pump truck
CN106586918A (en) * 2016-11-11 2017-04-26 徐州海伦哲专用车辆股份有限公司 Folding-jib overhead working truck control method capable of realizing automatic amplitude limiting
CN106744554A (en) * 2016-12-20 2017-05-31 徐州海伦哲专用车辆股份有限公司 Controlling method for lower folding type high-altitude operation vehicle capable of realizing self-damage prevention of vehicle body
CN107001018A (en) * 2014-12-03 2017-08-01 哈罗特集团 Works machine comprising more reliable means of neutralizing safety device
CN107539926A (en) * 2017-08-24 2018-01-05 徐工集团工程机械有限公司 Aerial car control method and control device and system special for aerial car

Cited By (51)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101767549B (en) 2008-12-31 2013-01-02 宝山钢铁股份有限公司 Power-driven lift platform carrier vehicle for steel mill
CN101615007B (en) 2009-07-20 2011-04-13 中国电子科技集团公司第五十二研究所 Control method of intelligent controller of overhead working truck
RU2507146C2 (en) * 2009-09-29 2014-02-20 Зумлайон Хеви Индастри Сайенс Энд Текнолджи Ко., Лтд Method of optimised control over telescoping of single-cylinder telescope boom and control system to this end
CN101670984B (en) 2009-09-29 2012-06-06 长沙中联重工科技发展股份有限公司 Optimal control method and control system of single-cylinder bolt type telescopic boom trail
CN102822006A (en) * 2009-11-05 2012-12-12 特拉哈克有限责任公司 Vehicle for deploying a mobile surveillance module
CN101830414A (en) * 2010-05-04 2010-09-15 大连益利亚工程机械有限公司;常州益利亚重工机械科技有限公司;大连理工大学 Car body supporting leg device of high-altitude operation car
CN102372238A (en) * 2010-08-05 2012-03-14 徐州重型机械有限公司 Crank arm locking detection device and aerial work engineering machinery with same
CN102372238B (en) 2010-08-05 2013-07-24 徐州重型机械有限公司 Crank arm locking detection device and aerial work engineering machinery with same
CN102328894A (en) * 2011-10-12 2012-01-25 中国人民解放军总后勤部建筑工程研究所 Safety monitoring system for multifunctional cross-country fork truck
CN102328894B (en) 2011-10-12 2014-09-10 中国人民解放军总后勤部建筑工程研究所 Safety monitoring system for multifunctional cross-country fork truck
CN102607860A (en) * 2012-02-23 2012-07-25 中联重科股份有限公司 Fault detection method, device and system for engineering mechanical vehicle
CN102849659B (en) * 2012-03-05 2015-02-18 中联重科股份有限公司 Controlling system and method of hydraulic aerial cage
CN102849659A (en) * 2012-03-05 2013-01-02 中联重科股份有限公司 Hydraulic aerial cage control system and method
CN102707730A (en) * 2012-04-05 2012-10-03 大连理工大学 Hydraulic aerial cage operation platform trajectory control device
CN102743832A (en) * 2012-06-20 2012-10-24 中联重科股份有限公司 Control method, device and system for fire extinguishing operation of fire-fighting machinery
CN102743832B (en) * 2012-06-20 2015-06-17 中联重科股份有限公司 Control method, device and system for fire extinguishing operation of fire-fighting machinery
CN102830685A (en) * 2012-09-19 2012-12-19 三一矿机有限公司 Electric wheel dumper and control system
CN102830685B (en) * 2012-09-19 2015-02-18 三一矿机有限公司 Electric wheel dumper and control system
CN102897696B (en) * 2012-10-18 2015-03-18 三一重工股份有限公司 Elevating fire truck boom control system, elevating fire truck boom control method and elevating fire truck
CN102897696A (en) * 2012-10-18 2013-01-30 三一重工股份有限公司 Elevating fire truck boom control system, elevating fire truck boom control method and elevating fire truck
CN103072924A (en) * 2012-12-19 2013-05-01 江苏安德信超导加速器科技有限公司 Removing and relieving robot for high-rise building
CN103434990A (en) * 2013-09-11 2013-12-11 徐州重型机械有限公司 Aerial work platform truckHigh-altitude operation car for finishing high-altitude operation tasks
CN104132029A (en) * 2013-12-05 2014-11-05 北京中金泰达电液科技有限公司 Large-sized, high-precision and ultra-low-speed two-degree-of-freedom electro-hydraulic servo turntable
CN104132029B (en) * 2013-12-05 2016-04-20 北京中金泰达电液科技有限公司 A large, high-precision, low-speed electro-hydraulic servo turret two degrees of freedom
CN105321312A (en) * 2014-05-29 2016-02-10 江苏柳工机械有限公司 Aerial work vehicle wireless remote control apparatus
CN104229690B (en) * 2014-09-12 2016-09-07 浙江鼎力机械股份有限公司 A tape aerial work platform safety monitoring device of the lift arm
CN104229690A (en) * 2014-09-12 2014-12-24 浙江鼎力机械股份有限公司 Overhead operation platform lifting arm provided with safety monitoring device
CN104591051B (en) * 2014-12-02 2017-03-08 徐工消防安全装备有限公司 One kind of aerial working vehicle multi-mode amplitude control system
CN104591051A (en) * 2014-12-02 2015-05-06 徐州重型机械有限公司 Multi-mode amplitude control system of crank arm type overhead working truck
CN107001018A (en) * 2014-12-03 2017-08-01 哈罗特集团 Works machine comprising more reliable means of neutralizing safety device
WO2016155561A1 (en) * 2015-03-27 2016-10-06 江苏省电力公司常州供电公司 Amplitude limiting system of insulated aerial work platform
CN104843616A (en) * 2015-04-17 2015-08-19 徐州徐工随车起重机有限公司 Overhead working truck boom and control method for working radius of overhead working truck boom
CN105329811A (en) * 2015-10-19 2016-02-17 徐州重型机械有限公司 Flexible control method for action starting and stopping of upper-air work platform car cantilever crane
CN105329823A (en) * 2015-10-20 2016-02-17 徐州重型机械有限公司 Control system for intelligent walking of aerial work platform and control method of control system
CN105329824A (en) * 2015-11-23 2016-02-17 江阴市华澄特种机械工程有限公司 Multifunctional aerial working platform
CN105480899A (en) * 2015-11-30 2016-04-13 徐州重型机械有限公司 Closed-loop self-adaptive control system of aerial working platform and method thereof
CN105366603A (en) * 2015-12-24 2016-03-02 倍特(常州)机械科技有限公司 Control system of high-altitude operation vehicle
CN105502180A (en) * 2015-12-25 2016-04-20 长沙中联消防机械有限公司 Lifting appliance and aerial ladder fire truck
CN105480878A (en) * 2016-01-20 2016-04-13 徐州重型机械有限公司 Telescopic arm telescopic operation detection device, aerial work platform and control method
CN106093617A (en) * 2016-05-30 2016-11-09 国网山东省电力公司济南供电公司 Monitoring lightning arrester live-working testing vehicle
CN106094814A (en) * 2016-05-30 2016-11-09 国网山东省电力公司济南供电公司 Full-automatic lightning arrester live-working testing vehicle
CN106093619A (en) * 2016-05-30 2016-11-09 国网山东省电力公司济南供电公司 Adjustable lightning arrester live-working testing vehicle
CN106006490A (en) * 2016-06-15 2016-10-12 国网重庆市电力公司电力科学研究院 High-voltage electrified working robot
CN106430015A (en) * 2016-08-24 2017-02-22 浙江鼎力机械股份有限公司 Vehicle body with reversible control box and aerial work platform
CN106481080A (en) * 2016-08-29 2017-03-08 北汽福田汽车股份有限公司 Control method and control device for controlling rotation of turnplate of pump truck and pump truck
CN106276730A (en) * 2016-11-10 2017-01-04 山东理工大学 3-RPS-based self-leveling foldable arm elevator
CN106586918A (en) * 2016-11-11 2017-04-26 徐州海伦哲专用车辆股份有限公司 Folding-jib overhead working truck control method capable of realizing automatic amplitude limiting
CN106586918B (en) * 2016-11-11 2018-09-25 徐州海伦哲专用车辆股份有限公司 An automatic slicer folding arm aerial control method
CN106371146A (en) * 2016-11-25 2017-02-01 同方威视技术股份有限公司 Inspection System
CN106744554A (en) * 2016-12-20 2017-05-31 徐州海伦哲专用车辆股份有限公司 Controlling method for lower folding type high-altitude operation vehicle capable of realizing self-damage prevention of vehicle body
CN107539926A (en) * 2017-08-24 2018-01-05 徐工集团工程机械有限公司 Aerial car control method and control device and system special for aerial car

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