CN104503490B - A kind of control method of engineering machinery overturn-preventing and control device - Google Patents
A kind of control method of engineering machinery overturn-preventing and control device Download PDFInfo
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Abstract
A kind of control device of engineering machinery overturn-preventing, including detection module, control module and warning remediation module, the input connection detection module of control module, the outfan of control module connects described warning remediation module；Described detection module includes obliquity sensor (1), and described obliquity sensor is arranged on the platform (10) of engineering machinery；Described warning remediation module includes acoustooptic alarm system (3), relay (4), left front support oil cylinder electromagnetic valve (6), right anterior branch lower limb oil cylinder electromagnetic valve (7), right rear support leg oil cylinder electromagnetic valve (8) and left back support oil cylinder electromagnetic valve (9), on acoustooptic alarm system (3), relay (4), left front support oil cylinder electromagnetic valve (6), the output interface of right anterior branch lower limb oil cylinder electromagnetic valve (7), right rear support leg oil cylinder electromagnetic valve (8) and left back support oil cylinder electromagnetic valve (9) parallel connection access controller (2)；Described relay (4) be can achieve and is connected with revolution, boring, the physics energising of walking motion drive mechanism or power-off.This control device achieves automatic detection, automatic alarm, the function of automatically controlling, it is to avoid the machine occurs major accident because toppling, and reliability, safety are guaranteed.
Description
Technical field
The present invention relates to the control method of heavy engineering mechanical field overturn-preventing and control device.
Background technology
Foundation engineering often can adopt the piling machinery such as drilled pile, pile tube, cement mixing pile, in piling machinery industry, stake
Machine is that the part such as support platform and vertical drilling (or piling) forms, because the height of stake machine is larger, support platform at work
Once angle of inclination exceedes safety marginses, whole loom will be made to topple.Current machine, electrical control is several in this respect
It is zero, substantially detect by an unaided eye by operative employee, once carelessness is it may occur that the major accident toppled, the stablizing of work progress
Property is difficult to ensure that.
Content of the invention
The problem existing for above-mentioned prior art, invention applies advanced Aulomatizeted Detect element and advanced automatically
Control technology, automatic alarm, platform automatic adjusting balance alleviates the labor intensity of operative employee, improves the safety of the machine
And reliability, the generation of minimizing accident.
The present invention is achieved in that
A kind of control device of engineering machinery overturn-preventing, including detection module, control module and warning remediation module, controls
The input connection detection module of module, the outfan of control module connects described warning remediation module；Described detection module bag
Include obliquity sensor, described obliquity sensor is arranged on the platform of engineering machinery；Described control module includes controller and drills
Calculate module, described algorithm module is responsible for being judged according to the input of described obliquity sensor, decide whether that executing warning remedies
Module；Described warning remediation module includes acoustooptic alarm system, relay, left front support oil cylinder electromagnetic valve, right anterior branch lower limb oil cylinder
Electromagnetic valve, right rear support leg oil cylinder electromagnetic valve and left back support oil cylinder electromagnetic valve, described acoustooptic alarm system, relay, left front
Lower limb oil cylinder electromagnetic valve, right anterior branch lower limb oil cylinder electromagnetic valve, right rear support leg oil cylinder electromagnetic valve and left back support oil cylinder electromagnetic valve simultaneously couple
Enter on the output interface of controller；Described relay is connected with stopping revolution, boring, walking motion spindle nose.
A kind of control method,
1) calibrate the platform of engineering machinery, with Platform center as initial point, set up xy coordinate system so that platform is put down with horizontal plane
OK；
2) set A as angle of inclination maximum set value, B is the minimum angles of engineering machinery corrective action；
3) obliquity sensor interval detection described platform angle of inclination with respect to the horizontal plane, and by detected value be scaled with
Platform center is the tilt vector P of initial point, and described tilt vector P includes and X-direction angle αxAnd the angle β with Y directiony,
By tilt vector P (αx, βy) it is transferred to described control module；
4) algorithm module of described control module makes the following judgment：
If | αx| or | βy| ＜ | A |, then stop described warning remediation module, continue step 3)；
If | αx| or | βy| ＞ | A | during+| B |, then start acoustooptic alarm system and relay, acoustooptic alarm system sends
Light and police whistle sound, remind operator to speed away driver's cabin, dangerous！Relay obtains electric, stopping revolution, boring, walking simultaneously
Operation；
If | A | is ＜ | αx| ＜ | A |+| B | or | A | ＜ | βy| ＜ | A | during+| B |, enter line tilt judge module,
Control module starts described warning remediation module according to the return value tilting judge module.
Further, described inclination judge module is specially：
1) judge whether to meet αx<0 and βy=0, if meeting, for "Left"-deviationist, exporting Left, otherwise continuing；
2) judge whether to meet αx>0 and βy=0, if meeting, being Right deviation, exporting Right；Otherwise continue；
3) judge whether to meet βy<0 and αx=0, if meeting, being hypsokinesis, exporting Back；Otherwise continue；
4) judge whether to meet βy>0 and αx=0, if met, for leaning forward, export Fore；Otherwise continue；
5) judge whether to meet αx>0 and βy>0, and if met; angle of inclination in the first quartile of Platform center plane,
Output qd_1；Otherwise continue；
6) judge whether to meet αx<0 and βy>0, and if met; angle of inclination in the second quadrant of Platform center plane,
Output qd_2；Otherwise continue；
7) judge whether to meet αx<0 and βy<0, and if met; angle of inclination in the third quadrant of Platform center plane,
Output qd_3；Otherwise continue；
8) judge whether αx>0 and βy<0, if met, angle of inclination, in the fourth quadrant of Platform center plane, exports
Qd_4, otherwise output abnormality.
Further, stop described warning remediation module and specially execute following action simultaneously：
1) stop acoustooptic alarm system；
2) described relay electric-loss；
3) left front support oil cylinder electromagnetic valve, right anterior branch lower limb oil cylinder electromagnetic valve and right rear support leg oil cylinder electromagnetic valve and left back supporting leg
Oil cylinder electromagnetic valve dead electricity simultaneously.
Further, start described warning remediation module and specially execute following action simultaneously：
1) start acoustooptic alarm system, described acoustooptic alarm system sends light and police whistle sound；
2) described relay electric-loss, stops revolution or boring or walking operation；
3) according to the return value execution warning remediation module tilting judge module.
Further, described warning remediation module is：
1) if described inclination judge module is output as Left, left front support oil cylinder electromagnetic valve and left back support oil cylinder are electric
Magnet valve simultaneously electric, activate corresponding oil cylinder and raise until left front support oil cylinder electromagnetic valve and left back support oil cylinder electromagnetic valve dead electricity；
Otherwise continue；
2) if tilting judge module output Right, right anterior branch lower limb oil cylinder electromagnetic valve and right rear support leg oil cylinder electromagnetic valve are same
Shi get electricity, activates corresponding oil cylinder and raises until right anterior branch lower limb oil cylinder electromagnetic valve and right rear support leg oil cylinder electromagnetic valve dead electricity；Otherwise continue
Continuous；
3) if tilt judge module output qd_1, left front support oil cylinder electromagnetic valve, right anterior branch lower limb oil cylinder electromagnetic valve and
Right rear support leg oil cylinder electromagnetic valve simultaneously electric, activate corresponding oil cylinder and raise until left front support oil cylinder electromagnetic valve, right anterior branch lower limb oil
Cylinder electromagnetic valve and right rear support leg oil cylinder electromagnetic valve dead electricity；Otherwise continue；
4) if tilt judge module output qd_2, left front support oil cylinder electromagnetic valve, right anterior branch lower limb oil cylinder electromagnetic valve and
Left back support oil cylinder electromagnetic valve simultaneously electric, activate corresponding oil cylinder and raise until left front support oil cylinder electromagnetic valve, right anterior branch lower limb oil
Cylinder electromagnetic valve and left back support oil cylinder electromagnetic valve dead electricity；Otherwise continue；
5) if tilt judge module output qd_3, left front support oil cylinder electromagnetic valve, right rear support leg oil cylinder electromagnetic valve and
Left back support oil cylinder electromagnetic valve simultaneously electric, activate corresponding oil cylinder and raise until left front support oil cylinder electromagnetic valve, right rear support leg oil
Cylinder electromagnetic valve and left back support oil cylinder electromagnetic valve dead electricity；Otherwise continue；
6) if tilt judge module output qd_4, right anterior branch lower limb oil cylinder electromagnetic valve, right rear support leg oil cylinder electromagnetic valve and
Left back support oil cylinder electromagnetic valve simultaneously electric, activate corresponding oil cylinder and raise until right anterior branch lower limb oil cylinder electromagnetic valve, right rear support leg oil
Cylinder electromagnetic valve and left back support oil cylinder electromagnetic valve dead electricity；Otherwise continue；
7) if tilting judge module output abnormality, left front support oil cylinder electromagnetic valve, right anterior branch lower limb oil cylinder electromagnetic valve, right
Rear support leg oil cylinder electromagnetic valve and left back support oil cylinder electromagnetic valve dead electricity simultaneously.
The present invention has the following technical effect that, when platform is adjusted to security standpoint scope by operator, danger warning is believed
Number release, recover normal work.It has been achieved in that automatic detection, automatic alarm, the function of automatically controlling, it is to avoid the machine is because toppling
And there is major accident, reliability, safety are guaranteed.
Brief description
Fig. 1 is the logical schematic of the control device of embodiment of the present invention engineering machinery overturn-preventing；
Fig. 2 is the circuit module figure of the control device of embodiment of the present invention engineering machinery overturn-preventing；
Fig. 3 is the judgement principle front view of embodiment of the present invention engineering machinery overturn-preventing.
Fig. 4 is the judgement principle right view of embodiment of the present invention engineering machinery overturn-preventing.
Fig. 5 is the judgement principle top view of embodiment of the present invention engineering machinery overturn-preventing.
The reference of above-mentioned in figure：
1 obliquity sensor, 2 controllers, 3 acoustooptic alarm systems, 4 relays, 5 stop controlling, 6 left front support oil cylinder electromagnetism
Valve, 7 right anterior branch lower limb oil cylinder electromagnetic valves, 8 right rear support leg oil cylinder electromagnetic valves, 9 left back support oil cylinder electromagnetic valves, 10 machine platforms
Specific embodiment
Following examples are used for the present invention is described, but are not limited to the scope of the present invention.
As the logical schematic of the control device for the pre- overturn-preventing of engineering machinery for the Fig. 1, obliquity sensor 1 connects controller 2,
Controller 2 is simultaneously connected with and is output as 6 big branch roads, and a road connects acoustooptic alarm system 3, and a road connects relay 4, this relay 4
The connecting and disconnecting of the circuit electricity be responsible for revolution, holing, walk work, the electromagnetic valve 6 of four support oil cylinders of other four roads connecting platforms 10,
7、8、9.
It is illustrated in figure 2 the circuit module figure of Fig. 1, control device includes detection module, control module and warning and remedies mould
Block, the input connection detection module of control module, the outfan of control module connects described warning remediation module；Described detection
Module includes obliquity sensor 1, and described obliquity sensor 1 is arranged on the platform 10 of engineering machinery；Described control module includes
Controller 2 and algorithm module, described algorithm module is responsible for being judged according to the input of described obliquity sensor 1, decides whether
Execution warning remediation module；Described warning remediation module includes acoustooptic alarm system 3, relay 4, left front support oil cylinder electromagnetic valve
6th, right anterior branch lower limb oil cylinder electromagnetic valve 7, right rear support leg oil cylinder electromagnetic valve 8 and left back support oil cylinder electromagnetic valve 9, described sound and light alarm system
System 3, relay 4, left front support oil cylinder electromagnetic valve 6, right anterior branch lower limb oil cylinder electromagnetic valve 7, right rear support leg oil cylinder electromagnetic valve 8 and left back
On the output interface of support oil cylinder electromagnetic valve 9 access controller 2 in parallel；Described relay 4 is arranged on the dynamical system of engineering machinery
On system, it is connected with stopping revolution, boring, walking motion spindle nose.
As shown in Figure 2, controller 2 provides working power by DC24V, and described obliquity sensor 1 obtains running voltage DC24V
Start working, described obliquity sensor 1 interval detection described platform 10 angle of inclination with respect to the horizontal plane, and detected value is changed
Calculation is the tilt vector P with Platform center as initial point, described tilt vector P include with X-direction angle α x and with Y direction
Angle β y, tilts the input to controller 2 for the angle signal by what tilt vector P (α x, β y) was changed into CAN-H, CAN-L, by controlling
Set control program in device 2 processed, start to judge, the situation of platform 10 and horizontal plane X0, Y0 angular separation is divided by we here
For eight kinds and be programmed in control program.Set：X-axis inclination alpha x represents the angle that tilts of platform, is surveyed by obliquity sensor 1
Fixed, what Y-axis angle of inclination beta y represented platform tilts forward and back angle, is measured by obliquity sensor 1；
1) the left-leaning angular range of platform 10：0～-α x and β y=0
2) platform 10 Right deviation angular range：0～+α x and β y=0
3) platform 10 hypsokinesis angular range：0～+β y and α x=0
4) platform 10 forward leaning angle scope：0～-β y and α x=0
5) platform 10 tilts to 1st quadrant, angular range：0～-α x and 0～-β y
6) platform 10 tilts to the 2nd quadrant, angular range：0～+α x and 0～-β y
7) platform 10 tilts to third quadrant, angular range：0～+α x and 0～-β y
8) platform 10 tilts to the 4th quadrant, angular range：0～-α x and 0～+β y
The signal of the obliquity sensor receiving when controller is：Input αx, βy, 1) and judge αx<0 and βy=0, then for
"Left"-deviationist, exports Left；2) if αx>0 and βy=0, then for Right deviation, export Right；3) if βy<0 and αx=0, then for hypsokinesis,
Output Back；4) if βy>0 and αx=0, then for leaning forward, export Fore；5) if αx>0 and βy>0, then angle of inclination is in platform
In the first quartile of central plane, export qd_1；6) if αx<0 and βy>0, then angle of inclination is the second of Platform center plane
In quadrant, export qd_2；7) if αx<0 and βy<0, then angle of inclination in the third quadrant of Platform center plane, export qd_
3；8) if αx>0 and βy<0, then angle of inclination in the fourth quadrant of Platform center plane, export qd_4,
Setting X, safe inclination angle α x, β of Y-axis in a control programyFor 0～± A, threshold value is ± B, and wherein B is stake
The minimum angles of machine corrective action, preferably value are 5 °；A is angle of inclination maximum set value, preferably 40 ° of value.
As shown in Fig. 3,4,5：First obliquity sensor 1 is placed on the platform 10 of a machine, obliquity sensor 1 will export
The X of platform 10, Y-direction and horizontal X 0, Y0 angular separation signal CAN-H, CAN-L, are transferred to control with the communication modes of CANOPEN
Device 2 processed.
1) as | α x | or | βy| ＜ | A | when, platform 10 angle of inclination belongs to safety range, and controller 2 is to electromagnetic valve 6,7,8,9
Attonity signal output, platform 10 angle does not need to adjust.
2) as | α x | or | βy| ＞ | A | during+| B |, platform 10 angle of inclination is in subcritical range, i.e. risk range, control
Device 2 processed starts acoustooptic alarm system 3 and relay 4, and acoustooptic alarm system 3 sends light and police whistle sound, remind operator rapidly from
Open driver's cabin, dangerous！Relay 4 obtains electric, operation of stopping (revolution, boring, walking etc.) danger.
3) as | A | ＜, during+| B |, platform 10 angle of inclination is in safety critical scope to | α x | or | β y | ＜ | A |, i.e. anon-normal
Often scope, controller 2 starts acoustooptic alarm system 3 and relay 4, and acoustooptic alarm system 3 sends light and police whistle sound, reminds operation
Person, dangerous！Meanwhile, relay 4 obtains electric, operation of stopping (revolution, boring, walking etc.) danger.Now, control device is automatic
Run judge module, draw lean forward, hypsokinesis, or the left-leaning, conclusion of Right deviation, so that corresponding electromagnetic valve is obtained according to above-mentioned conclusion
Electricity, makes the support oil cylinder of solenoid valve control extend, raised platform 10 inclined side, corrects angle of inclination, so that Inclination maneuver is arrived：|αx|
Or | β y | ＜ | A | is in safety range, at this moment controller 2 alarm signal releases, recovers normal work, stops output adjustment signal.
Such as lean forward Fore when tilting judge module output, then left front support oil cylinder electromagnetic valve 6 and right anterior branch lower limb oil cylinder electromagnetic valve 7 be simultaneously
Obtain electric, if tilting the left-leaning Left of judge module output, left front support oil cylinder electromagnetic valve 6 and left back support oil cylinder electromagnetic valve 9 are same
Shi get electricity, if tilt judge module output Right deviation Right, right anterior branch lower limb oil cylinder electromagnetic valve 7 and right rear support leg oil cylinder electromagnetic valve 8
Simultaneously electric.If tilting judge module output qd_1, left front support oil cylinder electromagnetic valve 6, right anterior branch lower limb oil cylinder electromagnetic valve 7 He
Right rear support leg oil cylinder electromagnetic valve 8 simultaneously electric；If tilting judge module output qd_2, left front support oil cylinder electromagnetic valve 6, right
Front leg strut oil cylinder electromagnetic valve 7 and left back support oil cylinder electromagnetic valve 9 simultaneously electric；If tilting judge module output qd_3, left
Front leg strut oil cylinder electromagnetic valve 6, right rear support leg oil cylinder electromagnetic valve 8 and left back support oil cylinder electromagnetic valve 9 simultaneously electric；If tilting to sentence
Disconnected module exports qd_4, then right anterior branch lower limb oil cylinder electromagnetic valve 7, right rear support leg oil cylinder electromagnetic valve 8 and left back support oil cylinder electromagnetic valve 9
Simultaneously electric；If tilting judge module output abnormality, left front support oil cylinder electromagnetic valve, right anterior branch lower limb oil cylinder electromagnetic valve, right
Rear support leg oil cylinder electromagnetic valve and left back support oil cylinder electromagnetic valve dead electricity simultaneously.
Present invention achieves automatic detection, automatic alarm, the function of automatically controlling, it is to avoid the machine occurs great because toppling
Accident, reliability, safety are guaranteed.
Claims (5)
1. a kind of control method of the control device of engineering machinery overturn-preventing it is characterised in that
1) calibrate the platform (10) of engineering machinery, with Platform center as initial point, set up xy coordinate system so that platform is put down with horizontal plane
OK；
2) set A as angle of inclination maximum set value, B is the minimum angles of engineering machinery corrective action；
3) described platform (10) angle of inclination with respect to the horizontal plane is detected at obliquity sensor (1) interval, and detected value is converted
It is the tilt vector P with Platform center as initial point, described tilt vector P includes and X-direction angle αxAnd the folder with Y direction
Angle betay, by tilt vector P (αx, βy) it is transferred to control module；
4) algorithm module of described control module makes the following judgment：
If | αx| or | βy| ＜ | A |, then stop alarm remediation module, continue step 3)；
If | αx| or | βy| ＞ | A | during+| B |, then start acoustooptic alarm system (3) and relay (4), acoustooptic alarm system (3)
Send light and police whistle sound, remind operator to speed away driver's cabin, dangerous！Relay (4) obtains electric, stopping revolution, brill simultaneously
Hole, the operation of walking；
If | A | is ＜ | αx| ＜ | A |+| B | or | A | ＜ | βy| ＜ | A | during+| B |, execution tilts judge module,
Control module starts described warning remediation module according to the return value tilting judge module.
2. the control method of the control device of engineering machinery overturn-preventing as claimed in claim 1 is it is characterised in that described inclination
Judge module is specially：
1) judge whether to meet αx<0 and βy=0, if meeting, for "Left"-deviationist, exporting Left, otherwise continuing；
2) judge whether to meet αx>0 and βy=0, if meeting, being Right deviation, exporting Right；Otherwise continue；
3) judge whether to meet βy<0 and αx=0, if meeting, being hypsokinesis, exporting Back；Otherwise continue；
4) judge whether to meet βy>0 and αx=0, if met, for leaning forward, export Fore；Otherwise continue；
5) judge whether to meet αx>0 and βy>0, if met, angle of inclination, in the first quartile of Platform center plane, exports
qd_1；Otherwise continue；
6) judge whether to meet αx<0 and βy>0, if met, angle of inclination, in the second quadrant of Platform center plane, exports
qd_2；Otherwise continue；
7) judge whether to meet αx<0 and βy<0, if met, angle of inclination, in the third quadrant of Platform center plane, exports
qd_3；Otherwise continue；
8) judge whether to meet αx>0 and βy<0, if met, angle of inclination, in the fourth quadrant of Platform center plane, exports
Qd_4, otherwise output abnormality.
3. the control method of the control device of engineering machinery overturn-preventing as claimed in claim 1 is it is characterised in that stop described
Warning remediation module specially executes following action simultaneously：
1) stop acoustooptic alarm system (3)；
2) described relay (4) dead electricity；
3) left front support oil cylinder electromagnetic valve (6), right anterior branch lower limb oil cylinder electromagnetic valve (7) and right rear support leg oil cylinder electromagnetic valve (8) and a left side
Rear support leg oil cylinder electromagnetic valve (9) dead electricity simultaneously.
4. the control method of the control device of engineering machinery overturn-preventing as claimed in claim 1 is it is characterised in that start described
Warning remediation module specially executes following action simultaneously：
1) start acoustooptic alarm system (3), described acoustooptic alarm system sends light and police whistle sound；
2) described relay (4) electric, stop revolution boring or walking operation；
3) according to the return value execution warning remediation module tilting judge module.
5. the control method of the control device of engineering machinery overturn-preventing as claimed in claim 2 is it is characterised in that described warning
Remediation module is：
1) if described inclination judge module is output as Left, left front support oil cylinder electromagnetic valve (6) and left back support oil cylinder are electric
Magnet valve (9) simultaneously electric, activate corresponding oil cylinder and raise until left front support oil cylinder electromagnetic valve (6) and left back support oil cylinder electromagnetic valve
(9) dead electricity；Otherwise continue；
2) if tilting judge module output Right, right anterior branch lower limb oil cylinder electromagnetic valve (7) and right rear support leg oil cylinder electromagnetic valve (8)
Simultaneously electric, activate corresponding oil cylinder and raise until right anterior branch lower limb oil cylinder electromagnetic valve (7) and the mistake of right rear support leg oil cylinder electromagnetic valve (8)
Electricity；Otherwise continue；
3) if tilting judge module output qd_1, left front support oil cylinder electromagnetic valve (6), right anterior branch lower limb oil cylinder electromagnetic valve (7)
With right rear support leg oil cylinder electromagnetic valve (8) simultaneously electric, activate corresponding oil cylinder and raise until left front support oil cylinder electromagnetic valve (6), right
Front leg strut oil cylinder electromagnetic valve (7) and right rear support leg oil cylinder electromagnetic valve (8) dead electricity；Otherwise continue；
4) if tilting judge module output qd_2, left front support oil cylinder electromagnetic valve (6), right anterior branch lower limb oil cylinder electromagnetic valve (7)
With left back support oil cylinder electromagnetic valve (9) simultaneously electric, activate corresponding oil cylinder and raise until left front support oil cylinder electromagnetic valve (6), right
Front leg strut oil cylinder electromagnetic valve (7) and left back support oil cylinder electromagnetic valve (9) dead electricity；Otherwise continue；
5) if tilting judge module output qd_3, left front support oil cylinder electromagnetic valve (6), right rear support leg oil cylinder electromagnetic valve (8)
With left back support oil cylinder electromagnetic valve (9) simultaneously electric, activate corresponding oil cylinder and raise until left front support oil cylinder electromagnetic valve (6), right
Rear support leg oil cylinder electromagnetic valve (8) and left back support oil cylinder electromagnetic valve (9) dead electricity；Otherwise continue；
6) if tilting judge module output qd_4, right anterior branch lower limb oil cylinder electromagnetic valve (7), right rear support leg oil cylinder electromagnetic valve (8)
With left back support oil cylinder electromagnetic valve (9) simultaneously electric, activate corresponding oil cylinder and raise until right anterior branch lower limb oil cylinder electromagnetic valve (7), right
Rear support leg oil cylinder electromagnetic valve (8) and left back support oil cylinder electromagnetic valve (9) dead electricity；Otherwise continue；
7) if tilting judge module output abnormality, left front support oil cylinder electromagnetic valve (6), right anterior branch lower limb oil cylinder electromagnetic valve (7),
Right rear support leg oil cylinder electromagnetic valve (8) and left back support oil cylinder electromagnetic valve (9) dead electricity simultaneously.
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| CN105540482A (en) * | 2015-09-09 | 2016-05-04 | 深圳市福田区青少年科技教育协会 | Method and device for intelligently controlling lifting jack |
| CN110863655A (en) * | 2019-12-03 | 2020-03-06 | 湖南响箭重工科技有限公司 | Horizontal control device for pump truck, pump truck and horizontal control method for pump truck |
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