CN114394530A - Control method, processor and control device for engineering equipment and engineering equipment - Google Patents
Control method, processor and control device for engineering equipment and engineering equipment Download PDFInfo
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- 230000009471 action Effects 0.000 claims abstract description 15
- 238000010276 construction Methods 0.000 claims description 7
- 230000003028 elevating effect Effects 0.000 claims description 4
- 238000013459 approach Methods 0.000 claims description 2
- 239000007921 spray Substances 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 14
- 238000010586 diagram Methods 0.000 description 14
- 238000004590 computer program Methods 0.000 description 7
- 230000001174 ascending effect Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 238000005507 spraying Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000011217 control strategy Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 230000005540 biological transmission Effects 0.000 description 1
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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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- 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
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
- B66C23/18—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 specially adapted for use in particular purposes
- B66C23/36—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/42—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
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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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- 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
- B66C23/82—Luffing gear
- B66C23/821—Bracing equipment for booms
- B66C23/826—Bracing equipment acting at an inclined angle to vertical and horizontal directions
- B66C23/828—Bracing equipment acting at an inclined angle to vertical and horizontal directions where the angle is adjustable
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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
- B66F11/046—Working platforms suspended from booms of the telescoping type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention relates to the technical field of engineering machinery and discloses a control method, a processor, a control device and engineering equipment of engineering equipment. The engineering equipment comprises an arm support and a working device, and the control method comprises the following steps: acquiring the amplitude variation angle and the length of the arm support; determining a first amplitude of the arm support according to the amplitude variation angle and the length; determining the amplitude variation speed of the arm support according to the amplitude variation angle; carrying out amplitude variation action on the arm support according to the amplitude variation speed; re-determining a second amplitude of the arm support within a preset time, wherein the first amplitude and the second amplitude are projection lengths of the arm support on a horizontal plane; determining the telescopic speed of the arm support according to the difference value of the second amplitude and the first amplitude; and controlling the working device to vertically lift according to the amplitude variation speed and the stretching speed. The working device can vertically lift at the tail end of the arm support at a relatively balanced speed, so that the operation intensity of operators is reduced, the operation process is simplified, and the safety and the efficiency of the operation of engineering equipment are improved.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a control method, a processor, a control device and engineering equipment for engineering equipment.
Background
In one type of engineering equipment, the engineering equipment includes an arm support and a working bucket, the working bucket is disposed at a tail end of the arm support to carry personnel or materials, and the arm support drives the personnel or the materials to move together when moving. Taking engineering equipment such as a high-rise fire truck as an example, the working bucket can play a role in manned rescue at the tail end of the arm support. The situation that the elevating fire truck meets when carrying out the rescue task is complicated and changeable, and when carrying out the rescue task of shaft bottom or multi-storey, operating personnel need to operate the jib frame simultaneously and become flexible and go up and down, and the requirement to operating personnel's proficiency and professional quality is very high.
The amplitude can be understood as the projection length of the arm support on the horizontal plane. When the amplitude is unchanged and rescue is carried out at different heights (such as rescue of people or materials on different floors), in order to ensure safety, the arm support needs to be retracted firstly, then the arm support is lifted to a proper position in an amplitude changing manner, and then the arm support is extended out, so that the working bucket moves to a target rescue position. When the number of required rescue floors is large, operators need to frequently adjust the arm support to stretch and lift in a variable amplitude manner to control the position of the working bucket, the operation is complex, the time consumption is long, and the rescue efficiency is low.
Disclosure of Invention
In order to overcome the defects in the prior art, the embodiment of the invention provides a control method, a processor, a control device and engineering equipment for the engineering equipment.
In order to achieve the above object, a first aspect of the present invention provides a control method for an engineering device, where the engineering device includes an arm support and a working apparatus, a working bucket is disposed at a tail end of the arm support, and the control method includes:
acquiring the amplitude variation angle and the length of the arm support;
determining a first amplitude of the arm support according to the amplitude variation angle and the length;
determining the amplitude variation speed of the arm support according to the amplitude variation angle;
carrying out amplitude variation action on the arm support according to the amplitude variation speed;
re-determining a second amplitude of the arm support within a preset time, wherein the first amplitude and the second amplitude are projection lengths of the arm support on a horizontal plane;
determining the telescopic speed of the arm support according to the difference value of the second amplitude and the first amplitude;
and controlling the working device to vertically lift according to the amplitude variation speed and the stretching speed.
In the embodiment of the invention, the variable amplitude speed and the variable amplitude angle are in inverse proportion, and the control method further comprises the following steps:
under the condition that the amplitude variation angle is increased, controlling the amplitude variation speed to be reduced;
and under the condition that the amplitude variation angle is reduced, controlling the amplitude variation speed to be increased.
In the embodiment of the invention, the difference value is in direct proportion to the stretching speed.
In the embodiment of the invention, under the condition that the amplitude variation angle exceeds the preset angle, the ratio of the difference value to the expansion speed is a first proportional value; and under the condition that the amplitude variation angle does not exceed the preset angle, the ratio of the difference value to the telescopic speed is a second proportional value, wherein the first proportional value is larger than the second proportional value.
In the embodiment of the present invention, the predetermined angle ranges from 60 degrees to 70 degrees.
In the embodiment of the present invention, the control method further includes:
under the condition that the second amplitude is larger than the first amplitude, the arm support is controlled to be shortened so that the second amplitude is close to the first amplitude;
and under the condition that the second amplitude is smaller than the first amplitude, controlling the arm support to extend so that the second amplitude is close to the first amplitude.
In the embodiment of the present invention, the difference between the second amplitude and the first amplitude is smaller than a preset value, and the range of the preset value is 0.1 meter to 0.2 meter.
In an embodiment of the invention, the engineering equipment comprises a lifting fire truck, and the working device comprises a working bucket.
In an embodiment of the invention, the working device comprises a spraying device.
A second aspect of the present invention provides a processor configured to execute the above-described control method for an engineering apparatus.
A third aspect of the present invention provides a control apparatus for construction equipment, comprising:
the angle sensor is used for acquiring the amplitude variation angle of the arm support;
the length sensor is used for acquiring the length of the arm support; and
the processor described above.
A fourth aspect of the present invention provides a construction equipment including the control device for a construction equipment described above.
In an embodiment of the invention, the engineering equipment comprises a lifting fire truck.
A fifth aspect of the present invention provides a machine-readable storage medium having stored thereon instructions for causing a machine to execute the above-described control method for an engineering apparatus.
In the embodiment of the invention, the first amplitude and the second amplitude are projection lengths of the arm support on a horizontal plane, and the telescopic speed of the arm support is determined according to the difference value between the second amplitude and the first amplitude, so that the second amplitude is always close to or equal to the first amplitude in the process of executing amplitude variation action of the arm support, and the working device vertically ascends or descends at the tail end of the arm support. The variable amplitude speed can be understood as the angular speed of the movement of the boom, and under the same variable amplitude speed, the larger the variable amplitude angle is, the larger the vertical lifting distance corresponding to the working device is, and the working device can be used for bearing personnel or materials. Therefore, an operator only needs to set the ascending or descending height of the working device or operate the amplitude-variable handle, the boom can automatically control the telescopic speed and the amplitude-variable speed, the working device can vertically ascend or descend at the tail end of the boom at a more balanced speed, the operating intensity of the operator is reduced, the operating process is simplified, and the safety and the efficiency of the operation of engineering equipment are improved.
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 schematically shows a schematic view of a construction equipment according to an embodiment of the invention;
fig. 2 schematically shows a flow chart of a control method for an engineering apparatus according to an embodiment of the present invention;
fig. 3 schematically shows a simple schematic diagram of a lower arm support with different variable amplitude angles according to an embodiment of the invention;
fig. 4 schematically shows a flowchart of another control method for construction equipment according to an embodiment of the present invention;
fig. 5 schematically shows a hardware block diagram of an engineering device according to an embodiment of the present invention.
Description of the reference numerals
10-arm support; 11-a working bucket;
12-an angle sensor; 13-a length encoder;
14-a data processing module; 15-a motion control module;
16-a programmable controller; 17-a display screen;
18-electro-hydraulic proportional 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.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Fig. 1 schematically illustrates a schematic diagram of an engineering device according to an embodiment of the present invention, where as shown in fig. 1, the engineering device may be a fire truck, the working apparatus may be a working bucket 11, the engineering device includes an arm support 10 and the working bucket 11, and the working bucket 11 is disposed at a distal end of the arm support 10. Fig. 2 schematically shows a flowchart of a control method for engineering equipment according to an embodiment of the present invention. As shown in fig. 2, in an embodiment of the present invention, a control method for engineering equipment is provided, including the following steps:
and step 207, controlling the working device to vertically lift according to the variable amplitude speed and the telescopic speed.
It should be noted that fig. 1 illustrates a working device as the working bucket 11, and the working device may be other types of devices besides the working bucket 11, for example, the working device may be a spraying device, a sprinkling device, or other devices having a requirement for accuracy of a vertical trajectory. When the engineering equipment is a lifting fire truck and the working device is a working bucket 11, vertical rescue can be realized by applying the control method for the engineering equipment provided by the embodiment of the invention; when the working device is a spraying device, vertical spraying can be realized; when the working device is a sprinkler, vertical sprinkling can be realized.
The engineering equipment comprises an elevated fire truck, but is not limited to elevated fire trucks, and the engineering equipment can comprise other equipment with an arm support and a working bucket in working modes. The elevating fire truck may include an elevating platform fire truck and an aerial ladder fire truck. The technical scheme in the embodiment of the invention can be suitable for other lifting engineering vehicles with rescue platforms.
Fig. 1 schematically shows a schematic diagram of an engineering device according to an embodiment of the present invention, and as shown in fig. 1, L is a length of an arm support, and may be obtained in real time by a length sensor. and a is the amplitude variation angle of the arm support, and can be obtained in real time through an angle sensor. The amplitude is the projection length of the arm support on the horizontal plane, and as shown in fig. 1, W is the amplitude of the arm support. The height H and the amplitude W of the working bucket 11 can be calculated and determined in real time according to the length L and the amplitude variation angle a of the arm support.
Fig. 3 schematically shows a simple schematic diagram of the boom under different variable amplitude angles according to the embodiment of the invention. As shown in fig. 3, under the condition that the telescopic length of the boom is not changed, when the boom 10 is at different amplitude angles, the amplitude of the boom 10 is different, and the height of the working bucket 11 is also different. For example, in fig. 3, when the boom 10 is at the variable amplitude angle a1, the amplitude of the boom 10 is W1, and the height of the working bucket 11 is H1. Under the condition that the arm support 10 is at the amplitude variation angle a2, the amplitude of the arm support 10 is W2, and the height of the working bucket 11 is H2. When the telescopic length of the arm support is not changed, if a1 is not equal to a2, W1 is not equal to W2, and H1 is not equal to H2.
In one embodiment, the working bucket 11 is used for carrying people and goods and the engineering equipment can be used in rescue scenes with the same amplitude and different heights, for example, the engineering equipment is used for rescuing people or goods and goods on different floors. That is to say, in order to keep the working bucket 11 capable of vertically ascending and descending (the amplitude of the boom 10 is unchanged), before the boom 10 performs the amplitude variation action, a first amplitude of the boom 10 is determined, then, in the process that the boom 10 performs the amplitude variation action, a second amplitude of the boom 10 is obtained in real time, a difference value between the second amplitude and the first amplitude is calculated, and the telescopic speed of the boom is determined according to the difference value.
Specifically, for example, in the process of dropping (lifting) the boom 10 in a variable amplitude manner, when the second amplitude determined in real time is greater than the first amplitude, the boom 10 is controlled to shorten so that the second amplitude approaches the first amplitude. In the process of amplitude variation (lifting) of the arm support 10, when the second amplitude determined in real time is smaller than the first amplitude, the arm support 10 is controlled to extend, so that the second amplitude is close to the first amplitude. If the difference between the second amplitude and the first amplitude is denoted as Δ W, and the telescopic speed of the boom 10 is denoted as V1, then V1 is K × Δ W, and K is a proportionality coefficient, that is, the difference is in direct proportion to the telescopic speed. When the difference between the second amplitude and the first amplitude is larger, the telescopic speed of the boom 10 is also larger, and at this time, the boom 10 is controlled to be shortened or lengthened at a larger speed, so that the second amplitude is close to the first amplitude. When the difference between the second amplitude and the second amplitude is smaller, the telescopic speed of the boom 10 is also smaller. When the second amplitude is equal to the second amplitude, that is, the difference is 0, the boom 10 has a telescoping speed of 0, and does not need to be telescoped.
The above description is made by taking the proportional relationship between the difference and the stretching speed as an example, but the difference and the rope speed may be in other formula relationships, and the relationship is not limited thereto. And determining the telescopic speed of the boom 10 according to the difference between the second amplitude and the first amplitude, so that the second amplitude is always close to or equal to the first amplitude in the process of performing amplitude variation action on the boom 10, and the working bucket 11 vertically ascends or descends at the tail end of the boom 10. In the embodiment of the invention, an operator only needs to set the ascending or descending height of the working bucket 11 or operate the amplitude-variable handle (the operator does not need to simultaneously operate the amplitude-variable handle and the telescopic handle), and the arm support 10 can automatically perform telescopic control to realize vertical ascending or descending of the working bucket 11.
The difference between the second amplitude and the first amplitude is smaller than a preset value, the preset value ranges from 0.1 meter to 0.2 meter, and the preset value can be 0.15 m. When the difference between the second amplitude and the first amplitude is kept within a range of less than 0.15m, it can be understood that the bucket 11 is performing vertical lifting.
The working bucket 11 carries personnel or materials, and for safety reasons, in order to keep the working bucket 11 at the tail end of the arm support 10 to lift at a more balanced speed, the amplitude variation speed is determined according to the amplitude variation angle. Because if the amplitude angle change value is the same and the amplitude speed is the same, the ascending and descending distance of the working bucket 11 is larger when the amplitude angle is larger. Therefore, in order to ensure safety, in order to keep the working bucket 11 at the tail end of the boom 10 to be lifted at a more uniform speed, the amplitude variation speed is controlled to be smaller when the amplitude variation angle is larger.
Specifically, in one embodiment, the luffing speed is inversely proportional to the luffing angle, and the luffing speed is set to V2, the luffing angle is set to a, and V2 is K1/a, and K1 is a set coefficient. Under the condition that the amplitude variation angle is increased, controlling the amplitude variation speed to be reduced; and under the condition that the amplitude variation angle is reduced, controlling the amplitude variation speed to be increased so as to realize that the working bucket 11 can lift at the tail end of the arm support 10 at a more balanced speed. The above description is given by taking the relationship of the amplitude variation velocity and the amplitude variation angle as an inverse proportion as one of the embodiments, and the relationship between the amplitude variation velocity and the amplitude variation angle may be other formula relationships, which is not limited to this.
In addition, if the same variable amplitude angle change value and the same variable amplitude speed are adopted, when the variable amplitude angle is larger, the length change of the boom 10 is larger, and when the variable amplitude angle is increased, the telescopic action value is larger and larger, and at this time, the telescopic speed of the boom may not follow the variable amplitude speed, which may cause the failure of the vertical lifting of the working bucket 11. Therefore, in order to make the telescopic speed of the boom keep up with the amplitude variation speed, the amplitude variation speed is controlled to be smaller under the condition that the amplitude variation angle is larger, and the amplitude variation speed is controlled to be reduced under the condition that the amplitude variation angle is increased, so that the working bucket 11 can be better helped to vertically ascend or descend.
Under the condition that the amplitude variation angle exceeds a preset angle, the ratio of the difference value to the expansion speed is a first proportional value; and under the condition that the amplitude variation angle does not exceed the preset angle, the ratio of the difference value to the telescopic speed is a second proportional value, wherein the first proportional value is larger than the second proportional value. The preset angle may range from 60 degrees to 70 degrees, and may be 65 degrees, for example.
That is, in an embodiment, when the luffing angle of the boom 10 exceeds 65 degrees, the telescopic speed V1 of the boom 10 is K2 × Δ W; when the luffing angle of the boom 10 does not exceed 65 degrees, the telescopic speed V1 of the boom 10 is K3 × Δ W. When the amplitude angle of the arm support 10 exceeds 65 degrees and the working bucket 11 vertically ascends and descends, the length of the arm support 10 may be greatly changed due to a small amplitude angle change, so that K2 is set to be larger than K3, K2 is a first proportional value, and K3 is a second proportional value. When the amplitude variation angle is larger, the telescopic action is faster.
In the embodiment of the invention, the variable amplitude speed of the arm support 10 can be controlled by controlling the output current of the variable amplitude valve, and the telescopic speed of the arm support 10 can be controlled by controlling the output current of the telescopic valve. The vertical lifting of the working bucket 11 is realized by controlling the amplitude variation speed and the telescopic speed of the arm support 10, but the control strategies of the two actions (amplitude variation action and telescopic action) are different. Wherein, the output current of the telescopic valve is controlled by sectional current. K1, K2 and K3 can be set according to specific working conditions and specific models of engineering equipment. Fig. 4 is a flowchart schematically illustrating another control method for engineering equipment according to an embodiment of the present invention, and reference may be made to fig. 4.
In the embodiment of the present invention, the telescopic speed of the boom 10 is determined according to the difference between the second amplitude and the first amplitude, so that the second amplitude is always close to or equal to the first amplitude in the process of performing the amplitude variation action of the boom 10, and the working bucket 11 is enabled to vertically ascend or descend at the tail end of the boom 10. The variable amplitude speed can be understood as the angular speed of the boom motion, and under the same variable amplitude speed, when the variable amplitude angle is larger, the vertical lifting distance corresponding to the working bucket 11 is larger, and the working bucket 11 is used for carrying personnel or materials, so that for safety, in order to keep the working bucket 11 at the tail end of the boom 10 to lift at a more balanced speed, the variable amplitude speed is determined according to the variable amplitude angle, for example, the variable amplitude speed is controlled to be smaller under the condition that the variable amplitude angle is larger. Therefore, an operator only needs to set the ascending or descending height of the working bucket 11 or operate the amplitude-variable handle, the boom 10 can automatically control the telescopic speed and the amplitude-variable speed, the working bucket 11 can vertically ascend or descend at the tail end of the boom 10 at a more balanced speed, the operation intensity of the operator is reduced, the operation process is simplified, and the safety and the efficiency of the operation of engineering equipment are improved. By taking engineering equipment as an example of a lifting fire truck, 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.
In the above embodiments, the ground floor rescue is performed by the engineering equipment, and similarly, the engineering equipment may perform a downhole operation. When the shaft bottom operation is carried out, the height of the working bucket 11 is lower than that of the chassis of the engineering equipment, and the height of the working bucket 11 is lower than that of the horizontal ground, but the control method is similar to realize that the working bucket 11 vertically ascends or descends at a more balanced speed at the shaft bottom, and the detailed description is omitted here.
Fig. 5 schematically illustrates a hardware block diagram of an engineering device according to an embodiment of the present invention, and as shown in fig. 5, the angle sensor 12 is responsible for acquiring the variable amplitude angle of the boom 10 in real time, and the length encoder 13 (which may also be understood as a length sensor) is responsible for acquiring the length value of the boom 10 in real time. The programmable controller 16 is responsible for processing the data, comparing the processed data with the actual height and amplitude of the boom 10 to obtain a motion control strategy of the boom 10, and controlling the electro-hydraulic proportional valve 18 to act, wherein the opening degree of the electro-hydraulic proportional valve 18 is adjustable. The display screen 17 is responsible for displaying real-time working conditions and providing a window for starting or stopping vertical rescue for operators, and the display screen 17 can be used for human-computer interaction.
An embodiment of the present invention provides a processor configured to execute any one of the control methods for engineering equipment in the above embodiments.
The engineering equipment comprises an arm support and a working device, wherein the working device is arranged at the tail end of the arm support.
In particular, the processor may be configured to:
acquiring the amplitude variation angle and the length of the arm support;
determining a first amplitude of the arm support according to the amplitude variation angle and the length;
determining the amplitude variation speed of the arm support according to the amplitude variation angle;
carrying out amplitude variation action on the arm support according to the amplitude variation speed;
re-determining a second amplitude of the arm support within a preset time, wherein the first amplitude and the second amplitude are projection lengths of the arm support on a horizontal plane;
determining the telescopic speed of the arm support according to the difference value of the second amplitude and the first amplitude;
and controlling the working bucket to vertically lift according to the amplitude variation speed and the stretching speed.
In an embodiment of the invention, the processor is configured to:
the amplitude variation speed and the amplitude variation angle are in inverse proportion,
under the condition that the amplitude variation angle is increased, controlling the amplitude variation speed to be reduced;
and under the condition that the amplitude variation angle is reduced, controlling the amplitude variation speed to be increased.
In an embodiment of the invention, the processor is configured to:
the difference is in direct proportion to the stretching speed.
In an embodiment of the invention, the processor is configured to:
under the condition that the amplitude variation angle exceeds a preset angle, the ratio of the difference value to the expansion speed is a first proportional value; and under the condition that the amplitude variation angle does not exceed the preset angle, the ratio of the difference value to the telescopic speed is a second proportional value, wherein the first proportional value is larger than the second proportional value.
In an embodiment of the invention, the processor is configured to:
the preset angle ranges from 60 degrees to 70 degrees.
In an embodiment of the invention, the processor is configured to:
under the condition that the second amplitude is larger than the first amplitude, the arm support is controlled to be shortened so that the second amplitude is close to the first amplitude;
and under the condition that the second amplitude is smaller than the first amplitude, controlling the arm support to extend so that the second amplitude is close to the first amplitude.
In an embodiment of the invention, the processor is configured to:
the difference value between the second amplitude and the first amplitude is smaller than a preset value, and the range of the preset value is 0.1 meter to 0.2 meter.
In an embodiment of the invention, the processor is configured to:
the engineering equipment comprises a lifting fire truck, and the working device comprises a working bucket.
In an embodiment of the invention, the processor is configured to:
the working device comprises a spraying device.
An embodiment of the present invention provides a control device for engineering equipment, including:
the angle sensor is used for acquiring the amplitude variation angle of the arm support;
the length sensor is used for acquiring the length of the arm support; and
the processor described above.
The embodiment of the invention provides engineering equipment, which comprises the control device for the engineering equipment.
In an embodiment of the invention, the engineering equipment comprises a lifting fire truck.
The embodiment of the invention provides a machine-readable storage medium, wherein the machine-readable storage medium is stored with instructions, and the instructions are used for enabling a machine to execute the control method for engineering equipment.
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, computer readable media does not include transitory computer readable media (transmyedia) such as modulated data signals and carrier waves.
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 (13)
1. A control method for engineering equipment is characterized in that the engineering equipment comprises an arm support and a working device, the working device is arranged at the tail end of the arm support, and the control method comprises the following steps:
acquiring the amplitude variation angle and the length of the arm support;
determining a first amplitude of the arm support according to the amplitude variation angle and the length;
determining the amplitude variation speed of the arm support according to the amplitude variation angle;
executing amplitude variation action on the arm support according to the amplitude variation speed;
re-determining a second amplitude of the arm support within a preset time, wherein the first amplitude and the second amplitude are projection lengths of the arm support on a horizontal plane;
determining the telescopic speed of the arm support according to the difference value of the second amplitude and the first amplitude;
and controlling the working device to vertically lift according to the amplitude variation speed and the stretching speed.
2. The control method as set forth in claim 1, wherein the luffing speed is inversely proportional to the luffing angle, the control method further comprising:
under the condition that the amplitude variation angle is increased, controlling the amplitude variation speed to be reduced;
and under the condition that the amplitude variation angle is reduced, controlling the amplitude variation speed to be increased.
3. The control method according to claim 1, wherein the difference is in direct proportion to the telescopic speed.
4. The control method according to claim 3, wherein in the case where the luffing angle exceeds a preset angle, the ratio of the difference to the telescopic speed is a first proportional value; and under the condition that the amplitude variation angle does not exceed a preset angle, the ratio of the difference value to the stretching speed is a second proportional value, wherein the first proportional value is larger than the second proportional value.
5. The control method according to claim 4, wherein the preset angle is in a range of 60 degrees to 70 degrees.
6. The control method according to claim 1, characterized by further comprising:
controlling the boom to shorten so that the second amplitude approaches the first amplitude when the second amplitude is larger than the first amplitude;
and under the condition that the second amplitude is smaller than the first amplitude, controlling the arm support to elongate so that the second amplitude is close to the first amplitude.
7. The control method according to claim 1, wherein a difference between the second amplitude and the first amplitude is smaller than a preset value, and the preset value ranges from 0.1 m to 0.2 m.
8. The control method according to claim 1, wherein the construction equipment includes an elevating fire truck, and the working device includes a working bucket.
9. The control method according to claim 1, wherein the working device includes a spray device.
10. A processor characterized by being configured to execute the control method for an engineering apparatus according to any one of claims 1 to 9.
11. A control device for construction equipment, characterized by comprising:
the angle sensor is used for acquiring the amplitude variation angle of the arm support;
the length sensor is used for acquiring the length of the arm support; and
the processor of claim 10.
12. An engineering equipment, characterized by comprising the control device for engineering equipment according to claim 11.
13. The work equipment of claim 12, wherein the work equipment comprises an elevated fire engine.
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| CN202111601849.0A CN114394530A (en) | 2021-12-24 | 2021-12-24 | Control method, processor and control device for engineering equipment and engineering equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111601849.0A CN114394530A (en) | 2021-12-24 | 2021-12-24 | Control method, processor and control device for engineering equipment and engineering equipment |
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| DE4404797A1 (en) * | 1994-02-09 | 1995-08-10 | Horst Dipl Ing Prischmann | Method of controlling movement of work-basket of lifting device |
| DE19808694A1 (en) * | 1998-03-03 | 1999-09-09 | Tkd Gmbh & Co Kg | Procedure for controlling lifting working platform with outrigger |
| CN106185740A (en) * | 2016-07-12 | 2016-12-07 | 徐工消防安全装备有限公司 | A kind of work platforms automatic vertical elevating movement device and control method thereof |
| CN110885046A (en) * | 2019-10-28 | 2020-03-17 | 江苏东迈重工机械有限公司 | Overload-prevention lifting mechanism and control method thereof |
| CN111392617A (en) * | 2020-04-15 | 2020-07-10 | 徐州海伦哲特种车辆有限公司 | Gravity descending control system of overhead working truck |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4404797A1 (en) * | 1994-02-09 | 1995-08-10 | Horst Dipl Ing Prischmann | Method of controlling movement of work-basket of lifting device |
| DE19808694A1 (en) * | 1998-03-03 | 1999-09-09 | Tkd Gmbh & Co Kg | Procedure for controlling lifting working platform with outrigger |
| CN106185740A (en) * | 2016-07-12 | 2016-12-07 | 徐工消防安全装备有限公司 | A kind of work platforms automatic vertical elevating movement device and control method thereof |
| CN110885046A (en) * | 2019-10-28 | 2020-03-17 | 江苏东迈重工机械有限公司 | Overload-prevention lifting mechanism and control method thereof |
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