CN113816317B - Parameter calibration control method and system for aerial working platform - Google Patents
Parameter calibration control method and system for aerial working platform Download PDFInfo
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- CN113816317B CN113816317B CN202110974496.2A CN202110974496A CN113816317B CN 113816317 B CN113816317 B CN 113816317B CN 202110974496 A CN202110974496 A CN 202110974496A CN 113816317 B CN113816317 B CN 113816317B
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a parameter calibration control method for an aerial working platform, which comprises the following steps: dividing the control parameters into non-safety-related parameters and safety-related parameters; judging the category of the control parameter input at the user client; and selecting a user client or a debugging client to calibrate corresponding control parameters according to the judging result. Calibrating non-safety related parameters through a user client; by calibrating all parameters through the debugging client, the related parameters are strictly distinguished into two types of safety related parameters and non-safety related parameters, the non-safety related parameters can be calibrated through a display path or a special calibration tool, the safety related parameters can be calibrated only through the special calibration tool, and the safety parameters cannot be calibrated because constructors cannot touch the special calibration tool, so that the calibrated safety is realized.
Description
Technical Field
The invention belongs to the technical field of electric control of aerial work platforms, and particularly relates to a parameter calibration control method for an aerial work platform.
Background
The invention relates to an aerial work platform, which is an engineering machine for delivering constructors to a designated height and a designated position to perform construction work, and mainly comprises a scissor type aerial work platform, a crank type aerial work platform, a straight arm type aerial work platform and the like.
Before the aerial working platform leaves the factory, technicians calibrate relevant parameters of a vehicle electric control system according to relevant index requirements to ensure that all functions of the aerial working platform reach optimal performance and are sold, but the existing electric control system has a potential safety hazard: when a purchaser or other related party operates an aerial working platform to perform construction operation, related parameters are often changed privately through a display communication path according to on-site working conditions, operation habits and the like so as to achieve the purpose of adjusting vehicle performance, but operators are not clear of design details of an electric control system, occurrence of misidentification of safety related parameters is quite likely, and life safety of the operators is finally endangered.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides the parameter calibration control method for the aerial working platform, which can realize safe parameter calibration.
The technical problems to be solved by the invention are realized by the following technical scheme:
in a first aspect, a method for controlling parameter calibration of an aerial working platform is provided, including: dividing the control parameters into non-safety-related parameters and safety-related parameters;
judging the category of the control parameter input at the user client;
and selecting a user client or a debugging client to calibrate corresponding control parameters according to the judging result.
Calibrating non-safety related parameters through a user client;
and calibrating all parameters through the debugging client.
With reference to the first aspect, further, the selecting to use the user client or the debug client to calibrate the corresponding control parameter according to the determination result specifically includes:
if the judging result is the non-safety related parameter, calibrating the non-safety related parameter through the user client;
if the judging result is the safety related parameter, calibrating the safety related parameter by the debugging client, wherein the debugging client can calibrate the non-safety related parameter.
With reference to the first aspect, further, the modulation client and the user client may preset multiple sets of control parameters according to different application scenarios of the aerial work platform.
With reference to the first aspect, further, the non-security related parameters include: dead zone of an operating handle, maximum position of the operating handle, minimum position of the operating handle, middle position of the operating handle, acceleration slope of the handle, deceleration slope of the handle, maximum current of a main pump, minimum current of the main pump, minimum value of a pull wire sensor, maximum value of the pull wire sensor maximum boom extension current, maximum boom retraction current, minimum boom extension current, maximum boom retraction current, maximum amplitude, minimum amplitude current, maximum amplitude drop current, minimum amplitude drop current, maximum rotation current and minimum rotation current.
With reference to the first aspect, further, the security-related parameters include: the device comprises a chassis inclination angle, a chassis angle deviation maximum value, a forward and backward travel maximum speed, a left and right maximum angle of a platform rotation swing shaft, a main arm amplitude maximum angle, a weighing sensor maximum value, a platform inclination maximum angle, a platform angle deviation maximum value, a stay wire sensor deviation maximum value and a pressure sensor deviation maximum value.
In combination with the first aspect, further, the user client is further provided with a rights management module, and parameters which can be calibrated by the user account are set through the rights management module.
With reference to the first aspect, further, a checking module is arranged at the debugging client, and the calibrated parameters are checked through the checking module.
With reference to the first aspect, further, if it is determined that the control parameter input at the user client is a security related parameter, the security related parameter is displayed at the user client in a read-only manner.
In a second aspect, a system for controlling parameter calibration of an aerial work platform is provided, including:
the parameter type judging module is used for dividing the control parameters into non-safety-related parameters and safety-related parameters;
judging the category of the control parameter input at the user client;
and the parameter calibration module is used for selectively calibrating the corresponding control parameters by adopting the user client or the debugging client according to the judgment result.
Calibrating non-safety related parameters through a user client;
and calibrating all parameters through the debugging client.
In a third aspect, a system for controlling parameter calibration of an aerial working platform is provided, including:
the system comprises a user client, a debugging client and a controller, wherein the user client and the debugging client are respectively connected with the controller.
The invention has the beneficial effects that: the invention strictly distinguishes the related parameters into two types of safety related parameters and non-safety related parameters, the non-safety related parameters can be calibrated through a display path or a special calibration tool, the safety related parameters can be calibrated only through the special calibration tool, and the safety parameters cannot be calibrated because constructors cannot touch the special calibration tool, so that the calibrated safety is realized.
Drawings
FIG. 1 is a schematic diagram of the operation of a straight arm aerial platform;
FIG. 2 is a diagram of the hardware connections of the electrical control system according to the present invention;
fig. 3 is a flow chart of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to better understand the present invention, the following describes related technologies in the technical solution of the present invention.
As shown in fig. 1-3, in order to realize the operation of each action of the aerial work platform, the parameter calibration control system of the aerial work platform selects relevant sensors, control handles, actuators and other elements by taking the controller as a control core unit. The specific input and output elements comprise a key switch, each action control handle, a long angle sensor, a platform inclination angle sensor, a chassis inclination angle sensor, a weighing sensor, each action hydraulic cylinder electromagnetic valve and the like. The long angle sensor is responsible for detecting the amplitude angle and the telescopic length of the large arm, the platform inclination sensor is responsible for detecting the inclination angle of the platform, the chassis inclination sensor is responsible for detecting the inclination angle of the chassis, the weighing sensor is responsible for weighing the weight of the personnel on the platform, and each action hydraulic cylinder electromagnetic valve is a corresponding electric signal output unit.
In addition to this, a display and a parameter calibration tool (it should be noted that the selected controller must be provided with at least 2 CAN ports, CAN1 being responsible for the communication between the display and the controller, and CAN2 being responsible for the communication between the calibration tool and the controller). And the display and the controller, and the special calibration tool (debugging client) and the controller are respectively provided with respective communication protocols. The display (user client) is used for displaying each parameter and vehicle state and calibrating unsafe parameters, the special calibration tool is used for calibrating the safe parameters and the unsafe parameters, and the special calibration tool is generally not equipped on-vehicle, so that the modification of the safe parameters by a user through the special calibration tool is avoided
The control method based on the system comprises the following steps:
step one, dividing control parameters into non-safety related parameters and safety related parameters;
wherein the non-safety related parameters include: dead zone of an operating handle, maximum position of the operating handle, minimum position of the operating handle, middle position of the operating handle, acceleration slope of the handle, deceleration slope of the handle, maximum current of a main pump, minimum current of the main pump, minimum value of a pull wire sensor, maximum value of the pull wire sensor maximum boom extension current, maximum boom retraction current, minimum boom extension current, maximum boom retraction current, maximum amplitude, minimum amplitude current, maximum amplitude drop current, minimum amplitude drop current, maximum rotation current and minimum rotation current.
The security-related parameters include: the device comprises a chassis inclination angle, a chassis angle deviation maximum value, a forward and backward travel maximum speed, a left and right maximum angle of a platform rotation swing shaft, a main arm amplitude maximum angle, a weighing sensor maximum value, a platform inclination maximum angle, a platform angle deviation maximum value, a stay wire sensor deviation maximum value and a pressure sensor deviation maximum value.
Judging the category of the control parameter input at the user client;
and thirdly, selecting a user client (display) or a debugging client (calibration tool) to calibrate the corresponding control parameters according to the judging result.
If the safety related parameters are, the safety related parameters can be read and calibrated through a calibration tool (a debugging client), and a display (a user client) can only display the safety related parameters. If the parameter is not safety-related, both the display and the calibration tool can read and calibrate the parameter.
In addition, for convenient calibration, the modulation client and the user client are pre-sleeved with control parameters according to different application scenes of the aerial work platform, so that a user or a debugger can conveniently and quickly call according to different scene requirements, and the calibration is convenient and quick to realize.
The embodiment of the invention also provides a parameter calibration control system of the aerial working platform, which comprises the following steps:
the parameter type judging module is used for dividing the control parameters into non-safety-related parameters and safety-related parameters;
judging the category of the control parameter input at the user client;
and the parameter calibration module is used for selectively calibrating the corresponding control parameters by adopting the user client or the debugging client according to the judgment result.
Calibrating non-safety related parameters through a user client;
and calibrating all parameters through the debugging client.
In order to facilitate different personnel to control the calibration parameters of the parameters, a parameter limit management module is further arranged at the user client, and the parameters which can be calibrated by the user account are set through the authority management module.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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.
Claims (8)
1. The parameter calibration control method for the aerial work platform is characterized by comprising the following steps of:
dividing the control parameters into non-safety-related parameters and safety-related parameters;
judging the category of control parameters input at a user client, wherein the non-safety related parameters comprise: dead zone of an operating handle, maximum position of the operating handle, minimum position of the operating handle, middle position of the operating handle, acceleration slope of the handle, deceleration slope of the handle, maximum current of a main pump, minimum current of the main pump, minimum value of a pull wire sensor, maximum value of the pull wire sensor maximum boom extension current, maximum boom retraction current, minimum boom extension current, maximum boom retraction current, maximum amplitude, minimum amplitude current, maximum amplitude drop current, minimum amplitude drop current, maximum rotation current and minimum rotation current;
the safety-related parameters include: the device comprises a chassis inclination angle, a chassis angle deviation maximum value, a forward and backward travel maximum speed, a left and right maximum angle of a platform rotation swing shaft, a main arm amplitude maximum angle, a weighing sensor maximum value, a platform inclination maximum angle, a platform angle deviation maximum value, a stay wire sensor deviation maximum value and a pressure sensor deviation maximum value;
according to the judgment result, selecting a user client or a debugging client to calibrate corresponding control parameters;
calibrating non-safety related parameters through a user client;
and calibrating all parameters through the debugging client.
2. The method for controlling the parameter calibration of the aerial working platform according to claim 1, wherein the step of selectively calibrating the corresponding control parameter by using the user client or the debugging client according to the judgment result is specifically as follows:
if the judging result is the non-safety related parameter, calibrating the non-safety related parameter through the user client;
if the judging result is the safety related parameter, calibrating the safety related parameter by the debugging client, wherein the debugging client can calibrate the non-safety related parameter.
3. The aerial work platform parameter calibration control method according to claim 1, wherein the debugging client and the user client can preset a plurality of sets of control parameters according to different aerial work platform application scenes.
4. The aerial work platform parameter calibration control method according to claim 1, wherein the user client is further provided with a permission management module, and parameters which can be calibrated by the user account are set through the permission management module.
5. The aerial working platform parameter calibration control method according to claim 1, wherein a checking module is arranged at the debugging client, and the calibrated parameters are checked through the checking module.
6. The aerial work platform parameter calibration control method according to claim 1, wherein the aerial work platform parameter calibration control method comprises the following steps: and if the control parameter input at the user client is judged to be the safety related parameter, displaying the safety related parameter at the user client in a read-only mode.
7. The parameter calibration control system for the aerial work platform is characterized by comprising the following components:
the parameter type judging module is used for dividing the control parameters into non-safety-related parameters and safety-related parameters;
judging the category of control parameters input at a user client, wherein the non-safety related parameters comprise: dead zone of an operating handle, maximum position of the operating handle, minimum position of the operating handle, middle position of the operating handle, acceleration slope of the handle, deceleration slope of the handle, maximum current of a main pump, minimum current of the main pump, minimum value of a pull wire sensor, maximum value of the pull wire sensor maximum boom extension current, maximum boom retraction current, minimum boom extension current, maximum boom retraction current, maximum amplitude, minimum amplitude current, maximum amplitude drop current, minimum amplitude drop current, maximum rotation current and minimum rotation current;
the safety-related parameters include: the device comprises a chassis inclination angle, a chassis angle deviation maximum value, a forward and backward travel maximum speed, a left and right maximum angle of a platform rotation swing shaft, a main arm amplitude maximum angle, a weighing sensor maximum value, a platform inclination maximum angle, a platform angle deviation maximum value, a stay wire sensor deviation maximum value and a pressure sensor deviation maximum value;
the parameter calibration module is used for selectively calibrating corresponding control parameters by adopting a user client or a debugging client according to the judgment result;
calibrating non-safety related parameters through a user client;
and calibrating all parameters through the debugging client.
8. The aerial work platform parameter calibration control system of claim 7, comprising:
the system comprises a user client, a debugging client and a controller, wherein the user client and the debugging client are respectively connected with the controller.
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| US7680933B2 (en) * | 2003-12-15 | 2010-03-16 | International Business Machines Corporation | Apparatus, system, and method for on-demand control of grid system resources |
| US7530113B2 (en) * | 2004-07-29 | 2009-05-05 | Rockwell Automation Technologies, Inc. | Security system and method for an industrial automation system |
| CN101284636A (en) * | 2008-05-23 | 2008-10-15 | 杭州爱知工程车辆有限公司 | Intelligence control system for aerial platform, aerial platform and control method thereof |
| CN201236131Y (en) * | 2008-05-23 | 2009-05-13 | 杭州爱知工程车辆有限公司 | Intelligent control system of high-altitude operation car and high-altitude operation car thereof |
| CN101458666A (en) * | 2008-12-05 | 2009-06-17 | 北京安高科技有限公司 | Data access control method |
| FR2950618B1 (en) * | 2009-09-28 | 2011-10-21 | Haulotte Group | LIFT BOOM AND METHOD OF CONTROLLING SUCH NACELLE |
| GB2501274B (en) * | 2012-04-17 | 2020-05-13 | Advanced Risc Mach Ltd | Management of data processing security in a secondary processor |
| CN103197888B (en) * | 2013-03-29 | 2018-03-13 | 深圳众为兴技术股份有限公司 | The display control method and device of a kind of parameter interface |
| JP2017199134A (en) * | 2016-04-26 | 2017-11-02 | 株式会社リコー | Data access device and data access program |
| CN109710104A (en) * | 2018-11-05 | 2019-05-03 | 广州小鹏汽车科技有限公司 | A kind of method of toch control and system of vehicle-mounted middle control large-size screen monitors |
| CN111943049A (en) * | 2020-09-22 | 2020-11-17 | 徐工消防安全装备有限公司 | Electrical control system, method, controller and engineering machinery |
| CN112428947A (en) * | 2020-12-02 | 2021-03-02 | 上海拓殷电子科技技术有限公司 | Automobile intelligent system |
| CN112810667A (en) * | 2021-02-07 | 2021-05-18 | 株洲中车时代电气股份有限公司 | Remote setting method and system for control parameters of train network control system |
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