CN111056513B - Downhill working condition identification method and system and aerial working equipment - Google Patents
Downhill working condition identification method and system and aerial working equipment Download PDFInfo
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- CN111056513B CN111056513B CN201911423563.0A CN201911423563A CN111056513B CN 111056513 B CN111056513 B CN 111056513B CN 201911423563 A CN201911423563 A CN 201911423563A CN 111056513 B CN111056513 B CN 111056513B
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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
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention relates to the technical field of engineering machinery, and discloses a downhill working condition identification method and system and aerial work equipment. The method comprises the following steps: acquiring the driving direction of the aerial work equipment; and in the case where the direction of travel is forward, performing the following: acquiring a target rotating speed of a motor set; acquiring the actual rotating speed of the motor set; acquiring the gradient of the chassis relative to a horizontal plane; acquiring a target current of a driver of the motor set according to the target rotating speed and the gradient of the motor set; acquiring an actual current of the driver; and acquiring a first working condition result under the condition that the difference value between the actual rotating speed and the target rotating speed is greater than or equal to a rotating speed difference threshold value, and the difference value between the target current and the actual current is within a current difference range, wherein the first working condition result shows that the high-altitude operation equipment is in a downhill working condition. The method can effectively identify the downhill working condition of the high-altitude operation equipment in time, and has high accuracy of the measurement result.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a downhill working condition identification method and system and aerial work equipment.
Background
The arm type aerial work equipment comprises a walking chassis, a manned working platform, a rotary table and a telescopic mechanism, wherein the rotary table and the telescopic mechanism are used for connecting the chassis and the working platform. The telescopic mechanism can be a straight arm type telescopic mechanism or a folding type telescopic mechanism, and the rotary table can rotate within a range of 360 degrees and is used for providing an operation range.
In the prior art, an inclination angle sensor is generally adopted for identifying the downhill working condition, and the inclination angle sensor detects the angle of a chassis to identify the downhill, so the method is also called as a chassis state method. However, the application of the chassis state method to the arm type aerial work equipment has the following problems: 1. the turntable is rotatable (up to a maximum of 360 °), and when the turntable is rotated beyond a certain angle, the advance and retreat are completely reversed for the working platform. For example, the original downhill motion is changed into an uphill motion, and then the downhill speed control function is lost, and the situation of stalling and instability may occur; 2. if the inclination angle sensor fails, the horizontal detection of the chassis is inaccurate, the judgment of the downhill working condition is influenced, and even misjudgment occurs. The failure of the tilt sensor is mainly represented by inaccurate measurement of the tilt sensor due to the influence of temperature, environment and the like.
Disclosure of Invention
The invention aims to provide a downhill working condition identification method, a downhill working condition identification system and high-altitude operation equipment, which can effectively identify the downhill working condition of the high-altitude operation equipment in time and have high accuracy of a measurement result.
In order to achieve the above object, the present invention provides a downhill working condition identification method, which is applied to aerial work equipment, and the downhill working condition identification method includes: acquiring the driving direction of the aerial work equipment; and in the case where the direction of travel is forward, performing the following: acquiring a target rotating speed of a motor set of the aerial work equipment; acquiring the actual rotating speed of a motor set of the aerial work equipment; acquiring the gradient of a chassis of the aerial working equipment relative to a horizontal plane; acquiring a target current of a driver of the motor set according to the target rotating speed and the gradient of the motor set; acquiring the actual current of a driver of the motor set; and acquiring a first working condition result under the condition that the difference value between the actual rotating speed of the motor set and the target rotating speed of the motor set is greater than or equal to a rotating speed difference threshold value, and the difference value between the target current and the actual current of a driver of the motor set is in a current difference range, wherein the first working condition result shows that the high-altitude operation equipment is in a downhill working condition.
Preferably, the downhill operating condition identification method further includes: under the condition that the driving direction is forward and the gradient is a negative value, acquiring a second working condition result, wherein the second working condition result indicates that the high-altitude operation equipment is in a downhill working condition; and determining that the high-altitude operation equipment is in the downhill working condition under the condition that the first working condition result and the second working condition result both indicate that the high-altitude operation equipment is in the downhill working condition.
Preferably, the downhill operating condition identification method further includes: under the condition that the driving direction is forward and the gradient is a positive value, acquiring a third working condition result, wherein the third working condition result shows that the high-altitude operation equipment is in a non-downhill working condition; and determining that the aerial work equipment is in an abnormal working condition under the condition that the first working condition result shows that the aerial work equipment is in a downhill working condition and the third working condition result shows that the aerial work equipment is in a non-downhill working condition
Preferably, the downhill operating condition identification method further includes: when the difference value between the actual rotating speed of the motor group and the target rotating speed of the motor group is smaller than the rotating speed difference threshold value, or the difference value between the target current and the actual current of a driver of the motor group is not in the current difference range, acquiring a fourth working condition result, wherein the fourth working condition result shows that the high-altitude operation equipment is in a non-downhill working condition; and determining that the aerial work equipment is in an abnormal working condition under the condition that the fourth working condition result shows that the aerial work equipment is in a non-downhill working condition and the second working condition result shows that the aerial work equipment is in a downhill working condition, or determining that the aerial work equipment is in an uphill working condition or a flat running working condition under the condition that the fourth working condition result shows that the aerial work equipment is in a non-downhill working condition and the third working condition result shows that the aerial work equipment is in a non-downhill working condition.
Preferably, the acquiring the traveling direction of the aerial work device includes: and acquiring the driving direction according to the actual rotating speed of the motor set and the state of a driving direction detection switch.
Preferably, the acquiring the driving direction includes: determining the driving direction to be forward when the actual rotating speed of the motor group indicates that a first motor in the motor group rotates forwards and a second motor in the motor group rotates backwards and the driving direction detection switch is in an on state, or when the actual rotating speed of the motor indicates that the first motor rotates backwards and the second motor rotates forwards and the driving direction detection switch is in an off state; or determining the driving direction as forward when the actual rotating speed of the motor group indicates that the first motor rotates reversely and the second motor rotates reversely and the driving direction detection switch is in an on state, or when the actual rotating speed of the motor group indicates that the first motor rotates reversely and the second motor rotates reversely and the driving direction detection switch is in an off state, wherein the first motor and the second motor are respectively positioned on the right side and the left side of the chassis from the view of facing the tail of the aerial work equipment; when viewed from any point between the first motor and the second motor and facing the first motor or the second motor, the first motor or the second motor rotates in a clockwise direction to forward rotation and rotates in a clockwise direction to reverse rotation; under the condition that the driving direction detection switch is in an on state, an included angle between a rotary table of the high-altitude operation equipment and the chassis is within a preset angle range; and under the condition that the driving direction detection switch is in a closed state, an included angle between the rotary table and the chassis is out of the preset angle range.
Correspondingly, the invention also provides a downhill working condition recognition system, which is applied to high-altitude operation equipment, and comprises: the driving direction acquiring device is used for acquiring the driving direction of the aerial work equipment; and a first condition determining device. The first condition determining means includes, in a case where the traveling direction is forward: the target rotating speed acquisition module is used for acquiring the target rotating speed of a motor set of the high-altitude operation equipment; the actual rotating speed acquisition module is used for acquiring the actual rotating speed of a motor set of the high-altitude operation equipment; the gradient acquisition module is used for acquiring the gradient of the chassis of the high-altitude operation equipment relative to a horizontal plane; the target current acquisition module is used for acquiring the target current of a driver of the motor set according to the target rotating speed and the gradient of the motor set; the actual current acquisition module is used for acquiring the actual current of the driver of the motor set; and the first working condition determining module is used for acquiring a first working condition result under the condition that the difference value between the actual rotating speed of the motor set and the target rotating speed of the motor set is greater than or equal to a rotating speed difference threshold value, and the difference value between the target current and the actual current of a driver of the motor set is in a current difference range, wherein the first working condition result indicates that the high-altitude operation equipment is in a downhill working condition.
Preferably, the downhill operating condition recognition system further includes: the second working condition determining device is used for acquiring a second working condition result under the condition that the driving direction is forward and the gradient is a negative value, and the second working condition result indicates that the high-altitude operation equipment is in a downhill working condition; and the third working condition determining device is used for determining that the high-altitude operation equipment is in the downhill working condition under the condition that the first working condition result and the second working condition result both indicate that the high-altitude operation equipment is in the downhill working condition.
Preferably, the second operating condition determining device is further configured to obtain a third operating condition result when the traveling direction is forward and the gradient is a positive value, where the third operating condition result indicates that the aerial work equipment is in a non-downhill operating condition, and correspondingly, the third operating condition determining device is further configured to determine that the aerial work equipment is in an abnormal operating condition when the first operating condition result indicates that the aerial work equipment is in a downhill condition and the third operating condition result indicates that the aerial work equipment is in a non-downhill operating condition.
Correspondingly, the invention also provides high-altitude operation equipment which comprises the downhill working condition identification system.
Through the technical scheme, the invention creatively compares the actual rotating speed and the target rotating speed of the motor set and the actual current and the target current of the driver under the condition that the driving direction of the aerial work equipment is forward, and determines that the aerial work equipment is in the downhill working condition under the condition that the difference value between the actual rotating speed and the target rotating speed is greater than or equal to the rotating speed difference threshold value and the difference value between the target current and the actual current is in the current difference range. Compared with the chassis state method in the prior art, the method can effectively identify the downhill working condition of the aerial working equipment in time, and the measurement result has high accuracy.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a downhill operating condition identification method according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of aerial work equipment provided in accordance with an embodiment of the present invention;
FIG. 3 is a flowchart of a downhill operating condition determination operation provided by an embodiment of the present invention;
FIG. 4 is a block diagram of a downhill operating condition identification system provided in an embodiment of the present invention;
fig. 5 is a structural diagram of a first condition determining apparatus according to an embodiment of the present invention;
FIG. 6 is a block diagram of a downhill operating condition identification system provided in an embodiment of the present invention; and
fig. 7 is a schematic diagram of a downhill operating condition identification process according to an embodiment of the present invention.
Description of the reference numerals
1 electric machine 2 electric machine
3 chassis 4 driving direction detection switch
5 rotary table 6 inclination angle sensor
7 driver and 8 driver
9 control handle 10 driving direction acquisition device
11 speed selection switch 12 work platform
13 electric control box 14 control device
15 speed sensor 16 speed sensor
17 current sensor 18 current sensor
20 first condition determining means 30 second condition determining means
40 third operating condition determining device 200 target speed obtaining module
210 actual rotational speed acquisition module 220 gradient acquisition module
230 target Current acquisition Module 240 first Condition determination Module
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart of a downhill operating condition identification method according to an embodiment of the present invention. The downhill working condition identification method is applied to high-altitude operation equipment (shown in figure 2). The downhill working condition identification method may include the following steps S101-S102.
And step S101, acquiring the driving direction of the aerial work equipment.
In step S101, the driving direction may be obtained according to the actual rotation speed of the motor unit and the state of the driving direction detection switch.
Wherein the motor set may include a first motor (e.g., motor 1 in fig. 2) and a second motor (e.g., motor 2 in fig. 2), and the first motor and the second motor are respectively located at the right side and the left side of the chassis 3 from the perspective of facing the tail of the aerial work apparatus.
Since the actual rotational speeds of the motors may include forward rotation and reverse rotation, the two motors are installed in a mirror-symmetrical manner, and the driving direction may be determined according to the determination criteria of table 1 below. The following first briefly introduces the definition of forward and reverse rotation: when viewed from a point located between the first motor and the second motor and facing the first motor or the second motor, the first motor or the second motor rotates in a clockwise direction to rotate in a forward direction, and rotates in a clockwise direction to rotate in a reverse direction. The actual rotating speeds of the first motor and the second motor may be collected by a rotating speed detection device, and the collected actual rotating speeds are sent to the actual rotating speed obtaining module 210 in the first working condition determining device 20. The rotation speed detecting means may be a speed sensor 15 (shown in fig. 7) installed inside the motor 1 and a speed sensor 16 (shown in fig. 7) installed inside the motor 2.
The acquiring the driving direction may include: determining the driving direction to be forward when the actual rotating speed of the motor group indicates that a first motor in the motor group rotates forwards and a second motor in the motor group rotates backwards and the driving direction detection switch is in an on state, or when the actual rotating speed of the motor indicates that the first motor rotates backwards and the second motor rotates forwards and the driving direction detection switch is in an off state; or determining the driving direction to be forward when the actual rotating speed of the motor group indicates that the first motor rotates reversely and the second motor rotates reversely and the driving direction detection switch is in an on state, or when the actual rotating speed of the motor group indicates that the first motor rotates reversely and the second motor rotates reversely and the driving direction detection switch is in an off state.
Wherein the driving direction detection switch 4 is installed at the rear of the turntable 5 for detecting whether the position of the turntable 5 deviates from the driving direction, as shown in fig. 2. For example, in a case where the driving direction detection switch 4 is in an on state, an included angle (i.e., a turning angle) between the turntable 5 of the aerial work apparatus and the chassis 3 is within a preset angle range (e.g., 0 to 37.5 degrees); and under the condition that the driving direction detection switch 4 is in a closed state, an included angle between the rotary table 5 and the chassis 3 is out of the preset angle range.
Specifically, taking the aerial work equipment shown in fig. 2 as an example, when the actual rotation speed signal of the motor 1 is positive, which indicates that the aerial work equipment runs counterclockwise, as seen from the direction along the middle point of the motor 1 and the motor 2 toward the motor 1, it is determined that the aerial work equipment is in the forward rotation state; when the actual rotation speed signal of the motor 2 is negative as viewed from the direction facing the motor 2 along the midpoint, indicating that the motor 2 runs clockwise, the motor is determined to be in a reverse rotation state, and in this state, if the driving direction detection switch 4 is in an on state (that is, an included angle between the turntable 5 and a center line of the tail of the chassis 3 pointing to the vehicle head is in a range of 0-37.5 degrees, which belongs to a normal driving state), the driving direction is determined to be a forward direction. Other criteria, not detailed herein, are shown in the contents of table 1.
TABLE 1 Driving Direction criteria
| |
|
Driving direction detection switch | Direction of travel |
| Forward rotation | Reverse rotation | Is opened | Go forward |
| Reverse rotation | Forward rotation | Is opened | Retreat |
| Forward rotation | Reverse rotation | Close off | Retreat |
| Reverse rotation | Forward rotation | Close off | Go forward |
In another embodiment of the invention the direction of travel may be determined from the output signal of the control handle 9 of the aerial work apparatus. As shown in fig. 2, the control handle 9 is mounted on the electric cabinet 13 of the work platform 12, and the operator can control the driving direction and the driving speed of the whole vehicle on the work platform 12. Specifically, the output signal range of the control handle 9 may be set to 0.5-4.5V, and when the output signal is in the range of 0.5-2.5V, it may be determined that the traveling direction is forward; when its output signal is in the range of 2.5-4.5V, it can be determined that the traveling direction is reverse.
In another embodiment of the present invention, an encoder (not shown) may be further added to the turntable 5, and the rotation angle of the turntable 5 relative to the chassis 3 is detected in real time by the encoder, and the driving direction is determined by the rotation angle, as shown in fig. 2.
For the mode of determining the driving direction by controlling the handle signal, after the rotary table rotates 180 degrees, the driving direction determined according to the handle signal is just opposite to the actual driving direction, thereby causing misjudgment; for the above-described manner of determining the traveling direction by the encoder, an absolute value encoder needs to be added, and an intermediate member connected between the encoder and the rotary reduction gear needs to be added, thereby increasing the installation cost. Compared with the method for determining the direction of the driving direction through the actual rotating speed signal of the motor set and the state of the driving direction detection switch, the method for determining the driving direction through the actual rotating speed signal of the motor set and the state of the driving direction detection switch has the advantages of being simple and reliable and not needing to increase any cost.
And step S102, under the condition that the driving direction is forward, executing corresponding downhill working condition judgment operation. Specifically, the corresponding downhill condition determination operation may include the following steps S301 to S306, as shown in fig. 3.
And S301, acquiring a target rotating speed of a motor set of the aerial work equipment.
And acquiring the target rotating speed of the motor set according to the output signal of the control handle of the aerial work equipment and the selected highest allowable rotating speed.
Wherein, under the condition that the output signal range of the control handle 9 is 0.5-4.5V, any value in the range of 0.5-2.5V corresponds to the percentage of the highest allowable rotating speed one by one, and any value in the range of 2.5-4.5V corresponds to the percentage of the highest allowable rotating speed one by one. The output signal of the control handle 9 can be converted into the corresponding percentage of the maximum allowable rotating speed, and then the converted corresponding percentage is multiplied by the maximum allowable rotating speed selected by the speed selection switch 11, so that the target rotating speed of the motor set can be obtained. The speed selection switch 11 is mounted on an electric cabinet 13 of the work platform 12, and is used for switching different gears (two gears of high and low speed), as shown in fig. 2.
And S302, acquiring the actual rotating speed of a motor set of the aerial work equipment.
The actual rotation speed of the generator set can be collected and transmitted by the rotation speed detection device, and accordingly, the actual rotation speed obtaining module 210 in the first operating condition determining device 20 receives (i.e., obtains) the actual rotation speed of the generator set.
And step S303, acquiring the gradient of the chassis of the aerial work equipment relative to the horizontal plane.
The current gradient of the chassis of the aerial work equipment (namely the inclination angle of the chassis 3) relative to the horizontal plane can be detected in real time by a gradient detection device arranged on the chassis 3. The mounting position of the gradient detection device can be adjusted according to actual requirements, and the inclination angle of the chassis can be detected well. For example, the gradient detection device may be mounted on the chassis 3 at a position that is centered on the right and left near the head.
For example, the slope detection device is an inclination sensor 6, the output signal of the inclination sensor 6 can be 0-5V DC, 0.5-4.5V DC or 4-20mA DC, and the measurement range can be adjusted from 0 degree to +/-90 degrees. Taking an output signal of 0.5-4.5V DC and a measurement range of ± 30 ° as an example, since the output signal of the tilt sensor 6 is in a linear relationship with the slope, the slope of the current chassis relative to the horizontal plane can be determined according to the output signal of the tilt sensor 6, for example, when the output signal is 0.5V, the slope is 30 ° (relative to the horizontal plane, the vehicle head is higher than the vehicle tail); for example, when the output signal is 2.5V, the gradient is 0 (flat road); for example, at an output signal of 4.5V, the slope is-30 ° (with respect to horizontal, the nose is lower than the tail). And, the gradient detection means is further configured to send the detected gradient to the gradient acquisition module 220 in the first operating condition determining means 20.
And step S304, acquiring a target current of a driver of the motor set according to the target rotating speed and the gradient of the motor set.
As shown in fig. 2, the drivers 7 and 8 are installed near the head of the chassis to convert Direct Current (DC) power into Alternating Current (AC) power, so as to provide a power supply with adjustable voltage and frequency for the motor set, and realize the speed control of the motor.
The target current of the driver of the motor group can be obtained according to the corresponding relation of the gradient of the chassis relative to the horizontal plane, the target rotating speed of the motor group and a preset parameter, wherein the preset parameter corresponding relation is the corresponding relation among the preset gradient, the preset rotating speed and the preset current. Specifically, when the preset parameter correspondence is a working condition characteristic table (which may be obtained by combining measurement of a mechanical transmission parameter and a parameter of participation, as shown in table 2), a preset gradient and a preset rotation speed equal to both the gradient of the chassis 3 relative to the horizontal plane and the target rotation speed of the motor may be searched in the working condition characteristic table, so that a target current corresponding to the searched preset gradient and preset rotation speed may be obtained.
For those skilled in the art, the operating condition characteristic table can be obtained by combining the parameter measurement of the whole machine. For example, one or more of mechanical transmission parameters (including the diameter of a driving wheel, the mechanical efficiency of a transmission system, a reduction ratio, the rotating speed of a motor and the like) and one or more of load parameters (including the weight of the whole vehicle, the mixed dynamic friction coefficient, the load, the output torque and the like) can be selected according to actual conditions, and the working condition data table of the target equipment is finally obtained through a conventional testing means under a simulated working condition.
TABLE 2 Table of behavior characteristics under downhill conditions
Specifically, when the actual gradient obtained through actual measurement is 5.5 ° and the target rotation speed is 738rpm, the corresponding preset current may be found to be 17.3A by combining the four data of the working conditions (the preset gradient is 5.5 ° and the preset rotation speed is 731rpm) in the working condition characteristic table, that is, the target current is determined to be 17.3A.
Step S305, obtaining an actual current of a driver of the motor group.
The actual current of the drive of the motor group can be detected by a current detection device. The current detection means may comprise a current sensor 17 (shown in fig. 7) mounted inside the driver 7 of the motor 1 and a current sensor 18 (shown in fig. 7) mounted inside the driver 8 of the motor 2. And, the current detection device may send the collected actual current of the driver of the motor group to the actual current obtaining module 240 in the first operating condition determining device 20.
Step S306, under the condition that the difference value between the actual rotating speed of the motor set and the target rotating speed of the motor set is larger than or equal to a rotating speed difference threshold value, and the difference value between the target current and the actual current of a driver of the motor set is within a current difference range, obtaining a first working condition result, wherein the first working condition result shows that the high-altitude operation equipment is in a downhill working condition.
Wherein the speed difference threshold is related to a target speed, for example, determined by a preset percentage of the target speed; the current difference range is related to a target current, determined by two percentages of the target current.
When the vehicle runs downhill, the actual rotation speed of the motor set may increase due to the downward gravity component (for example, in the fourth operating condition, the actual rotation speed 738rpm is greater than 731rpm, and the difference is greater than the rotation speed difference threshold (for example, 5rpm)), and the actual load of the aerial work equipment may slightly fluctuate with the vibration while the vehicle is running, so that the actual current may slightly fluctuate. If the actual current fluctuates around the target current (for example, the actual current is 17.1A in the fourth working condition) or is far larger than the target current (for example, the actual current is 30.3A), the high-altitude operation equipment is not in the downhill working condition, and the target rotating speed is controlled to be kept unchanged; if the actual current is much less than the target current (e.g. 5.1A), indicating that the aerial work device is at risk of stalling, it should immediately be controlled to reduce the target speed or to stop the corresponding work action. Therefore, if the actual rotating speed of the motor set is greater than the target rotating speed and the difference value is greater than or equal to the rotating speed difference threshold value, and the actual current is less than the target current and the difference value between the target current and the actual current is within the current difference range (for example, in the fourth working condition, the fourth working condition is a [12.3, 16.3] interval), it can be determined that the aerial work equipment is in the downhill working condition.
The method for determining the downhill working condition of the aerial work equipment can be referred to as a rotating speed current method. The following slope descending working condition misjudgment can be avoided by a rotating speed current method: in the process of retreating the overhead working equipment, the condition that the rotating speed of a motor at a concave part of a wheel suspended on a road surface is increased and the current is basically kept unchanged meets the criterion of the downhill working condition is determined as the downhill working condition.
Compared with the existing chassis state method, the 'rotating speed current method' is more timely and more reliable in the mode of obtaining the downhill working condition through the target rotating speed, the actual rotating speed and the actual current. The reason is that the tilt sensor used in the "chassis state method" is generally an inertial element, which has a lag and delay in detecting a change in angle, while the lag and delay in the rotational speed and current signals are relatively small.
On the basis of obtaining the working condition result by the rotating speed current method, the working condition result obtained by the existing chassis state method can be combined to comprehensively judge whether the high-altitude operation equipment is in the downhill working condition. The downhill working condition identification method may further include: and under the condition that the driving direction is forward and the gradient is a negative value, acquiring a second working condition result, wherein the second working condition result shows that the high-altitude operation equipment is in a downhill working condition. And determining that the high-altitude operation equipment is in the downhill working condition under the condition that the first working condition result and the second working condition result both indicate that the high-altitude operation equipment is in the downhill working condition.
Specifically, if the slope is a negative value, the vehicle head is lower than the vehicle tail relative to the horizontal plane, so that the high-altitude operation equipment is in a downhill state under the condition that the slope is a negative value and the driving direction is forward; if the high-altitude operation equipment is judged to be in the downhill state through the rotating speed current method and the chassis state method, the high-altitude operation equipment is comprehensively determined to be in the downhill working condition, and the method is shown in table 3.
The downhill working condition identification method may further include: under the condition that the driving direction is forward and the gradient is a positive value, acquiring a third working condition result, wherein the third working condition result shows that the high-altitude operation equipment is in a non-downhill working condition; and determining that the aerial work equipment is in an abnormal working condition under the condition that the first working condition result shows that the aerial work equipment is in a downhill working condition and the third working condition result shows that the aerial work equipment is in a non-downhill working condition.
Specifically, if the gradient is a positive value, the vehicle head is higher than the vehicle tail relative to the horizontal plane, so that under the condition that the gradient is a positive value and the driving direction is forward, the high-altitude operation equipment is in a non-downhill working condition (possibly in an uphill state); if the high-altitude operation equipment is judged to be in the downhill state by the rotating speed current method and the high-altitude operation equipment is judged to be in the non-downhill state by the chassis state method (namely, the working condition results judged by the two methods are inconsistent), the high-altitude operation equipment is comprehensively determined to be in the abnormal working condition, and the method is shown in table 3. Accordingly, the execution of the corresponding work may be controlled to be stopped by the control device 14 (which may be installed in the electric cabinet of the turn table 5) of the aerial work apparatus to prevent a potential accident from occurring.
The downhill working condition identification method may further include: when the difference value between the actual rotating speed of the motor group and the target rotating speed of the motor group is smaller than the rotating speed difference threshold value, or the difference value between the target current and the actual current of a driver of the motor group is not in the current difference range, acquiring a fourth working condition result, wherein the fourth working condition result shows that the high-altitude operation equipment is in a non-downhill working condition; and determining that the aerial work equipment is in an abnormal working condition under the condition that the fourth working condition result shows that the aerial work equipment is in a non-downhill working condition and the second working condition result shows that the aerial work equipment is in a downhill working condition, or determining that the aerial work equipment is in an uphill working condition or a flat running working condition under the condition that the fourth working condition result shows that the aerial work equipment is in a non-downhill working condition and the third working condition result shows that the aerial work equipment is in a non-downhill working condition.
Specifically, if the rotating speed difference value between the actual rotating speed and the target rotating speed is smaller than the rotating speed difference threshold value, or the difference value between the target current and the actual current is not within the current difference range, it indicates that the high-altitude operation equipment is determined to be in the non-downhill working condition by the rotating speed current method. On the basis, if the high-altitude operation equipment is in the downhill working condition (namely, the results judged by the two methods are inconsistent) by the chassis state method, the high-altitude operation equipment can be comprehensively judged to be in the abnormal working condition; if the high-altitude operation equipment is in the non-downhill working condition obtained by the chassis state method, the high-altitude operation equipment can be comprehensively judged to be in other working conditions (such as an uphill working condition or a flat driving working condition), as shown in table 3. Accordingly, the execution of the corresponding work can be controlled to stop by the control device 14 of the aerial work apparatus to prevent a potential accident from occurring.
Therefore, the result of the downhill working condition obtained by the two methods is more accurate and more reliable, and the problem that the chassis level detection is inaccurate due to the fault of the tilt angle sensor is solved.
TABLE 3 working condition results of aerial work equipment determined by different methods
| Method of chassis condition | Method of rotating speed current | Result of judging the operating conditions |
| Downhill slope | Downhill slope | Downhill working condition |
| Downhill slope | Non-downhill slope | Abnormal operating conditions |
| Non-downhill slope | Downhill slope | Abnormal operating conditions |
| Non-downhill slope | Non-downhill slope | Other operating conditions |
Since the respective torques (actual torque and target torque) can be derived from the (output) currents of the driver (e.g. actual current and target current), in the present invention, current and torque can be used interchangeably.
In summary, the present invention creatively compares the actual rotation speed and the target rotation speed of the motor set and the actual current and the target current of the driver when the driving direction is forward, and determines that the aerial work equipment is in the downhill working condition when the difference between the actual rotation speed and the target rotation speed is greater than or equal to the rotation speed difference threshold and the difference between the target current and the actual current is within the current difference range. Compared with the chassis state method in the prior art, the method can effectively identify the downhill working condition of the aerial working equipment in time, and the accuracy of the measurement result is high.
Fig. 4 is a block diagram of a downhill operating condition recognition system according to an embodiment of the present invention. The downhill working condition identification system is applied to high-altitude operation equipment. As shown in fig. 4, the downhill operating condition recognition system may include: a traveling direction acquiring device 10 for acquiring a traveling direction of the aerial work apparatus; and a first condition determining device 20, the first condition determining device 20 may include, if the driving direction is forward: a target rotating speed obtaining module 200, configured to obtain a target rotating speed of a motor set of the aerial work equipment; an actual rotation speed obtaining module 210, configured to obtain an actual rotation speed of a motor of the aerial work equipment; the gradient obtaining module 220 is configured to obtain a gradient of a chassis of the aerial work equipment relative to a horizontal plane; a target current obtaining module 230, configured to obtain a target current of a driver of the motor group according to a target rotation speed and the gradient of the motor group; an actual current obtaining module 240, configured to obtain an actual current of a driver of the motor group; and a first working condition determining module 250, configured to obtain a first working condition result when a difference between an actual rotating speed of the motor set and a target rotating speed of the motor set is greater than or equal to a rotating speed difference threshold and a difference between a target current of a driver of the motor set and an actual current is within a current difference range, where the first working condition result indicates that the aerial work equipment is in a downhill working condition, as shown in fig. 5.
Preferably, the downhill operating condition recognition system may further include: the second working condition determining device 30 is configured to obtain a second working condition result when the traveling direction is forward and the gradient is a negative value, where the second working condition result indicates that the aerial work equipment is in a downhill working condition; and a third working condition determining device 40, configured to determine that the aerial work equipment is in a downhill working condition when both the first working condition result and the second working condition result indicate that the aerial work equipment is in a downhill working condition, as shown in fig. 6.
Preferably, the second operating condition determining device 30 is further configured to obtain a third operating condition result when the traveling direction is forward and the gradient is a positive value, where the third operating condition result indicates that the aerial work equipment is in a non-downhill operating condition, and correspondingly, the third operating condition determining device 40 is further configured to determine that the aerial work equipment is in an abnormal operating condition when the first operating condition result indicates that the aerial work equipment is in a downhill condition and the third operating condition result indicates that the aerial work equipment is in a non-downhill operating condition.
Preferably, the first working condition determining module 250 is further configured to obtain a fourth working condition result when the difference between the actual rotating speed of the motor set and the target rotating speed of the motor set is smaller than the rotating speed difference threshold or the difference between the target current of the driver of the motor set and the actual current is not within the current difference range, where the fourth working condition result indicates that the aerial work equipment is in a non-downhill working condition, and correspondingly, the third working condition determining device 40 is further configured to determine that the aerial work equipment is in an abnormal working condition when the fourth working condition result indicates that the aerial work equipment is in a non-downhill working condition and the second working condition result indicates that the aerial work equipment is in a downhill working condition, or determine that the aerial work equipment is in an abnormal working condition when the fourth working condition result indicates that the aerial work equipment is in a non-downhill working condition and the third working condition result indicates that the aerial work equipment is in a non-downhill working condition, and determining that the overhead working equipment is in an uphill working condition or a flat driving working condition.
Preferably, the driving direction acquiring device 10 for acquiring the driving direction of the aerial work equipment may include: and acquiring the driving direction according to the actual rotating speed of the motor set and the state of a driving direction detection switch.
Preferably, the traveling direction acquiring means 10 for acquiring the traveling direction may include: determining the driving direction to be forward when the actual rotating speed of the motor group indicates that a first motor in the motor group rotates forwards and a second motor in the motor group rotates backwards and the driving direction detection switch is in an on state, or when the actual rotating speed of the motor indicates that the first motor rotates backwards and the second motor rotates forwards and the driving direction detection switch is in an off state; or determining the driving direction as forward when the actual rotating speed of the motor group indicates that the first motor rotates reversely and the second motor rotates reversely and the driving direction detection switch is in an on state, or when the actual rotating speed of the motor group indicates that the first motor rotates reversely and the second motor rotates reversely and the driving direction detection switch is in an off state, wherein the first motor and the second motor are respectively positioned on the right side and the left side of the chassis from the view of facing the tail of the aerial work equipment; when viewed from any point between the first motor and the second motor and facing the first motor or the second motor, the first motor or the second motor rotates in a clockwise direction to forward rotation and rotates in a clockwise direction to reverse rotation; under the condition that the driving direction detection switch is in an on state, an included angle between a rotary table of the high-altitude operation equipment and the chassis is within a preset angle range; and under the condition that the driving direction detection switch is in a closed state, an included angle between the rotary table and the chassis is out of the preset angle range.
The driving direction obtaining device 10, the first operating condition determining device 20, the second operating condition determining device 30, and the third operating condition determining device 40 may be separate components or may be integrated into the same component (for example, may be integrated into the original control device 14 of the aerial work equipment). Taking the above-described examples in which the respective devices are integrated in the control device 14, the control device 14 may receive signals from the driving direction detection switch 4, the tilt sensor 6, the control handle 9, the speed selection switch 11, the current sensors 17 and 18, and the speed sensors 15 and 16, and determine the operation state of the aerial work equipment based on the received signals, as shown in fig. 7. Accordingly, the control device 14 can also perform corresponding control operations on the drivers 7, 8 according to the determination results.
For specific details and benefits of the downhill operating condition identification system provided by the present invention, reference may be made to the above description of the downhill operating condition identification method, which is not described herein again.
Correspondingly, the invention also provides high-altitude operation equipment which comprises the downhill working condition identification system.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (10)
1. A downhill working condition identification method is applied to aerial work equipment and comprises the following steps:
acquiring the driving direction of the aerial work equipment; and
in the case where the traveling direction is forward, performing the following:
acquiring a target rotating speed of a motor set of the aerial work equipment;
acquiring the actual rotating speed of a motor set of the aerial work equipment;
acquiring the gradient of a chassis of the aerial working equipment relative to a horizontal plane;
acquiring a target current of a driver of the motor set according to the target rotating speed and the gradient of the motor set;
acquiring the actual current of a driver of the motor set; and
and under the condition that the difference value between the actual rotating speed of the motor set and the target rotating speed of the motor set is greater than or equal to a rotating speed difference threshold value, and the difference value between the target current and the actual current of a driver of the motor set is within a current difference range, acquiring a first working condition result, wherein the first working condition result shows that the high-altitude operation equipment is in a downhill working condition.
2. The downhill condition identification method according to claim 1, further comprising:
under the condition that the driving direction is forward and the gradient is a negative value, acquiring a second working condition result, wherein the second working condition result indicates that the high-altitude operation equipment is in a downhill working condition; and
and determining that the high-altitude operation equipment is in the downhill working condition under the condition that the first working condition result and the second working condition result both indicate that the high-altitude operation equipment is in the downhill working condition.
3. The downhill condition identification method according to claim 2, further comprising:
under the condition that the driving direction is forward and the gradient is a positive value, acquiring a third working condition result, wherein the third working condition result shows that the high-altitude operation equipment is in a non-downhill working condition; and
and determining that the aerial work equipment is in an abnormal working condition under the condition that the first working condition result shows that the aerial work equipment is in a downhill working condition and the third working condition result shows that the aerial work equipment is in a non-downhill working condition.
4. The downhill condition identification method according to claim 3, further comprising:
when the difference value between the actual rotating speed of the motor group and the target rotating speed of the motor group is smaller than the rotating speed difference threshold value, or the difference value between the target current and the actual current of a driver of the motor group is not in the current difference range, acquiring a fourth working condition result, wherein the fourth working condition result shows that the high-altitude operation equipment is in a non-downhill working condition; and
and determining that the aerial work equipment is in an abnormal working condition under the condition that the fourth working condition result shows that the aerial work equipment is in a non-downhill working condition and the second working condition result shows that the aerial work equipment is in a downhill working condition, or determining that the aerial work equipment is in an uphill working condition or a flat running working condition under the condition that the fourth working condition result shows that the aerial work equipment is in a non-downhill working condition and the third working condition result shows that the aerial work equipment is in a non-downhill working condition.
5. The downhill behavior recognition method of claim 1, wherein the obtaining the direction of travel of the aerial work device comprises:
and acquiring the driving direction according to the actual rotating speed of the motor set and the state of a driving direction detection switch.
6. The downhill behavior recognition method of claim 5, wherein the obtaining the driving direction comprises:
determining the driving direction to be forward when the actual rotating speed of the motor group indicates that a first motor in the motor group rotates forwards and a second motor in the motor group rotates backwards and the driving direction detection switch is in an on state, or when the actual rotating speed of the motor indicates that the first motor rotates backwards and the second motor rotates forwards and the driving direction detection switch is in an off state; or
Determining the driving direction as forward when the actual rotation speed of the motor group indicates that the first motor rotates reversely and the second motor rotates reversely and the driving direction detection switch is in an on state, or when the actual rotation speed of the motor group indicates that the first motor rotates reversely and the second motor rotates reversely and the driving direction detection switch is in an off state,
the first motor and the second motor are respectively positioned on the right side and the left side of the chassis from the view of facing the tail of the aerial working equipment;
when viewed from any point between the first motor and the second motor and facing the first motor or the second motor, the first motor or the second motor rotates in a clockwise direction to forward rotation and rotates in a clockwise direction to reverse rotation; and
under the condition that the driving direction detection switch is in an on state, an included angle between a rotary table of the high-altitude operation equipment and the chassis is within a preset angle range; and under the condition that the driving direction detection switch is in a closed state, an included angle between the rotary table and the chassis is out of the preset angle range.
7. A downhill working condition recognition system, characterized in that, being applied to aerial work equipment, the downhill working condition recognition system includes:
the driving direction acquiring device is used for acquiring the driving direction of the aerial work equipment; and
a first condition determining device that includes, if the traveling direction is forward:
the target rotating speed acquisition module is used for acquiring the target rotating speed of a motor set of the high-altitude operation equipment;
the actual rotating speed acquisition module is used for acquiring the actual rotating speed of a motor set of the high-altitude operation equipment;
the gradient acquisition module is used for acquiring the gradient of the chassis of the high-altitude operation equipment relative to a horizontal plane;
the target current acquisition module is used for acquiring the target current of a driver of the motor set according to the target rotating speed and the gradient of the motor set;
the actual current acquisition module is used for acquiring the actual current of the driver of the motor set; and
the first working condition determining module is used for acquiring a first working condition result under the condition that the difference value between the actual rotating speed of the motor set and the target rotating speed of the motor set is greater than or equal to a rotating speed difference threshold value, and the difference value between the target current and the actual current of a driver of the motor set is in a current difference range, wherein the first working condition result indicates that the high-altitude operation equipment is in a downhill working condition.
8. The downhill condition identification system of claim 7, further comprising:
the second working condition determining device is used for acquiring a second working condition result under the condition that the driving direction is forward and the gradient is a negative value, and the second working condition result indicates that the high-altitude operation equipment is in a downhill working condition; and
and the third working condition determining device is used for determining that the high-altitude operation equipment is in the downhill working condition under the condition that the first working condition result and the second working condition result both indicate that the high-altitude operation equipment is in the downhill working condition.
9. The downhill behavior recognition system of claim 8, wherein the second behavior determination device is further configured to obtain a third behavior result indicating that the aerial work equipment is in a non-downhill behavior if the traveling direction is forward and the gradient is a positive value,
correspondingly, the third working condition determining device is further used for determining that the aerial work equipment is in an abnormal working condition under the condition that the first working condition result shows that the aerial work equipment is in a downhill working condition and the third working condition result shows that the aerial work equipment is in a non-downhill working condition.
10. An aerial work device comprising a downhill working condition identification system according to any one of claims 7 to 9.
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| CN112478040B (en) * | 2020-12-09 | 2021-11-30 | 湖南喜宝达信息科技有限公司 | Downhill speed limiting method for electric bicycle, and computer-readable storage medium |
| CN112688390B (en) * | 2020-12-21 | 2022-10-14 | 湖南中联重科智能高空作业机械有限公司 | Power self-adaptive control system for charging process and aerial operation equipment |
| CN113381463B (en) * | 2020-12-21 | 2022-10-04 | 湖南中联重科智能高空作业机械有限公司 | Power self-adaptive control system for discharge process and aerial operation equipment |
| CN114408825B (en) * | 2022-01-25 | 2024-10-11 | 徐工消防安全装备有限公司 | Arm type aerial work platform control system and method and arm type aerial work platform |
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