CN111825032A - Pre-operation position identification and automatic unfolding control system and method for folding arm overhead working vehicle - Google Patents
Pre-operation position identification and automatic unfolding control system and method for folding arm overhead working vehicle Download PDFInfo
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- CN111825032A CN111825032A CN201910320936.5A CN201910320936A CN111825032A CN 111825032 A CN111825032 A CN 111825032A CN 201910320936 A CN201910320936 A CN 201910320936A CN 111825032 A CN111825032 A CN 111825032A
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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
- 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
- B66F13/00—Common constructional features or accessories
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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
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to the technical field of control of overhead working trucks, and discloses a pre-operation position identification and automatic unfolding control system and method for a folding arm overhead working truck. The specific control method comprises the following steps: a) preparation work before operation, and the third arm is unfolded and controlled; b) the operation position identification system carries out positioning identification on the coordinates of the pre-operation positions; c) the coordinate settlement of the pre-operation position and the pre-judgment whether the pre-operation position exceeds the operation range; d) one-key automatic unfolding control of the arm support. The invention has the advantages of actively identifying the pre-operation position and pre-judging whether the pre-operation position meets the operation range requirement, simplifying the operation process, reducing the operation intensity and improving the operation efficiency.
Description
Technical Field
The invention relates to the technical field of control over aerial work equipment, in particular to a pre-operation position identification and automatic unfolding control system and method for a folding arm aerial work vehicle.
Background
The folding arm overhead working vehicle is used in the fields of electric power, street lamps, advertisements and the like, and an operator independently controls the rotation, the pitching and other actions of the arm support through a proportional handle or a switch button to throw a working platform to a desired designated position to carry out related function operation. In the prior art, when a working vehicle enters a working area, an operator needs to reasonably select a parking position, and if the parking position is deviated and the boom cannot reach a pre-working position after being unfolded, the operator needs to firstly recover the boom and then adjust the position of the vehicle. By the pre-operation position identification technology provided by the invention, whether the pre-operation position can be reached can be judged in advance without unfolding the arm support, so that the positioning time is saved; the one-key automatic unfolding control technology can solve the problems of repeated switching and control of the arm support unfolding, misoperation and the like of operators, meet the requirement of quick positioning and further improve the operation efficiency and safety.
Disclosure of Invention
The invention aims to provide a pre-operation position identification and automatic unfolding control system and method for a folding arm overhead working truck, which meet the requirements of quick operation point positioning and one-key automatic unfolding.
In order to achieve the above object, the present invention provides a system scheme: a pre-operation position recognition and automatic expansion control system for a folding arm high-altitude operation vehicle comprises an arm support assembly, a proportional multi-way valve group, a controller, an operation panel, an arm support posture acquisition system, an operation position recognition system and the like. The arm support assembly comprises a rotary table driven by a hydraulic motor, a first-section arm driven by a variable-amplitude oil cylinder, a second-section arm driven by the variable-amplitude oil cylinder, a small arm driven by the variable-amplitude oil cylinder and other four actuating mechanisms. The operation panel comprises a control handle, a display screen, a switch button and the like and sends a control instruction to the controller. The arm support posture acquisition system comprises a rotary table rotation angle measuring sensor, a first-section arm inclination angle measuring sensor, a second-section arm inclination angle measuring sensor and a three-section arm support limit switch, and transmits acquired arm support posture information to the controller. The operation position identification system has a function of auxiliary positioning of a pre-operation position and is used for calculating the absolute coordinates of the pre-operation position, the operation position identification system is installed on a fence of a working bucket through a support and feeds collected positioning information back to a controller, the operation position identification system comprises a distance measuring sensor, a rotation angle measuring sensor and a pitch angle measuring sensor, and the three sensors are installed on the support. The controller collects sensor signals of the attitude of each joint of the arm support, the operation position identification and the like, outputs control current by combining an operation position coordinate and an arm support attitude inverse solution algorithm and through a one-key intelligent control method, drives the actuating mechanism to act and accurately controls the arm support to reach a specified operation position, is arranged on the rotary table and is connected with the sensors, the instruction buttons and the like through electric wires. The proportional multi-way valve group receives a control signal, and controls the opening of a valve core according to the magnitude of current output by the controller, so as to control the movement speed of the actuating mechanism.
In another aspect of the invention, a pre-operation position identification and automatic unfolding control method for a folding arm aerial working truck is provided, and specifically comprises the following steps.
Step a), controlling a third section of arm support: the folding arm high-altitude operation vehicle is parked in a proper operation occasion, after the lower vehicle supporting leg is unfolded, the third arm is controlled to be unfolded through the third arm control button, the controller detects the third arm limiting proximity switch, when the third arm is detected to be unfolded in place, the next operation can be carried out, and otherwise, the next operation is forbidden.
Step b), positioning and identifying coordinates of the pre-operation position: an operator projects a laser point of a distance measuring sensor to a pre-operation position by adjusting the pitch and rotation angles of the operation positioning and identifying system, then the information of the distance measuring sensor, the rotation angle sensor and the pitch angle sensor is fed back to a controller, and the controller automatically identifies and calculates the space coordinate of the pre-operation position through an algorithm; .
Step c), reversely solving the posture of each joint of the arm support: and establishing a D-H model of the boom system based on an absolute coordinate system, and calculating to obtain each attitude preset value of the boom system when the boom moves to the pre-operation position by combining the space coordinate information fed back by the positioning recognition system and a kinematics inverse solution method.
And d), judging the unfolding safety of the arm support, comparing the attitude preset value of each joint of the arm support with a safe operation threshold value by the controller, alarming, reminding and giving an adjustment strategy if the attitude preset value exceeds a safe or operation range, recovering the arm support and adjusting the position of the vehicle by an operator, repeating the steps a, b and c, and performing the next operation if the attitude preset value is within the safe range.
Step e), automatic unfolding control of the arm support: and when the system intelligently judges that the system meets the unfolding requirement, the control system controls the rotation of the rotary table, the pitching of the first section of arm, the pitching of the second section of arm and other actions to be unfolded in sequence according to the attitude preset value of each joint of the arm support, and moves to a pre-operation position to perform the aerial work task.
In one embodiment, a pre-job location positioning and identifying method as described in step b is provided, and the distance is measured by combining feedback information of the job positioning and identifying systemlAngle of revolutionφ' pitch angleθThe calculation process of the space coordinates of the' equal data is as follows: first, a relative coordinate system of the positioning system is establishedO 1 Is obtained by calculation according to three feedback parameters, namely a feedback pointA 1' relative space coordinates of a relative positioning recognition system
。
Setting a reserved safety distance according to the size of the working bucket (a,b,c) Further obtain the pre-operation positionARelative spatial coordinates of a relative positioning identification system (x 1 ＂,y 1 ＂,z 1 ＂)。
Then based on centering with a turntableOEstablishing an absolute coordinate system of the boom system for the origin, and knowing the origin of the positioning and identifying systemO 1 Absolute coordinates of the relative boom system (x 0 ,y 0 ,z 0 ) Finally, obtain the pre-operation positionAAbsolute coordinates of the relative boom system (x,y,z）。
In one embodiment, a method for settling the attitude of each joint of the arm support in the step c is provided, and a D-H model of the arm support is established according to the system size of the arm support to obtain a parameter table.
Arm support D-H parameter table
The absolute coordinates of the pre-job bit, which can be obtained from the D-H model parameter table (x,y,z) And the attitude values of all joints of the arm support.
Wherein the content of the first and second substances,l 1is one section of arm length,l 2Is the length of the two-section arm,l 3Is the length of the three-section arm,θ 1Is the inclination angle of one section of arm,θ 2Is the inclination angle of the two-section arm,φIs the turntable rotation angle.
Can be reversibly solved to obtain:
wherein:
。
in one embodiment, a method for controlling automatic boom deployment in step e is provided, and the flow includes the following steps.
Step S1), turntable rotation control: judging the rotation direction of the rotary table, if the pre-rotation angle is larger than 180 degrees, rotating the rotary table clockwise, and if the pre-rotation angle is smaller than 180 degrees, rotating the rotary table anticlockwise; and if the pre-rotation angle position is reached, stopping the rotation action, and entering the next knuckle arm lifting control.
Step S2), one-joint arm lift control: and judging whether the arm of one section reaches a preset pitch angle, if not, continuing the lifting action, and if so, stopping the lifting action and entering the lifting control of the arm of the two sections.
Step S3), two-joint arm lift control: and judging whether the two-section arm reaches a preset pitch angle, if not, continuing the lifting action, and if so, stopping the lifting action to finish the automatic unfolding of the arm support.
The automatic arm support unfolding control method introduces a delay control strategy when action switching is carried out, namely after one action is stopped, the next action is carried out at intervals of several seconds.
The identification and control method is not limited to the field of folding arm high-altitude operation vehicles, and is suitable for equipment in various high-altitude operation fields, including movable (vehicle-mounted or self-walking), fixed, mixed and telescopic equipment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only 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 diagram of a pre-job site recognition and automatic deployment control system according to the present invention.
FIG. 2 is a schematic diagram of an operation bit recognition system according to the present invention.
Fig. 3 is a control method for pre-job site recognition and automatic unfolding of a folding arm overhead working vehicle according to the invention.
FIG. 4 is a diagram illustrating an embodiment of pre-job bit identification according to the present invention.
FIG. 5 is a schematic diagram of a D-H model of the boom system of the present invention.
Fig. 6 is a flowchart illustrating an embodiment of an automatic boom deployment control method according to the present invention.
Wherein, in fig. 1-6: 1. the device comprises a first-section arm 2, a second-section arm 3, a third-section arm 4, an operation positioning and identifying system 5, a working bucket 6, a rotation angle measuring sensor 7, a support 8, a distance measuring sensor 9 and a pitch angle measuring sensor.
Detailed Description
Technical solutions, principles and features in the embodiments of the present invention are described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, not all embodiments, and are not intended to limit the scope of the present invention.
As shown in fig. 1, the configuration of the pre-job site recognition and deployment control system provided in this embodiment is schematically illustrated. The system comprises an arm support assembly, a proportional multi-way valve group, a controller, an operation panel, an arm support posture acquisition system, an operation position identification system and the like.
The arm support assembly comprises a rotary table driven by a hydraulic motor, a first-section arm driven by a variable-amplitude oil cylinder, a second-section arm driven by the variable-amplitude oil cylinder, a small arm driven by the variable-amplitude oil cylinder and other four actuating mechanisms.
The operation panel comprises operation elements such as a control handle, a display screen and a switch button and sends a control instruction to the controller.
The boom gesture collection system comprises a rotary table rotation angle measuring sensor, a first-section boom inclination angle measuring sensor, a second-section boom inclination angle measuring sensor and a three-section boom limit switch, and the three-section boom limit switch is used for feeding collected boom gesture information back to the controller.
The controller collects sensor signals of the attitude of each joint of the arm support, operation position identification and the like, outputs control current by combining an operation point positioning coordinate and an arm support attitude inverse solution algorithm through a one-key intelligent control method, drives an executing mechanism to act, accurately controls the arm support to reach a specified operation position, is arranged on the rotary table, and is connected with the sensors, an instruction button and the like through electric wires.
The proportional multi-way valve group receives a control signal, and controls the opening of a valve core according to the magnitude of current output by the controller, so as to control the movement speed of the actuating mechanism.
As shown in fig. 2, the schematic diagram of the operation positioning and recognizing system provided in this embodiment has a function of assisting in positioning a pre-operation position, is used for calculating absolute coordinates of a pre-operation point, is mounted on a fence of a working bucket through a bracket, and feeds back acquired positioning information to a controller, and the system includes a distance measuring sensor, a rotation angle measuring sensor, and a pitch angle measuring sensor, and the three sensors are mounted on the bracket.
As shown in fig. 3, the method for identifying a pre-job site and controlling automatic unfolding of a folding arm overhead working vehicle provided in this embodiment specifically includes the following steps.
Step a), controlling a third section of arm support: the folding arm high-altitude operation vehicle is parked in a proper operation occasion, after the lower vehicle supporting leg is unfolded, the third arm is controlled to be unfolded through the third arm control button, the controller detects the third arm limiting proximity switch, when the third arm is detected to be unfolded in place, the next operation can be carried out, and otherwise, the next operation is forbidden.
Step b), positioning and identifying coordinates of the pre-operation position: an operator projects a laser point of the distance measuring sensor to a pre-judging operation position by adjusting the pitching and rotating angles of the operation positioning and identifying system, then the information of the distance measuring sensor, the rotating angle sensor and the pitching angle sensor is fed back to the controller, and the controller automatically identifies the space coordinate of the pre-judging operation position through an algorithm.
Step c), reversely solving the posture of each joint of the arm support: and establishing a D-H model of the boom system based on an absolute coordinate system, and calculating to obtain each attitude preset value of the boom system when the boom moves to the pre-operation position by combining the space coordinate information fed back by the positioning recognition system and a kinematics inverse solution method.
And d), judging the safe unfolding of the arm support, comparing the attitude preset value of each joint of the arm support with a safe operation threshold value by the controller, alarming, reminding and giving an adjustment strategy if the attitude preset value exceeds a safe or operation range, recovering the arm support and adjusting the position of the vehicle by an operator, repeating the steps a, b and c, and performing the next operation if the attitude preset value is within the safe range.
Step e), automatic unfolding control of the arm support: and when the system intelligently judges that the system meets the unfolding requirement, the control system controls the rotation of the rotary table, the pitching of the first section arm, the pitching of the second section arm and other actions to be sequentially unfolded according to the attitude preset value of each joint of the arm support, and moves to a pre-operation point to perform the aerial work task.
As shown in fig. 4, which is a schematic diagram of an embodiment of the pre-job-site recognition provided by the present invention, the job site recognition system feeds back the collected information to the controller, and measures the distancelAngle of revolutionφ' pitch angleθThe spatial coordinates are calculated as follows. First, a relative coordinate system of the positioning system is establishedO 1 Is obtained by calculation according to three feedback parameters, namely a feedback pointA 1' relative space coordinates of a relative positioning recognition system
。
Setting a reserved safety distance according to the size of the working bucket (a,b,c) Further obtain the pre-operation positionARelative spatial coordinates of a relative positioning identification system (x 1 ＂,y 1 ＂,z 1 ＂)。
Then based on centering with a turntableOEstablishing an absolute coordinate system of the boom system for the origin, and knowing the origin of the positioning and identifying systemO 1 Absolute coordinates of the relative boom system (x 0 ,y 0 ,z 0 ) Finally, obtain the pre-operation positionAAbsolute coordinates of the relative boom system (x,y,z）。
In one embodiment, a method for settling the attitude of each joint of the arm support in the step c is provided, and a D-H model of the arm support is established according to the system size of the arm support to obtain a parameter table.
Arm support D-H parameter table
The absolute coordinates of the pre-job bit, which can be obtained from the D-H model parameter table (x,y,z) And the attitude values of all joints of the arm support.
Wherein the content of the first and second substances,l 1is one section of arm length,l 2Is the length of the two-section arm,l 3Is the length of the three-section arm,θ 1Is the inclination angle of one section of arm,θ 2Is the inclination angle of the two-section arm,φIs the turntable rotation angle.
Can be obtained by reversible solution.
Wherein:
. As shown in fig. 6, a flowchart of an implementation of the automatic boom deployment control method provided in this embodiment includes the following steps.
Step S1), turntable rotation control: judging the rotation direction of the rotary table, if the pre-rotation angle is larger than 180 degrees, rotating the rotary table clockwise, and if the pre-rotation angle is smaller than 180 degrees, rotating the rotary table anticlockwise; and if the pre-rotation angle position is reached, stopping the rotation action, and entering the next knuckle arm lifting control.
Step S2), one-joint arm lift control: and judging whether the arm of one section reaches a preset pitch angle, if not, continuing the lifting action, and if so, stopping the lifting action and entering the lifting control of the arm of the two sections.
Step S3), two-joint arm lift control: and judging whether the two-section arm reaches a preset pitch angle, if not, continuing the lifting action, and if so, stopping the lifting action to finish the automatic unfolding of the arm support.
The automatic arm support unfolding control method introduces a delay control strategy when action switching is carried out, namely after one action is stopped, the next action is carried out at intervals of several seconds.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and it will be apparent to those skilled in the art that various modifications, equivalent substitutions, improvements and the like can be made without departing from the spirit and principle of the present invention.
Claims (7)
1. A pre-operation position recognition and automatic expansion control system for a folding arm high-altitude operation vehicle is characterized by comprising an arm support assembly, a proportional multi-way valve group, a controller, an operation panel, an arm support posture acquisition system, an operation position recognition system and the like; the arm support assembly comprises a rotary table driven by a hydraulic motor, a first-section arm driven by a variable amplitude oil cylinder, a second-section arm driven by the variable amplitude oil cylinder, a small arm driven by the variable amplitude oil cylinder and other four actuating mechanisms; the operation panel comprises operation elements such as a control handle, a display screen, a switch button and the like, and sends a control instruction to the controller; the arm support posture acquisition system comprises a rotary table rotation angle measuring encoder, a first-section arm inclination angle measuring sensor, a second-section arm inclination angle measuring sensor and a three-section arm support limit switch, and transmits acquired arm support posture information to the controller; the operation position identification system has a function of auxiliary positioning of a pre-operation position, is used for calculating absolute coordinates of the pre-operation position, is arranged on a fence of a working bucket through a support, and feeds collected positioning information back to the controller, and comprises a distance measuring sensor, a rotation angle measuring sensor and a pitch angle measuring sensor, wherein the three sensors are arranged on the support; the controller collects sensor signals of the attitude of each joint of the arm support, the identification of an operation position and the like, outputs control current by combining an operation position coordinate and an arm support attitude inverse solution algorithm and through a one-key intelligent control method, drives an actuating mechanism to act and accurately controls the arm support to reach a specified operation position, is arranged on the rotary table and is connected with the sensors, an instruction button and the like through electric wires; the proportional multi-way valve group receives a control signal, and controls the opening of a valve core according to the magnitude of current output by the controller, so as to control the movement speed of the actuating mechanism.
2. A pre-operation position identification and automatic unfolding control method for a folding arm overhead working vehicle specifically comprises the following steps:
the third section of arm frame controls: the folding arm high-altitude operation vehicle is parked in a proper operation occasion, after the lower vehicle supporting legs are unfolded, the third arm is controlled to be unfolded through a third arm control button, the controller detects a limit proximity switch of the third arm, when the third arm is detected to be unfolded in place, the next operation can be carried out, and otherwise, the next operation is forbidden;
and (3) positioning and identifying coordinates of a pre-operation position: an operator projects a laser point of a distance measuring sensor to a pre-judging operation position by adjusting the pitch and rotation angles of the operation positioning and identifying system, then the information of the distance measuring sensor, the rotation angle measuring sensor and the pitch angle measuring sensor is fed back to a controller, and the controller automatically identifies the space coordinate of the pre-operation position through an algorithm;
and (3) reversely solving the posture of each joint of the arm support: establishing a D-H model of the boom system based on an absolute coordinate system, and calculating to obtain each attitude value of the boom system when the boom moves to a pre-operation position by combining space coordinate information fed back by a positioning recognition system and a kinematics inverse solution method;
and (4) judging the safe unfolding of the arm support: the controller compares the attitude preset value of each joint of the arm support with a safe operation threshold value, if the attitude preset value exceeds a safe or operation range, an alarm is given, an adjustment strategy is given, an operator recovers the arm support, adjusts the position of a vehicle, the two steps a, b and c are repeated, and if the attitude preset value is within the safe range, the next step of operation can be carried out;
automatic unfolding control of the arm support: and when the system intelligently judges that the system meets the unfolding requirement, the control system controls the rotation of the rotary table, the pitching of the first section of arm, the pitching of the second section of arm and other actions to be unfolded in sequence according to the attitude preset value of each joint of the arm support, and moves to a pre-operation position to perform the aerial work task.
3. The folding arm overhead working vehicle-oriented pre-station identification and automatic unfolding control method as claimed in claim 2, wherein in the step b pre-station identification and space coordinate calculation method, the operation positioning identification system feeds collected information back to the controller, and the distance is measuredlAngle of revolutionφ' pitch angleθ´；
First, a relative coordinate system of the positioning system is establishedO 1 Is obtained by calculation according to three feedback parameters, namely a feedback pointA 1' relative space coordinates of a relative positioning recognition system
Setting a reserved safety distance according to the size of the working bucket (a,b,c) Further obtain the pre-operation positionARelative spatial coordinates of a relative positioning identification system (x 1 ＂,y 1 ＂,z 1 ＂)
Then based on centering with a turntableOEstablishing an absolute coordinate system of the boom system for the origin, and knowing the origin of the positioning and identifying systemO 1 Absolute coordinates of the relative boom system (x 0 ,y 0 ,z 0 ) Finally, obtain the pre-operation positionAAbsolute coordinates of the relative boom system (x,y, z）
4. The folding arm overhead working truck-oriented pre-job site recognition and automatic unfolding control method according to claim 2, wherein in the step c, the attitude settlement method for each joint of the arm support is used for establishing a D-H model of the arm support in combination with the system size of the arm support to obtain a parameter table:
arm support D-H parameter table
The absolute coordinates of the pre-job bit, which can be obtained from the D-H model parameter table (x,y,z) The mathematical relation between the attitude values of the joints of the arm support is as follows:
wherein the content of the first and second substances,l 1is one section of arm length,l 2Is the length of the two-section arm,l 3Is the length of the three-section arm,θ 1Is the inclination angle of one section of arm,θ 2Is the inclination angle of the two-section arm,φIs the rotary angle of the rotary table;
can be reversibly solved to obtain
Wherein:
。
5. the folding arm high-altitude operation vehicle-oriented pre-operation-site recognition and automatic unfolding control method according to claim 2, wherein the step e is an automatic arm support unfolding control process:
s1, controlling the rotation of the rotary table, judging the rotation direction of the rotary table, if the pre-rotation angle is larger than 180 degrees, rotating the rotary table clockwise, and if the pre-rotation angle is smaller than 180 degrees, rotating the rotary table counterclockwise; if the rotation angle does not reach the pre-rotation angle position, continuing the rotation action, and if the rotation angle reaches the pre-rotation angle position, stopping the rotation action, and entering the next knuckle arm lifting control;
s2, one-section arm lifting control, namely judging whether one-section arm reaches a preset pitch angle, if not, continuing lifting action, and if so, stopping lifting action and entering two-section arm lifting control;
and S3, controlling the lifting of the two-section arm, judging whether the two-section arm reaches a preset pitch angle, continuing the lifting action if the two-section arm does not reach the preset pitch angle position, and stopping the lifting action if the two-section arm reaches the preset pitch angle position to finish the automatic unfolding of the arm support.
6. The pre-job-site recognition and automatic unfolding control method for the folding-arm high-altitude operation vehicle as claimed in claim 2 or 5, wherein when the arm support automatic unfolding control method is used for switching actions, a delay control strategy is introduced, namely after one action is stopped, the next action is performed after a few seconds.
7. The method for identifying the pre-job site and automatically unfolding the folding arm high-altitude operation vehicle according to claim 2 or 3, wherein the control method is not limited to the field of folding arm high-altitude operation vehicles, and is suitable for various high-altitude operation field equipment, including mobile (vehicle-mounted or self-walking), fixed, hybrid, telescopic equipment and the like.
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| CN112660406A (en) * | 2020-12-30 | 2021-04-16 | 三一汽车制造有限公司 | Unmanned aerial vehicle recovery device and control method |
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