CN112551397A - Control method and system for aerial ladder vehicle arm support and aerial ladder vehicle - Google Patents
Control method and system for aerial ladder vehicle arm support and aerial ladder vehicle Download PDFInfo
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- CN112551397A CN112551397A CN202011324890.3A CN202011324890A CN112551397A CN 112551397 A CN112551397 A CN 112551397A CN 202011324890 A CN202011324890 A CN 202011324890A CN 112551397 A CN112551397 A CN 112551397A
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- arm support
- aerial ladder
- working bucket
- position information
- cruise
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
Abstract
The embodiment of the invention provides a control method of an aerial ladder vehicle arm support, and belongs to the technical field of aerial ladder vehicles. The aerial ladder vehicle arm support is provided with a working bucket, and the control method of the aerial ladder vehicle arm support comprises the following steps: acquiring position information of the working bucket in real time to form a motion track of the working bucket from a starting point to a terminal point; and controlling the aerial ladder vehicle arm support to enable the working bucket to perform track cruise according to the motion track. The embodiment of the invention also provides a control system of the aerial ladder vehicle arm support. According to the technical scheme provided by the embodiment of the invention, the movement track of the working bucket on the arm support in the rescue process is collected and recorded, and the arm support is automatically controlled to enable the working bucket to move back and forth according to the formed movement track, so that the operation intensity of operators in the rescue process is greatly reduced, and the rescue safety and the efficiency under the complex rescue working condition are improved.
Description
Technical Field
The invention relates to the technical field of aerial ladder vehicles, in particular to a control method and a control system for an aerial ladder vehicle arm support and an aerial ladder vehicle.
Background
When aerial ladder vehicles such as a high-rise fire truck and the like execute tasks such as rescue and the like, the motion trail and the stability of the arm support are higher in requirements due to the complex field condition. Fig. 1 is a schematic diagram of an arm support structure of an aerial ladder vehicle, and a working bucket is arranged at the tail end of the arm support and plays a role in manned rescue. At present, the manned rescue task is implemented by operating an electric control or hydraulic handle control arm support by field rescue personnel to enable a working bucket to reach a rescue point for rescue. When the rescue task is heavy in the operation site and the rescue cannot be completed by one-time operation, rescue workers need to repeatedly operate the ladder frame to rescue.
In actual rescue, the height of a rescue site is high, meanwhile, the working condition is complex, dense smoke, dense fog and the like are often accompanied, rescue is sometimes needed to be carried out at night, meanwhile, the height of a general arm support of the existing elevating fire truck is more than 30 meters, and when the complex working condition occurs, the operation difficulty and the strength of operators during rescue are greatly improved, so that the rescue efficiency and the safety are influenced.
Disclosure of Invention
The embodiment of the invention aims to provide a control method of an aerial ladder truck arm support, which can replace manual control of the aerial ladder truck arm support to execute rescue tasks.
In order to achieve the above object, an embodiment of the present invention provides a method for controlling an aerial ladder truck boom, where the aerial ladder truck boom is provided with a working bucket, and the method for controlling the aerial ladder truck boom includes: acquiring position information of the working bucket in real time to form a motion track of the working bucket from a starting point to a terminal point; and controlling the aerial ladder vehicle arm support to enable the working bucket to perform track cruise according to the motion track.
Preferably, the obtaining the position information of the working bucket in real time to form a motion track of the working bucket from a starting point to an end point includes: and collecting position information of the working bucket according to a preset time interval, and forming the motion trail according to the collected sequence, wherein the sequence of the motion trail is determined according to the positions of the starting point and the end point.
Preferably, the collecting the position information of the working bucket according to a preset time interval further includes: and when the quantity of the collected position information exceeds the preset maximum record quantity, triggering a warning, and terminating the collection of the position information.
Preferably, the position information of the bucket includes: the telescopic length of the arm support is preferably acquired by a length sensor arranged on the arm support; the amplitude variation angle of the arm support is preferably obtained through an angle sensor arranged on the arm support; and the rotary angle of the rotary table is preferably acquired by an angle sensor arranged on the aerial ladder vehicle rotary table.
Preferably, the controlling the aerial ladder vehicle boom to enable the working bucket to perform track cruise according to the motion track includes: starting from the starting point, obtaining target position information of a target position according to the current position information of the current position of the working bucket and the motion track; controlling the arm support to enable the working bucket to cruise to the target position, and sequentially updating the current position and the target position according to the cruise track; and when the current position is the end point, exchanging the start point and the end point according to a received command for switching the cruising direction, and then continuously controlling the arm support to enable the working bucket to carry out track cruising.
Preferably, the controlling the arm support so that the bucket can cruise to the target position further comprises: if the arrival position information of the actual arrival position of the working bucket is deviated from the target position information and is within a preset range, determining that the working bucket arrives at the target position; and if the deviation exceeds the preset range, determining that the working bucket does not reach the target position, and continuously controlling the arm support to enable the working bucket to cruise to reach the target position.
The embodiment of the invention also provides a control system of the aerial ladder vehicle arm support, the aerial ladder vehicle arm support is provided with a working bucket, the control system of the aerial ladder vehicle arm support comprises a control device, and the control device comprises: the data processing module is used for acquiring the position information of the working bucket in real time and forming a motion track of the working bucket from a starting point to an end point; and the cruise control module is used for controlling the aerial ladder vehicle arm support to enable the working bucket to execute track cruise according to the motion track.
Preferably, the control system of aerial ladder car cantilever crane still includes detection module, electric connection controlling means, detection module includes: the length sensor is arranged on the arm support and used for acquiring the telescopic length of the arm support; the first angle sensor is arranged on the arm support and used for acquiring the amplitude variation angle of the arm support; and the second angle sensor is arranged on the rotary table of the aerial ladder vehicle and used for acquiring the rotary angle of the rotary table.
Preferably, the control device is provided with a human-computer interaction display device and is used for displaying working condition information of the aerial ladder vehicle boom during the track cruise execution and displaying operation information corresponding to each working condition link.
Preferably, the control system of the aerial ladder truck boom further comprises: the steering button is electrically connected with the control device and used for sending a command for switching the cruising direction; and the control device is further used for continuously controlling the arm support to enable the working bucket to carry out track cruise after interchanging the starting point and the end point according to the received cruise direction switching instruction.
The embodiment of the invention also provides an aerial ladder vehicle, and the aerial ladder vehicle arm support control system is any one of the aerial ladder vehicle arm supports.
Through the technical scheme, the movement track of the working bucket on the arm support in the rescue process is collected and recorded, and the arm support is automatically controlled to enable the working bucket to move back and forth according to the formed movement track, so that the operation intensity of operators in the rescue process is greatly reduced, and the rescue safety and the efficiency under the complex rescue working condition are improved.
Additional features and advantages of embodiments 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 embodiments 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 embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a schematic diagram of a boom structure of an aerial ladder vehicle;
fig. 2 is a schematic flow chart of a control method of an aerial ladder boom according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating the operation of controlling the boom to enable the bucket to cruise from a current position to a target position;
fig. 4 is a schematic structural diagram of a control system of an aerial ladder boom according to an embodiment of the present invention.
Description of the reference numerals
100 control device 101 data processing module
102 cruise control module 103 human-computer interaction display device
200 detection module 201 length sensor
202 first angle sensor 203 second angle sensor
301 steering button 302 electromagnetic valve
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 embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 2 is a schematic flow chart of a control method for an aerial ladder boom according to an embodiment of the present invention, where the aerial ladder boom is provided with a working bucket (please refer to fig. 1), and the working bucket may be arranged at a tail end of the aerial ladder boom to maximize a rescue or working distance of the boom, and referring to fig. 2, the control method for the aerial ladder boom may include the following steps:
step S110: and acquiring the position information of the working bucket in real time to form a motion track of the working bucket from a starting point to a terminal point.
Because work fill on the aerial ladder car cantilever crane needs three independent parameters in space just can decide its only positional information, consequently the positional information of work fill includes: the telescopic length of the arm support is preferably acquired by a length sensor arranged on the arm support; the amplitude variation angle of the arm support is preferably obtained through an angle sensor arranged on the arm support; and the rotary angle of the rotary table is preferably acquired by an angle sensor arranged on the aerial ladder vehicle rotary table.
Referring to fig. 1 again, when the aerial ladder vehicle executes a task, an operator controls the arm support to move by operating the electric control or hydraulic handle, so that the working bucket at the tail end of the arm support reaches a rescue position, and therefore, from a starting point to a final point (rescue point) of the working bucket, the position of the working bucket at each moment can be determined according to the arm support telescopic length, the arm support amplitude angle and the rotary table rotation angle obtained at each moment in real time, and a continuous movement track of the working bucket can be formed.
For example, the boom extension length is taken as a parameter x1The amplitude variation angle of the arm support is a parameter x2And the rotary angle of the rotary table is a parameter x3Therefore, M (x) can be set1，x2，x3) The coordinate points as the motion trail describe the position information of the working bucket at each moment, and the coordinate points M at each moment are obtained from the starting point to the end point, so that the motion trail of the working bucket can be formed.
Preferably, the obtaining the position information of the working bucket in real time to form a motion track of the working bucket from a starting point to an end point includes: and collecting position information of the working bucket according to a preset time interval, and forming the motion trail according to the collected sequence, wherein the sequence of the motion trail is determined according to the positions of the starting point and the end point.
In the continuous movement process of the working bucket, each parameter of the position information of the working bucket may not change constantly (for example, the rotation angle of the rotary table is not changed constantly), so that the position information of the working bucket can be collected at certain time intervals, and particularly under the condition of memory limitation of a controller such as a PLC (programmable logic controller), the position information cannot be obtained without limit. For example, coordinates of the current position information of the working bucket can be automatically acquired every 2S, for example, as A0(x1，x2，x3) The point is the initial point of the collected working bucket, and coordinate points A of the current position information of the working bucket are collected and recorded in sequence every 2S1(x1，x2，x3)、A2(x1，x2，x3)……An(x1，x2，x3) End point is B (x)1，x2，x3) Stopping collecting after reaching point B, forming a working bucket from A0-A1…An-the motion trajectory of B.
It should be noted that the motion of the aerial ladder vehicle arm support is in two directions, i.e. from a starting point to an end point (rescue point), or from the end point (rescue point) back to the starting point, but the motion trajectories in the two directions may be coincident, so that only the position information of the working bucket in one motion direction needs to be acquired, and the motion trajectory of the working bucket from the starting point to the end point is formed. The sequence of the motion tracks can be determined according to the positions of the starting point and the end point, i.e. if the starting point is A0When the end point is B, the motion track is A0-A1…An-B; if the starting point is B, the end point is A0The motion trajectory is B-An…A1-A0。
Preferably, the collecting the position information of the working bucket according to a preset time interval further includes: and when the quantity of the collected position information exceeds the preset maximum record quantity, triggering a warning, and terminating the collection of the position information.
For example, taking a preset time interval of 2s and a maximum record volume of 500 points as an example, the maximum record time is 16min, which is much longer than the movement time of the current maximum path of the aerial ladder vehicle arm support, so that when the aerial ladder vehicle encounters a special working condition or is operated by mistake, the maximum record time and the maximum record volume are exceeded, an alarm is triggered, a user is prompted, and position information acquisition is terminated.
Step S120: and controlling the aerial ladder vehicle arm support to enable the working bucket to perform track cruise according to the motion track.
Preferably, the controlling the aerial ladder vehicle boom to enable the working bucket to perform track cruise according to the motion track includes: starting from the starting point, obtaining target position information of a target position according to the current position information of the current position of the working bucket and the motion track; controlling the arm support to enable the working bucket to cruise to the target position, and sequentially updating the current position and the target position according to the cruise track; and when the current position is the end point, exchanging the start point and the end point according to a received command for switching the cruising direction, and then continuously controlling the arm support to enable the working bucket to carry out track cruising.
By way of example, with A0The point is the initial point of the collected working bucket as an example, and the recording point of the cruise track collection is A1-AnThe end point is B. With A1Is the current point, A2As the target point, after the arm support is controlled to make the working bucket cruise to A1 point from the starting point A0, the working bucket is controlled according to the current point A1The position information and the motion track of the target point A are obtained2The position information of the arm support is controlled to make the working bucket cruise to a target point A2At this time, the relationship between the current point and the target point changes, and the current point becomes A2The target point becomes A3And in the same way, controlling the arm support to enable the working bucket to cruise until the terminal point B is reached. After finishing the rescue task when reaching the terminal B, interchanging the starting point and the terminal according to the received command for switching the cruising direction, and then exchanging the starting point and the terminal by B-An…A1-A0Fortune ofAnd continuously controlling the arm support by the moving track to enable the working bucket to cruise the track.
It should be noted that, in the embodiment of the present invention, the aerial ladder truck boom may also be controlled to make the working bucket perform the track cruise according to a partial track of the motion track, or change the cruise direction in the middle of the motion track, for example, when the boom is controlled to make the working bucket need to return to the middle of the motion track, an operator may send a command for switching the cruise direction through a turn button, and then continue to perform the reverse cruise with the current position as the starting point.
Referring to fig. 3, the control of the boom to move the bucket from the current position a will be described in detail1To the target position A2The process of (A) is to control the arm support to enable the working bucket to move from the working bucket A by taking the control of the amplitude variation angle of the arm support as an example1Move to A2The process of (2):
step S211: the angle sensor on the arm support can detect the arm support amplitude angle of the current arm support and send the current arm support amplitude angle to the controller (such as a PLC).
Step S212: the controller (such as a PLC) can judge whether the current boom variable amplitude angle reaches the target boom variable amplitude angle.
Step S213: if the amplitude variation angle of the target arm support is not reached, the arm support is continuously controlled to enable the working bucket to move to the target amplitude variation point, and the step S211 is repeated.
Step S214: and if the target boom luffing angle is reached, judging whether the boom telescopic length and the rotary angle of the rotary table reach the target point.
Step S215: and if the telescopic length of the arm support and the rotary angle of the rotary table do not reach the target point, waiting for the telescopic length of the arm support and the rotary angle of the rotary table to reach.
Step S216: if all the position information of the current working bucket reaches the target point A2Then, the current target point A is judged2Whether it is an end point.
Step S217: if not, the target point is updated according to the motion trail, and the steps S211-S216 are repeated.
According to the steps S211-S217, the telescopic length of the arm support and the rotary angle of the rotary table are simultaneously controlled so as to workBucket A1Move to A2And when the amplitude variation angle of the arm support, the telescopic length of the arm support and the rotary angle of the rotary table reach the terminal point, determining that the working bucket reaches the terminal point B.
More preferably, in the embodiment of the present invention, the controlling the arm support so that the working bucket cruises to the target position further includes: if the arrival position information of the actual arrival position of the working bucket is deviated from the target position information and is within a preset range, determining that the working bucket arrives at the target position; and if the deviation exceeds the preset range, determining that the working bucket does not reach the target position, and continuously controlling the arm support to enable the working bucket to cruise to reach the target position.
In the process of controlling the arm support to enable the working bucket to cruise tracks, the motion tracks can be corrected in real time according to the actual motion conditions. For example, in the process of controlling the boom to enable the working bucket to cruise to a target point, the boom is controlled to move by a current value, and in order to ensure that the boom moves smoothly and can be basically attached to an original movement track, when the working bucket enters a certain preset range of the current target point (for example, the amplitude variation angle of the target boom is +/-0.3 degrees, the telescopic length of the target boom is +/-20 mm, and the rotation angle of a target turntable is +/-0.3 degrees), the working bucket can be determined to reach the target position; if the deviation exceeds the preset range, the working bucket can be determined not to reach the target position, and the arm support is continuously controlled to enable the working bucket to cruise to reach the target position.
Further, when the bucket reaches the end point, in order to ensure accuracy of the reaching point, a dead zone range is set for the end point coordinates. For example, the working bucket is judged to reach the cruise terminal point within the range of the amplitude variation angle of the terminal-point arm support of +/-0.5 degrees, the telescopic length of the terminal-point arm support of +/-0.1 m and the rotation angle of the terminal-point turntable of +/-0.5 degrees. When the dead zone range is exceeded, the arm support is adjusted to ensure that the working bucket enters the end point range.
According to the control method of the aerial ladder vehicle arm support, provided by the embodiment of the invention, the arm support is automatically controlled to enable the working bucket to move back and forth according to the formed movement track by acquiring and recording the movement track of the working bucket on the arm support in the rescue process, so that the operation intensity of operators in the rescue process is greatly reduced, and meanwhile, the rescue safety and the efficiency under complex rescue working conditions are improved.
An embodiment of the present invention further provides a control system of an aerial ladder truck boom, please refer to fig. 4, where the aerial ladder truck boom is provided with a working bucket, and the control system of the aerial ladder truck boom may include a control device 100, where the control device 100 includes: the data processing module 101 is configured to obtain position information of the working bucket in real time and form a motion track of the working bucket from a starting point to an end point; and a cruise control module 102, configured to control the aerial ladder vehicle boom to enable the working bucket to perform trajectory cruise according to the motion trajectory.
The control device 100 may be a programmable controller configured for the aerial ladder vehicle, such as a PLC.
Preferably, the control system of the aerial ladder vehicle boom further includes a detection module 200 electrically connected to the control device 100, and the detection module 200 includes: the length sensor 201 is arranged on the arm support and used for acquiring the telescopic length of the arm support; the first angle sensor 202 is arranged on the arm support and used for acquiring the amplitude variation angle of the arm support; and a second angle sensor 203 arranged on the turntable of the aerial ladder vehicle and used for acquiring the rotation angle of the turntable.
An encoder may be further disposed between the detection module 200 and the control device 100, and configured to convert the bucket position information obtained by the detection module 200 into an electrical signal.
Preferably, the control device 100 is configured with a human-computer interaction display device 103, and is configured to display working condition information of the aerial ladder vehicle boom during the trajectory navigation execution and display operation information corresponding to each working condition link.
The human-computer interaction display device 103 can also display a cruise starting page or a cruise ending page, and feeds back the operation result of the operator to the control device 100.
Preferably, the control system of the aerial ladder truck boom further comprises: a steering button 301 electrically connected to the control device 100 and configured to send a command for switching the cruising direction; the control device 100 is further configured to, according to the received command for switching the cruising direction, interchange the starting point and the ending point, and then continue to control the boom to enable the working bucket to perform the track cruising.
The steering button 301 may be disposed on the working bucket, for example, at the bottom of the working bucket, and after the rescue workers complete the rescue task, the control device 100 may control the working bucket to return by stepping on the steering button 301.
The control system of the aerial ladder vehicle boom further comprises an electromagnetic valve 302, such as an electro-hydraulic proportional valve, the boom movement is executed according to the control of the control device 100, and the opening degree of the electro-hydraulic proportional valve is adjustable.
The embodiment of the invention also provides the aerial ladder vehicle which comprises the control system of the aerial ladder vehicle arm support.
It should be noted that the control system of the aerial ladder vehicle boom provided by the invention is not only suitable for aerial ladder fire trucks, but also suitable for elevating platform fire trucks and any elevating engineering vehicles with rescue platforms.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (11)
1. A control method of an aerial ladder truck arm support is characterized in that the aerial ladder truck arm support is provided with a working bucket, and the control method of the aerial ladder truck arm support comprises the following steps:
acquiring position information of the working bucket in real time to form a motion track of the working bucket from a starting point to a terminal point; and
and controlling the aerial ladder vehicle arm support to enable the working bucket to perform track cruise according to the motion track.
2. The aerial ladder vehicle boom control method according to claim 1, wherein the obtaining of the position information of the working bucket in real time to form a movement track of the working bucket from a starting point to an end point comprises:
and collecting position information of the working bucket according to a preset time interval, and forming the motion trail according to the collected sequence, wherein the sequence of the motion trail is determined according to the positions of the starting point and the end point.
3. The method for controlling the aerial ladder truck boom according to claim 2, wherein the step of collecting the position information of the working bucket according to a preset time interval further comprises the steps of:
and when the quantity of the collected position information exceeds the preset maximum record quantity, triggering a warning, and terminating the collection of the position information.
4. The method for controlling the aerial ladder truck boom according to any one of claims 1 to 3, wherein the position information of the working bucket comprises:
the telescopic length of the arm support is preferably acquired by a length sensor arranged on the arm support;
the amplitude variation angle of the arm support is preferably obtained through an angle sensor arranged on the arm support; and
and the rotation angle of the rotary table is preferably acquired by an angle sensor arranged on the aerial ladder vehicle rotary table.
5. The aerial ladder truck boom control method as claimed in claim 1, wherein the controlling the aerial ladder truck boom to cause the working bucket to perform trajectory cruising according to the motion trajectory comprises:
starting from the starting point, obtaining target position information of a target position according to the current position information of the current position of the working bucket and the motion track;
controlling the arm support to enable the working bucket to cruise to the target position, and sequentially updating the current position and the target position according to the cruise track; and
and when the current position is the end point, exchanging the start point and the end point according to a received command for switching the cruising direction, and then continuously controlling the arm support to enable the working bucket to carry out track cruising.
6. The aerial ladder truck boom control method as claimed in claim 5, wherein the controlling the boom to make the working bucket cruise to the target position further comprises:
if the arrival position information of the actual arrival position of the working bucket is deviated from the target position information and is within a preset range, determining that the working bucket arrives at the target position; and
and if the deviation exceeds the preset range, determining that the working bucket does not reach the target position, and continuously controlling the arm support to enable the working bucket to cruise to reach the target position.
7. The utility model provides a control system of aerial ladder car cantilever crane which characterized in that, aerial ladder car cantilever crane is provided with the work fill, and the control system of aerial ladder car cantilever crane includes controlling means, controlling means includes:
the data processing module is used for acquiring the position information of the working bucket in real time and forming a motion track of the working bucket from a starting point to an end point; and
and the cruise control module is used for controlling the aerial ladder vehicle arm support to enable the working bucket to execute track cruise according to the motion track.
8. The aerial ladder truck boom control system of claim 7, further comprising a detection module electrically connected to the control device, the detection module comprising:
the length sensor is arranged on the arm support and used for acquiring the telescopic length of the arm support;
the first angle sensor is arranged on the arm support and used for acquiring the amplitude variation angle of the arm support; and
and the second angle sensor is arranged on the rotary table of the aerial ladder vehicle and used for acquiring the rotary angle of the rotary table.
9. The aerial ladder vehicle boom control system of claim 7, wherein the control device is configured with a human-computer interaction display device for displaying working condition information of the aerial ladder vehicle boom during the track cruise execution and displaying operation information corresponding to each working condition link.
10. The aerial ladder truck boom control system of claim 7, further comprising:
the steering button is electrically connected with the control device and used for sending a command for switching the cruising direction;
and the control device is further used for continuously controlling the arm support to enable the working bucket to carry out track cruise after interchanging the starting point and the end point according to the received cruise direction switching instruction.
11. Aerial ladder truck characterized in that it comprises a control system of the aerial ladder truck boom of any of claims 7-10.
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Cited By (1)
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