CN108083188B - Boom control device and method, aerial work platform and computer readable storage medium - Google Patents
Boom control device and method, aerial work platform and computer readable storage medium Download PDFInfo
- Publication number
- CN108083188B CN108083188B CN201711333435.8A CN201711333435A CN108083188B CN 108083188 B CN108083188 B CN 108083188B CN 201711333435 A CN201711333435 A CN 201711333435A CN 108083188 B CN108083188 B CN 108083188B
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- control valve
- control
- arm support
- controller
- boom
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
Abstract
The present disclosure relates to boom control apparatus and methods, aerial work platforms, and computer-readable storage media. The arm support control device comprises: an integrated sensor configured to detect a length and an angle of the boom; the first control valve and the second control valve are respectively connected to the amplitude-variable telescopic cylinder to control the amplitude-variable compression cylinder; and a controller. The controller is configured to calculate the pose of the arm support according to the length and the angle of the arm support; judging whether the arm support is in a safety area or not according to the pose of the arm support; and stopping the variable-amplitude compression cylinder through the first control valve or the second control valve under the condition that the arm support is not in a safety area. The integrated sensor, the first control valve, the second control valve and the controller are connected through buses. The anti-tipping device can ensure that the arm support is in a safe state when faults occur, so that the occurrence of tipping is avoided.
Description
Technical Field
The present disclosure relates to safety control technologies, and in particular, to an arm support control device and method, an aerial work platform, and a computer readable storage medium.
Background
An aerial work platform is a device used to transport personnel, tools, and materials to a designated location for work. The aerial working platform has a very wide application range and is applied to various industries and places such as electric power, fire control, traffic, building outer wall decoration and cleaning, garden maintenance, communication equipment maintenance and repair and the like.
Because the aerial work platform is used for manned aerial work, the requirement of high safety of manned aerial work must be met. According to the requirements of EN280 aerial working platform standard, the safety performance grade of the aerial working platform is PLd, namely the hourly dangerous failure rate is 10 -7 Up to 3X 10 -6 And therefore, the reliability of the system is required to be high.
Disclosure of Invention
The inventors have found that: the pose of the arm support of the aerial working platform must be kept in a safe area to avoid the risk of tipping, and high reliability reaching the PLd safety performance level can be ensured by adopting redundant control. Based on this, the present disclosure proposes a safety control scheme with high reliability.
According to some embodiments of the present disclosure, there is provided a boom control apparatus including: an integrated sensor configured to detect a length and an angle of the boom; a first control valve and a second control valve respectively connected to the luffing compression cylinder to control the luffing compression cylinder; and a controller. The controller is configured to: calculating the pose of the arm support according to the length and the angle of the arm support; judging whether the arm support is in a safety area or not according to the pose of the arm support; and stopping the variable-amplitude compression cylinder through the first control valve or the second control valve under the condition that the arm support is not in a safety area. The integrated sensor, the first control valve, the second control valve and the controller are connected through buses.
Optionally, at least one of the integrated sensor, the first control valve, and the second control valve is configured to: and detecting whether the controller has faults or not, and sending state information to the controller.
Optionally, the controller is further configured to: and stopping the variable-amplitude compression cylinder through the first control valve or the second control valve when the integrated sensor fails.
Optionally, the controller is further configured to: the luffing compression cylinder is stopped by one of the first control valve and the second control valve upon failure of the other of the first control valve and the second control valve.
Optionally, the first control valve is a reversing valve and the second control valve is an unloading valve.
According to other embodiments of the present disclosure, there is provided a boom control method including: reading the length and the angle of the arm support detected by the integrated sensor; calculating the pose of the arm support according to the length and the angle of the arm support; judging whether the arm support is in a safety area or not according to the pose of the arm support; and under the condition that the arm support is in a safety area, continuing to execute the steps of reading, calculating and judging, and under the condition that the arm support is not in the safety area, stopping the variable-amplitude compression cylinder through the first control valve or the second control valve.
Optionally, at least one of the integrated sensor, the first control valve, and the second control valve is configured to: and detecting whether the controller has faults or not, and sending state information to the controller.
Optionally, the boom control method further includes: and stopping the variable-amplitude compression cylinder through the first control valve or the second control valve when the integrated sensor fails.
Optionally, the boom control method further includes: the luffing compression cylinder is stopped by one of the first control valve and the second control valve upon failure of the other of the first control valve and the second control valve.
According to still further embodiments of the present disclosure, there is provided a boom control apparatus including: a memory; and a processor coupled to the memory, the processor configured to execute the boom control method according to any of the preceding embodiments based on instructions stored in the memory device.
According to still further embodiments of the present disclosure, there is provided an aerial work platform comprising the boom control apparatus as described in any of the previous embodiments.
According to still further embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the boom control method according to any of the preceding embodiments.
In the above embodiment, on one hand, when the boom exceeds the safety area, redundant control is used to stop the boom movement, so as to meet the high reliability requirement of the safety control; on the other hand, the integrated sensor can reduce the assembly difficulty.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.
The disclosure may be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 illustrates a schematic structural view of some embodiments of boom control apparatus according to the present disclosure;
FIG. 2 illustrates a flow chart of some embodiments of a boom control method according to the present disclosure;
FIG. 3 illustrates a flow chart of further embodiments of boom control methods according to the present disclosure; and
fig. 4 shows a block diagram of further embodiments of boom control apparatus according to the present disclosure.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
The inventors found that: the related arm rest pose detection device and method mainly acquire the pose state information of the arm rest, and most of the information is not applied to the safety control of the arm rest, so that the reliability of an arm rest pose detection system is low, and the requirements of high reliability of the arm rest pose safety control system are not met.
The inventors have also found that: the reliability of the safety control system can be improved by adopting a redundant structure, but the number of the electrical systems is easily increased due to an improper redundant structure, so that the occupied volume is large, the circuit becomes complex, and the economic cost is increased.
Based on the above, the present disclosure provides a boom control device with simple structure and high reliability.
Fig. 1 illustrates a schematic structural view of some embodiments of boom control apparatus according to the present disclosure.
As shown in fig. 1, the boom control apparatus includes an integrated sensor 110, a controller 120, and a first control valve 131 and a second control valve 132 connected by a bus 100.
The integrated sensor 110 is configured to detect the length and angle of the boom. In some embodiments, an integrated sensor 110 is mounted on the detected telescopic boom, integrating a length sensor and an angle sensor. The integrated sensor 110 can detect the length and the luffing angle of the telescopic boom simultaneously, and compared with a separate length sensor and an angle sensor which are respectively installed, the assembly difficulty of the system is reduced.
In some embodiments, the integrated sensor 110 is further configured to detect its operational status, with a diagnostic function that detects whether there is a fault in itself. For example, the integrated sensor 110 may be integrated with a microprocessor that can perform fault diagnosis through information of the sensor. For example, the microprocessor may determine the fault condition by reading the sensor information and comparing it to known fault conditions.
The integrated sensor 110 is connected to the controller 120 through the bus 100, and both the integrated sensor 110 and the controller 120 support the same secure bus protocol, and the security performance level is not less than PLd. The integrated sensor 110 transmits safety information such as the boom amplitude angle and length detected in real time or periodically to the controller 120 through the bus 100. In some embodiments, the integrated sensor 110 also sends status information to the controller 120, whether it is normal or faulty, in real time or periodically. For example, if the detection result of the integrated sensor 110 shows that everything is normal, in a safe state, state information in the safe state is transmitted to the controller 120. If the integrated sensor 110 detects that there is a fault in itself, status information on the fault is transmitted to the controller 120.
The controller 120 is configured to: calculating the pose of the arm support according to the length and the angle of the arm support detected by the integrated sensor 110; judging whether the arm support is in a safety area according to the pose of the arm support; and in case the boom is not in the safety area, the entire system is switched to the safety state through the first control valve 131 or the second control valve 132. In some embodiments, the controller 120 may be mounted within a platform control box.
The first control valve 131 and the second control valve 132 are respectively connected to the luffing compression cylinder 140 to control the luffing compression cylinder. In some embodiments, the first control valve and the second control valve may be different kinds of control valves. For example, the first control valve 131 is a reversing valve, and the second control valve is an unloading valve. It should be appreciated that the first and second are interchangeable concepts. The variable amplitude compression cylinder 140 is, for example, a hydraulic cylinder. In some embodiments, the reversing valve and the unloading valve are each connected to and control the hydraulic cylinder via a conduit (e.g., a hydraulic circuit). For example, a reversing valve (e.g., a three-position four-way valve) may change the direction of the oil path by changing the spool position.
In the case where it is judged that the boom is not in the safety region, or in the case where there is a failure in the sensor, the controller 120 stops the luffing compression cylinder 140 through the first control valve 131 or the second control valve 132. For example, the controller instructs the second control valve to shut off the oil passage of the hydraulic cylinder and stop the hydraulic cylinder according to the instruction. That is, the controller places the system in a safe state by shutting off the energy source.
In some embodiments, the first control valve 131 and the second control valve 132 are also configured to detect their own operating states, and also have a diagnostic function of detecting whether there is a failure in themselves. For example, the control valve may be integrated with a microprocessor, and the microprocessor may perform fault diagnosis of the control valve through information of the sensor. For example, as one type of control valve, the spool position of the reversing valve can be detected by a position sensor. And the microprocessor compares the detected valve core position with the valve core setting position, and judges that the reversing valve fails if deviation exists.
The first control valve 131 and the second control valve 132 are also connected to the controller 120 through the bus 100. In some embodiments, the first control valve 131 and the second control valve 132 send status information of whether they are normal or malfunctioning to the controller 120 over the bus 100 in real time or periodically. For example, if the control valve detection result shows that everything is normal, in a safe state, state information in the safe state is transmitted to the controller 120. If the control valve detects that it has a fault, it sends status information to the controller 120 that it is in fault.
In some embodiments, the controller may control the luffing compression cylinder through the second control valve in the event of a failure of the first control valve. Conversely, when the second control valve fails, the controller may control the luffing compression cylinder through the first control valve. The first control valve and the second control valve may be different types of control valves or may be a plurality of control valves of the same type. Since the probability of simultaneous failure of the two control valves is low, in the case where it is already sufficiently reliable to achieve redundant control of the luffing compression cylinder using only two (of the same or different kinds) control valves, only two control valves can be used, so that the line can be simplified. Of course, more than two or two types of control valves may be employed as desired.
In the embodiment, the controller is respectively connected with the integrated sensor and the plurality of control valves through the bus, judges the safety state of the system according to the read data, and can send the control command in real time to form redundant control on the variable-amplitude compression cylinder, so that the high reliability of PLd safety performance level is achieved. And the controller uses the bus to control each element, so that the circuit of the system can be simplified, and the cost is further reduced.
In some embodiments, the integrated sensor and the plurality of bus control valves support a secure bus protocol and have a fault diagnosis function. Such a self-diagnostic function eliminates the need for connecting additional information processing devices, simplifies the circuit, reduces the complexity of the wiring, and further improves the security of the system.
Fig. 2 illustrates a flow chart of some embodiments of boom control methods according to the present disclosure.
As shown in fig. 2, the boom control method includes: step S210, reading data of an integrated sensor; step S220, calculating the pose of the arm support; step S230, judging whether the arm support is in a safety area or not; and step S240, stopping the variable-amplitude compression cylinder when the arm support is not in the safety area.
In step S210, the controller reads the length and angle of the boom detected by the integrated sensor. For example, the integrated sensor detects the length and angle of the boom in real time and transmits to the controller, and the controller reads the detection data from the integrated sensor in real time.
In step S220, the controller calculates the pose of the arm support according to the length and angle of the arm support
In step 230, the controller determines whether the boom is in a safe area according to the pose of the boom. If yes, that is, if the boom is in the safe area, the step S220 is returned, and the controller continues to read the data transmitted by the integrated sensor. If not, i.e. if the boom is not in the safety area, the process proceeds to step S240, where the controller stops the luffing compression cylinder through the first control valve or the second control valve.
Fig. 3 shows a flowchart of further embodiments of boom control methods according to the present disclosure.
The boom control method shown in fig. 3 is different from that shown in fig. 2 mainly in that steps S301 to S304 are further included. Steps S301 to S304 will be described in detail below with reference to fig. 3.
In step S301, the controller reads the status information transmitted by the sensor. Next, in step S302, the controller determines whether there is a failure in the sensor according to the read state information of the sensor. If the determination is yes, the process proceeds to step S340, where the variable-amplitude compression cylinder is stopped. If the judgment result is negative, the process advances to step S303.
In step S303, the controller reads state information of the first control valve and the second control valve. Next, in step S304, the controller determines whether there is a failure in the first control valve and the second control valve according to the read state information of the first control valve and the second control valve. If the result of the determination is yes, that is, if any one of the control valves fails, the process proceeds to step S340, where the variable-amplitude compression cylinder is stopped. If the first control valve fails, the controller can stop the luffing compression cylinder through the second control valve; and if the second control valve fails, the controller may stop the luffing compression cylinder through the first control valve.
As described above, the first control valve and the second control valve may be different types of control valves or may be a plurality of control valves of the same type. Since the probability of simultaneous failure of the two control valves is low, in the case where it is already sufficiently reliable to achieve redundant control of the luffing compression cylinder using only two (of the same or different kinds) control valves, only two control valves can be used, so that control can be simplified. Of course, more than two or two types of control valves may be employed as desired.
If the determination results in step S304 are all no, that is, the control valves are all in the safe state, the flow proceeds to step S310. Steps S310 to S340 are similar to steps S210 to S240 in the boom control method shown in fig. 2, and the difference is only the processing after determining that the boom is in the safety area, the method of fig. 3 is to return to reading the status information, and the method of fig. 2 is to return to reading the sensor data, and the similar parts are not repeated.
Fig. 4 shows a block diagram of still further embodiments of boom control apparatus of the present disclosure.
As shown in fig. 4, the boom control apparatus includes: a memory 41 and a processor 42 coupled to the memory 41, the processor 42 being configured to execute the boom control method in any of the embodiments of the present disclosure based on instructions stored in the memory 41.
The memory 41 may include, for example, a system memory, a fixed nonvolatile storage medium, and the like. The system memory stores, for example, an operating system, application programs, boot Loader (Boot Loader), database, and other programs.
The disclosure also provides an aerial working platform, which comprises the boom control device in any embodiment.
It will be apparent to those skilled in the art that embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Heretofore, boom control methods, apparatuses, and computer-readable storage media according to the present disclosure have been described in detail. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. How to implement the solutions disclosed herein will be fully apparent to those skilled in the art from the above description.
The methods and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, firmware. The above-described sequence of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the sequence specifically described above unless specifically stated otherwise. Furthermore, in some embodiments, the present disclosure may also be implemented as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (8)
1. An arm support control device, comprising:
an integrated sensor configured to detect a length and an angle of the boom;
the first control valve and the second control valve are respectively connected to the variable amplitude compression cylinder through hydraulic oil ways to control the variable amplitude compression cylinder; and
a controller configured to calculate a pose of the boom according to a length and an angle of the boom,
judging whether the arm support is in a safety area according to the pose of the arm support, and
when the arm support is not in a safety area, a command is sent to the first control valve or the second control valve, and the command is used for instructing the first control valve or the second control valve to cut off a hydraulic oil circuit connected to the luffing compression cylinder so as to stop the luffing compression cylinder;
wherein the integrated sensor, the first and second control valves, the controller are connected by a bus, and at least one of the integrated sensor, the first control valve, and the second control valve is configured to: detecting whether a fault exists in the controller or not, and sending state information to the controller;
the controller is further configured to: and stopping the variable-amplitude compression cylinder through the first control valve or the second control valve when the integrated sensor fails.
2. The boom control apparatus of claim 1, wherein the controller is further configured to: the luffing compression cylinder is stopped by one of the first control valve and the second control valve upon failure of the other of the first control valve and the second control valve.
3. The boom control apparatus of any of claims 1-2, wherein the first control valve is a reversing valve and the second control valve is an unloading valve.
4. A cantilever crane control method comprises the following steps:
reading the length and the angle of the arm support detected by the integrated sensor;
calculating the pose of the arm support according to the length and the angle of the arm support;
judging whether the arm support is in a safety area or not according to the pose of the arm support;
and under the condition that the arm support is in a safe area, continuing to execute the steps of reading, calculating and judging,
under the condition that the arm support is not in a safety area, a command is sent to a first control valve or a second control valve, the first control valve and the second control valve are respectively connected to the luffing compression cylinder through hydraulic oil ways, and the command is used for instructing the first control valve or the second control valve to cut off the hydraulic oil ways connected to the luffing compression cylinder so as to stop the luffing compression cylinder;
wherein the integrated sensor, the first and second control valves, and the controller are connected by a bus, and at least one of the integrated sensor, the first control valve, and the second control valve is configured to: detecting whether a fault exists in the controller or not, and sending state information to the controller;
the arm support control method further comprises the following steps: and stopping the variable-amplitude compression cylinder through the first control valve or the second control valve when the integrated sensor fails.
5. The boom control method of claim 4, further comprising: the luffing compression cylinder is stopped by one of the first control valve and the second control valve upon failure of the other of the first control valve and the second control valve.
6. An arm support control device, comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform the boom control method of any of claims 4-5 based on instructions stored in the memory device.
7. A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements the boom control method as claimed in any one of claims 4-5.
8. An aerial work platform comprising the boom control apparatus of any one of claims 1-3 and 6.
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| CN201711333435.8A CN108083188B (en) | 2017-12-14 | 2017-12-14 | Boom control device and method, aerial work platform and computer readable storage medium |
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| CN201711333435.8A CN108083188B (en) | 2017-12-14 | 2017-12-14 | Boom control device and method, aerial work platform and computer readable storage medium |
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| CN108083188B true CN108083188B (en) | 2023-07-28 |
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| CN108706533B (en) * | 2018-09-10 | 2018-12-14 | 新誉轨道交通科技有限公司 | High-altitude operation vehicle intelligent hydraulic failure analysis methods and system |
| CN110331757A (en) * | 2019-07-18 | 2019-10-15 | 江苏徐工工程机械研究院有限公司 | Loading shovel lifts control method, system and controller |
| CN113735028B (en) * | 2021-08-06 | 2023-08-18 | 湖南星邦智能装备股份有限公司 | Safety control method, system, equipment and storage medium under aerial working platform |
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| CN108083188A (en) | 2018-05-29 |
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