CN101615007A - A kind of intelligent controller of overhead working truck and control method thereof - Google Patents
A kind of intelligent controller of overhead working truck and control method thereof Download PDFInfo
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- CN101615007A CN101615007A CN200910100737A CN200910100737A CN101615007A CN 101615007 A CN101615007 A CN 101615007A CN 200910100737 A CN200910100737 A CN 200910100737A CN 200910100737 A CN200910100737 A CN 200910100737A CN 101615007 A CN101615007 A CN 101615007A
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Abstract
A kind of intelligent controller of overhead working truck, comprise central processing module, switch value input interface, analog quantity is imported 1 interface, analog quantity is imported 2 interfaces, input circuit, the ADC chip, power supply processing circuit, reset circuit, output circuit, the CAN telecommunication circuit, the RS232 telecommunication circuit, the RS485 telecommunication circuit, LED, field effect transistor, relay, the PWM interface, central processing module respectively with reset circuit, analog quantity is imported 1 interface, the CAN telecommunication circuit, the RS232 telecommunication circuit, the RS485 telecommunication circuit connects, by system bus respectively with input circuit, the ADC chip, output circuit links to each other; Input circuit is connected with switch value input interface; The ADC chip is imported 2 interfaces with analog quantity and is connected; Output circuit is connected with LED, field effect transistor, relay, PWM interface respectively.Beneficial effect of the present invention: the high-altitude operation vehicle scope of work is bigger, operate more steady, safety and robotization more.
Description
Technical field
The present invention relates to a kind of intelligent controller and control method thereof, refer in particular to a kind of intelligent controller of overhead working truck and control method thereof.
Background technology
At electric power, street lamp, municipal administration, gardens, communication, airport, make work high above the ground fields such as (repairing) ship, traffic, advertisement, photography, need a kind of mobility good, the road area occupied is little, and scope of work is big, and stable action is the telescopic boom high-altitude operation vehicle flexibly.This vehicle mainly is made up of three parts: underframe (base), hoisting gear (lifting mechanism) and job platform (platform) are formed.Generally also being equipped with on the underframe can the flexible supporting leg (outrigger) of level.Car load mechanism adopts hydraulic power to drive general time.Traditional high-altitude operation vehicle does not take intelligent controller to carry out control operation, horizontal telescopic outrigger all need be stretched out usually, carries out the operation of hoisting gear again.For guaranteeing intact stability, the vehicle volume is big, Heavy Weight, and the road area occupied is big during operation, and scope of work is little, and stable action is poor.The controller that the present invention relates to is mainly used in such telescopic boom high-altitude operation vehicle.
Summary of the invention
The present invention has overcome the deficiencies in the prior art part, a kind of intelligent controller of overhead working truck and control method thereof are provided, can robotization efficiently control high-altitude operation vehicle, under different road work environment, the scope of work of the high-altitude operation vehicle of feasible this controller of application is bigger, the workbench operation is more steady, and security is higher.
The present invention achieves the above object by the following technical programs: a kind of intelligent controller of overhead working truck, comprise central processing module, switch value input interface, analog quantity is imported 1 interface, analog quantity is imported 2 interfaces, input circuit, the ADC chip, power supply processing circuit, reset circuit, output circuit, the CAN telecommunication circuit, the RS232 telecommunication circuit, the RS485 telecommunication circuit, LED, field effect transistor, relay, the PWM interface, central processing module respectively with reset circuit, analog quantity is imported 1 interface, the CAN telecommunication circuit, the RS232 telecommunication circuit, the RS485 telecommunication circuit connects, by system bus respectively with input circuit, the ADC chip, output circuit links to each other; Input circuit is connected with switch value input interface; The ADC chip is imported 2 interfaces with analog quantity and is connected; Output circuit is connected with LED, field effect transistor, relay, PWM interface respectively.
As preferably, described central processing module comprises control signal load module, control signal output module, error diagnosis and processing module, working arm action control module, scope of work calculating and processing module, engine processing module; Wherein the working arm action control module comprises that the processing of operator precedence level, the processing of proportioning valve Current Control, automatic drawing back control and treatment, peripheral speed are handled, speed-buffering is handled and speed output.
As preferably, designed output circuit with open circuit detection, short-circuit protection function.
As preferably, designed have the antipolarity protection, transient absorption, anti-supply voltage falls and the power supply processing circuit of supply voltage monitoring function.
The control method of described intelligent controller of overhead working truck comprises following disposal route:
1) control signal input; 2) control signal output; 3) working arm action control and treatment; 4) scope of work calculates and handles; 5) engine is handled; 6) error diagnosis and processing;
Working arm action control is divided into collision restriction and unbalance restriction two parts, and the collision restriction mainly is the region limits that prevents that working arm from bumping and carrying out with car body itself in motion process, comprises following processing procedure:
1) according to the situation of high-altitude operation vehicle physical construction, between rotating 360 degree of whole working arm, sets between interference region;
2) be set in the direction of action that allows working arm between this interference region
3) when the working arm revolution is about to enter between interference region, produce and interfere restriction, the action that does not allow to carry out bumping is exported;
Unbalance restriction mainly is to prevent the vehicle's center of gravity skew that causes in the working arm motion process and then the motion limits processing of overturning dangerous takes place, and comprises following processing procedure:
1) according to the extension elongation of high-altitude operation vehicle left and right sides supporting leg, the left and right sides supporting leg is stretched out state be divided into 16 grades respectively;
2) be divided into six zones between 360 ° of tow-away zones of extended position: the place ahead, rear, the place ahead, left side, the place ahead, right side, rear, left side, rear, right side with working arm according to the left and right sides supporting leg;
3) model that six zones are set respectively limits radius;
4) detecting at this moment, whether the radius of clean-up exceeds model restriction radius;
5) if the real work radius does not exceed model restriction radius, the working arm action is unrestricted;
6) if the real work radius exceeds model restriction radius, the action that can cause action that the real work radius increases and model restriction radius to reduce is under an embargo.
As preferably, also comprise the velocity process method of workbench motion, end output control, peripheral speed processing, slow-action processing and proportioning valve Current Control are handled combination, determine final output speed.
The invention has the beneficial effects as follows, intelligent controller of overhead working truck is in conjunction with supporting leg extension elongation sensor, a series of electrical equipments such as working arm linear transducer, working arm lifting angular transducer, turntable angle of revolution sensor, travel switch, proportioning valve, make high-altitude operation vehicle have operation restrictions such as anti-overturning, anticollision, workbench scope of work intelligent functions such as adjustment and the automatic buffering of movement velocity automatically, make that promptly the high-altitude operation vehicle scope of work is bigger, operate more steady, safety and robotization more.
Description of drawings
Fig. 1 is the structure principle chart of intelligent controller of overhead working truck;
Fig. 2 is the functional block diagram of central processing module;
Fig. 3 is the functional flow diagram of central processing module;
Fig. 4 is the illustraton of model of working arm action control and treatment;
Specific embodiment
The present invention is further described below in conjunction with drawings and Examples:
As shown in Figure 1, intelligent controller of overhead working truck comprises central processing module, switch value input interface, analog quantity is imported 1 interface, analog quantity is imported 2 interfaces, input circuit, the ADC chip, power supply processing circuit, reset circuit, output circuit, the CAN telecommunication circuit, the RS232 telecommunication circuit, the RS485 telecommunication circuit, LED, field effect transistor, relay, the PWM interface, central processing module respectively with reset circuit, analog quantity is imported 1 interface, the CAN telecommunication circuit, the RS232 telecommunication circuit, the RS485 telecommunication circuit connects, by system bus respectively with input circuit, the ADC chip, output circuit links to each other; Input circuit is connected with switch value input interface; The ADC chip is imported 2 interfaces with analog quantity and is connected; Output circuit is connected with LED, field effect transistor, relay, PWM interface respectively.
Shown in Fig. 2,3, described central processing module comprises control signal input, control signal output, error diagnosis and processing module, working arm action control module, scope of work calculating and processing module, engine processing module; Wherein the working arm action is handled, and comprises that the processing of operator precedence level, proportioning valve Current Control, automatic drawing back are handled, peripheral speed is handled, speed-buffering is handled and speed output; Error diagnosis and processing run through all modules.
Power supply divides via power input part from automobile storage battery introduces controller, for the total system power supply, behind choking coil, through the antipolarity holding circuit.After this, the power circuit separated into two parts, a part is through the external power source output circuit, for PWM module and switching value output module provide electric energy; Another part converts 12V to through interior power supply circuit, 5V, and voltages such as 3.3V are powered to internal components.In addition, the add-on system electric voltage observation circuit by the software and hardware overall treatment, makes controller operate as normal when the electric voltage dropping of 20ms appears in supply voltage, during electric voltage dropping within 500ms, misoperation (but allowing to reset) do not occur.
This controller is installed in have the working arm linear transducer, the high-altitude operation vehicle of working arm lifting angular transducer, turntable angle of revolution sensor, supporting leg extension elongation sensor and devices such as ground connection detector switch, proportioning valve group, arm carriage travel switch, upper and lower operating switch and handle.Lifting handle, telescoping handle, rotary handle connect the analog quantity of controller respectively and import 1 interface, be used to gather the speed input value of three motion dimensions, the analog signals of working arm linear transducer, working arm lifting angular transducer, angle of revolution sensor is input to the analog quantity of controller respectively and imports 1 interface, is used to calculate current operating attitude; Electro-hydraulic proportional valve is connected with the PWM interface of controller, and the rotation of the working arm of car load, mechanism flexible, lifting action are realized proportionality velocity modulation control.Engine start stop signal and throttle high speed signal are connected with the switching value output interface of controller.Four supporting leg extension elongation sensors are imported 2 interfaces with the analog quantity of controller and are connected, and are used to calculate the supporting leg extension elongation, finally determine the scope of work that working arm is allowed to.Various on the high-altitude operation vehicle are connected with the switching value output interface of controller such as fault alarm indication LED, scope of work restriction LED, engine control.
The present invention also comprises a kind of method for limiting of job platform scope of work in addressing the above problem, comprise collision restriction and unbalance restriction two parts.The collision restriction mainly is the region limits that prevents that working arm from bumping and carrying out with car body itself in motion process; Unbalance restriction mainly is to prevent the vehicle's center of gravity skew that causes in the working arm motion process and then the restriction processing of overturning dangerous takes place.Wherein collision limits main situation according to high-altitude operation vehicle machinery, between rotating 360 degree of whole working arm, set between some interference regions and allow the direction of action of working arm, when the working arm revolution is about to enter between interference region, will produce the collision restriction, do not allow to carry out some motion action, to avoid collision.
As shown in Figure 4, unbalance restriction is mainly according to the extension elongation of high-altitude operation vehicle left and right sides supporting leg, the straight leg of left and right sides is stretched out state be divided into 16 grades respectively, be divided into six zones between 360 ° of tow-away zones of extended position: the place ahead with working arm according to the left and right sides supporting leg, the rear, the place ahead, left side, the place ahead, right side, the rear, left side, the rear, right side, the model restriction radius in six zones is set respectively, detecting at this moment, whether the radius of clean-up exceeds model restriction radius, when the real work radius does not exceed model restriction radius, the working arm action is unrestricted, when the real work radius exceeds model restriction radius, the action that can cause action that the real work radius increases and model restriction radius to reduce is under an embargo.All the other directions are unaffected.
The velocity process method that also comprises the workbench motion in addressing the above problem is handled combination with end output control, peripheral speed processing, slow-action processing and proportioning valve Current Control, determines final output speed.Carried out terminal output control at end of travel.In order to make workbench operate steadily at the mechanical trip end, reduce mechanical impact, need to slow down in advance.
Peripheral speed is handled, because workbench line of motion speed also has relation with the working arm elongation and the radius of clean-up at this moment, change influence for reducing working arm elongation and the radius of clean-up in the workbench motion process, carry out linear velocity constant and handle the workbench movement velocity.According to elongation and radius the PWM velocity amplitude is carried out ratio decay or amplification.Slow-action is handled, and the output speed that causes for any reason changes, can saltus step, but take the buffering course of gradual change.
Above described be specific embodiments of the invention and the know-why used, if the change of doing according to conception of the present invention, when the function that it produced does not exceed spiritual that instructions and accompanying drawing contain yet, must belong to protection scope of the present invention.
Claims (6)
1, a kind of intelligent controller of overhead working truck, it is characterized in that comprising central processing module, switch value input interface, analog quantity is imported 1 interface, analog quantity is imported 2 interfaces, input circuit, the ADC chip, power supply processing circuit, reset circuit, output circuit, the CAN telecommunication circuit, the RS232 telecommunication circuit, the RS485 telecommunication circuit, LED, field effect transistor, relay, the PWM interface, central processing module respectively with reset circuit, analog quantity is imported 1 interface, the CAN telecommunication circuit, the RS232 telecommunication circuit, the RS485 telecommunication circuit connects, by system bus respectively with input circuit, the ADC chip, output circuit links to each other; Input circuit is connected with switch value input interface; The ADC chip is imported 2 interfaces with analog quantity and is connected; Output circuit is connected with LED, field effect transistor, relay, PWM interface respectively.
2, intelligent controller of overhead working truck according to claim 1, it is characterized in that, described central processing module comprises control signal load module, control signal output module, error diagnosis and processing module, working arm action control module, scope of work calculating and processing module, engine processing module; The working arm action control module comprises that the processing of operator precedence level, proportioning valve Current Control, automatic drawing back are handled, peripheral speed is handled, speed-buffering is handled and speed output.
3, intelligent controller of overhead working truck according to claim 1 is characterized in that, has designed the output circuit with open circuit detection, short-circuit protection function.
4, according to claim 1 or 3 described intelligent controller of overhead working truck, it is characterized in that, designed have the antipolarity protection, transient absorption, anti-supply voltage falls and the power supply processing circuit of supply voltage monitoring function.
5, the control method of intelligent controller of overhead working truck according to claim 1 comprises following disposal route: 1) control signal input; 2) control signal output; 3) working arm action control and treatment; 4) scope of work calculates and handles; 5) engine is handled; 6) error diagnosis and processing; It is characterized in that working arm action control and treatment is divided into collision restriction and unbalance restriction two parts, the collision restriction mainly is the region limits that prevents that working arm from bumping and carrying out with car body itself in motion process, comprises following processing procedure:
1) according to the situation of high-altitude operation vehicle physical construction, between rotating 360 degree of whole working arm, sets between interference region;
2) be set in the direction of action that allows working arm between this interference region;
3) when the working arm revolution is about to enter between interference region, produce and interfere restriction, the action that does not allow to carry out bumping is exported;
Unbalance restriction mainly is to prevent the vehicle's center of gravity skew that causes in the working arm motion process and then the motion limits processing of overturning dangerous takes place, and comprises following processing procedure:
1), the state that stretches out of left and right sides supporting leg is divided into 16 grades according to the extension elongation of high-altitude operation vehicle left and right sides supporting leg;
2) be divided into six zones between 360 ° of tow-away zones of extended position: the place ahead, rear, the place ahead, left side, the place ahead, right side, rear, left side, rear, right side, rear with working arm according to left and right sides supporting leg;
3) model that six zones are set respectively limits radius;
4) detect real work this moment radius and whether exceed model restriction radius;
5) if the real work radius does not exceed model restriction radius, the working arm action is unrestricted;
6) if the real work radius exceeds model restriction radius, the action that can cause action that the real work radius increases and model restriction radius to reduce is under an embargo.
6, require the control method of 5 described intelligent controller of overhead working truck as requested, it is characterized in that, the velocity process method that also comprises the workbench motion is handled combination with end output control, peripheral speed processing, slow-action processing and proportioning valve Current Control, determines final output speed.
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| CN200910100737XA CN101615007B (en) | 2009-07-20 | 2009-07-20 | Control method of intelligent controller of overhead working truck |
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| CN200910100737XA CN101615007B (en) | 2009-07-20 | 2009-07-20 | Control method of intelligent controller of overhead working truck |
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| CN101615007B CN101615007B (en) | 2011-04-13 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102183963A (en) * | 2011-01-26 | 2011-09-14 | 徐州赫思曼电子有限公司 | Method for controlling working track of aerial work platform |
| 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 |
| CN110077998A (en) * | 2018-01-26 | 2019-08-02 | 湖南星邦重工有限公司 | A kind of aerial working platform operation field sets method for control speed and its system |
| CN113848860A (en) * | 2021-09-30 | 2021-12-28 | 无锡宽慧科技有限公司 | Automatic test system for overhead vehicle controller |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101235651A (en) * | 2007-01-29 | 2008-08-06 | 中国人民解放军63983部队 | Tipping-proof protective system |
| CN201191366Y (en) * | 2008-05-09 | 2009-02-04 | 杭州励贝电液科技有限公司 | Loading machine integrated controller |
| CN101284636A (en) * | 2008-05-23 | 2008-10-15 | 杭州爱知工程车辆有限公司 | Intelligence control system for aerial platform, aerial platform and control method thereof |
-
2009
- 2009-07-20 CN CN200910100737XA patent/CN101615007B/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102183963A (en) * | 2011-01-26 | 2011-09-14 | 徐州赫思曼电子有限公司 | Method for controlling working track of aerial work platform |
| CN102183963B (en) * | 2011-01-26 | 2013-03-06 | 徐州赫思曼电子有限公司 | Method for controlling working track of aerial work platform |
| CN110077998A (en) * | 2018-01-26 | 2019-08-02 | 湖南星邦重工有限公司 | A kind of aerial working platform operation field sets method for control speed and its system |
| CN110077998B (en) * | 2018-01-26 | 2020-11-13 | 湖南星邦智能装备股份有限公司 | Position and speed control method and system for working column of aerial working platform |
| CN113848860A (en) * | 2021-09-30 | 2021-12-28 | 无锡宽慧科技有限公司 | Automatic test system for overhead vehicle controller |
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| CN101615007B (en) | 2011-04-13 |
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