CN106585577A - Control method of boom system, boom control system and boom equipment - Google Patents
Control method of boom system, boom control system and boom equipment Download PDFInfo
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- CN106585577A CN106585577A CN201611140647.XA CN201611140647A CN106585577A CN 106585577 A CN106585577 A CN 106585577A CN 201611140647 A CN201611140647 A CN 201611140647A CN 106585577 A CN106585577 A CN 106585577A
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- Prior art keywords
- support
- arm
- boom system
- scope
- supporting leg
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The invention provides a control method of a boom system, a boom control system and boom equipment. The control method comprises the following steps of: dividing the motion range of each supporting leg into a plurality of motion intervals within the motion range of each of the supporting legs, according to the combination of every two adjacent supporting legs in different motion intervals, determining a plurality of supporting intervals, establishing a supporting level base, and in the supporting level base, determining an allowable motion range of the boom system under each of the supporting levels of each of the supporting intervals when the boom system is located in the corresponding supporting interval; detecting the actual supporting state of each of the supporting legs; and according to the detected actual supporting state of each of the supporting legs, in the supporting level base, seeking for the supporting levels of each of the supporting interval corresponding to the actual supporting state of each of the supporting legs, so that allowing motion ranges of each boom section in different revolution angles of the boom system are determined, and according to the allowing motion ranges, controlling the motion of each of the boom sections. According to the control method disclosed by the invention, calculating the gravity center of a complete vehicle at all times is not needed, so that the calculation amount is low, and the control error rate is low.
Description
Technical field
The present invention relates to constructional engineering machinery apparatus field, more specifically, is related to a kind of boom system control method, arm
Frame control system and arm support equipment.
Background technology
At present, the stable control method of existing many folding arm equipment is all the operating attitude of first real-time detection arm support, and
Calculate the position of centre of gravity of car load in real time, and judge the car load center of gravity whether safety zone in the range of support, if because of arm support
Activity makes the center of gravity of car load beyond safety zone, and controller will control arm support and move to safe direction.Above control mode belongs to
Control afterwards, it is impossible to which the moment ensures that the arm equipment that fold are in safe work state more, intentionally the outer risk toppled, and folds more
All arm supports of arm equipment are both needed to Installation posture detection means, increase error probability, in addition it is also necessary to which the control system moment calculates whole
The center of gravity of car, and according to center of gravity and the support situation of supporting leg, calculate whether boom system is located in safety zone, control system
Operand is big, having high demands for the reliability of stability and all the sensors to control system, easily malfunctions.
It is therefore proposed that a kind of operand is few, can constantly ensure the controlling parties for folding arm equipment in safe work state more
Method just seems very necessary.
The content of the invention
In view of this, it is an object of the present invention to provide a kind of boom system control method, arm support control system and arm support
Equipment, to reduce the amount of calculation of existing arm support equipment control system and/or improve the security of boom system.
On the one hand, the invention provides a kind of boom system control method, for the arm support for controlling to be supported by multiple supporting legs
System, the boom system includes multiple arm joints, comprises the following steps：
Step 102：In the scope of activities of each supporting leg, the scope of activities of each supporting leg is divided into into multiple behaviour areas
Between, according to adjacent two supporting leg in the combination of different activity intervals, determine multiple support Intervals, and support gear storehouse is set up, in institute
State to support and determine in gear storehouse under each support gear of each support Interval, when the boom system is located at this
When support is interval, the permission scope of activities of the boom system；
Step 104：The actual support state of each supporting leg is detected, the actual support state includes each supporting leg reality
Extension elongation and/or expanded angle；
Step 106：According to the actual support state of each supporting leg for detecting, search and each in gear storehouse is supported
The support gear of each corresponding support Interval of the actual support state of leg, so that it is determined that going out each arm joint in the boom system
Permission scope of activities under different angles of revolution, and the motion of each arm joint is controlled accordingly.
As the improvement on the one hand of above-mentioned arm support system control method, it is preferable that in a step 102, the arm support system
The permission scope of activities of system includes what the gravity center shift scope or/and each arm joint of at least one arm joint of the boom system was allowed
Change angle scope or collapsing length scope.
As the improvement on the one hand of above-mentioned arm support system control method, it is preferable that the boom system includes connecting successively
The 1st arm joint that connects, the 2nd arm joint ..., N arm joints, N is the integer more than 1, and in a step 102, the boom system is permitted
Perhaps scope of activities is the change angle scope or collapsing length scope that each arm joint is allowed；In step 106, the arm support system is controlled
During the motion of system, successively limit the 1st arm joint, the 2nd arm joint ..., N arm joints allow change angle or collapsing length scope
Interior motion.
As the improvement on the one hand of above-mentioned arm support system control method, it is preferable that in a step 102, the arm support system
Unite in different angle of revolution and under each support gear, determine change angle or collapsing length model that the 1st arm joint allows
When enclosing, it is assumed that the 2nd arm joint ..., N arm joints are located at horizontality or maximum and stretch out state；Determine the luffing that the 2nd arm joint is allowed
When angle or collapsing length scope, it is assumed that the 3rd arm joint ..., N arm joints are located at horizontality or maximum and stretch out state；……；
When determining the change angle or collapsing length scope of N-1 arm joints permission, it is assumed that N arm joints are located at horizontality or maximum is stretched out
State.
As the improvement on the one hand of above-mentioned arm support system control method, it is preferable that in a step 102, in each supporting leg
Scope of activities in choose multiple cut-points, the scope on each supporting leg between two neighboring cut-point constitutes a behaviour area
Between, the cut-point of the close arm support centre of gyration of each activity interval is interior separation, and each activity interval is returned away from arm support
The cut-point for turning center is outer separation；The first activity interval of one of supporting leg and boom system returns in adjacent two supporting leg
Turn the line at center, the scope that the line of the centre of gyration of second activity interval and boom system of another supporting leg is constituted is to prop up
Support is interval, the interior separation of the first activity interval, between the interior separation of outer separation and the second activity interval, outer separation
4 lines are precalculated under each support gear to support gear line, one support gear of each support gear line correspondence,
When the boom system is located at the support Interval, the permission scope of activities of the boom system；In step 106, search with
During the support gear of each corresponding support Interval of the actual support state of each supporting leg, select 4 support in gear lines with
The closest corresponding support gear of support gear line of the centre of gyration of boom system.
As the improvement on the one hand of above-mentioned arm support system control method, it is preferable that in a step 102, in each supporting leg
Scope of activities in choose n cut-point, n is the integer more than 1, the scope structure on each supporting leg between two neighboring cut-point
Into an activity interval；The company of the centre of gyration of the first activity interval of one of supporting leg and boom system in adjacent two supporting leg
Line, the centre of gyration of second activity interval and boom system of another supporting leg line constitute scope be support Interval, phase
I-th separation of one of supporting leg and the line of i-th cut-point of another supporting leg are support gear in adjacent two supporting legs
Line, i is the integer more than or equal to 1 and less than or equal to n, and the 1st to the (n-1)th supports gear line parallel, each support gear line
One support gear of correspondence, and precalculate under each support gear, when boom system is located at the support Interval, boom system
Each arm joint allow change angle scope or collapsing length scope；
Meanwhile, in step 106, search propping up for each support Interval corresponding with the actual support state of each supporting leg
During support gear, the corresponding support gear of support gear line on the inside of the strong point line of adjacent two supporting leg is selected.
As the improvement on the one hand of above-mentioned arm support system control method, it is preferable that at step 104, also detect arm support
The angle of revolution of system and the change angle or collapsing length of each arm joint；In step 106, including the boom system is controlled
Gyration and each arm joint change angle scope or collapsing length, and when each arm joint return back to from support Interval it is another
During support Interval, whether the change angle or collapsing length for comparing each arm joint of detection is located at the luffing that another support Interval is allowed
In the range of angle or collapsing length, and the motion of control boom system accordingly, and in the juncture area of adjacent two support Interval, if
The safety allowance for putting preset range is interval, when the boom system is located at safety allowance interval, chooses interval by safety allowance
The less permission scope of activities of each arm joint in adjacent two support Interval for separating.
The boom system control method that the present invention is provided, by step 102, can be according to the scope of activities in each supporting leg
It is interior, the scope of activities of each supporting leg is divided into into multiple activity intervals, according to adjacent two supporting leg different activity intervals combination,
Determine multiple support Intervals, and set up support gear storehouse, determine in each of each support Interval in gear storehouse is supported
Under individual support gear, when boom system is located at the support Interval, the permission scope of activities of boom system, it will be understood that each
After the holding state of individual supporting leg determines, its enabling capabilities also determines, before arm support action, can be according to the actual support shape of supporting leg
State, searching data storehouse selects or transfers the permission scope of activities of boom system from database, moves in each arm joint of boom system
When making, it is not necessary to which the moment calculates the center of gravity of car load, and according to center of gravity and the support situation of supporting leg, calculate whether boom system is located at
In safety zone, it is only necessary to which whether the scope of activities for comparing boom system is located in the permission scope of activities of boom system, while
The scope of activities of each arm joint can be controlled without departing from the change angle scope or collapsing length scope for allowing, therefore, will be existing
Control afterwards becomes Prior Control, can improve the security of equipment, reduces risk of tumbling, meanwhile, reduce boom system
Amount of calculation in control process, reliability and real-time are improved, and control error rate is reduced.
Meanwhile, by step 104, step 106, can be by the detection of the detection means such as angular transducer, stay wire sensor
The actual extension elongation of each supporting leg and/or expanded angle, and according to actual support state, search in gear storehouse is supported with respectively
The corresponding support gear of the actual support state of individual supporting leg, so that it is determined that going out boom system permitting under different angles of revolution
Perhaps scope of activities, and the motion of control boom system accordingly, therefore, control simpler.
On the other hand, the invention allows for a kind of arm support control system, for the arm support for controlling to be supported by multiple supporting legs
System, the boom system includes multiple arm joints, including：
Leg location detection means, for detecting the extension elongation or/and pendulum angle of each supporting leg；
Arm support position detection means, between the luffing angle or adjacent two arm segment that directly or indirectly detect each arm joint
Angle or adjacent two arm segment collapsing length；
Arm support rotation detecting, for detecting the angle of revolution of the boom system；
Drive mechanism is performed, is connected with the boom system, for driving the boom system to turn round and for driving
Each arm joint luffing of the boom system or expanding-contracting action；
Controller, with the leg location detection means, arm support position detection means, arm support rotation detecting and execution
Drive mechanism connects, in the scope of activities of each supporting leg, the scope of activities of each supporting leg being divided into into multiple behaviour areas
Between, according to adjacent two supporting leg in the combination of different activity intervals, determine multiple support Intervals, and support gear storehouse is set up, in institute
State to support and determine in gear storehouse under each support gear of each support Interval, when the boom system is positioned at the support
When interval, the permission scope of activities of the boom system；And the actual support state of each supporting leg detected for basis,
Support and search in gear storehouse the support gear corresponding with the actual support state of each supporting leg, so that it is determined that going out the arm support system
Permission scope of activities of the system under different angles of revolution, and for according to arm support position detection means, arm support revolution detection dress
The data of detection are put, by the motion for performing boom system described in driving mechanisms control.
As the improvement on the one hand of above-mentioned arm support control system, it is preferable that the boom system includes what is be sequentially connected
1st arm joint, the 2nd arm joint ..., N arm joints, N is the integer more than 1, and the permission scope of activities of the boom system is each arm
Change angle scope or collapsing length scope that section is allowed；When controller controls the motion of the boom system, the 1st is limited successively
Arm joint, the 2nd arm joint ..., N arm joints allow change angle or collapsing length range of motion.
The arm support control system of the present invention, by controller, can be in the scope of activities of each supporting leg, by each supporting leg
Scope of activities be divided into multiple activity intervals, according to adjacent two supporting leg in the combination of different activity intervals, determine multiple supports
Interval, and set up support gear storehouse, determine in gear storehouse is supported each support Interval each support gear under, when
When boom system is located at the support Interval, the permission scope of activities of boom system, it will be understood that in the holding state of each supporting leg
It is determined that after, its enabling capabilities also determines, before arm support action, can according to the actual support state of supporting leg, searching data storehouse, from
The permission scope of activities of boom system is selected or transferred in database, in each arm joint action of boom system, it is not necessary to the moment
The center of gravity of car load is calculated, and according to center of gravity and the support situation of supporting leg, calculates whether boom system is located in safety zone, only needed
Whether the scope of activities for comparing boom system is located in the permission scope of activities of boom system, while each arm joint can be controlled
Scope of activities without departing from allow change angle scope or collapsing length scope, therefore, by it is existing afterwards control become to get over
Front control, can improve the security of equipment, reduce risk of tumbling, meanwhile, reduce the calculating in boom system control process
Amount, reliability and real-time are improved, and control error rate is reduced.
Meanwhile, controller can also detect each supporting leg reality by detection means such as angular transducer, stay wire sensors
Extension elongation and/or expanded angle, and according to actual support state, the reality with each supporting leg is searched in gear storehouse is supported
The corresponding support gear of holding state, so that it is determined that go out permission scope of activities of the boom system under different angles of revolution,
And the motion of control boom system accordingly, therefore, control simpler.
Another further aspect, the invention allows for a kind of arm support equipment, including any of the above-described kind of arm support control system.
Accordingly, the arm support equipment also has the advantages that aforementioned arm support control system.
Description of the drawings
The accompanying drawing for constituting the part of the present invention is used for providing a further understanding of the present invention, the schematic reality of the present invention
Apply example and its illustrate, for explaining the present invention, not constituting inappropriate limitation of the present invention.
Fig. 1 provides a kind of schematic diagram of supporting leg form for the embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of boom system control method provided in an embodiment of the present invention；
Fig. 3 provides a kind of dividing mode schematic diagram of support Interval for the embodiment of the present invention；
Fig. 4 provides a kind of dividing mode schematic diagram of support gear for the embodiment of the present invention；
Fig. 5 provides the dividing mode schematic diagram of another kind of support gear for the embodiment of the present invention；
Fig. 6 provides a kind of safety allowance interval dividing mode schematic diagram for the embodiment of the present invention；
Fig. 7 is a kind of schematic diagram of arm support control system of the invention.
Specific embodiment
It should be noted that in the case where not conflicting, the embodiment and the feature in embodiment in the present invention can phase
Mutually combination.Below with reference to the accompanying drawings and in conjunction with the embodiments describing the present invention in detail.
Boom system is the critical component of arm support equipment, as shown in figure 1, generally, the boom system of arm support equipment passes through machine
Frame 1 is connected with multiple supporting legs, and O points are the centre of gyration of boom system, and supporting leg generally includes 4 supporting legs, has telescopic outrigger, swings
The supporting leg forms such as supporting leg, swinging, telescopic supporting leg, the supporting leg in Fig. 1 includes two telescopic outriggers in front (before left front supporting leg 2, the right side
Supporting leg 3) and rear two oscillating support legs (left back supporting leg 4, right rear support leg 5), its maximum support scope be outermost dotted line
Shown, other types of supporting leg can be with similar process.
With reference to a kind of boom system control method that Fig. 2, the present invention are provided, for the arm support for controlling to be supported by multiple supporting legs
System, boom system includes multiple arm joints, comprises the following steps：
Step 102：In the scope of activities of each supporting leg, the scope of activities of each supporting leg is divided into into multiple behaviour areas
Between, according to adjacent two supporting leg in the combination of different activity intervals, determine multiple support Intervals, as shown in Figure 3-4, support Interval bag
θ yx, the θ qx of front side, the θ zx in left side, the θ hx of rear side on right side are included, meanwhile, set up and support gear storehouse, in gear storehouse is supported
Determine each support Interval each support gear (as Right side support interval the 1st grade, the 2nd grade ..., n-th
Shelves) under, when boom system is located at the support Interval, the permission scope of activities of boom system；Specifically, such as in the L2 shelves on right side
When, the permission scope of activities for obtaining boom system can be precalculated with L2 to support gear line.
Step 104：The actual support state of each supporting leg is detected, actual support state includes that each supporting leg is actual and stretches out
Length and/or expanded angle；
Step 106：According to the actual support state of each supporting leg for detecting, search and each in gear storehouse is supported
The support gear of each corresponding support Interval of the actual support state of leg, so that it is determined that it is different in boom system to go out each arm joint
Angle of revolution under permission scope of activities, and control the motion of each arm joint accordingly.
In the present embodiment, by step 102, can be according in the scope of activities of each supporting leg, by the work of each supporting leg
Dynamic scope is divided into multiple activity intervals, according to adjacent two supporting leg in the combination of different activity intervals, determines multiple support Intervals,
And support gear storehouse is set up, and determine in gear storehouse is supported under each support gear of each support Interval, work as arm
When frame system is located at the support Interval, the permission scope of activities of boom system, it will be understood that true in the holding state of each supporting leg
After fixed, its enabling capabilities also determines, before arm support action, can be according to the actual support state of supporting leg, searching data storehouse, from number
According to the permission scope of activities that boom system is selected or transferred in storehouse, in each arm joint action of boom system, it is not necessary to which the moment counts
The center of gravity of car load is calculated, and according to center of gravity and the support situation of supporting leg, calculates whether boom system is located in safety zone, it is only necessary to
Relatively whether the scope of activities of boom system is located in the permission scope of activities of boom system, while the work of each arm joint can be controlled
Dynamic scope without departing from allow change angle scope or collapsing length scope, therefore, by it is existing afterwards control become in advance
Control, can improve the security of equipment, reduce risk of tumbling, meanwhile, the amount of calculation in boom system control process is reduced,
Reliability and real-time are improved, and control error rate is reduced.
Meanwhile, by step 104, step 106, can be by the detection of the detection means such as angular transducer, stay wire sensor
The actual extension elongation of each supporting leg and/or expanded angle, and according to actual support state, search in gear storehouse is supported with respectively
The corresponding support gear of the actual support state of individual supporting leg, so that it is determined that going out boom system permitting under different angles of revolution
Perhaps scope of activities, and the motion of control boom system accordingly, therefore, control is simpler, when controlling the action of each arm joint, Ke Yican
Prior art is examined, specifically, the elevating movement of each arm joint can be controlled by arm support pitch control valve and arm support rotary control valve
The overall gyration with boom system.
In above-mentioned arm support system control method, the permission scope of activities of boom system can be interpreted broadly, such as respectively
The permission scope of activities (angle, collapsing length etc.) of arm joint, the gravity center shift scope of each arm joint, or, the center of gravity of part arm joint
Excursion, or even the gravity center shift scope of all arm supports, specifically, in a step 102, the permission scope of activities of boom system
Including at least one arm joint of boom system gravity center shift scope (such as the gravity center shift scope of the 1st arm joint, the 1st, the 2nd arm joint
Gravity center shift scope etc.) or/and the change angle scope that allows of each arm joint or collapsing length scope.When the permission of boom system
When scope of activities is the gravity center shift scope of at least one arm joint of boom system, when the action of boom system is controlled, only need
Whether the center of gravity of at least one arm joint that will be relatively more selected is located in the excursion for allowing, and is not required to calculate car load center of gravity, less
Need according to center of gravity and support the action of situation calculating boom system whether safe, therefore, amount of calculation is greatly reduced.Work as arm support
The permission scope of activities of system is the change angle scope or collapsing length scope that each arm joint is allowed, it is only necessary to limit each arm joint
In the change angle scope or collapsing length range of motion that allow.
Generally, boom system include be sequentially connected the 1st arm joint, the 2nd arm joint ..., N arm joints, N is whole more than 1
Number, it is preferable that in a step 102, the permission scope of activities of boom system is the change angle scope or flexible that each arm joint is allowed
Length range；In step 106, control boom system motion when, successively limit the 1st arm joint, the 2nd arm joint ..., N arms
Save in the change angle or collapsing length range of motion for allowing.That is, when the 1st arm joint is located at optimum point (the vertical shape of stability
State), when still can not meet the stability requirement of car load, then the change angle of the 2nd arm joint is limited, when the 1st arm joint, the 2nd arm joint
The optimum point (vertical state) of stability is respectively positioned on, when still can not meet the stability requirement of car load, then the 3rd arm joint is limited
Change angle, the like, conversely, when the 1st arm joint need not necessarily lie in the optimum point (vertical state) of stability, it becomes possible to meet
During the stability requirement of car load, the change angle without the need for limiting 2-N arm joints, when the i-th arm joint is unrestricted, it is not required that to
I+1 arm joints are limited.By the program, effectively Prior Control is carried out to boom system.
The boom system of arm support equipment has various ways, common are full telescopic jib, full foldable arm rack, flexible+folding
Arm support, is to ensure security when change angle or the collapsing length scope that each arm joint of boom system is allowed is calculated, it is assumed that other
Arm joint is located at the worst point of stability, and (generally, in horizontal level to stability least favorable, vertical position is to stable for foldable arm rack
Property is most favourable, and telescopic jib, to stability least favorable, during maximum retraction length, most has in maximum extension elongation to stability
Profit), in a step 102, boom system determines that the 1st arm joint is allowed in different angle of revolution and under each support gear
Change angle or during collapsing length scope, it is assumed that the 2nd arm joint ..., N arm joints are located at horizontality or maximum stretches out shape
State；Determine change angle that the 2nd arm joint allows or during collapsing length scope, it is assumed that the 3rd arm joint ..., N arm joints be located at level
State or maximum stretch out state；……；When determining the change angle or collapsing length scope of N-1 arm joints permission, it is assumed that N arms
Section is located at horizontality or maximum stretches out state.When calculating change angle or the collapsing length scope that each arm joint is allowed, count successively
The change angle or collapsing length scope of the permission of 1-N arm joints are calculated, if the action of the i-th arm joint (such as the 3rd arm joint) is unrestricted, can
So that i+1 arm joint need not be calculated.
Activity interval and support gear can have various dividing modes, in a kind of mode, as shown in figure 5, in step 102
In, multiple cut-points are chosen in the scope of activities of each supporting leg, the scope structure on each supporting leg between two neighboring cut-point
Into an activity interval (such as b1b2, d1d2), the cut-point of the close arm support centre of gyration of each activity interval is interior separation
(such as b1, d1), the cut-point away from the arm support centre of gyration of each activity interval is outer separation (such as b2, d2), interior separation
Relative with outer separation, in the interior separation of an activity interval, it may be possible to another activity interval for cut-point,
The outer separation of one activity interval, it may be possible to the interior separation of another activity interval；Adjacent two supporting leg is (such as right anterior branch leg 3, the right side
Rear support leg 5) in one of supporting leg the first activity interval (such as b1b2) and the line of the centre of gyration O of boom system, another
The scope that second activity interval (such as d1d2) of individual supporting leg is constituted with the line of the centre of gyration O of boom system is support Interval,
For simplified model, with bOd as a support Interval, the interior separation of the first activity interval, outer separation and the second activity interval
Interior separation, outer separation between 4 lines for support gear line b1d1, b2d2, b2d1, b1d2, each support gear
One support gear of line correspondence, and precalculate under each support gear, when boom system is located at the support Interval, arm support system
The permission scope of activities of system；The support gear for determining by this way, the actual support state of closer supporting leg, therefore, it is possible to
Ensure the developing power that arm support is played while enabling capabilities.
Meanwhile, in step 106, search propping up for each support Interval corresponding with the actual support state of each supporting leg
During support gear, 4 are selected to support corresponding of support gear line closest with the centre of gyration of boom system in gear line
Support gear.Support support gear line closest with the centre of gyration of boom system in gear line corresponding by selecting 4
Gear is supported, is b1d1 gear lines in Fig. 5, it is ensured that support gear line to be located at adjacent two supporting legs strong point line specifically
Inner side (inner side is near the side of boom system centre of gyration O), security performance is higher, it is easier to ensure car load safety.
It should be noted that can also divide using parallel gear collimation method that gear line is supported, in a further mode of operation, such as scheme
Shown in 4, in a step 102, n cut-point is chosen in the scope of activities of each supporting leg, n is the integer more than 1, each supporting leg
Scope between upper two neighboring cut-point constitutes an activity interval；Adjacent two supporting leg (such as right anterior branch leg 3, right rear support leg 5)
In the first activity interval and the line of the centre of gyration O of boom system of one of supporting leg, another supporting leg it is second movable
The scope that the line of the interval centre of gyration O with boom system is constituted is support Interval, is simplified model, with bOd as one
Support is interval, and i-th separation of one of supporting leg is with the line of i-th cut-point of another supporting leg in adjacent two supporting leg
Gear line is supported, i is the integer more than or equal to 1 and less than or equal to n, and, the 1st to the (n-1)th supports gear line parallel, i.e., except most
Outside the support gear line in outside, other support gear line parallel, preferably parallel with the front, rear, left and right four direction of frame 1,
Front, rear, left and right side has the 1st ..., n shelves, each support gear line also corresponds to a support gear, and precalculates each
Under supporting gear, when boom system is located at the support Interval, the permission scope of activities of boom system；Determine by this way
Gear is supported, safety coefficient is higher, ensure that the support safety of supporting leg.
Meanwhile, in step 106, search propping up for each support Interval corresponding with the actual support state of each supporting leg
During support gear, the corresponding support gear of support gear line on the inside of the strong point line of adjacent two supporting leg is selected.By selecting phase
The corresponding support gear of support gear line on the inside of the strong point line of adjacent two supporting legs, specifically, in Fig. 4, when four supporting legs
When the strong point is a, b, c, d, gear line is supported to be respectively L1, L2, L3, L4 gear line, security performance is higher, it is easier to ensure whole
Car safety.
To arrange the support Interval of front, rear, left and right four, and each arm joint is as a example by foldable arm rack, it is determined that supporting gear storehouse
After, for each support Interval (such as θ qx), for each gear (such as the 2nd grade), the permission of a certain arm joint (such as the 2nd arm joint)
Scope of activities just has determined (αq2-Ⅱ), with specific reference to following table：
The support Interval of table 1, support gear (support stepping) table corresponding with the permission scope of activities of each arm joint
The boom system control method of above-mentioned each embodiment, it is preferable that at step 104, also detects boom system
Angle of revolution and the change angle or collapsing length of each arm joint；In step 106, including control boom system gyration
And each arm joint change angle scope or collapsing length, and when each arm joint returns back to another support Interval from a support Interval
When, whether the change angle or collapsing length for comparing each arm joint of detection is located at the change angle of another support Interval permission or stretches
In contracting length range, and the motion of control boom system accordingly, when each arm joint returns back to another Support from a support Interval
Between when, whether be located at the variable phase angle that another support Interval is allowed by comparing the change angle or collapsing length of each arm joint of detection
Degree or collapsing length in the range of, it is ensured that boom system from a support Interval return back to another support Interval when peace
Quan Xing.
To improve security of the boom system when support Interval changes, as shown in fig. 6, in the friendship of adjacent two support Interval
Battery limit (BL) domain, arranges safety allowance interval (δ yqx, δ yhx, δ zqx, δ zhx) of preset range, after safety allowance interval is set, will
The scope of activities of boom system is divided into 8 intervals, wherein 4 support Intervals (δ yx, δ hx, δ zx, δ qx), 4 safety allowances
Interval (δ yqx, δ yhx, δ zqx, δ zhx), when boom system is located at safety allowance interval, chooses and is separated by safety allowance is interval
Adjacent two support Interval in the less permission scope of activities of each arm joint.It is interval by arranging safety allowance, when boom system from
One support Interval, with the longer response time, can be avoided when safety allowance interval returns back to another support Interval
Boom system is in support Interval fast transition, it may occur however that unsafe factor.
Still further aspect, as shown in fig. 7, present invention also offers a kind of arm support control system, for control by multiple
The boom system that leg is supported, boom system includes multiple arm joints, including：
Leg location detection means, for detecting the extension elongation or/and pendulum angle of each supporting leg；
Arm support position detection means, between the luffing angle or adjacent two arm segment that directly or indirectly detect each arm joint
Angle or adjacent two arm segment collapsing length；
Arm support rotation detecting, for detecting the angle of revolution of boom system；
Drive mechanism is performed, is connected with boom system, for driving boom system to turn round and for driving boom system
Each arm joint luffing or expanding-contracting action；
Controller, and leg location detection means, arm support position detection means, arm support rotation detecting and performs driving
Mechanism connects, in the scope of activities of each supporting leg, the scope of activities of each supporting leg being divided into into multiple activity intervals, root
According to adjacent two supporting leg in the combination of different activity intervals, multiple support Intervals are determined, and set up support gear storehouse, supporting gear
Determine in storehouse under each support gear of each support Interval, when boom system is located at the support Interval, arm support system
The permission scope of activities of system；And for according to the actual support state of each supporting leg for detecting, searching in gear storehouse is supported
The support gear corresponding with the actual support state of each supporting leg, so that it is determined that going out boom system under different angles of revolution
Permission scope of activities, and for according to arm support position detection means, arm support rotation detecting detect data, by perform
The motion of driving mechanisms control boom system.
In the present embodiment, by controller, can be in the scope of activities of each supporting leg, by the scope of activities of each supporting leg
Multiple activity intervals are divided into, according to adjacent two supporting leg in the combination of different activity intervals, multiple support Intervals is determined, and are set up
Gear storehouse is supported, is determined in gear storehouse is supported under each support gear of each support Interval, when boom system position
When the support Interval, the permission scope of activities of boom system, it will be understood that after the holding state of each supporting leg determines, its
Enabling capabilities also determine, before arm support action, can be according to the actual support state of supporting leg, searching data storehouse, from database
The permission scope of activities of boom system is selected or transfers, in each arm joint action of boom system, it is not necessary to which the moment calculates car load
Center of gravity, and according to center of gravity and the support situation of supporting leg, calculate whether boom system is located in safety zone, it is only necessary to compare arm
Whether the scope of activities of frame system is located in the permission scope of activities of boom system, while the scope of activities of each arm joint can be controlled
Without departing from the change angle scope or collapsing length scope that allow, therefore, existing control afterwards is become into Prior Control, can
To improve the security of equipment, risk of tumbling is reduced, meanwhile, reduce the amount of calculation in boom system control process, reliability
It is improved with real-time, control error rate is reduced.
Meanwhile, controller can also detect each supporting leg reality by detection means such as angular transducer, stay wire sensors
Extension elongation and/or expanded angle, and according to actual support state, the reality with each supporting leg is searched in gear storehouse is supported
The corresponding support gear of holding state, so that it is determined that go out permission scope of activities of the boom system under different angles of revolution,
And the motion of control boom system accordingly, therefore, control is simpler, when controlling the action of each arm joint, may be referred to prior art,
Specifically, elevating movement and the boom system of each arm joint can by arm support pitch control valve and arm support rotary control valve, be controlled
Overall gyration.
Above-mentioned arm support control system, it is preferable that boom system include be sequentially connected the 1st arm joint, the 2nd arm joint ...,
N arm joints, N is the integer more than 1, and the permission scope of activities of boom system is the change angle scope or flexible that each arm joint is allowed
Length range；Controller control boom system motion when, successively limit the 1st arm joint, the 2nd arm joint ..., N arm joints permit
Perhaps change angle or collapsing length range of motion.That is, when the 1st arm joint is located at the optimum point (vertical state) of stability, still
When can not so meet the stability requirement of car load, then the change angle of the 2nd arm joint is limited, when the 1st arm joint, the 2nd arm joint are respectively positioned on
The optimum point (vertical state) of stability, when still can not meet the stability requirement of car load, then the variable phase angle for limiting the 3rd arm joint
Degree, the like, conversely, when the 1st arm joint need not necessarily lie in the optimum point (vertical state) of stability, it becomes possible to meet car load
During stability requirement, the change angle without the need for limiting 2-N arm joints, when the i-th arm joint is unrestricted, it is not required that to i+1 arm
Section is limited.By the program, effectively Prior Control is carried out to boom system.
Another further aspect, the present invention also proposes a kind of arm support equipment, including any of the above-described kind of arm support control system.Accordingly,
The arm support equipment also has the advantages that aforementioned arm support control system.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. a kind of boom system control method, for the boom system for controlling to be supported by multiple supporting legs, the boom system includes
Multiple arm joints, it is characterised in that comprise the following steps：
Step 102：In the scope of activities of each supporting leg, the scope of activities of each supporting leg is divided into into multiple activity intervals, root
According to adjacent two supporting leg in the combination of different activity intervals, multiple support Intervals are determined, and set up support gear storehouse, in the support
Determine in gear storehouse under each support gear of each support Interval, when the boom system is located at the support Interval
When, the permission scope of activities of the boom system；
Step 104：The actual support state of each supporting leg is detected, the actual support state includes that each supporting leg is actual and stretches out
Length and/or expanded angle；
Step 106：According to the actual support state of each supporting leg for detecting, search in gear storehouse is supported and each supporting leg
The support gear of each corresponding support Interval of actual support state, so that it is determined that it is different in the boom system to go out each arm joint
Angle of revolution under permission scope of activities, and control the motion of each arm joint accordingly.
2. boom system control method according to claim 1, it is characterised in that in a step 102, the boom system
Permission scope of activities including the boom system at least one arm joint gravity center shift scope or/and the change that allows of each arm joint
Width angular range or collapsing length scope.
3. boom system control method according to claim 2, it is characterised in that the boom system includes being sequentially connected
The 1st arm joint, the 2nd arm joint ..., N arm joints, N is the integer more than 1, in a step 102, the permission of the boom system
Scope of activities is the change angle scope or collapsing length scope that each arm joint is allowed；In step 106, the boom system is controlled
Motion when, successively limit the 1st arm joint, the 2nd arm joint ..., N arm joints allow change angle or collapsing length in the range of
Motion.
4. boom system control method according to claim 3, it is characterised in that in a step 102, the boom system
In different angle of revolution and under each support gear, change angle or collapsing length scope that the 1st arm joint allows are determined
When, it is assumed that the 2nd arm joint ..., N arm joints are located at horizontality or maximum and stretch out state；Determine the variable phase angle that the 2nd arm joint is allowed
Degree or during collapsing length scope, it is assumed that the 3rd arm joint ..., N arm joints are located at horizontality or maximum stretches out state；……；Really
When the change angle or collapsing length scope of fixed N-1 arm joints permission, it is assumed that N arm joints are located at horizontality or maximum stretches out shape
State.
5. the boom system control method according to any one of claim 1-4, it is characterised in that in a step 102, each
Multiple cut-points are chosen in the scope of activities of individual supporting leg, the scope on each supporting leg between two neighboring cut-point constitutes a work
Dynamic interval, the cut-point of close the arm support centre of gyration of each activity interval is interior separation, each activity interval away from arm
The cut-point of the frame centre of gyration is outer separation；First activity interval and boom system of one of supporting leg in adjacent two supporting leg
The line of the centre of gyration, the scope that constitutes of the line of the centre of gyration of second activity interval and boom system of another supporting leg
For support Interval, the interior separation of the first activity interval, the interior separation of outer separation and the second activity interval, outer separation it
Between 4 lines to support gear line, one support gear of each support gear line correspondence, and precalculate each support gear
Under, when the boom system is located at the support Interval, the permission scope of activities of the boom system；In step 106, search
During the support gear of each support Interval corresponding with the actual support state of each supporting leg, 4 are selected to support in gear line
The corresponding support gear of the support gear line closest with the centre of gyration of boom system.
6. the boom system control method according to any one of claim 1-4, it is characterised in that in a step 102, each
N cut-point is chosen in the scope of activities of individual supporting leg, n is the integer more than 1, on each supporting leg between two neighboring cut-point
Scope constitutes an activity interval；In adjacent two supporting leg in the first activity interval of one of supporting leg and the revolution of boom system
The scope that the line of the heart, the line of the centre of gyration of second activity interval and boom system of another supporting leg are constituted is Support
Between, i-th separation of one of supporting leg and the line of i-th cut-point of another supporting leg are support in adjacent two supporting leg
Gear line, i is the integer more than or equal to 1 and less than or equal to n, and the 1st to the (n-1)th supports gear line parallel, each support shelves
One support gear of bit line correspondence, and precalculate under each support gear, when boom system is located at the support Interval, arm support
Change angle scope or collapsing length scope that each arm joint of system is allowed；
Meanwhile, in step 106, search the support shelves of each support Interval corresponding with the actual support state of each supporting leg
During position, the corresponding support gear of support gear line on the inside of the strong point line of adjacent two supporting leg is selected.
7. boom system control method according to claim 5, it is characterised in that at step 104, also detects arm support system
The angle of revolution of system and the change angle or collapsing length of each arm joint；In step 106, including the boom system is controlled
Gyration and each arm joint change angle scope or collapsing length, and when each arm joint returns back to another from a support Interval
When support is interval, whether the change angle or collapsing length for comparing each arm joint of detection is located at the variable phase angle that another support Interval is allowed
In the range of degree or collapsing length, and the motion of boom system is controlled accordingly, and in the juncture area of adjacent two support Interval, arrange
The safety allowance of preset range is interval, when the boom system is located at safety allowance interval, chooses by safety allowance interval point
Every adjacent two support Interval in the less permission scope of activities of each arm joint.
8. a kind of arm support control system, for the boom system for controlling to be supported by multiple supporting legs, the boom system includes multiple
Arm joint, it is characterised in that include：
Leg location detection means, for detecting the extension elongation or/and pendulum angle of each supporting leg；
Arm support position detection means, for the folder between the luffing angle or adjacent two arm segment that directly or indirectly detect each arm joint
Angle or the collapsing length of adjacent two arm segment；
Arm support rotation detecting, for detecting the angle of revolution of the boom system；
Drive mechanism is performed, be connected with the boom system, for driving the boom system to turn round and for described in driving
Each arm joint luffing of boom system or expanding-contracting action；
Controller, and the leg location detection means, arm support position detection means, arm support rotation detecting and performs driving
Mechanism connects, in the scope of activities of each supporting leg, the scope of activities of each supporting leg being divided into into multiple activity intervals, root
According to adjacent two supporting leg in the combination of different activity intervals, multiple support Intervals are determined, and set up support gear storehouse, in the support
Determine in gear storehouse under each support gear of each support Interval, when the boom system is located at the support Interval
When, the permission scope of activities of the boom system；And for according to the actual support state of each supporting leg for detecting, supporting
The support gear corresponding with the actual support state of each supporting leg is searched in gear storehouse, so that it is determined that go out the boom system existing
Permission scope of activities under different angles of revolution, and for being examined according to arm support position detection means, arm support rotation detecting
The data of survey, by the motion for performing boom system described in driving mechanisms control.
9. arm support control system according to claim 8, it is characterised in that the boom system include being sequentially connected the
1 arm joint, the 2nd arm joint ..., N arm joints, N is the integer more than 1, and the permission scope of activities of the boom system is each arm joint
The change angle scope or collapsing length scope of permission；When controller controls the motion of the boom system, the 1st arm is limited successively
Section, the 2nd arm joint ..., N arm joints allow change angle or collapsing length range of motion.
10. a kind of arm support equipment, it is characterised in that including arm support control system as claimed in claim 8 or 9.
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| CN201611140647.XA CN106585577B (en) | 2016-12-12 | 2016-12-12 | A kind of boom system control method, arm support control system and arm support equipment |
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| CN201611140647.XA CN106585577B (en) | 2016-12-12 | 2016-12-12 | A kind of boom system control method, arm support control system and arm support equipment |
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| CN106585577B (en) | 2019-04-12 |
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