CN111017017A - System, method and equipment for controlling differential speed of chassis supporting legs of aerial work platform - Google Patents
System, method and equipment for controlling differential speed of chassis supporting legs of aerial work platform Download PDFInfo
- Publication number
- CN111017017A CN111017017A CN201911251640.9A CN201911251640A CN111017017A CN 111017017 A CN111017017 A CN 111017017A CN 201911251640 A CN201911251640 A CN 201911251640A CN 111017017 A CN111017017 A CN 111017017A
- Authority
- CN
- China
- Prior art keywords
- wheel
- front wheel
- speed
- steering
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- 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
Abstract
The embodiment of the invention provides a system, a method and equipment for controlling the differential speed of chassis support legs of an aerial work platform. Wherein the system comprises: the supporting leg length sensor is used for acquiring the extending length of the supporting leg; the wheel angle sensor is used for acquiring a wheel steering angle; a wheel speed sensor for acquiring a wheel speed; the information input module is used for inputting a steering mode; a controller for controlling a turning differential; and the execution mechanism is connected with the controller and used for executing the control instruction of the controller. The system, the method and the equipment for controlling the differential speed of the chassis support leg of the aerial work platform provided by the embodiment of the invention can realize the closed-loop control of the differential speed under different wheel distances caused by the extension and contraction of the support leg, and improve the control precision of the running speed.
Description
Technical Field
The embodiment of the invention relates to the technical field of aerial work platforms, in particular to a system, a method and equipment for controlling differential speed of supporting legs of an aerial work platform chassis.
Background
At present, equipment at a high-altitude operation platform is in four-wheel drive configuration, and the stability of the equipment during working is improved mostly in a telescopic supporting leg mode. During cornering, if differential speed processing is not performed, the friction between the tire and the ground increases due to the difference between the inner and outer cornering radii. Because the weight of the engineering machinery equipment is relatively large, if the friction of the tire is large, the tire is seriously worn. Tire wear can increase equipment maintenance costs while affecting the comfort of the equipment in driving cornering maneuvers. When the telescopic supporting legs are extended out at different positions to turn, the turning radius of the running vehicle can be changed. At present, differential control under different wheel tracks cannot be achieved, so that the phenomenon of tire abrasion to a certain degree still exists during driving and steering. In addition, the electric control mode of the existing hydraulic drive equipment is open-loop control, and the actual effect cannot accurately control the running speed. Therefore, it is an urgent technical problem in the art to develop a system and a method for controlling the differential speed of the chassis support leg of the aerial work platform to effectively improve the above-mentioned defects.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a system, a method and equipment for controlling the differential speed of the supporting legs of the chassis of the aerial work platform.
In a first aspect, an embodiment of the present invention provides an aerial work platform chassis leg differential control system, including: the supporting leg length sensor is used for acquiring the extending length of the supporting leg; the wheel angle sensor is used for acquiring a wheel steering angle; a wheel speed sensor for acquiring a wheel speed; the information input module is used for inputting a steering mode; the aerial work platform chassis leg differential speed control device according to the third aspect; and the execution mechanism is used for executing the control instruction of the controller. In addition, the electric control device can also comprise a running speed control handle which is arranged on the electric control box and used for controlling the running direction and the running speed.
In a second aspect, an embodiment of the present invention further provides a method for controlling differential speed of a chassis leg of an aerial work platform, including: acquiring steering mode information and leg length information and/or wheel information; controlling the steering angle of the wheels according to the steering mode information and the leg length information, and/or controlling the rotating speed of the wheels according to the steering mode information and the wheel information.
On the basis of the content of the above method embodiment, the method for controlling the differential speed of the supporting legs of the chassis of the aerial work platform provided in the embodiment of the invention comprises the following steps: front wheel steering mode, crab steering mode, or coordinated steering mode.
On the basis of the content of the embodiment of the method, the method for controlling the differential speed of the supporting legs of the chassis of the aerial work platform provided by the embodiment of the invention has the advantage that the length information of the supporting legs is the extending length of the supporting legs.
Based on the content of the above method embodiments, in the method for controlling the differential speed of the chassis support legs of the aerial work platform provided by the embodiments of the present invention, the wheel information includes a wheel steering angle and/or a wheel rotation speed.
On the basis of the content of the above method embodiment, the method for controlling the differential speed of the supporting legs of the chassis of the aerial work platform provided by the embodiment of the invention comprises the following steps:
wherein the speed of the left front wheel is 1; vB1The speed of the right front wheel; vC1Is the speed of the right rear wheel; vD1Is the speed of the left rear wheel; OA is the turning radius of the left front wheel; OB is the turning radius of the right front wheel; OC is the turning radius of the right rear wheel; OD is the turning radius of the left rear wheel; r is the distance from the steering axle center of the steering wheel to the steering wheel; the leg length information determines the left front wheel turning radius, the right rear wheel turning radius, and the left rear wheel turning radius.
On the basis of the content of the above method embodiment, the method for controlling the differential speed of the supporting legs of the chassis of the aerial work platform provided by the embodiment of the invention comprises the following steps:
wherein the speed of the left front wheel is 1; vB1The speed of the right front wheel; vC1Is the speed of the right rear wheel; vD1Is the speed of the left rear wheel; OA is the turning radius of the left front wheel; OB is the turning radius of the right front wheel; OC is the turning radius of the right rear wheel; OD is the turning radius of the left rear wheel; r is the distance from the steering axle center of the steering wheel to the steering wheel; the leg length information determines the left front wheel turning radius, the right rear wheel turning radius, and the left rear wheel turning radius.
In a third aspect, an embodiment of the present invention provides an aerial work platform chassis leg differential speed control device, including:
the data information acquisition module is used for acquiring steering mode information, support leg length information and/or wheel information;
and the wheel motion control module is used for controlling the steering angle of the wheels according to the steering mode information and the leg length information, and/or controlling the rotating speed of the wheels according to the steering mode information and the wheel information.
On the basis of the content of the embodiment of the device, the differential speed control device for the supporting legs of the chassis of the aerial work platform provided by the embodiment of the invention further comprises: a steering mode determination module to determine a front wheel steering mode, a crab steering mode, or a coordinated steering mode.
On the basis of the content of the embodiment of the device, the differential speed control device for the supporting legs of the chassis of the aerial work platform provided by the embodiment of the invention further comprises: and the supporting leg length information acquisition module is used for acquiring the supporting leg length information as the extending length of the supporting leg.
On the basis of the content of the embodiment of the device, the differential speed control device for the supporting legs of the chassis of the aerial work platform provided by the embodiment of the invention further comprises: and the wheel information acquisition module is used for acquiring wheel information, including the wheel steering angle and/or the wheel rotating speed.
On the basis of the content of the embodiment of the device, the differential speed control device for the supporting legs of the chassis of the aerial work platform provided by the embodiment of the invention further comprises a wheel steering angle control module, which is used for controlling the steering angle of the wheels, and comprises the following components:
wherein the speed of the left front wheel is 1; vB1The speed of the right front wheel; vC1Is the speed of the right rear wheel; vD1Is the speed of the left rear wheel; OA is the turning radius of the left front wheel; OB is the turning radius of the right front wheel; OC is the turning radius of the right rear wheel; OD is the turning radius of the left rear wheel; r is the distance from the steering axle center of the steering wheel to the steering wheel; the leg length information determines the left front wheel turning radius, the right rear wheel turning radius, and the left rear wheel turning radius.
On the basis of the content of the above device embodiment, the differential speed control device for the chassis support legs of the aerial work platform provided in the embodiment of the present invention further includes a wheel rotation speed control module, which is used for controlling the rotation speed of the wheels, and includes:
wherein the speed of the left front wheel is 1; vB1The speed of the right front wheel; vC1Is the speed of the right rear wheel; vD1Is the speed of the left rear wheel; OA is the turning radius of the left front wheel; OB is the turning radius of the right front wheel; OC is the turning radius of the right rear wheel; OD is the turning radius of the left rear wheel; r is the distance from the steering axle center of the steering wheel to the steering wheel; the leg length information determines the left front wheel turning radius, the right rear wheel turning radius, and the left rear wheel turning radius.
In a fourth aspect, an embodiment of the present invention provides an electronic device, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the method for controlling the chassis leg differential speed of the aerial work platform provided by any one of the various possible implementation manners of the second aspect.
In a fifth aspect, embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions that cause a computer to perform a method for controlling the differential speed of the legs of the chassis of the aerial work platform according to any one of the various possible implementations of the second aspect.
According to the system, the method and the equipment for controlling the differential speed of the supporting legs of the chassis of the aerial work platform, which are provided by the embodiment of the invention, through integrating the supporting leg length sensor and the wheel speed sensor in the system and processing various acquired data information including the supporting leg length and the wheel speed through the controller, the closed-loop control of the differential speed under different wheel distances caused by the extension and contraction of the supporting legs can be realized, and the control precision of the running speed is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below to the drawings required for the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a chassis leg differential control system of an aerial work platform according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for controlling the differential speed of the chassis support legs of the aerial work platform according to the embodiment of the invention;
FIG. 3 is a movement state diagram of the aerial work platform chassis in cooperation with a steering mode according to an embodiment of the invention;
FIG. 4 is a schematic structural diagram of a chassis leg differential speed control device of an aerial work platform according to an embodiment of the present invention;
fig. 5 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, technical features of various embodiments or individual embodiments provided by the invention can be arbitrarily combined with each other to form a feasible technical solution, but must be realized by a person skilled in the art, and when the technical solution combination is contradictory or cannot be realized, the technical solution combination is not considered to exist and is not within the protection scope of the present invention.
The embodiment of the invention provides a chassis support leg differential control system of an aerial work platform, and referring to fig. 1, the system comprises: the supporting leg length sensor is arranged inside the axle and used for acquiring the extending length of the supporting leg; the wheel angle sensor is arranged on the tire steering shaft and used for acquiring the wheel steering angle; the wheel speed sensor is arranged on the axle and used for acquiring the rotating speed of the wheel, and the wheel speed sensor can be specifically a speed encoder; the information input module is used for inputting a steering mode; the controller is arranged in the electric cabinet and used for sending a control command (in another embodiment, the controller is also used for receiving various input information and calculating by adopting a corresponding algorithm to obtain an output control command, for example, calculating the output control command by adopting a PID algorithm); and the execution mechanism is connected with the controller and used for executing the control instruction of the controller. The actuator can be specifically divided into left-running pump valve current control and right-running pump valve current control. In addition, the chassis support leg differential control system of the aerial work platform can further comprise a running speed control handle which is arranged on the electric cabinet and used for controlling the running direction and speed. The information input module may be a steering mode selection switch, and is configured to input a steering mode to the controller.
Specifically, a steering mode selection switch is mounted on an operation panel of the platform electric cabinet and used for selecting a front wheel steering mode, a crab walking mode and a cooperative steering mode. Wheel angle sensors, mounted on the tire steer axles, one on each tire steer axle, for steering angles of 4 or 2 tires (four or two drive is possible). Leg length sensors mounted inside the axles, one for each of the front and rear axles, for sensing the length of the leg extension, such as pull wire sensors. The wheel speed sensor adopts a speed encoder which is arranged on a wheel shaft, and four wheels are respectively arranged and used for detecting the rotating speed of the wheels. And the running speed control handle is arranged on the platform electric cabinet and is used for controlling the running direction and the running speed of the whole vehicle. And the controller is arranged in the electric control box of the rotary table and is used for receiving signals of the sensors and the control handle to carry out intelligent control on the driving, turning and differential speeds. And the actuating mechanism comprises a left running pump valve and a right running pump valve.
The embodiment of the invention also provides a method for controlling the differential speed of the supporting legs of the chassis of the aerial work platform, and the method comprises the following steps:
201. acquiring steering mode information, leg length information and wheel information;
202. and controlling the steering angle of the wheels and/or the rotating speed of the wheels according to the steering mode information, the support leg length information and the wheel information. Specifically, in the whole control process, the chassis of the aerial work platform is operated to run through a running speed control handle. In the process of collecting the length information of the supporting legs and/or the wheel information, the information can be collected aiming at different conditions of two-wheel drive or four-wheel drive, one supporting leg can be detected for the two-wheel drive or the four-wheel drive, two supporting legs can also be detected, and the controller can automatically filter invalid signals.
Based on the content of the above method embodiment, as an optional embodiment, the method for controlling the differential speed of the support legs of the chassis of the aerial work platform provided in the embodiment of the present invention includes: front wheel steering mode, crab steering mode, or coordinated steering mode.
Based on the content of the above method embodiment, as an optional embodiment, the method for controlling the differential speed of the supporting legs of the chassis of the aerial work platform provided in the embodiment of the present invention, wherein the collecting the length information of the supporting legs, includes: and a supporting leg length sensor is adopted to acquire the extending length of the supporting leg.
Based on the content of the above method embodiment, as an optional embodiment, the differential speed control of the supporting legs of the chassis of the aerial work platform provided in the embodiment of the present invention, wherein the collecting wheel information includes: the wheel angle sensor is used for collecting the steering angle of the wheel, and/or the wheel speed sensor is used for collecting the rotating speed of the wheel.
Based on the content of the above method embodiment, as an optional embodiment, the method for controlling the differential speed of the supporting legs of the chassis of the aerial work platform provided in the embodiment of the present invention, where the controlling the steering angle of the wheels, includes:
wherein α is the center-to-turn curve of the left front wheelAngle of center point β is the angle from the center of the right front wheel to the center point of the curve, xAIs the horizontal coordinate value of the left front wheel; y isAIs the longitudinal coordinate value of the left front wheel; x is the number ofBIs the horizontal coordinate value of the right front wheel; y isAIs the longitudinal coordinate value of the right front wheel; the leg length information determines the left front wheel lateral coordinate value, the left front wheel longitudinal coordinate value, the right front wheel lateral coordinate value and the right front wheel longitudinal coordinate value.
Based on the content of the above method embodiment, as an optional embodiment, the method for controlling the differential speed of the supporting legs of the chassis of the aerial work platform provided in the embodiment of the present invention includes:
wherein the speed of the left front wheel is 1; vB1The speed of the right front wheel; vC1Is the speed of the right rear wheel; vD1Is the speed of the left rear wheel; OA is the turning radius of the left front wheel; OB is the turning radius of the right front wheel; OC is the turning radius of the right rear wheel; OD is the turning radius of the left rear wheel; r is the distance from the steering axle center of the steering wheel to the steering wheel; the leg length information determines the left front wheel turning radius, the right rear wheel turning radius, and the left rear wheel turning radius.
According to the chassis support leg differential control system and method for the aerial work platform, provided by the embodiment of the invention, the support leg length sensor and the wheel speed sensor are integrated in the system, and the controller is used for processing various acquired data information including the support leg length and the wheel speed, so that the differential closed-loop control under different wheel distances caused by the extension and contraction of the support legs can be realized, and the control precision of the driving speed is improved.
In order to more clearly illustrate the essence of the technical solution of the present invention, a detailed embodiment is proposed on the basis of the above embodiment, and the overall view of the technical solution of the present invention is shown in detail. It should be noted that the detailed embodiment is only for embodying the technical essence of the present invention, and is not intended to limit the scope of the present invention, and those skilled in the art can obtain any combination type technical solution satisfying the technical essence of the present invention by combining technical features based on the various embodiments of the present invention, and as long as the combination type technical solution can be practically implemented, the combination type technical solution is within the scope of the present patent.
Taking the cooperative steering mode as an example, see fig. 3. A. B, C, D is the steering axis of four wheels, A1 is the left front wheel, B1 is the right front wheel, C1 is the left rear wheel, and D1 is the right rear wheel. O represents a turning center point. R is the distance from the steering axle center to the steering wheel. The method of the detailed embodiment is as follows:
1) and adjusting the steering angles of the four wheels:
α represents the angle from the center of the left front wheel to the center point of the curve, β represents the angle from the center of the right front wheel to the center point of the curve A1 wheel and D1 wheel are on the same curve line of rotation, B1 wheel and C1 wheel are on the same curve line of rotation, the A1 wheel and D1 wheel are turned in opposite directions, the absolute values of the angles are the same, and the B1 wheel and C1 wheel are turned in opposite directions, the absolute values of the angles are the same.
Knowing the steering axis A, B, C, D, when the angle of the front left wheel A1 is α degrees (as measured by the wheel angle sensor):
coordinate of point O is
The steering angle of the B1 wheel can be calculated, and the steering angle of the C1 wheel and the D1 wheel can be calculated similarly. Wherein x isARepresents the recumbent seat of the wheel A1Scalar value, yARepresenting the longitudinal coordinate value of the a1 wheel. The distance from the steering axis A to the steering axis B can be measured by a leg length sensor.
2) Adjusting the running speeds of the wheels on the left side and the right side:
assuming that the left front wheel speed is 1 (target speed), the speed of the B1 wheel is:
the same principle is that:
have wheel speed sensor (generally adopt liquid to drive aerial working equipment can not detect the wheel rotational speed), can realize closed-loop control's differential control, speed control is more accurate, specifically as follows:
the actual rotating speed of four wheels is obtained as VA、VB、VCAnd VDThe actual rotating speeds of the four wheels are continuously close to the target rotating speed of each wheel through a PID control algorithm (namely a proportional-integral-derivative algorithm), so that accurate speed control is achieved. Wherein, the steps 1) and 2) can be performed synchronously, and the front wheel steering mode and the crab steering mode refer to the above-mentioned cooperative steering mode principle, which is not described herein again.
According to the detailed embodiment of the invention, the purpose of accurately controlling the differential speed under different wheel tracks is achieved by detecting the length of the supporting legs, combining the speed, the angle and the steering of the wheels and calculating the steering angle and the speed of four wheels/two wheels.
The implementation basis of the various method embodiments of the invention is realized by programmed processing performed by a device having processor functionality. Therefore, in engineering practice, the technical solutions and functions thereof of the embodiments of the present invention can be packaged into various modules. Based on the actual situation, on the basis of the above method embodiments, embodiments of the present invention provide an aerial work platform chassis leg differential speed control device, which is used for executing the aerial work platform chassis leg differential speed control method in the above method embodiments. Referring to fig. 4, the apparatus includes:
a data information obtaining module 401, configured to obtain steering mode information, leg length information, and wheel information;
and a wheel motion control module 402 for controlling the steering angle of the wheels and/or the rotation speed of the wheels according to the steering mode information, the leg length information and the wheel information.
According to the chassis support leg differential control device for the aerial work platform, provided by the embodiment of the invention, the data information acquisition module and the wheel motion control module are adopted, the support leg length sensor and the wheel speed sensor are integrated in the system, and the controller is used for processing various acquired data information including the support leg length and the wheel speed, so that the differential closed-loop control under different wheel distances caused by the extension and retraction of the support legs can be realized, and the control precision of the running speed is improved.
It should be noted that, the apparatus in the apparatus embodiment provided by the present invention may be used for implementing methods in other method embodiments provided by the present invention, except that corresponding function modules are provided, and the principle of the apparatus embodiment provided by the present invention is basically the same as that of the apparatus embodiment provided by the present invention, so long as a person skilled in the art obtains corresponding technical means by combining technical features on the basis of the apparatus embodiment described above, and obtains a technical solution formed by these technical means, on the premise of ensuring that the technical solution has practicability, the apparatus in the apparatus embodiment described above may be modified, so as to obtain a corresponding apparatus class embodiment, which is used for implementing methods in other method class embodiments. For example:
based on the content of the above-mentioned device embodiment, as an optional embodiment, the aerial work platform chassis support leg differential speed control device provided in the embodiment of the present invention further includes: a steering mode determination module to determine a front wheel steering mode, a crab steering mode, or a coordinated steering mode.
Based on the content of the above-mentioned device embodiment, as an optional embodiment, the aerial work platform chassis support leg differential speed control device provided in the embodiment of the present invention further includes: and the supporting leg length information acquisition module is used for acquiring the supporting leg length information as the extending length of the supporting leg.
Based on the content of the above-mentioned device embodiment, as an optional embodiment, the aerial work platform chassis support leg differential speed control device provided in the embodiment of the present invention further includes: and the wheel information acquisition module is used for acquiring wheel information, including the wheel steering angle and/or the wheel rotating speed.
Based on the content of the above device embodiment, as an optional embodiment, the device for controlling differential speed of the supporting legs of the chassis of the aerial work platform provided in the embodiment of the present invention further includes a wheel steering angle control module, configured to control a steering angle of the wheels, including:
wherein α is the angle from the center of the left front wheel to the center point of the curve, β is the angle from the center of the right front wheel to the center point of the curve, xAIs the horizontal coordinate value of the left front wheel; y isAIs the longitudinal coordinate value of the left front wheel; x is the number ofBIs the horizontal coordinate value of the right front wheel; y isAIs the longitudinal coordinate value of the right front wheel; the leg length information determines the left front wheel lateral coordinate value, the left front wheel longitudinal coordinate value, the right front wheel lateral coordinate value and the right front wheel longitudinal coordinate value.
Based on the content of the above device embodiment, as an optional embodiment, the device for controlling differential speed of the supporting legs of the chassis of the aerial work platform provided in the embodiment of the present invention further includes a wheel rotation speed control module, configured to control rotation speed of wheels, including:
wherein α is the angle from the center of the left front wheel to the center point of the curve, β is the angle from the center of the right front wheel to the center point of the curve, xAIs the horizontal coordinate value of the left front wheel; y isAIs the longitudinal coordinate value of the left front wheel; x is the number ofBIs the horizontal coordinate value of the right front wheel; y isAIs the longitudinal coordinate value of the right front wheel; the leg length information determines the left front wheel lateral coordinate value, the left front wheel longitudinal coordinate value, the right front wheel lateral coordinate value and the right front wheel longitudinal coordinate value.
The method of the embodiment of the invention is realized by depending on the electronic equipment, so that the related electronic equipment is necessarily introduced. To this end, an embodiment of the present invention provides an electronic apparatus, as shown in fig. 5, including: at least one processor (processor)501, a communication Interface (Communications Interface)504, at least one memory (memory)502 and a communication bus 503, wherein the at least one processor 501, the communication Interface 504 and the at least one memory 502 are in communication with each other through the communication bus 503. The at least one processor 501 may call logic instructions in the at least one memory 502 to perform the following method: acquiring steering mode information, leg length information and wheel information; and controlling the steering angle of the wheels and/or the rotating speed of the wheels according to the steering mode information, the support leg length information and the wheel information.
Furthermore, the logic instructions in the at least one memory 502 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. Examples include: acquiring steering mode information, leg length information and wheel information; and controlling the steering angle of the wheels and/or the rotating speed of the wheels according to the steering mode information, the support leg length information and the wheel information. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. Based on this recognition, each block in the flowchart or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In this patent, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (15)
1. A differential speed control method for supporting legs of a chassis of an aerial work platform is characterized by comprising the following steps:
acquiring steering mode information, leg length information and wheel information;
and controlling the steering angle of the wheels and/or the rotating speed of the wheels according to the steering mode information, the support leg length information and the wheel information.
2. The aerial work platform chassis leg differential control method of claim 1 wherein the steering mode comprises:
front wheel steering mode, crab steering mode, or coordinated steering mode.
3. The aerial work platform chassis leg differential speed control method as claimed in claim 1, wherein the leg length information is a length of extension of the leg.
4. The method of claim 1 wherein the wheel information includes wheel steering angle and wheel speed.
5. The aerial work platform chassis leg differential speed control method of claim 1 wherein controlling the steering angle of the wheels comprises:
wherein α is the angle from the center of the left front wheel to the center point of the curve, β is the angle from the center of the right front wheel to the center point of the curve, xAIs the horizontal coordinate value of the left front wheel; y isAIs the longitudinal coordinate value of the left front wheel; x is the number ofBIs the horizontal coordinate value of the right front wheel;yAis the longitudinal coordinate value of the right front wheel; the leg length information determines the left front wheel lateral coordinate value, the left front wheel longitudinal coordinate value, the right front wheel lateral coordinate value and the right front wheel longitudinal coordinate value.
6. The aerial work platform chassis leg differential speed control method of claim 1 wherein controlling the rotational speed of the wheels comprises:
wherein the speed of the left front wheel is 1; vB1The speed of the right front wheel; vC1Is the speed of the right rear wheel; vD1Is the speed of the left rear wheel; OA is the turning radius of the left front wheel; OB is the turning radius of the right front wheel; OC is the turning radius of the right rear wheel; OD is the turning radius of the left rear wheel; r is the distance from the steering axle center of the steering wheel to the steering wheel; the leg length information determines the left front wheel turning radius, the right rear wheel turning radius, and the left rear wheel turning radius.
7. The utility model provides an aerial working platform chassis landing leg differential controlling means which characterized in that includes:
the data information acquisition module is used for acquiring steering mode information, leg length information and wheel information;
and the wheel motion control module is used for controlling the steering angle of the wheels and/or the rotating speed of the wheels according to the steering mode information, the support leg length information and the wheel information.
8. The aerial work platform chassis leg differential control apparatus of claim 7 further comprising:
a steering mode determination module to determine a front wheel steering mode, a crab steering mode, or a coordinated steering mode.
9. The aerial work platform chassis leg differential control apparatus of claim 7 further comprising:
and the supporting leg length information acquisition module is used for acquiring the supporting leg length information as the extending length of the supporting leg.
10. The aerial work platform chassis leg differential control apparatus of claim 7 further comprising:
and the wheel information acquisition module is used for acquiring wheel information comprising a wheel steering angle and a wheel rotating speed.
11. The aerial work platform chassis leg differential control device of claim 7 further comprising a wheel steering angle control module for controlling the steering angle of the wheels, comprising:
wherein α is the angle from the center of the left front wheel to the center point of the curve, β is the angle from the center of the right front wheel to the center point of the curve, xAIs the horizontal coordinate value of the left front wheel; y isAIs the longitudinal coordinate value of the left front wheel; x is the number ofBIs the horizontal coordinate value of the right front wheel; y isAIs the longitudinal coordinate value of the right front wheel; the leg length information determines the left front wheel lateral coordinate value, the left front wheel longitudinal coordinate value, the right front wheel lateral coordinate value and the right front wheel longitudinal coordinate value.
12. The aerial work platform chassis leg differential control apparatus of claim 7 further comprising a wheel speed control module for controlling the speed of the wheels, comprising:
wherein the speed of the left front wheel is 1; vB1The speed of the right front wheel; vC1Is the speed of the right rear wheel; vD1Is the speed of the left rear wheel; OA is the turning radius of the left front wheel; OB is the turning radius of the right front wheel; OC is the turning radius of the right rear wheel; OD is the turning radius of the left rear wheel; r is the distance from the steering axle center of the steering wheel to the steering wheel; the leg length information determines the left front wheel turning radius, the right rear wheel turning radius, and the left rear wheel turning radius.
13. The utility model provides an aerial working platform chassis landing leg differential control system which characterized in that includes:
the supporting leg length sensor is used for acquiring the extending length of the supporting leg;
the wheel angle sensor is used for acquiring a wheel steering angle;
a wheel speed sensor for acquiring a wheel speed;
the information input module is used for inputting a steering mode;
the aerial work platform chassis leg differential speed control apparatus of any one of claims 8 to 12;
and the execution mechanism is used for executing the control instruction of the controller.
14. An electronic device, comprising:
at least one processor, at least one memory, a communication interface, and a bus; wherein the content of the first and second substances,
the processor, the memory and the communication interface complete mutual communication through the bus;
the memory stores program instructions executable by the processor, the processor calling the program instructions to perform the method of any of claims 1 to 6.
15. A non-transitory computer-readable storage medium storing computer instructions that cause a computer to perform the method of any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911251640.9A CN111017017A (en) | 2019-12-09 | 2019-12-09 | System, method and equipment for controlling differential speed of chassis supporting legs of aerial work platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911251640.9A CN111017017A (en) | 2019-12-09 | 2019-12-09 | System, method and equipment for controlling differential speed of chassis supporting legs of aerial work platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111017017A true CN111017017A (en) | 2020-04-17 |
Family
ID=70208893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911251640.9A Pending CN111017017A (en) | 2019-12-09 | 2019-12-09 | System, method and equipment for controlling differential speed of chassis supporting legs of aerial work platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111017017A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113050713A (en) * | 2021-03-08 | 2021-06-29 | 浙江中力机械股份有限公司 | Handle control method and system of double-wheel differential-drive electric truck |
| CN114454958A (en) * | 2021-12-31 | 2022-05-10 | 湖南中联重科智能高空作业机械有限公司 | Aerial work platform and control method and control system thereof |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202005015825U1 (en) * | 2005-10-08 | 2005-12-29 | Linseal Gmbh | Propulsion unit for multi-axle wheel and/or track operated vehicles has wheels of at least one axle driven continuously, and has at least two hydraulic pumps and control unit for processing of different steering and/or driving torques |
| CA2198876C (en) * | 1994-08-30 | 2008-05-27 | William Andrews | Variable wheel base vehicle |
| DE102008022631A1 (en) * | 2008-05-08 | 2009-11-12 | Bayerische Motoren Werke Aktiengesellschaft | Method for distributing driving dynamics actuator interventions of two-track multiple-axle motor vehicle, involves determining frictional connection quotient from measured horizontal tire force to measure vertical force for each wheel |
| JP2010111221A (en) * | 2008-11-05 | 2010-05-20 | Mitsubishi Motors Corp | Steering angle control device |
| CN201751271U (en) * | 2010-06-23 | 2011-02-23 | 长沙中联重工科技发展股份有限公司 | Self-propelled mortar vehicle chassis and mortar vehicle |
| CN102066184A (en) * | 2009-06-03 | 2011-05-18 | 丰田自动车株式会社 | Vehicle steering device and setting device for the vehicle steering device |
| CN103552482A (en) * | 2013-11-12 | 2014-02-05 | 南车株洲电力机车研究所有限公司 | Electronic differential control method and device for trackless vehicle |
| CN106926901A (en) * | 2017-03-24 | 2017-07-07 | 陆军 | Numerical control 4 wheel driven electric control system and method |
| CN108275204A (en) * | 2018-01-24 | 2018-07-13 | 中国农业大学 | four-wheel drive differential steering vehicle and method |
| CN108622189A (en) * | 2018-04-26 | 2018-10-09 | 吉林大学 | Steering control device, method and the changeable wheel track vehicle of changeable wheel track vehicle |
-
2019
- 2019-12-09 CN CN201911251640.9A patent/CN111017017A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2198876C (en) * | 1994-08-30 | 2008-05-27 | William Andrews | Variable wheel base vehicle |
| DE202005015825U1 (en) * | 2005-10-08 | 2005-12-29 | Linseal Gmbh | Propulsion unit for multi-axle wheel and/or track operated vehicles has wheels of at least one axle driven continuously, and has at least two hydraulic pumps and control unit for processing of different steering and/or driving torques |
| DE102008022631A1 (en) * | 2008-05-08 | 2009-11-12 | Bayerische Motoren Werke Aktiengesellschaft | Method for distributing driving dynamics actuator interventions of two-track multiple-axle motor vehicle, involves determining frictional connection quotient from measured horizontal tire force to measure vertical force for each wheel |
| JP2010111221A (en) * | 2008-11-05 | 2010-05-20 | Mitsubishi Motors Corp | Steering angle control device |
| CN102066184A (en) * | 2009-06-03 | 2011-05-18 | 丰田自动车株式会社 | Vehicle steering device and setting device for the vehicle steering device |
| CN201751271U (en) * | 2010-06-23 | 2011-02-23 | 长沙中联重工科技发展股份有限公司 | Self-propelled mortar vehicle chassis and mortar vehicle |
| CN103552482A (en) * | 2013-11-12 | 2014-02-05 | 南车株洲电力机车研究所有限公司 | Electronic differential control method and device for trackless vehicle |
| CN106926901A (en) * | 2017-03-24 | 2017-07-07 | 陆军 | Numerical control 4 wheel driven electric control system and method |
| CN108275204A (en) * | 2018-01-24 | 2018-07-13 | 中国农业大学 | four-wheel drive differential steering vehicle and method |
| CN108622189A (en) * | 2018-04-26 | 2018-10-09 | 吉林大学 | Steering control device, method and the changeable wheel track vehicle of changeable wheel track vehicle |
Non-Patent Citations (1)
| Title |
|---|
| 李果: "《汽车转向/制动系统协同控制理论与应用》", 31 March 2014, 国防工业出版社 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113050713A (en) * | 2021-03-08 | 2021-06-29 | 浙江中力机械股份有限公司 | Handle control method and system of double-wheel differential-drive electric truck |
| CN113050713B (en) * | 2021-03-08 | 2023-12-05 | 浙江中力机械股份有限公司 | Handle control method and system of double-wheel differential drive electric carrier |
| CN114454958A (en) * | 2021-12-31 | 2022-05-10 | 湖南中联重科智能高空作业机械有限公司 | Aerial work platform and control method and control system thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8781684B2 (en) | Steering and control systems for a three-wheeled vehicle | |
| CN103978972B (en) | Four-wheel steering vehicle and the moment of torsion distribution control method for it | |
| CN111017017A (en) | System, method and equipment for controlling differential speed of chassis supporting legs of aerial work platform | |
| CN105416391A (en) | Autopark steering wheel snap reduction | |
| CN107215407A (en) | The walking mechanism of mobile robot | |
| CN107074318A (en) | Vehicle | |
| WO2014137251A1 (en) | Method for calculating a desired yaw rate for a vehicle | |
| CN106660581A (en) | Dynamic deadband for automatic articulation | |
| CN106585706A (en) | Steering control device for pilotless automobile | |
| CN102874308B (en) | Angle transmission ratio control method of wire control steering system based on control lever | |
| CN105539573B (en) | Positive system is actively returned in a kind of steering of the full Terrain Cranes | |
| JP2008526621A (en) | Method for controlling vehicle rear wheel orientation | |
| CN109501856B (en) | Limit steering control method and device | |
| CN109625080B (en) | Electric control hydraulic steering system, automobile crane and electric control hydraulic steering control method | |
| CN112319236B (en) | Motion control method of mobile robot chassis and mobile robot chassis | |
| CN203126944U (en) | Centring oil cylinder of wheel-type steering mechanism | |
| JP2940300B2 (en) | Direction indication method for autonomous guided vehicle | |
| CN112141204B (en) | Steering control method and device for vehicle, storage medium and controller | |
| JPWO2014038139A1 (en) | Steering force control device | |
| KR20180067043A (en) | Steering torque control device and control method for tire wear prevention. | |
| JP4269170B2 (en) | Trajectory tracking control method and apparatus | |
| CN110789286A (en) | Vehicle roll control device | |
| CN205131354U (en) | Car a steering system is shaken in inhaling of hydraulic pressure helping hand | |
| CA2586578A1 (en) | Vehicles and control systems thereof with adjustable steering axes | |
| CN204750276U (en) | Electric automobile a steering system power saving structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201230 Address after: 410010 room 4110, 4th floor, office building, 677 Lugu Avenue, high tech Development Zone, Changsha City, Hunan Province Applicant after: Hunan Zoomlion intelligent aerial work machinery Co.,Ltd. Address before: 410013 No. 361 South silver basin, Changsha, Hunan, Yuelu District Applicant before: Zoomlion Heavy Industry Science and Technology Co.,Ltd. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200417 |