CN102602856B - Leveling control method and leveling control system for working hopper of overhead working truck - Google Patents
Leveling control method and leveling control system for working hopper of overhead working truck Download PDFInfo
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Abstract
The invention discloses a leveling control method and a leveling control system for a working hopper of an overhead working truck. The leveling control method comprises the following steps: acquiring the dip angle information of the working hopper; outputting the current leveling control information according to the dip angle information and leveling control rules preset; and when the preset standard corresponding relationship of the dip angle information and the leveling control information includes the corresponding relationship of the dip angle information and the leveling control information, leveling the working hopper according to the current leveling control information, otherwise, outputting control information for forbidding the leveling, and forbidding the leveling of the working hopper. Compared with the prior art, the method and system provided in the technical scheme of the invention has the following advantages: the software and the hardware of a system can be judged whether to be abnormal or failed in a timely and comprehensive manner, and when the software and the hardware of the system are abnormal or failed, the leveling of the working hopper can be stopped in a timely manner, so that the safety and reliability of the leveling control system are improved greatly.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to a kind of leveling control method and levelling control system of high altitude vehicle work bucket.
Background technology
In technical field of engineering machinery, the safety and reliability of product is particularly important.At aerial platform, high-altitude fire fighting truck with automatically walk high altitude vehicle etc. and have in the working bucket special vehicle of (also claiming manned workplatform), it is vital that working bucket is carried out to correct leveling control, at this moment because, once leveling is malfunctioning, occur mistake, very easily cause working bucket to tumble, the serious accident that causes personnel to fall.
As shown in Figure 1, in the levelling control system of existing high altitude vehicle work bucket, the obliquity information of obliquity sensor 2 collecting work buckets 1, and this information is fed back to PLC (Programmable Logic Controller, programmable logic controller (PLC), is called for short PLC) controller 3; PLC controller 3, according to the obliquity information of receiving and the control algorithm setting in advance, is exported corresponding leveling current signal to leveling electromagnetic valve 4 by its I/O interface; Leveling electromagnetic valve 4 changes valve port opening under the control of leveling current signal, adjusts the stroke of leveling cyclinder 5, thereby adjusts the inclination angle of working bucket 1.Meanwhile, in each leveling control cycle, after the obliquity information of obliquity sensor 2 collecting work buckets 1, PLC controller 3 all can judge whether working bucket inclination angle is less than setting threshold according to this obliquity information, if so, allow to continue to carry out relevant leveling action, otherwise, determine that leveling is malfunctioning or occur mistake, forbidding all leveling action output.
The defect that prior art exists is, when mistake appears in hardware or the software of PLC controller, when the leveling current signal that I/O interface is exported does not conform to the output signal of actual needs, system cannot detect extremely in time, the result that very easily causes working bucket inclination angle to adjust larger and larger, the safety and reliability of levelling control system is poor.
Summary of the invention
The invention provides a kind of leveling control method and levelling control system of high altitude vehicle work bucket, in order to solve the poor technical matters of the safety and reliability of levelling control system in prior art.
The leveling control method of high altitude vehicle work bucket of the present invention, comprising:
The obliquity information of collecting work bucket;
According to described obliquity information and the leveling control law setting in advance, export current leveling control information;
When the standard corresponding relation of the obliquity information setting in advance and leveling control information comprises the corresponding relation of described obliquity information and described current leveling control information, according to current leveling control information, working bucket is carried out to leveling, otherwise, control information is forbidden in output leveling, controls working bucket is forbidden to leveling.
The levelling control system of high altitude vehicle work bucket of the present invention, comprising:
Information collecting device, for the obliquity information of collecting work bucket;
The first control convenience, for exporting current leveling control information according to described obliquity information and the leveling control law setting in advance;
The second control convenience, for when the standard corresponding relation of the obliquity information setting in advance and leveling control information comprises the corresponding relation of described obliquity information and described current leveling control information, described current leveling control information is transferred to leveling actuating equipment, otherwise, control information is forbidden in output leveling, controls working bucket is forbidden to leveling;
Leveling actuating equipment, for according to current leveling control information, carries out leveling to working bucket.
In technical solution of the present invention, whether due to the second control convenience, can to detect the current leveling control information that the first control convenience exports according to the standard corresponding relation of the obliquity information setting in advance and leveling control information correct, when current leveling control information mal being detected, control information is forbidden in output leveling in time, control is forbidden leveling to working bucket, whether whether in contrast to the single dependence working bucket of prior art inclination angle reaches setting threshold and detects leveling and control correct, technical solution of the present invention can be more timely, comprehensively the system of judgement the first control convenience is soft, whether hardware occurs extremely, mistake, and soft in the system of the first control convenience, hardware occurs abnormal, during mistake, stop in time the leveling to working bucket, greatly improved the safety and reliability of levelling control system.
Accompanying drawing explanation
Fig. 1 is the levelling control system structural representation of existing high altitude vehicle work bucket;
Fig. 2 is the leveling control method first embodiment schematic flow sheet of high altitude vehicle work bucket of the present invention;
Fig. 3 is the leveling control method second embodiment schematic flow sheet of high altitude vehicle work bucket of the present invention;
Fig. 4 is the levelling control system structural representation of high altitude vehicle work bucket of the present invention.
The specific embodiment
In order to solve the poor technical matters of the safety and reliability of levelling control system in prior art, the invention provides a kind of leveling control method and levelling control system of high altitude vehicle work bucket.
As shown in Figure 2, the leveling control method of high altitude vehicle work bucket of the present invention, comprising:
The obliquity information of step 11, collecting work bucket;
The corresponding relation that whether comprises described obliquity information and described current leveling control information in the standard corresponding relation of step 13, the obliquity information that sets in advance of judgement and leveling control information, if so, performs step 14, otherwise, perform step 15;
Control information is forbidden in step 15, output leveling, controls working bucket is forbidden to leveling.
Wherein, after step 11, before step 13, can further comprise:
Judge whether described inclination angle size is less than the first threshold of setting, if so, execution step 13, otherwise, execution step 15.
The first threshold of this setting is equivalent to " setting threshold " of the prior art, and the first threshold of for example setting is got a numerical value between 8 °～12 °.The leveling control method of the embodiment of the present invention is before step 13, first judge whether the inclination angle size of working bucket is less than the first threshold of setting, if be not less than the first threshold of this setting, determine that leveling is malfunctioning or occur mistake, directly control information is forbidden in output leveling, control is forbidden leveling to working bucket, has guaranteed the personal safety of operating personnel in working bucket.
Described leveling control information can be leveling current signal, leveling voltage signal or leveling digital signal etc., and in like manner, leveling forbids that control information can forbid current signal, leveling for leveling and forbid voltage signal or leveling forbidden digit signal etc.In an embodiment of the present invention, described leveling control information is leveling current signal, and described leveling forbids that control information is that current signal is forbidden in leveling.
In an embodiment of the present invention, the standard corresponding relation of the described obliquity information setting in advance and leveling control information, can comprise corresponding relation between the electric current outbound course of corresponding relation, dip migration direction and leveling current signal between inclination angle size and the size of current of leveling current signal etc.In the time of in the standard corresponding relation of the obliquity information setting in advance described in the corresponding relation of obliquity information and current leveling control information is present in and leveling control information, determine that this current leveling control information is correct, leveling actuating equipment can be current according to this leveling control information, working bucket is carried out to leveling, otherwise, determine that current leveling control information is wrong, should export leveling and forbid control information, control is forbidden leveling to working bucket, to have guaranteed operating personnel's personal safety in working bucket.
When the standard corresponding relation of the described obliquity information setting in advance and leveling control information, while comprising the corresponding relation of inclination angle size and the size of current of leveling current signal, step 13 specifically comprises:
Step 1, judge whether the inclination angle size of described obliquity information is greater than the Second Threshold of setting, if so, execution step two, otherwise, execution step 14; Wherein, the Second Threshold of described setting is less than the first threshold of described setting;
Step 2, judge whether the size of current of current leveling current signal is greater than the current threshold of setting, when the size of current of current leveling current signal is not more than the current threshold of setting, control information is forbidden in output leveling, controls working bucket is forbidden to leveling.
Step 1 and step 2 are to judge from " amount " whether the corresponding relation of obliquity information and current leveling control information is present in the standard corresponding relation (be the Second Threshold that inclination angle size is greater than setting, be greater than the current threshold of setting corresponding to the size of current of leveling current signal) of the obliquity information that sets in advance and leveling control information.In step 1, the Second Threshold of described setting should be less than the first threshold of described setting, and for example, the first threshold of setting is got a numerical value between 8 °～12 °, and the Second Threshold of setting is got a numerical value between 1 °～2 °.When the inclination angle of working bucket is less, while being not more than the Second Threshold of setting, can think that current leveling control information is correct, without proceeding, detect, and according to current leveling control information, working bucket is carried out to leveling, finally make working bucket be adjusted to level attitude.
When the standard corresponding relation of the described obliquity information setting in advance and leveling control information, while further comprising the corresponding relation of electric current outbound course of dip migration direction and leveling current signal, step 13 further specifically comprises:
Step 3, when the size of current of current leveling current signal is greater than the current threshold of setting, utilize the standard corresponding relation of the obliquity information set in advance and leveling control information to obtain the electric current outbound course of leveling current signal of the corresponding standard of dip migration direction of described obliquity information;
Whether step 4, the electric current outbound course that judges current leveling current signal be identical with the electric current outbound course of the leveling current signal of described standard, if so, and execution step 14, otherwise, execution step 15.
Step 3 and step 4 are further from " direction ", to judge whether the corresponding relation of obliquity information and current leveling control information is present in the standard corresponding relation of the obliquity information that sets in advance and leveling control information.Wherein, in the standard corresponding relation of the obliquity information setting in advance and leveling control information, the corresponding relation between dip migration direction and the electric current outbound course of leveling current signal, can set according to actual conditions.For example, in one embodiment, suppose on inclination angle that skew is for just, lower skew is for bearing; The electric current forward of supposing leveling current signal is just output as, and the electric current of leveling current signal is oppositely output as negative; Corresponding relation between described dip migration direction and the electric current outbound course of leveling current signal can be set as: when dip migration is timing, the electric current outbound course of leveling current signal just should correspond to, and now leveling is correct, otherwise mistake appears in leveling; When dip migration is when negative, it is correct that the electric current outbound course of leveling current signal should correspond to negative now leveling, otherwise mistake appears in leveling.
The leveling control method of high altitude vehicle work bucket of the present invention, after execution step 14, further returns to step 11, and the leveling that starts next circulation is controlled.
In step 12, the described leveling control law setting in advance is preferably PID (Proportion Integration Differentiation, proportional-integral-differential, be called for short PID) closed loop control algorithm, have principle simple, be easy to realize, widely applicable, to control parameter separate, the advantage such as selected fairly simple of parameter.But the present invention is never confined to this, also can adopt other closed loop control algorithms to obtain Output rusults.
In actual leveling is controlled, can adopt the average of a plurality of values of feedback of leveling control information and obliquity information as being judged object, can reduce data noise like this, further improve the accuracy of testing result.
As shown in Figure 3, the flow process of the leveling control method specific embodiment of high altitude vehicle work bucket of the present invention is:
The obliquity information of step 101, collecting work bucket;
Step 102, according to described obliquity information and the leveling control law that sets in advance, export current leveling control information;
Step 103, judge whether the inclination angle size of described obliquity information is less than the first threshold of setting, if so, execution step 104, otherwise, execution step 109;
Step 104, judge whether the inclination angle size of described obliquity information is greater than the Second Threshold of setting, if so, execution step 105, otherwise, execution step 108; The Second Threshold of described setting is less than the first threshold of described setting;
Step 105, judge whether the size of current of current leveling current signal is greater than the current threshold of setting, if so, execution step 106, otherwise, execution step 109;
Step 106, utilize the standard corresponding relation of the obliquity information set in advance and leveling control information to obtain the electric current outbound course of leveling current signal of the corresponding standard of dip migration direction of described obliquity information;
Whether step 107, the electric current outbound course that judges current leveling current signal be identical with the electric current outbound course of the leveling current signal of described standard, if so, and execution step 108, otherwise, execution step 109;
Step 108, according to current leveling control information, working bucket is carried out to leveling, and return to step 101 after this leveling finishes;
Control information is forbidden in step 109, output leveling, controls working bucket is forbidden to leveling.
As shown in Figure 4, the levelling control system of high altitude vehicle work bucket of the present invention, comprising:
Information collecting device 31, for the obliquity information of collecting work bucket;
The first control convenience 32, for exporting current leveling control information according to described obliquity information and the leveling control law setting in advance;
The second control convenience 33, for when the standard corresponding relation of the obliquity information setting in advance and leveling control information comprises the corresponding relation of described obliquity information and described current leveling control information, described current leveling control information is transferred to leveling actuating equipment 34, otherwise, control information is forbidden in output leveling, controls working bucket is forbidden to leveling;
Leveling actuating equipment 34, for according to current leveling control information, carries out leveling to working bucket.
Wherein, described information collecting device 31 can be sensor, and described the first control convenience 32 and the second control convenience 33 can be discrete physical entity, also can be integrated in independently in physical entity, for example, is integrated in same PLC controller.Described the second control convenience 33 can be integrated with current sensor, the leveling control information of exporting for gathering the first control convenience 32.The process of leveling actuating equipment 34 (comprising electromagnetic valve, leveling cyclinder etc.) execution associative operation similarly to the prior art, repeats no more here.
Described the second control convenience 33, is further used for:
When the inclination angle of described obliquity information size is not less than the first threshold of setting, control information is forbidden in output leveling, controls working bucket is forbidden to leveling.
Described leveling control information is leveling current signal, and described leveling forbids that control information is that current signal is forbidden in leveling.
The standard corresponding relation of the described obliquity information setting in advance and leveling control information, the corresponding relation that comprises the size of current of inclination angle size and leveling current signal, described the second control convenience 33, specifically for: judge whether described inclination angle size is greater than the Second Threshold of setting, when described inclination angle size is not more than the Second Threshold of setting, described current leveling control information is transferred to leveling actuating equipment 34; And when described inclination angle size is greater than the Second Threshold of setting, continue to judge whether the size of current of current leveling current signal is greater than the current threshold of setting, when the size of current of current leveling current signal is not more than the current threshold of setting, control information is forbidden in output leveling, controls working bucket is forbidden to leveling; Wherein, the Second Threshold of described setting is less than the first threshold of described setting.
The standard corresponding relation of the described obliquity information setting in advance and leveling control information, the corresponding relation that further comprises the electric current outbound course of dip migration direction and leveling current signal, described the second control convenience 33, specifically be further used for: when the size of current of current leveling current signal is greater than the current threshold of setting, utilize the standard corresponding relation of the obliquity information set in advance and leveling control information to obtain the electric current outbound course of leveling current signal of the corresponding standard of dip migration direction of described obliquity information; And whether the electric current outbound course that judges current leveling current signal is identical with the electric current outbound course of the leveling current signal of described standard, if, described current leveling control information is transferred to leveling actuating equipment 34, otherwise, control information is forbidden in output leveling, controls working bucket is forbidden to leveling.
Described leveling actuating equipment 34, is further used for: after working bucket is carried out to leveling, trigger described information collecting device, the leveling that makes levelling control system start next circulation is controlled.
The preferred PID closed loop control algorithm of the described leveling control law setting in advance.
In technical solution of the present invention, whether due to the second control convenience, can to detect the current leveling control information that the first control convenience exports according to the standard corresponding relation of the obliquity information setting in advance and leveling control information correct, when current leveling control information mal being detected, control information is forbidden in output leveling, control is forbidden leveling to working bucket, whether whether in contrast to the single dependence working bucket of prior art inclination angle reaches setting threshold and detects leveling and control correct, technical solution of the present invention can be more timely, comprehensively the system of judgement the first control convenience is soft, whether hardware occurs extremely, mistake, and soft in the system of the first control convenience, hardware occurs abnormal, during mistake, stop in time the leveling to working bucket, greatly improved the safety and reliability of levelling control system.
Obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.
Claims (4)
1. a leveling control method for high altitude vehicle work bucket, is characterized in that, comprising:
The obliquity information of collecting work bucket;
According to described obliquity information and the leveling control law setting in advance, export current leveling control information;
When the standard corresponding relation of the obliquity information setting in advance and leveling control information comprises the corresponding relation of described obliquity information and described current leveling control information, according to current leveling control information, working bucket is carried out to leveling, otherwise, control information is forbidden in output leveling, controls working bucket is forbidden to leveling;
After the obliquity information of described collecting work bucket, further comprise: when the inclination angle of described obliquity information size is not less than the first threshold of setting, control information is forbidden in output leveling, controls working bucket is forbidden to leveling;
Described leveling control information is leveling current signal;
The standard corresponding relation of the described obliquity information setting in advance and leveling control information, comprises the corresponding relation of inclination angle size and the size of current of leveling current signal,
When the inclination angle of described obliquity information size is not more than the Second Threshold of setting, according to current leveling control information, working bucket is carried out to leveling; When the inclination angle of described obliquity information size is greater than the Second Threshold of setting, and the size of current of current leveling current signal is while being not more than the current threshold of setting, and control information is forbidden in output leveling, controls working bucket is forbidden to leveling; Wherein, the Second Threshold of described setting is less than the first threshold of described setting.
2. leveling control method as claimed in claim 1, is characterized in that, described in the obliquity information that sets in advance and the standard corresponding relation of leveling control information, further comprise the corresponding relation of the electric current outbound course of dip migration direction and leveling current signal,
When the inclination angle of described obliquity information size is greater than the Second Threshold of setting, and when the size of current of current leveling current signal is greater than the current threshold of setting, utilize the standard corresponding relation of the obliquity information set in advance and leveling control information to obtain the electric current outbound course of leveling current signal of the corresponding standard of dip migration direction of described obliquity information;
When the electric current outbound course of the electric current outbound course of current leveling current signal and the leveling current signal of described standard is identical, according to current leveling control information, working bucket is carried out to leveling, otherwise, control information is forbidden in output leveling, controls working bucket is forbidden to leveling.
3. a levelling control system for high altitude vehicle work bucket, is characterized in that, comprising:
Information collecting device, for the obliquity information of collecting work bucket;
The first control convenience, for exporting current leveling control information according to described obliquity information and the leveling control law setting in advance;
The second control convenience, for when the standard corresponding relation of the obliquity information setting in advance and leveling control information comprises the corresponding relation of described obliquity information and described current leveling control information, described current leveling control information is transferred to leveling actuating equipment, otherwise, control information is forbidden in output leveling, controls working bucket is forbidden to leveling;
Leveling actuating equipment, for according to current leveling control information, carries out leveling to working bucket;
Described the second control convenience, is further used for: when the inclination angle of described obliquity information size is not less than the first threshold of setting, control information is forbidden in output leveling, controls working bucket is forbidden to leveling;
Described leveling control information is leveling current signal;
The standard corresponding relation of the described obliquity information setting in advance and leveling control information, comprises the corresponding relation of inclination angle size and the size of current of leveling current signal, described the second control convenience, specifically for:
When the inclination angle of described obliquity information size is not more than the Second Threshold of setting, described current leveling control information is transferred to leveling actuating equipment; And
When the inclination angle of described obliquity information size is greater than the Second Threshold of setting, and the size of current of current leveling current signal is while being not more than the current threshold of setting, and control information is forbidden in output leveling, controls working bucket is forbidden to leveling;
Wherein, the Second Threshold of described setting is less than the first threshold of described setting.
4. levelling control system as claimed in claim 3, it is characterized in that, the standard corresponding relation of the described obliquity information setting in advance and leveling control information, the corresponding relation that further comprises the electric current outbound course of dip migration direction and leveling current signal, described the second control convenience, is specifically further used for:
When the inclination angle of described obliquity information size is greater than the Second Threshold of setting, and when the size of current of current leveling current signal is greater than the current threshold of setting, utilize the standard corresponding relation of the obliquity information set in advance and leveling control information to obtain the electric current outbound course of leveling current signal of the corresponding standard of dip migration direction of described obliquity information; And
When the electric current outbound course of the electric current outbound course of current leveling current signal and the leveling current signal of described standard is identical, described current leveling control information is transferred to leveling actuating equipment, otherwise control information is forbidden in output leveling, controls working bucket is forbidden to leveling.
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| CN201210066072.7A CN102602856B (en) | 2012-03-14 | 2012-03-14 | Leveling control method and leveling control system for working hopper of overhead working truck |
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| CN201210066072.7A CN102602856B (en) | 2012-03-14 | 2012-03-14 | Leveling control method and leveling control system for working hopper of overhead working truck |
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| CN102602856B true CN102602856B (en) | 2014-05-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102929239B (en) * | 2012-10-26 | 2014-12-10 | 杭州恒宏机械有限公司 | Distribution type automatic leveling device poll control method of special vehicle |
| CN103693595B (en) * | 2013-12-13 | 2016-01-27 | 中联重科股份有限公司 | The control method of bench board leveling, device, system and construction machinery and equipment |
| CN114439805B (en) * | 2021-12-31 | 2023-07-14 | 湖南中联重科智能高空作业机械有限公司 | Leveling system, leveling method and engineering machinery |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000038294A (en) * | 1998-07-23 | 2000-02-08 | Tadano Ltd | Leveling safety device for high lift work vehicle |
| JP4282164B2 (en) * | 1999-07-13 | 2009-06-17 | 株式会社タダノ | Horizontal linear movement device for work platform of aerial work platform |
| CN101866184A (en) * | 2009-04-16 | 2010-10-20 | 上海派芬自动控制技术有限公司 | Hanging basket levelling control system |
| CN201932890U (en) * | 2011-01-30 | 2011-08-17 | 长沙中联消防机械有限公司 | Leveling and controlling device for operation bucket |
| CN202022709U (en) * | 2010-10-15 | 2011-11-02 | 杭州浙力叉车集团有限公司 | Forklift with operation handle on side face |
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2012
- 2012-03-14 CN CN201210066072.7A patent/CN102602856B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000038294A (en) * | 1998-07-23 | 2000-02-08 | Tadano Ltd | Leveling safety device for high lift work vehicle |
| JP4282164B2 (en) * | 1999-07-13 | 2009-06-17 | 株式会社タダノ | Horizontal linear movement device for work platform of aerial work platform |
| CN101866184A (en) * | 2009-04-16 | 2010-10-20 | 上海派芬自动控制技术有限公司 | Hanging basket levelling control system |
| CN202022709U (en) * | 2010-10-15 | 2011-11-02 | 杭州浙力叉车集团有限公司 | Forklift with operation handle on side face |
| CN201932890U (en) * | 2011-01-30 | 2011-08-17 | 长沙中联消防机械有限公司 | Leveling and controlling device for operation bucket |
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