CN106502137B - Control system and method of telescopic equipment and telescopic equipment - Google Patents
Control system and method of telescopic equipment and telescopic equipment Download PDFInfo
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- CN106502137B CN106502137B CN201611230885.XA CN201611230885A CN106502137B CN 106502137 B CN106502137 B CN 106502137B CN 201611230885 A CN201611230885 A CN 201611230885A CN 106502137 B CN106502137 B CN 106502137B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
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Abstract
The invention discloses a control system and method of telescopic equipment and the telescopic equipment, and relates to the field of engineering machinery. The control system of the telescopic device comprises: a distance detecting device, which is arranged on the arm head of the telescopic equipment, is used for measuring the distance between the arm head and surrounding obstacles, and transmits the measured distance value to the control device; and the control device is used for controlling the telescopic equipment to perform corresponding telescopic action according to the control interval where the distance value is located after receiving the distance value. The invention can realize that corresponding telescopic actions are adopted aiming at the control interval where the distance value is, and can prevent telescopic equipment from colliding with obstacles.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a control system and method of telescopic equipment and the telescopic equipment.
Background
The bridge inspection vehicle is equipment for transporting personnel, tools and materials to specified positions, and during operation, inspection personnel enter a working platform to perform inspection work of a bridge, and the working platform is generally suspended below the bridge and is personnel carrying equipment, so that equipment safety must be ensured.
Along with the needs of bridge detection, the working platform of the bridge detection vehicle is longer and longer, the visual field range of people is limited, and the obstacle avoidance operation can be realized by observation due to the fact that the working platform is relatively close to operators in the middle area of the working platform. When the bridge deck or the working platform arm tail is operated, the distance is far, a blind area exists, and when the working platform is in an extending process and encounters an obstacle, the working platform is easy to collide, so that dangerous accidents are caused. The artificial operation realizes that the obstacle avoidance is feasible, but has hidden danger of collision when the operation is carried out in a long distance or in a dead zone.
Disclosure of Invention
One technical problem to be solved by the invention is as follows: a control system for a telescopic device is provided so that the arm head of the telescopic device can be prevented from colliding with surrounding obstacles.
According to a first aspect of the present invention, there is provided a control system for a telescopic device, comprising: a distance detection device which is arranged on an arm head of the telescopic equipment and is used for measuring the distance between the arm head and surrounding obstacles and transmitting the measured distance value to the control device; and the control device is used for controlling the telescopic equipment to perform corresponding telescopic action according to the control interval where the distance value is located after receiving the distance value.
In one embodiment, the control interval includes: the distance value is greater than or equal to the first threshold, the second threshold is less than or equal to the distance value < the first threshold, the third threshold is less than or equal to the distance value < the second threshold, and the distance value < the third threshold.
In one embodiment, when the distance value is greater than or equal to the first threshold value, the control device controls the telescopic equipment to extend normally; when the second threshold value is less than or equal to the distance value < the first threshold value, the control device controls and reduces the extending speed of the telescopic equipment; when the third threshold value is smaller than or equal to the distance value < the second threshold value, the control device controls the telescopic equipment to stop the telescopic action; and when the distance value < the third threshold value, the control means controls the telescopic device to perform a retracting action until the telescopic device is retracted such that the distance value is equal to the second threshold value.
In one embodiment, the system further comprises: the alarm device is electrically connected with the control device; when the third threshold value is less than or equal to the distance value < the second threshold value, the control device sends an alarm signal with a first preset frequency to the alarm device, and the alarm device executes first alarm processing after receiving the alarm signal with the first preset frequency; when the distance value is smaller than the third threshold value, the control device sends an alarm signal with a second preset frequency to the alarm device, and the alarm device executes second alarm processing after receiving the alarm signal with the second preset frequency; the first predetermined frequency is less than the second predetermined frequency.
In one embodiment, the distance detection device includes: an electric swing device and a distance measuring device; the electric swinging equipment is arranged on the arm head and comprises a motor and a swinging rod; the distance measuring equipment is arranged on the swing rod; the control device is electrically connected with the motor, and the distance measuring equipment is electrically connected with the control device; the control device sends a swing control signal to a motor of the electric swing equipment to control the swing rod to swing, so that the distance measuring equipment is driven to swing; the distance measuring device measures the distance between the arm head and surrounding obstacles in real time and transmits the measured distance value to the control device.
In one embodiment, the control means controls to increase the swing speed of the swing link of the electric swing device when the second threshold value is less than or equal to the distance value < the first threshold value.
In one embodiment, the ranging apparatus comprises: an ultrasonic sensor or a laser ranging device.
In one embodiment, the distance detection device includes: a plurality of ultrasonic sensors or a plurality of laser ranging devices; wherein the plurality of ultrasonic sensors or the plurality of laser ranging devices are respectively installed on positions facing different directions on the arm head.
The control system of the invention can prevent the arm head of the telescopic equipment from colliding with surrounding obstacles.
Furthermore, the control system can realize alarm output of different levels and a series of obstacle avoidance operations such as deceleration control, stop control, reverse motion control and the like on the expansion of the telescopic equipment, thereby achieving the purpose of collision prevention and guaranteeing the safety of personnel and equipment.
According to a second aspect of the present invention there is provided a telescopic device comprising: a control system for a telescopic device as hereinbefore described.
According to a third aspect of the present invention, there is provided a control method of a telescopic device, comprising: obtaining a distance value between an arm head of the telescopic equipment and surrounding obstacles; and controlling the telescopic equipment to perform corresponding telescopic actions according to the control interval where the distance value is located.
In one embodiment, the control interval includes: the distance value is greater than or equal to the first threshold, the second threshold is less than or equal to the distance value < the first threshold, the third threshold is less than or equal to the distance value < the second threshold, and the distance value < the third threshold.
In one embodiment, the step of controlling the telescopic device to perform the corresponding telescopic action according to the control interval in which the distance value is located includes: when the distance value is more than or equal to the first threshold value, controlling the telescopic equipment to extend normally; when the second threshold value is less than or equal to the distance value < the first threshold value, controlling to reduce the extending speed of the telescopic equipment; when the third threshold value is smaller than or equal to the distance value smaller than the second threshold value, controlling the telescopic equipment to stop telescopic action; and when the distance value is less than the third threshold, controlling the telescopic device to execute a retracting action until the telescopic device is retracted such that the distance value is equal to the second threshold.
In one embodiment, the method further comprises: when the third threshold value is less than or equal to the distance value < the second threshold value, sending an alarm signal with a first preset frequency to an alarm device to execute first alarm processing; transmitting an alarm signal having a second predetermined frequency to the alarm device to perform a second alarm process when the distance value < the third threshold value; wherein the first predetermined frequency is less than the second predetermined frequency.
In one embodiment, the method further comprises: and when the second threshold value is less than or equal to the distance value < the first threshold value, controlling to increase the swing speed of the swing rod of the electric swing equipment.
The control method can prevent the arm head of the telescopic equipment from colliding with surrounding obstacles.
Furthermore, the control method can realize alarm output of different levels and a series of obstacle avoidance operations such as deceleration control, stop control, reverse motion control and the like on the extension of the telescopic equipment, thereby achieving the purpose of collision prevention and guaranteeing the safety of personnel and equipment.
Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
The invention may be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, in which:
fig. 1 is a structural connection diagram schematically showing a control system of a telescopic device according to an embodiment of the present invention.
Fig. 2 is a structural connection diagram schematically showing a control system of a telescopic device according to another embodiment of the present invention.
Fig. 3 is a schematic view schematically showing a control system mounted on a work platform of a bridge inspection vehicle according to one embodiment of the present invention.
Fig. 4 is a flowchart illustrating a control method of the telescopic device according to an embodiment of the present invention.
Fig. 5 is a flowchart illustrating a control method of a telescopic device according to another embodiment of the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Fig. 1 is a structural connection diagram schematically showing a control system of a telescopic device according to an embodiment of the present invention. As shown in fig. 1, the control system 10 may include: distance detection means 101 and control means (e.g. a controller) 102. The distance detecting means 101 may be mounted on the arm head of the telescopic device. The distance detection device 101 is electrically connected to the control device 102. Furthermore, for purposes of illustration, an execution structure 110 is also shown in FIG. 1.
The distance detecting means 101 is for measuring the distance of the arm head from the surrounding obstacle and transmitting the measured distance value to the control means 102.
The control device 102 is configured to control the telescopic device to perform a corresponding telescopic action according to a control interval in which the distance value is located after receiving the distance value.
In this embodiment, the control device may store a plurality of control sections in advance, and the distance detecting device transmits the measured distance value between the arm head and the surrounding obstacle to the control device, and the control device determines in which control section the distance value is located, and sends a control signal to the actuator 110 of the telescopic device according to which control section the distance value is located, so as to control the telescopic device to perform a corresponding telescopic action, thereby preventing the arm head from colliding with the obstacle.
In one embodiment, the telescoping device herein may be: bridge inspection vehicle working platform, or engineering mechanical equipment (such as a crane with telescopic boom) with multiple platforms or multiple sections of telescopic arms.
In one embodiment, the control interval may include: the distance value is greater than or equal to the first threshold, the second threshold is less than or equal to the distance value < the first threshold, the third threshold is less than or equal to the distance value < the second threshold, and the distance value < the third threshold. Here, the first threshold value > the second threshold value > the third threshold value. For example, the first threshold is 1m, the second threshold is 0.6m, and the third threshold is 0.4m.
Different control strategies may be employed for different control intervals. For example, the following are possible:
when the distance value is greater than or equal to the first threshold value, the control device 102 controls the telescopic equipment to extend normally. Under the condition that the distance value is more than or equal to a first threshold value, the control device confirms that the distance between the arm head and the obstacle is further larger, and collision risk is avoided, so that the telescopic equipment is controlled to extend normally.
When the second threshold value is less than or equal to the distance value < the first threshold value, the control device controls the extension speed of the telescopic equipment to be reduced. For example, the telescoping speed of the telescoping device may be halved. And under the condition that the second threshold value is less than or equal to the distance value < the first threshold value, the control device confirms that the arm head is in danger of collision with the obstacle, so that the extending speed of the telescopic equipment is reduced.
When the third threshold value is less than or equal to the distance value < the second threshold value, the control device controls the telescopic equipment to stop the telescopic action. When the third threshold value is smaller than or equal to the distance value < the second threshold value, the control device confirms that the risk of collision between the arm head and the obstacle is increased, and therefore controls the telescopic equipment to stop telescopic action. Here, the stop of the expansion operation may be regarded as an expansion operation with an expansion speed of 0.
When the distance value is less than the third threshold value, the control means controls the telescopic device to perform the retracting action until the telescopic device is retracted such that the distance value is equal to the second threshold value. In case the distance value < the third threshold value, the control means confirms that the risk of the arm head colliding with the obstacle is great, and the telescopic device needs to be retracted until the distance value is equal to the second threshold value.
In the above embodiment, the control system performs different control telescopic actions according to different control sections where the distance value is located, so that collision obstacles can be prevented.
Fig. 2 is a structural connection diagram schematically showing a control system of a telescopic device according to another embodiment of the present invention. As shown in fig. 2, the control system 20 may include: distance detection means 201 and control means 202. The distance detecting means 201 and the control means 202 are the same as or similar to the distance detecting means 101 and the control means 102, respectively, in fig. 1. In addition, the actuator 210 of the telescopic device is also shown in fig. 2.
In one embodiment, the control system 20 may further include: and an alarm 203. The alarm device 203 is electrically connected to the control device 202. For example, the alarm device may comprise a buzzer or the like.
When the third threshold value is less than or equal to the distance value < the second threshold value, the control device 202 sends an alarm signal with a first predetermined frequency to the alarm device 203, and the alarm device 203 performs a first alarm process after receiving the alarm signal with the first predetermined frequency. For example, when the third threshold value is equal to or smaller than the distance value < the second threshold value, the control device controls the alarm device to give an alarm, for example, to make a sound from the buzzer, in addition to controlling the telescopic device to stop the telescopic operation.
When the distance value < the third threshold value, the control means 202 sends an alarm signal having a second predetermined frequency to the alarm means 203, and the alarm means 203 performs a second alarm process after receiving the alarm signal having the second predetermined frequency. Here, the first predetermined frequency is smaller than the second predetermined frequency. For example, in the case where the distance value < the third threshold value, the control device outputs an alarm signal having a higher frequency in addition to controlling the telescopic device to perform the retracting action, so that the buzzing tone of the alarm device is correspondingly raised.
In the above embodiment, by performing the alarm with different frequencies, the operator can know which control section the distance between the current arm head and the obstacle is located, and attach importance to the operator.
In one embodiment, the distance detection apparatus 201 may include: an electromotive swing device 221 and a ranging device 231. The electric swing device 221 is mounted on the arm head. The electric swing apparatus 221 includes a motor and a swing lever (not shown in fig. 2). The motor can drive the swing rod to swing. The distance measuring device 231 is mounted on the swing lever of the electric swing device 221. The control device 202 is electrically connected to a motor of the electric swing apparatus 221. The distance measuring device 231 is electrically connected to the control means 202.
The control device 202 sends a swing control signal to the motor of the electric swing device 221 (the motor is enabled to operate, so that the swing rod is driven to swing), and the swing rod is controlled to swing, so that the distance measuring device 231 is driven to swing. The distance measuring device 231 measures the distance of the arm head from the surrounding obstacle in real time and transmits the measured distance value to the control device 202.
In the embodiment, the distance measuring equipment is driven to swing through the electric swinging equipment, the electric swinging equipment is simple in structure and easy to implement, and detection in a large range can be realized. Moreover, the number of the ranging devices used is relatively small, and for example, the surrounding scanning can be realized by only one ranging device, so that the cost is relatively low.
In one embodiment, when the second threshold value is less than or equal to the distance value < the first threshold value, the control device 202 controls to increase the swing speed of the swing link of the electric swing apparatus. For example, in the case where the second threshold value is smaller than or equal to the distance value < the first threshold value, the control device controls to decrease the extension speed of the telescopic device and also increases the swing speed of the swing link of the electric swing device, that is, increases the frequency of scanning detection of the distance measuring device, so that the distance measuring device scans rapidly, and collision can be prevented.
In one embodiment, ranging device 231 may include: an ultrasonic sensor or a laser ranging device.
In some embodiments, the distance detecting device may also use other manners besides the above-mentioned combination of the electric swing device and the distance measuring device. For example, the distance detection device may include: a plurality of ultrasonic sensors or a plurality of laser ranging devices. The plurality of ultrasonic sensors (or the plurality of laser ranging apparatuses) are respectively mounted on the arm head at positions facing different directions. For example, an ultrasonic sensor (or a laser ranging device) is installed in front of, above, below, left and right of the arm head, respectively, so that distance measurement of surrounding obstacles is achieved.
Fig. 3 is a schematic view schematically showing a control system mounted on a work platform of a bridge inspection vehicle according to one embodiment of the present invention. The following describes in detail a control system according to an embodiment of the present invention, taking a bridge inspection vehicle working platform as an example.
As shown in fig. 3, the work platform 310 may include: arm head 351, arm tail 352, telescopic drive 311, and the like. The control system of the embodiment of the invention comprises: an electric swing device 321, a distance measuring device 331, a control device 302, a buzzer (as an alarm device) 303, and the like. Here, the control device 302 also serves as a main controller of the work platform. The electric swing device 321 is connected to the base of the distance measuring device 331. In addition, an obstacle 360 and a telescoping direction 370 are also shown in fig. 3.
For example, the distance measuring device 331 may be an ultrasonic sensor capable of outputting a standard signal, and in operation, emits an ultrasonic signal to detect surrounding obstacles, and outputs a distance signal between the arm head and the obstacle to the control device 302.
The control device 302 receives the distance signal between the arm head of the working platform and the obstacle, which is measured by the distance measuring device 331, and outputs a corresponding control signal to the telescopic driving device 311 by judging the section in which the distance value is located. The telescopic driving device 311 realizes the output of the telescopic motion power source of the working platform according to the control signal sent by the control device 302, and drives the working platform to stretch. The motor in the electric swinging device 321 drives the swinging rod in the swinging device to move according to the control signal sent by the control device 302, so that the swing of the inductive probe of the ranging device 331 arranged on the swinging rod is realized. The buzzer receives the alarm signal sent by the control device 302 and performs a buzzing alarm.
Taking an ultrasonic sensor as an example of distance measuring equipment, in the process that a bridge inspection vehicle working platform stretches out, the ultrasonic sensor swings under the drive of electric swinging equipment, surrounding environment is monitored in real time, when an obstacle is encountered, the ultrasonic sensor calculates a distance value between an arm head and the obstacle according to a returned ultrasonic signal, the distance value is recorded as M, the distance value is output to a control device, and the control device implements a control process of the control system according to the detected distance value M. The control procedure of the control system will be described below taking the first threshold value=1m, the second threshold value=0.6m, and the third threshold value=0.4m as an example, as follows:
1) When M is more than or equal to 1M, the working platform normally stretches out, and anti-collision control is not performed.
2) When M is more than or equal to 0.6M and less than or equal to 1M, the control device 302 sends control signals to the telescopic driving device 311 and the electric swinging equipment 321, the extending speed of the working platform is halved, and the swinging speed of the swinging rod in the electric swinging equipment is doubled, namely, the scanning detection frequency of the ultrasonic sensor is doubled.
3) When M is more than or equal to 0.4M and less than 0.6M, the control device 302 outputs an alarm signal with a certain frequency to the buzzer to perform buzzing alarm, and the control platform stops stretching.
4) When M is less than 0.4M, the frequency of the alarm signal output by the control device 302 is increased, the buzzing tone is correspondingly increased, and a control signal for retracting the working platform is sent to the telescopic driving device 311 of the platform to control the working platform to retract to the position of 0.6M, at the moment, the retracting movement of the working platform is stopped, and the buzzer stops alarming.
In the above embodiment, the distance value between the arm head and the obstacle is directly output to the control device by using the distance measuring device, and the electric swinging device is additionally arranged on the base of the distance measuring device, so that the monitoring in a larger range can be realized. After the control device receives the distance value detected by the distance measuring equipment, an automatic obstacle avoidance control algorithm is adopted, so that alarm output of different levels and a series of obstacle avoidance operations such as deceleration control, stop control and reverse motion control on the extension of the working platform can be realized, the purpose of automatic collision prevention of the working platform is achieved, and personal safety and equipment safety are ensured.
The invention also provides a telescopic device comprising: a control system for a telescopic device as hereinbefore described. For example, the telescoping device herein may be: a bridge inspection vehicle working platform (shown in fig. 3), or an engineering mechanical device (such as a crane with a telescopic boom) with a plurality of platforms or multiple sections of arms capable of automatically telescoping, and the like.
Fig. 4 is a flowchart illustrating a control method of the telescopic device according to an embodiment of the present invention.
In step S401, a distance value between the arm head of the telescopic device and surrounding obstacles is obtained.
In step S402, the telescopic device is controlled to perform a corresponding telescopic action according to the control interval in which the distance value is located.
In this embodiment, a plurality of control sections may be stored in advance, and after the distance value between the arm head and the surrounding obstacle is measured, it is determined in which control section the distance value is located, and the telescopic device is controlled to perform a corresponding telescopic action according to which control section the distance value is located, so that the arm head can be prevented from colliding with the obstacle.
In one embodiment, the control interval may include: the distance value is greater than or equal to the first threshold, the second threshold is less than or equal to the distance value < the first threshold, the third threshold is less than or equal to the distance value < the second threshold, and the distance value < the third threshold. Here, the first threshold value > the second threshold value > the third threshold value. For example, the first threshold is 1m, the second threshold is 0.6m, and the third threshold is 0.4m.
In one embodiment, step S402 may include: and when the distance value is more than or equal to a first threshold value, controlling the telescopic equipment to extend normally. Optionally, the step S402 may further include: and when the second threshold value is less than or equal to the distance value < the first threshold value, controlling to reduce the extending speed of the telescopic equipment. Optionally, the step S402 may further include: and when the third threshold value is less than or equal to the distance value < the second threshold value, controlling the telescopic equipment to stop the telescopic action. Optionally, the step S402 may further include: when the distance value < the third threshold value, the telescopic device is controlled to perform a retracting action until the telescopic device is retracted such that the distance value is equal to the second threshold value. The embodiment realizes different telescopic control according to different control intervals, namely a series of automatic obstacle avoidance operations such as deceleration control, stop control, reverse motion control and the like for telescopic equipment.
In one embodiment, the control method may further include: and when the third threshold value is less than or equal to the distance value < the second threshold value, sending an alarm signal with a first preset frequency to an alarm device to execute first alarm processing. When the distance value is less than the third threshold value, an alarm signal having a second predetermined frequency is transmitted to the alarm device to perform a second alarm process. Wherein the first predetermined frequency is less than the second predetermined frequency. This embodiment alerts the operator to the risk of collision with an obstacle.
In one embodiment, the control method may further include: and when the second threshold value is less than or equal to the distance value < the first threshold value, controlling to increase the swing speed of the swing rod of the electric swing equipment. I.e. increasing the frequency of the scanning detection of the distance measuring device.
Fig. 5 is a flowchart illustrating a control method of a telescopic device according to another embodiment of the present invention. A flowchart of a control method according to another embodiment of the present invention will be described in detail with reference to fig. 5, taking a bridge inspection vehicle working platform as an example.
In step S501, the system is initialized.
In step S502, it is determined whether a platform extension signal is issued. If so, the process advances to step S503, otherwise the process returns to step S502.
In step S503, the distance value M transmitted by the distance detection device is received and processed.
In step S504, it is determined whether the distance value M satisfies M.gtoreq.first threshold. For example, the first threshold is 1m. If so, the process returns to step S503, otherwise the process advances to step S505.
In step S505, it is determined whether the distance value M satisfies the second threshold value M < the first threshold value. For example, the second threshold is 0.6m. If so, the process advances to steps S506 and S507, otherwise the process advances to step S508.
In step S506, the platform extension speed is reduced (e.g., the speed is halved).
In step S507, the swing speed of the distance detection device increases (for example, the swing speed doubles).
In step S508, it is determined whether the distance value M satisfies a third threshold value M < a second threshold value. For example, the third threshold is 0.4m. If so, the process advances to steps S509 and S510, otherwise the process advances to steps S511 and S512.
In step S509, the platform extension is stopped.
In step S510, a buzzer alarm is sounded.
In step S511, the platform is retracted.
In step S512, the buzzer alert frequency is increased.
In step S513, it is determined whether the distance value M satisfies M.gtoreq.second threshold. If so, the process advances to steps S514, S515, and S516, otherwise, returns to step S511.
In step S514, the distance detection device swings at a constant speed.
In step S515, the stage retraction is stopped.
In step S516, the buzzer stops alarming.
In the embodiment, a control method applicable to telescopic equipment such as a bridge inspection vehicle working platform is provided. The environment around the arm head of the telescopic equipment is monitored in real time when the telescopic equipment stretches out, alarm output prompts of different levels can be realized according to the distance between the arm head and surrounding obstacles, and a series of obstacle avoidance operations such as speed reduction control, stop control, reverse direction movement control and the like can be performed on the stretching of the telescopic equipment, so that the aim of automatically avoiding the obstacle of the telescopic equipment is achieved, dangerous accidents caused by collision are prevented, and the safety and reliability of personnel and equipment operation are guaranteed.
The present invention has been described in detail so far. In order to avoid obscuring the concepts of the invention, some details known in the art have not been described. How to implement the solutions disclosed herein will be fully apparent to those skilled in the art from the above description.
The method and system of the present invention may be implemented in a number of ways. For example, the methods and systems of the present invention may be implemented by software, hardware, firmware, or any combination of software, hardware, firmware. The above-described sequence of steps for the method is for illustration only, and the steps of the method of the present invention are not limited to the sequence specifically described above unless specifically stated otherwise. Furthermore, in some embodiments, the present invention may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present invention. Thus, the present invention also covers a recording medium storing a program for executing the method according to the present invention.
While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (10)
1. A control system for a telescopic device, comprising:
a distance detection device which is arranged on an arm head of the telescopic equipment and is used for measuring the distance between the arm head and surrounding obstacles and transmitting the measured distance value to the control device; and
the control device is used for controlling the telescopic equipment to perform corresponding telescopic actions according to a control interval where the distance value is located after receiving the distance value;
wherein the control interval includes: the distance value is larger than or equal to a first threshold value, the second threshold value is smaller than or equal to the distance value < the first threshold value, the third threshold value is smaller than or equal to the distance value < the second threshold value, and the distance value < the third threshold value;
when the distance value is more than or equal to the first threshold value, the control device controls the telescopic equipment to extend normally;
when the second threshold value is less than or equal to the distance value < the first threshold value, the control device controls and reduces the extending speed of the telescopic equipment;
when the third threshold value is smaller than or equal to the distance value < the second threshold value, the control device controls the telescopic equipment to stop the telescopic action; and
when the distance value < the third threshold value, the control means controls the telescopic device to perform a retracting action until the telescopic device is retracted such that the distance value is equal to the second threshold value.
2. The system of claim 1, further comprising:
the alarm device is electrically connected with the control device;
when the third threshold value is less than or equal to the distance value < the second threshold value, the control device sends an alarm signal with a first preset frequency to the alarm device, and the alarm device executes first alarm processing after receiving the alarm signal with the first preset frequency;
when the distance value is smaller than the third threshold value, the control device sends an alarm signal with a second preset frequency to the alarm device, and the alarm device executes second alarm processing after receiving the alarm signal with the second preset frequency;
the first predetermined frequency is less than the second predetermined frequency.
3. The system of claim 1, wherein the system further comprises a controller configured to control the controller,
the distance detection device includes: an electric swing device and a distance measuring device;
the electric swinging equipment is arranged on the arm head and comprises a motor and a swinging rod; the distance measuring equipment is arranged on the swing rod; the control device is electrically connected with the motor, and the distance measuring equipment is electrically connected with the control device;
the control device sends a swing control signal to a motor of the electric swing equipment to control the swing rod to swing, so that the distance measuring equipment is driven to swing; the distance measuring device measures the distance between the arm head and surrounding obstacles in real time and transmits the measured distance value to the control device.
4. The system of claim 3, wherein the system further comprises a controller configured to control the controller,
when the second threshold value is smaller than or equal to the distance value < the first threshold value, the control device controls the swing speed of the swing rod of the electric swing equipment to be increased.
5. The system of claim 3, wherein the system further comprises a controller configured to control the controller,
the ranging apparatus includes: an ultrasonic sensor or a laser ranging device.
6. The system of claim 1, wherein the system further comprises a controller configured to control the controller,
the distance detection device includes: a plurality of ultrasonic sensors or a plurality of laser ranging devices;
wherein the plurality of ultrasonic sensors or the plurality of laser ranging devices are respectively installed on positions facing different directions on the arm head.
7. A telescopic device, comprising: a control system for a telescopic device according to any one of claims 1 to 6.
8. A control method of a telescopic device, characterized by comprising:
obtaining a distance value between an arm head of the telescopic equipment and surrounding obstacles; and
controlling the telescopic equipment to perform corresponding telescopic actions according to a control interval where the distance value is located;
wherein the control interval includes: the distance value is larger than or equal to a first threshold value, the second threshold value is smaller than or equal to the distance value < the first threshold value, the third threshold value is smaller than or equal to the distance value < the second threshold value, and the distance value < the third threshold value;
the step of controlling the telescopic equipment to perform corresponding telescopic actions according to the control interval where the distance value is located comprises the following steps:
when the distance value is more than or equal to the first threshold value, controlling the telescopic equipment to extend normally;
when the second threshold value is less than or equal to the distance value < the first threshold value, controlling to reduce the extending speed of the telescopic equipment;
when the third threshold value is smaller than or equal to the distance value smaller than the second threshold value, controlling the telescopic equipment to stop telescopic action; and
when the distance value is less than the third threshold, controlling the telescopic device to execute a retracting action until the telescopic device is retracted such that the distance value is equal to the second threshold.
9. The method as recited in claim 8, further comprising:
when the third threshold value is less than or equal to the distance value < the second threshold value, sending an alarm signal with a first preset frequency to an alarm device to execute first alarm processing;
transmitting an alarm signal having a second predetermined frequency to the alarm device to perform a second alarm process when the distance value < the third threshold value;
wherein the first predetermined frequency is less than the second predetermined frequency.
10. The method as recited in claim 8, further comprising:
and when the second threshold value is less than or equal to the distance value < the first threshold value, controlling to increase the swing speed of the swing rod of the electric swing equipment.
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| CN201611230885.XA CN106502137B (en) | 2016-12-28 | 2016-12-28 | Control system and method of telescopic equipment and telescopic equipment |
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| CN201611230885.XA CN106502137B (en) | 2016-12-28 | 2016-12-28 | Control system and method of telescopic equipment and telescopic equipment |
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| CN106502137B true CN106502137B (en) | 2023-11-03 |
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| CN108900662B (en) * | 2018-06-08 | 2021-04-02 | Oppo广东移动通信有限公司 | Electronic device and drive control method |
| CN108924283B (en) * | 2018-06-08 | 2020-06-12 | Oppo广东移动通信有限公司 | Sliding control method and device of sliding assembly and electronic device |
| CN109040348B (en) * | 2018-06-08 | 2020-12-29 | Oppo广东移动通信有限公司 | Electronic device, drive control method and related product |
| CN108900661A (en) * | 2018-06-08 | 2018-11-27 | Oppo广东移动通信有限公司 | Electronic equipment and its control method |
| CN108900663B (en) * | 2018-06-08 | 2020-10-02 | Oppo广东移动通信有限公司 | Sliding control method and device of sliding assembly and electronic device |
| JP7093277B2 (en) * | 2018-09-14 | 2022-06-29 | 日立建機株式会社 | Work machine |
| CN112411663B (en) * | 2020-11-06 | 2022-06-03 | 徐州徐工挖掘机械有限公司 | Control method and control device for excavator and excavator |
| CN112987854B (en) * | 2021-02-09 | 2023-07-04 | 广东职业技术学院 | Notebook computer inclination control method and system |
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