CN107963197B - Control method and control system for anchoring parking support arm - Google Patents
Control method and control system for anchoring parking support arm Download PDFInfo
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- CN107963197B CN107963197B CN201711242613.6A CN201711242613A CN107963197B CN 107963197 B CN107963197 B CN 107963197B CN 201711242613 A CN201711242613 A CN 201711242613A CN 107963197 B CN107963197 B CN 107963197B
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000004873 anchoring Methods 0.000 title description 6
- 230000033001 locomotion Effects 0.000 claims abstract description 81
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 5
- 230000001681 protective effect Effects 0.000 description 5
- 230000002159 abnormal effect Effects 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/66—Mooring attachments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
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Abstract
The invention provides a control method and a control system for a mooring vehicle arm, wherein the control method for the mooring vehicle arm is characterized in that the mooring vehicle arm is provided with a plurality of arm units and comprises the following steps: receiving state parameters of the support arm; acquiring path planning of the movement of the support arm according to the state parameters; and controlling the arm to move to the target position according to the path planning. According to the technical scheme of the invention, the mooring vehicle support arm controlled by the method does not need to be manually unfolded or an electric control handle is used for controlling the action of a section of support arm, so that the support arm can be automatically unfolded or folded by one key, the working efficiency is greatly improved, the operation is convenient, the requirement on the operating skill of an operator is greatly reduced, and the automatic control of the mooring vehicle support arm is realized.
Description
Technical Field
The invention relates to the technical field of ground anchoring, in particular to a control method and a control system of a mooring vehicle support arm.
Background
The anchor parking is generally realized by the mutual matching of a main winch, a side cable winch at the two positions of a left support arm and a right support arm and a head cable winch, so that the operations of lifting, staying in the air, recovering and anchoring the mooring boat are realized. At present, the folding and unfolding of the support arm of the anchoring vehicle are controlled by a mechanical hand moving type or an electric control handle of an operating platform, and different actions of each handle respectively correspond to the independent actions of each section of the support arm. Generally, the folding and unfolding operation of the anchoring vehicle support arm is inconvenient, the requirement on the skill of an operator is high, and the working efficiency is low.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, a first object of the invention is to provide a method of controlling the arms of a mooring vehicle.
A second object of the invention is to provide a control system for a mooring vehicle arm.
To achieve the above object, according to a first aspect of the present invention, there is provided a method of controlling a mooring arm, the arm having a plurality of arm units, comprising: receiving state parameters of the support arm; acquiring path planning of the movement of the support arm according to the state parameters; and controlling the arm to move to the target position according to the path planning.
In the technical scheme, the mooring vehicle support arm controlled by the method does not need to be manually unfolded or an electric control handle is used for controlling the action of a section of support arm, so that the support arm can be automatically unfolded or folded by one key, the working efficiency is greatly improved, the operation is convenient, the requirement on the operating skill of an operator is greatly reduced, and the automatic control of the mooring vehicle support arm is realized.
In addition, the control method in the above technical solution provided by the present invention may further have the following additional technical features:
in the above technical solution, preferably, the state parameter includes: the initial position of the support arm is detected through a position sensor; the displacement parameters are detected through a displacement sensor; the motion speed parameter is detected by a rotary encoder; and the angle parameter is detected through an angle sensor.
In the technical scheme, the optimal motion path of the support arm is planned according to the parameters, the motion is more accurate, the redundant motion of the support arm motion is reduced, the motion path is simplified, and the working efficiency is greatly improved.
In any of the above technical solutions, preferably, the obtaining of the path plan of the arm movement according to the state parameter includes: finishing the association processing of the state parameters and the target position; and finishing the path planning from the state parameters to the target position.
In the technical scheme, the path planning unit plans the optimal path from the movement of the support arm to the target position according to the real-time state of the support arm, the operation steps of the method are simplified, the system requirement is reduced, the response speed is high, and the movement of the support arm is more stable.
In any of the above technical solutions, preferably, the obtaining of the path plan of the arm movement according to the state parameter includes: finishing the association processing of the state parameters and the target position; acquiring a planned path preset in a path planning unit; and judging whether the state parameters form a judgment result in the path planning.
In the technical scheme, the support arm can move and stop at any time by continuously moving the real-time state of the support arm and the corresponding position on the planned path preset in the path planning unit to the target position, so that the convenience of controlling the support arm is greatly improved.
In any of the above technical solutions, preferably, the judgment result is that the arm is controlled to move to the target position according to the path plan; if not, sending an alarm prompt; sending a stop signal; and controlling the support arm to stop moving according to the stop signal.
According to the technical scheme, when the state information of the support arm is not in the planned path, an alarm prompt is sent immediately to remind a user that the support arm is abnormal, so that the user can correct and maintain the support arm in time, the support arm stops continuing to move, protective limiting can be performed on the action of the support arm, and the situation that the support arm damages hardware and related personnel in the operation process is prevented.
In any of the above solutions, preferably, the path is planned such that after at least one arm unit moves to the target position, the other arm unit starts to move.
In the technical scheme, after one part is controlled to move in place, the other part is controlled to start to move, so that the parts are prevented from interfering with each other to block the movement of the support arm, and the movement stability of the support arm is improved.
In any of the above solutions, preferably, the path is planned such that a plurality of arm units start moving at the same time.
In the technical scheme, the plurality of support arm units are controlled to move simultaneously, so that the time of support arm movement is shortened, and the working efficiency is improved.
In a second aspect the invention provides a control system for a mooring vehicle boom having a plurality of boom units, comprising: the receiving unit is used for receiving the state parameters of the support arm; the control unit is used for acquiring the path planning of the movement of the support arm according to the state parameters, and the receiving unit is connected with the control unit; and the execution unit controls the support arm to move to the target position according to the path planning, and the control unit is connected with the execution unit.
In the technical scheme, the mooring vehicle support arm controlled by the control system does not need to be manually unfolded or an electric control handle is used for controlling the action of a section of support arm, so that the support arm can be automatically unfolded or folded by one key, the working efficiency is greatly improved, the operation is convenient, the requirement on the operating skill of an operator is greatly reduced, and the automatic control of the mooring vehicle support arm is realized.
In addition, the control system in the above technical solution provided by the present invention may further have the following additional technical features:
in the above technical solution, preferably, the state parameter includes: the initial position of the support arm is detected through a position sensor; the displacement parameters are detected through a displacement sensor; the motion speed parameter is detected by a rotary encoder; and the angle parameter is detected through an angle sensor.
In the technical scheme, the optimal motion path of the support arm is planned according to the parameters, the motion is more accurate, the redundant motion of the support arm motion is reduced, the motion path is simplified, and the working efficiency is greatly improved.
In any one of the above technical solutions, preferably, the control unit includes: the data processing unit is used for finishing the association processing of the state parameters and the target position; and the path planning unit is used for completing path planning of the arm movement to the target position.
In the technical scheme, the path planning unit plans the optimal path from the movement of the support arm to the target position according to the real-time state of the support arm, the operation steps of the method are simplified, the system requirement is reduced, the response speed is high, the movement of the support arm is more stable, and meanwhile, after an operator only needs to send a starting command of the movement of the support arm, the control unit controls the execution unit to complete all actions of the support arm without respectively controlling each section of the support arm to act independently, so that the working efficiency is greatly improved.
In any one of the above technical solutions, preferably, the control unit further includes: and the judging unit is used for judging whether the state parameters form a judging result in the path planning or not.
In the technical scheme, the judging unit judges whether the support arm is in the planned path according to the state information, so that a user can know the motion state of the support arm in time and take corresponding measures according to the motion state.
In any of the above technical solutions, preferably, the method further includes: the alarm unit is used for sending out an alarm prompt; and the stopping unit is used for sending a stopping signal, and the execution unit controls the support arm to stop moving according to the stopping signal.
According to the technical scheme, when the state information of the support arm is not in the planned path, an alarm prompt is sent immediately to remind a user that the support arm is abnormal, so that the user can correct and maintain the support arm in time, the support arm stops continuing to move, protective limiting can be performed on the action of the support arm, and the situation that the support arm damages hardware and related personnel in the operation process is prevented.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 shows a block flow diagram of a control method according to an embodiment of the invention;
FIG. 2 illustrates a block flow diagram of receiving state parameters of an arm, according to one embodiment of the invention;
FIG. 3 illustrates a block flow diagram of obtaining a path plan for arm movement, according to one embodiment of the present invention;
FIG. 4 illustrates a block flow diagram for obtaining a path plan for arm movement according to another embodiment of the present invention;
FIG. 5 shows a block flow diagram of a control system according to an embodiment of the invention;
FIG. 6 illustrates a deployed state view of the mooring arm according to one embodiment of the present invention;
FIG. 7 illustrates a collapsed condition of the mooring arm according to one embodiment of the present invention;
the correspondence between reference numerals and part names in fig. 1 to 7 is:
the system comprises a receiving unit 10, a position sensor 102, a displacement sensor 104, a rotary encoder 106, an angle sensor 108, a control unit 20, a data processing unit 202, a path planning unit 204, a judgment unit 206, an execution unit 30, an electromagnetic valve 302, an electro-hydraulic multi-way valve 304, a hydraulic oil cylinder 306, an alarm unit 40, a stop unit 50, a fixed frame 60, a support arm unit 70, a first arm 702, a second arm 704, a locking piece 706, a driving structure 80, an 802 driver, an 804 telescopic rod, a first connecting piece 902, a second connecting piece 904, a human-computer interaction unit 100, a control console 1002 and a remote controller 1004.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
A control method, a control system, and an anchor parking arm according to an embodiment of the present invention will be described in detail with reference to fig. 1 to 7.
As shown in fig. 1 to 7, a method of controlling a mooring arm according to an embodiment of the present invention, the arm having a plurality of arm units 70, includes: s100, receiving state parameters of the support arm; s200, acquiring path planning of the movement of the support arm according to the state parameters; and S300, controlling the arm to move to the target position according to the path planning.
In the embodiment, the mooring vehicle support arm controlled by the method does not need to be manually unfolded or an electric control handle is used for controlling the action of a section of support arm, so that the support arm can be automatically unfolded or folded by one key, the working efficiency is greatly improved, the operation is convenient, the requirement on the operating skill of an operator is greatly reduced, and the automatic control of the mooring vehicle support arm is realized.
In the above embodiment, preferably, as shown in fig. 2, the state parameters include: s102, detecting the initial position of the support arm through the position sensor 102; s104, detecting displacement parameters of the support arm through the displacement sensor 104; s106, detecting the motion speed parameter of the support arm through the rotary encoder 106; and S108, detecting the angle parameter of the support arm through the angle sensor 108.
In the embodiment, the optimal motion path of the support arm is planned according to the parameters, so that the motion is more accurate, the redundant motion of the support arm motion is reduced, the motion path is simplified, and the working efficiency is greatly improved.
In any of the above embodiments, preferably, as shown in fig. 3, the obtaining a path plan of the arm movement according to the state parameters S200 includes: s202, finishing the association processing of the state parameters and the target position; and S204, completing the path planning from the state parameters to the target position.
In this embodiment, the path planning unit 204 plans the optimal path from the arm movement to the target position according to the real-time state of the arm, which simplifies the operation steps of the method, reduces the system requirements, has fast response speed, and more stable arm movement, and meanwhile, by adopting the control method, the control unit 20 controls the execution unit 30 to complete all the movements of the arm only after the operator sends out the start command of the arm movement, and does not need to control each section of arm to act independently, thereby greatly improving the working efficiency.
In any of the above embodiments, preferably, as shown in fig. 4, the obtaining a path plan of the arm movement according to the state parameters includes: s202, finishing the association processing of the state parameters and the target position; s206, acquiring a planned path preset in the path planning unit 204; s400, judging whether the state parameters form a judgment result in the path planning.
In this embodiment, the real-time state of the arm and the corresponding position on the planned path preset in the path planning unit 204 are continuously moved to the target position, so that the arm can be moved and stopped at any time, and the convenience of controlling the arm is greatly improved.
In any of the above embodiments, preferably, if the determination result is yes, S300, controlling the arm to move to the target position according to the path plan; if not, S500, sending an alarm prompt; and S600, sending a stop signal, and controlling the support arm to stop moving according to the stop signal.
In the embodiment, when the state information of the support arm is not in the planned path, an alarm prompt is sent immediately to remind a user that the support arm is abnormal, so that the user can correct and maintain the support arm in time, the support arm stops continuing to move, protective limit can be performed on the motion of the support arm, and the situations that the support arm damages hardware and related personnel in the operation process are avoided.
In any of the above embodiments, the path is preferably planned such that after at least one arm unit 70 is moved to the target position, the other arm unit 70 starts to move.
In the embodiment, one part is controlled to move in place, and then the other part is controlled to start moving, so that the parts are prevented from interfering with each other to block the movement of the support arm, and the stability of the movement of the support arm is improved.
In any of the above embodiments, the path is preferably planned such that a plurality of arm units 70 start moving at the same time.
In this embodiment, by controlling the plurality of arm units 70 to move simultaneously, the time for arm movement is reduced, and the work efficiency is improved.
As shown in fig. 1-4, another aspect of the present invention provides an embodiment of a method for controlling a mooring vehicle arm, the arm having a plurality of arm units 70, comprising: s100, receiving state parameters of the support arm; s202, finishing the association processing of the state parameters and the target position; s206, acquiring a planned path preset in the path planning unit 204 for switching the closed state and the open state of the support arm; s400, judging whether the state parameters form a judgment result in the path planning or not; if so, S300, controlling the support arm to move to the target position according to the path planning; if not, S500, sending an alarm prompt; s600, sending a stop signal; s700, controlling the support arm to stop moving according to the stop signal; when the support arm moves to the middle position in the planned path, S100, receiving state parameters of the support arm; s400, judging whether the state parameters form a judgment result in the path planning or not; if so, S300, controlling the support arm to move to the target position according to the path planning; if not, S500, sending an alarm prompt; s600, sending a stop signal; and S700, controlling the support arm to stop moving according to the stop signal.
As shown in FIG. 5, a control system for mooring an arm, the arm having a plurality of arm units 70, according to one embodiment of the present invention, comprises: the receiving unit 10 is used for receiving state parameters of the support arm; the control unit 20 acquires the path planning of the arm movement according to the state parameters, and the receiving unit 10 is connected with the control unit 20; and an execution unit 30 for controlling the arm to move to the target position according to the path plan, wherein the control unit 20 is connected with the execution unit 30.
In the embodiment, the mooring vehicle support arm controlled by the control system does not need to be manually unfolded or an electric control handle is used for controlling the action of a section of support arm, so that the support arm can be automatically unfolded or folded by one key, the working efficiency is greatly improved, the operation is convenient, the requirement on the operating skill of an operator is greatly reduced, and the automatic control of the mooring vehicle support arm is realized.
The state parameters detected by the receiving unit 10 can be displayed on a display screen in the human-computer interaction unit, so that a user can conveniently know implementation data of the movement of the support arm, the human-computer interaction unit is provided with a starting button, an operator can complete all actions of the support arm only by pressing the starting button, each section of support arm does not need to be controlled to act independently, and the working efficiency is greatly improved.
The human-computer interaction unit 100 may include a console 1002 and a remote controller 1004, or may be an industrial personal computer or a touch screen, and issues instructions to the motions of the respective support arms.
In any of the above embodiments, preferably, the state parameters include: an initial position, which is detected by the position sensor 102; displacement parameters, which are detected by the displacement sensor 104; the motion speed parameter, which is the motion speed parameter of the support arm detected by the rotary encoder 106; and the angle parameter is detected by the angle sensor 108.
In the embodiment, the optimal motion path of the support arm is planned according to the parameters, so that the motion is more accurate, the redundant motion of the support arm motion is reduced, the motion path is simplified, and the working efficiency is greatly improved.
In any of the above embodiments, preferably, the control unit 20 includes: a data processing unit 202, configured to complete association processing between the state parameter and the target position; and a path planning unit 204, configured to complete path planning for the arm movement to the target position.
In this embodiment, the path planning unit 204 plans the optimal path from the arm movement to the target position according to the real-time state of the arm, which simplifies the operation steps of the method, reduces the system requirements, has a fast response speed, and makes the arm movement more stable, and meanwhile, the control unit 20 controls the execution unit 30 to complete all the movements of the arm only after the operator sends out the start command of the arm movement, and does not need to control each section of arm to move independently, thereby greatly improving the working efficiency.
In any of the above embodiments, preferably, the control unit 20 further includes: the determining unit 206 is configured to determine whether the state parameter forms a determination result in the path plan.
In this embodiment, the determining unit 206 determines whether the arm is in the planned path according to the state information, so that the user can know the motion state of the arm in time and take corresponding measures according to the motion state.
In any of the above embodiments, preferably, the method further includes: an alarm unit 40 for giving an alarm prompt; and the stopping unit 50 is used for sending a stopping signal, and the execution unit 30 controls the arm to stop moving according to the stopping signal.
In the embodiment, when the state information of the support arm is not in the planned path, an alarm prompt is sent immediately to remind a user that the support arm is abnormal, so that the user can correct and maintain the support arm in time, the support arm stops continuing to move, protective limit can be performed on the motion of the support arm, and the situations that the support arm damages hardware and related personnel in the operation process are avoided.
Wherein, the actuating mechanism can be a hydraulic, electric or pneumatic mechanism. The execution unit 30 preferably comprises a solenoid valve 302, an electro-hydraulic multi-way valve 304, a hydraulic oil cylinder 306 and the like; the alternative actuator unit 30 may be an electric or pneumatic actuator unit 30. The electric actuator 30 includes an electric telescopic cylinder and the like. The pneumatic actuator unit 30 includes an air cylinder, a solenoid valve 302, and the like.
As shown in fig. 6 and 7, a mooring arm according to an embodiment of the present invention comprises: a fixed frame 60; a plurality of arm units 70 provided on the fixing frame 60; and a control system for controlling the operation of the arm unit 70, as provided in any of the above embodiments of the present invention.
In this embodiment, the control system of the first aspect of the present invention is convenient to operate, and can be operated by one key, so that the requirement on the operating skill of the operator is greatly reduced.
In the above embodiment, preferably, each arm unit 70 includes: a first arm 702 connected to the fixing frame 60; a second arm 704 connected to the first arm 702; two driving structures 80, wherein two ends of one driving structure 80 are respectively connected to the first arm 702 and the fixing frame 60, and two ends of the other driving structure 80 are respectively connected to the first arm 702 and the second arm 704.
In this embodiment, the lift-off, stow-off, recovery and mooring operations of the mooring craft are accomplished by the cooperation of a plurality of arm units 70 on the mooring vehicle.
In any of the above embodiments, each arm unit 70 preferably further includes a locking member 706 disposed on the drive structure 80.
In this embodiment, the locking member 706 facilitates stopping the movement of the arm when the arm is not in the planned path, thereby providing a protective limit on the movement of the arm and preventing damage to hardware and personnel during operation of the arm.
In any of the above embodiments, preferably, the method further includes: a first connecting structure connected to the fixing frame 60 and the first arm 702, respectively; a second connecting structure connected to the first arm 702 and the second arm 704.
In the embodiment, the connecting structure is arranged at the connecting position of each arm, so that the movement of the support arm is more flexible, the movement angle of the support arm is expanded, the adaptability is higher, and the device can be applied to various working conditions.
In any of the above embodiments, preferably, the first connecting structure and the second connecting structure each include: a first connector 902; a second connector 904 connected to the first connector 902; wherein one of the first 902 and second 904 linkages is connected to the drive structure 80.
In the embodiment, the connecting structure is arranged at the connecting position of each arm, so that the movement of the support arm is more flexible, the movement angle of the support arm is expanded, the adaptability is higher, and the device can be applied to various working conditions.
In any of the above embodiments, preferably, the driving structure 80 includes: a driver 802; the telescopic rod 804 is arranged on the driver 802; wherein the driver 802 is at least one of a hydraulic cylinder, an air cylinder and an electric motor.
In the embodiment, the driving part drives the support arm to automatically retract and unfold, so that the operation is simple and the efficiency is high.
In another aspect of the invention, a preferred planned path for the mooring vehicle arm is provided, in particular,
preferably, the planned path is unfolded, starting from the folded state, with the left second arm 704 first unfolded at an angle (θ 1 degrees or so), then the left first arm 702 unfolded at an angle (θ 2 degrees or so), then the left second arm 704 fully unfolded, and finally the left first arm 702 fully unfolded, with the arms unfolded to the unfolded position.
The deployment movement is planned as for the second arm 704 on the right.
The preferred folded planned path, starting from the unfolded state, the left first arm 702 and the left second arm 704 are folded together to an intermediate state, at this time, the left second arm 704 is folded to a certain angle (θ 2 degrees or so), the left first arm 702 is folded to a certain angle (θ 1 degrees or so), then the left first arm 702 is folded to the folded state, and finally the left second arm 704 is folded to the folded state.
The second arm 704 on the right side is programmed with the same furling action.
The interruption can be suspended in the unfolding and folding processes, the intermediate state of the movement of the support arm is recorded, and the unfolding or folding command can be executed in place by one key after the interruption.
The technical scheme of the invention is explained in detail by combining the attached drawings, and the invention provides the control method, the control system and the anchor parking support arm of the anchor parking vehicle.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Throughout this specification, the schematic representations of the terms used above do not necessarily refer to the same implementation or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A method of controlling a mooring vehicle arm, said arm having a plurality of arm units, comprising:
receiving state parameters of the support arm;
acquiring a path plan of the movement of the support arm according to the state parameters;
controlling the support arm to move to a target position according to the path plan;
the path is planned in such a way that after at least one arm unit moves to the target position, the other arm unit starts to move; or the path is planned to enable a plurality of arm units to start to move simultaneously;
the interruption can be suspended in the unfolding and folding processes, the intermediate state of the movement of the support arm is recorded, and the unfolding or folding command can be executed in place by one key after the interruption.
2. The control method according to claim 1, wherein the state parameter includes:
the initial position of the support arm is detected through a position sensor;
the displacement parameter is detected through a displacement sensor;
the motion speed parameter is detected by a rotary encoder;
and the angle parameter is detected through an angle sensor.
3. The control method of claim 1, wherein obtaining a path plan for the arm movement based on the state parameters comprises:
finishing the association processing of the state parameters and the target position;
and finishing the path planning from the state parameters to the target position.
4. The control method of claim 1, wherein obtaining a path plan for the arm movement based on the state parameters comprises:
finishing the association processing of the state parameters and the target position;
acquiring a planned path preset in a path planning unit;
and judging whether the state parameters form a judgment result in the path plan or not.
5. The control method according to claim 4,
if so, controlling the support arm to move to a target position according to the path plan;
when the judgment result is negative, the judgment result is that,
sending out an alarm prompt;
sending a stop signal;
and controlling the support arm to stop moving according to the stop signal.
6. A control system for a mooring vehicle arm, said arm having a plurality of arm units, comprising:
the receiving unit is used for receiving the state parameters of the support arm;
the control unit is used for acquiring the path plan of the movement of the support arm according to the state parameters, and the receiving unit is connected with the control unit;
the execution unit is used for controlling the support arm to move to a target position according to the path plan, and the control unit is connected with the execution unit;
the path is planned in such a way that after at least one arm unit moves to the target position, the other arm unit starts to move; or the path is planned to enable a plurality of arm units to start to move simultaneously;
the interruption can be suspended in the unfolding and folding processes, the intermediate state of the movement of the support arm is recorded, and the unfolding or folding command can be executed in place by one key after the interruption.
7. The control system of claim 6, wherein the status parameters include:
the initial position of the support arm is detected through a position sensor;
the displacement parameter is detected through a displacement sensor;
the motion speed parameter is detected by a rotary encoder;
and the angle parameter is detected through an angle sensor.
8. The control system according to claim 6 or 7, characterized in that the control unit comprises:
the data processing unit is used for finishing the association processing of the state parameters and the target position;
and the path planning unit is used for finishing path planning of the arm moving to the target position.
9. The control system according to claim 6 or 7, wherein the control unit further comprises:
the judging unit is used for judging whether the state parameters form a judging result in the path plan or not;
the alarm unit is used for sending out an alarm prompt;
and the execution unit controls the support arm to stop moving according to the stop signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN201358142Y (en) * | 2009-02-25 | 2009-12-09 | 中国船舶重工集团公司第七一三研究所 | Automatic control system for telescopic crane |
| CN101893900A (en) * | 2010-06-29 | 2010-11-24 | 三一重工股份有限公司 | Engineering plant and arm support control system thereof |
| CN102897696A (en) * | 2012-10-18 | 2013-01-30 | 三一重工股份有限公司 | Elevating fire truck boom control system, elevating fire truck boom control method and elevating fire truck |
| CN103147577A (en) * | 2013-02-27 | 2013-06-12 | 中联重科股份有限公司 | Control method, equipment, system and construction machinery for multi-joint mechanical arm support |
| CN104088465A (en) * | 2014-07-15 | 2014-10-08 | 三一汽车制造有限公司 | Concrete pump truck and concrete pump truck arm frame control system and method |
| CN106741819A (en) * | 2016-12-16 | 2017-05-31 | 三汽车制造有限公司 | Anchoring car horizontal mounting arm system and anchoring car |
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| CN201358142Y (en) * | 2009-02-25 | 2009-12-09 | 中国船舶重工集团公司第七一三研究所 | Automatic control system for telescopic crane |
| CN101893900A (en) * | 2010-06-29 | 2010-11-24 | 三一重工股份有限公司 | Engineering plant and arm support control system thereof |
| CN102897696A (en) * | 2012-10-18 | 2013-01-30 | 三一重工股份有限公司 | Elevating fire truck boom control system, elevating fire truck boom control method and elevating fire truck |
| CN103147577A (en) * | 2013-02-27 | 2013-06-12 | 中联重科股份有限公司 | Control method, equipment, system and construction machinery for multi-joint mechanical arm support |
| CN104088465A (en) * | 2014-07-15 | 2014-10-08 | 三一汽车制造有限公司 | Concrete pump truck and concrete pump truck arm frame control system and method |
| CN106741819A (en) * | 2016-12-16 | 2017-05-31 | 三汽车制造有限公司 | Anchoring car horizontal mounting arm system and anchoring car |
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| CN107963197A (en) | 2018-04-27 |
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Effective date of registration: 20221028 Address after: 413062 Floor 3, No. 1 Factory Building, Sany Zhongyang Industrial Park, East New District, Yuxiangshan Street, Yiyang City, Hunan Province (101, Shiba Village, Henglongqiao Town) Patentee after: Hunan Province Ground Unmanned Equipment Engineering Research Center Co.,Ltd. Address before: 410100 31 industrial city, Changsha economic and Technological Development Zone, Hunan Patentee before: Sany Automobile Manufacturing Co.,Ltd. |