CN114477037A - Arm support control method and device for operation machinery and operation machinery - Google Patents
Arm support control method and device for operation machinery and operation machinery Download PDFInfo
- Publication number
- CN114477037A CN114477037A CN202210096129.1A CN202210096129A CN114477037A CN 114477037 A CN114477037 A CN 114477037A CN 202210096129 A CN202210096129 A CN 202210096129A CN 114477037 A CN114477037 A CN 114477037A
- Authority
- CN
- China
- Prior art keywords
- arm support
- target object
- arm
- boom
- gap width
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides a method and a device for controlling an arm support of a working machine and the working machine, wherein the method for controlling the arm support of the working machine comprises the following steps: acquiring the gap width between the opposite wall surfaces of the adjacent first section arm and the second section arm on the arm support; determining the contact state of the arm support and a target object according to the gap width; and controlling the arm support to stop acting under the condition that the arm support is determined to be in contact with the target object. When the control arm support is stopped towards the target object, the invention can prevent the arm support from directly colliding with the target object to a certain extent, so that the arm support achieves a better stable state due to the formation of bilateral support, and is convenient for operators to safely operate based on a working bucket or an aerial ladder on the arm support.
Description
Technical Field
The invention relates to the technical field of operation machinery, in particular to a method and a device for controlling an arm support of operation machinery and the operation machinery.
Background
Aerial work machines typically include fire trucks, aerial work vehicles, climbing vehicles, and the like. The aerial working machine delivers the operating personnel to the working position based on the working bucket or the scaling ladder on the arm support so that the operating personnel can carry out aerial work or rescue the staying personnel at the working position. In practical application, often due to misoperation of operators and other reasons, the tail end of the arm support is easy to collide with an operation position, so that safety risk is caused.
In the related art, the ultrasonic sensor is arranged at the tail end of the arm support, and when the ultrasonic sensor detects that the distance between the tail end of the arm support and the operation position reaches the preset distance, the arm support is actively controlled to stop acting, so that the arm support and the operation position are prevented from colliding. However, when the end of the boom and the working position reach a preset distance, the boom is in a cantilever state, and when an operator gets on or off the working bucket of the boom or the aerial ladder, the working bucket or the aerial ladder is easy to shake, which causes inconvenience for the operator to get on or off, and is easy to cause operation danger.
Disclosure of Invention
The invention provides a boom control method and device of an operating machine and the operating machine, which are used for solving or improving the problem that the safe operation of a boom of the operating machine is difficult to control currently.
The invention provides a boom control method of a working machine, which comprises the following steps:
acquiring the gap width between the opposite wall surfaces of the adjacent first section arm and the second section arm on the arm support;
determining the contact state of the arm support and a target object according to the gap width;
and controlling the arm support to stop acting under the condition that the arm support is determined to be in contact with the target object.
According to the boom control method of the working machine provided by the invention, the step of determining the contact state of the boom and the target object according to the gap width comprises the following steps:
determining that the arm support is in contact with the target object under the condition that the gap width exceeds a preset range; and under the condition that the width of the gap is within a preset range, determining that the arm support is separated from the target object.
According to the boom control method of the work machine according to the present invention, in a case where the gap width is a width between opposite wall surfaces of the first knuckle arm and the second knuckle arm on the side facing the target object, the step of determining the contact state of the boom with the target object according to the gap width further includes:
under the condition that the gap width is larger than a first preset value, determining that the arm support is in contact with the target object; and under the condition that the gap width is not larger than the first preset value, determining that the arm support is separated from the target object.
According to the boom control method of the working machine provided by the present invention, in a case where the gap width is a width between opposite wall surfaces of the first joint arm and the second joint arm on a side away from the target object, the step of determining the contact state of the boom and the target object according to the gap width further includes:
determining that the arm support is separated from the target object under the condition that the gap width is larger than a second preset value; and under the condition that the gap width is not larger than the second preset value, determining that the arm support is in contact with the target object.
According to the boom control method of the working machine provided by the invention, the method further comprises the following steps:
acquiring the position information of the target object;
determining control parameters of the arm support according to the position information;
and according to the control parameters, carrying out arm spreading control on the arm support so as to enable the arm support to be in contact with the target object.
According to the boom control method of the working machine provided by the invention, the step of performing boom extension control on the boom according to the control parameter so as to enable the boom to be in contact with the target object comprises the following steps:
changing the amplitude of the arm support to a preset angle, and controlling the length of the arm support to reach a preset length;
controlling the arm support to change the amplitude towards one side of the target object until the arm support is contacted with the target object;
the preset angle is an inclination angle of the arm support relative to a horizontal plane, the preset angle is larger than arctan (H/L), H is a vertical height of the target object relative to the horizontal plane where the head end of the arm support is located, and L is a horizontal distance between a vertical projection of the target object on the horizontal plane where the head end of the arm support is located and the head end of the arm support; the preset length is larger than or equal to the distance between the target object and the head end of the arm support.
The present invention also provides a boom control device for a working machine, including:
the acquisition module is used for acquiring the width of a gap between opposite wall surfaces of a first section arm and a second section arm which are adjacent on the arm support;
the determining module is used for determining the contact state of the arm support and a target object according to the gap width;
and the control module is used for controlling the arm support to stop acting under the condition that the arm support is determined to be in contact with the target object.
The invention further provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of the boom control method of the working machine.
The invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the boom control method of a working machine according to any one of the preceding claims.
The invention also provides a working machine which can execute the steps of the boom control method of the working machine.
According to the boom control method and device for the operation machine and the operation machine, when the boom is controlled to stop towards the target object, the contact state of the boom and the target object can be judged by monitoring the gap width between the opposite wall surfaces of the adjacent first section arm and the adjacent second section arm on the boom, so that when the boom is in contact with the target object, the boom can be controlled to stop acting in real time, the boom and the target object are prevented from directly colliding to a certain extent, the boom is enabled to reach a good stable state due to the formation of bilateral support, and the safe operation of an operator based on a working bucket or a scaling ladder on the boom is facilitated.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a boom control method of a working machine according to the present disclosure;
fig. 2 is a schematic structural diagram of the boom based on the working machine provided by the invention for operating the position of the target object;
fig. 3 is a schematic structural diagram of an arm support of a work machine according to the present disclosure;
FIG. 4 is a schematic structural diagram illustrating a gap width between a side of a second arm facing a target object and an opposite wall of the first arm according to the present invention;
fig. 5 is a schematic structural diagram of a boom control device of a working machine according to the present disclosure;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Reference numerals:
100: an operation platform; 200: a luffing mechanism; 300: a boom;
400: a target object; 500: a proximity switch; 600: a slider;
31: a first joint arm; 32: a second joint arm; 33: a telescopic aerial ladder;
331: a first segment; 332: a second segment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following describes a boom control method, a boom control device, and a working machine of a working machine according to the present invention with reference to fig. 1 to 6.
As shown in fig. 1, the embodiment provides a boom control method for a working machine, where an execution main body of the method may be a vehicle-mounted controller of the working machine, or may be a server in communication connection with the vehicle-mounted controller, and the method includes the following steps:
and 110, acquiring the width of a gap between opposite wall surfaces of the adjacent first section arm and the second section arm on the arm support.
The arm support shown in this embodiment is a telescopic arm support, the telescopic arm support includes a plurality of joint arms, the first joint arm and the second joint arm are any adjacent two of the plurality of joint arms, and the second joint arm is telescopically inserted into the first joint arm.
The present embodiment can detect the gap width between the opposing wall surfaces of the adjacent first and second nodal arms by a mechanical proximity switch or a non-contact proximity switch.
And step 120, determining the contact state of the arm support and the target object according to the gap width.
Under the action of self weight, one end, far away from the first knuckle arm, of the second knuckle arm has a tendency of rotating downwards relative to the end part of the first knuckle arm, so that the width of a gap between opposite wall surfaces of the first knuckle arm and the second knuckle arm can change before and after the second knuckle arm is in contact with a target object, and further the contact state of the arm support and the target object can be determined according to the width of the gap.
And step 130, controlling the arm support to stop acting under the condition that the arm support is determined to be in contact with the target object.
Therefore, when the boom is controlled to stop towards the target object, the contact state of the boom and the target object can be judged by monitoring the gap width between the opposite wall surfaces of the adjacent first section arm and the second section arm on the boom, so that when the boom is in contact with the target object, the boom can be controlled to stop acting in real time, the boom and the target object are prevented from directly colliding to a certain extent, the boom is enabled to reach a better stable state due to the formation of bilateral support, and the safe operation of an operator based on a working bucket or an aerial ladder on the boom is facilitated.
As shown in fig. 2, the present embodiment provides a working machine, which may be a fire truck, an aerial work vehicle, a climbing vehicle, or the like.
Here, the working machine includes a working platform 100, a luffing mechanism 200, and an arm support 300, wherein one end of the luffing mechanism 200 and a head end of the arm support 300 are rotatably connected to the working platform 100, respectively, the other end of the luffing mechanism 200 is rotatably connected to a middle portion of the arm support 300, and a tail end of the arm support 300 is in contact with a target object 400.
The working platform 100 is preferably a movable vehicle body, the boom of the working machine is a telescopic boom, and the telescopic boom comprises a first boom section, a second boom section, …, an N-1 boom section and an N boom section which are connected in sequence under the condition that the telescopic boom is provided with N boom sections. The second arm shown in this embodiment may be an nth arm, the first arm may be an nth-1 st arm, and N is a natural number greater than or equal to 2.
In the case that the telescopic boom is provided with two knuckle arms, one end of the first knuckle arm 31 shown in this embodiment is rotatably connected to the work platform 100, one end of the second knuckle arm 32 is movably inserted into the other end of the first knuckle arm 31, and the other end of the second knuckle arm 32 serves as the second knuckle arm of the boom 300.
Here, the first knuckle arm 31 and the second knuckle arm 32 are connected by a telescopic driving mechanism, which is preferably a cylinder, and the second knuckle arm 32 can be controlled to move relative to the first knuckle arm 31 by controlling the telescopic stroke of the telescopic driving mechanism, so as to change the length of the boom 300.
As shown in fig. 2 and 3, a telescopic aerial ladder 33 is disposed on a side of the boom 300 facing away from the target object 400, the telescopic aerial ladder 33 includes a first section 331 and a second section 332, the first section 331 is disposed on the first knuckle arm 31, the second section 332 is disposed on the second knuckle arm 32, and the second section 332 can perform telescopic motion relative to the first section 331 along with the movement of the second knuckle arm 32. In some embodiments, in a case that the boom is a telescopic boom, the determining the contact state of the boom and the target object according to the gap width in this embodiment includes, but is not limited to, the following steps:
determining that the arm support is in contact with the target object under the condition that the gap width exceeds a preset range; and under the condition that the width of the gap is within a preset range, determining that the arm support is separated from the target object.
Because the head end of the arm support is connected with the operation platform, when the arm support is contacted with a target object, the arm support can form bilateral support, and a better stable state is achieved. Therefore, compared with the case that the target object supports the boom before the boom contacts the target object, the gap width between the opposite wall surfaces of the adjacent first knuckle arm and the adjacent second knuckle arm changes, and the contact state of the boom and the target object can be judged according to the distribution condition of the gap width relative to the preset range in the embodiment.
In a specific embodiment, in a case that the gap width is a width between opposite wall surfaces of a side of the first arm section and a side of the second arm section facing the target object, the determining the contact state of the arm support and the target object according to the gap width in this embodiment includes, but is not limited to, the following steps:
under the condition that the gap width is larger than a first preset value, determining that the arm support is in contact with a target object; and under the condition that the gap width is not larger than the first preset value, determining that the arm support is separated from the target object.
Specifically, for a gap distributed between opposite wall surfaces of one side of the first knuckle arm and one side of the second knuckle arm facing the target object, when the arm support is not in contact with the target object, under the action of the self gravity of the second knuckle arm, the tail end of the second knuckle arm deflects towards one side of the target object relative to the first knuckle arm, so that the width of the gap between one side surface of the second knuckle arm facing the target object and the opposite wall surface of the first knuckle arm is reduced to a certain extent, and when the gap width is determined to be smaller than or equal to a first preset value, the phase separation of the arm support and the target object can be determined.
On the contrary, when the arm support is in contact with the target object, due to the fact that the two ends of the arm support form the bilateral supports, the gap width between one side face, facing the target object, of the second section arm and the opposite wall face of the first section arm can be increased to a certain extent, and therefore when the gap width is determined to be larger than the first preset value, it can be determined that the arm support is in contact with the target object.
As shown in fig. 4, in the present embodiment, the proximity switch 500 is mounted at the end of the first arm 31, the proximity switch 500 is located at the end of the first arm 31 facing a side surface of the target object 400, and the detection end of the proximity switch 500 extends to the inner wall surface of the second arm 32.
Wherein the proximity switch 500 may be replaced with a travel switch. In order to provide a good protection against the proximity switch 500, in this embodiment, a slider 600 may be provided on an inner wall surface of the distal end of the first link arm 31, and the second link arm 32 may be slidable relative to the slider 600 within the first link arm. Meanwhile, the present embodiment configures a mounting hole on the slider 600, in which the proximity switch 500 is mounted, and the sensing end of the proximity switch 500 is opposite to the side of the second joint arm 32 facing the target object 400, so as to sense the gap width W between the second joint arm 32 and the slider 600.
Accordingly, in the case that the gap width is the width between the opposite wall surfaces of the first knuckle arm 31 and the second knuckle arm 32 on the side away from the target object 400, the determining the contact state of the boom and the target object according to the gap width in the embodiment includes, but is not limited to, the following steps:
determining that the arm support is separated from the target object under the condition that the gap width is larger than a second preset value; and under the condition that the gap width is not larger than a second preset value, determining that the arm support is in contact with the target object.
Here, for the gap distributed between the opposite wall surfaces of the first joint arm and the second joint arm on the side away from the target object, compared to the gap before the arm support contacts the target object, when the target object supports the arm support, the gap width between the opposite wall surfaces of the adjacent first joint arm and the second joint arm may be reduced. In some embodiments, the method for acquiring the contact state of the boom and the target object may further include, but is not limited to, the following steps:
acquiring a pressure value fed back by a pressure sensor;
determining that the tail end of the arm support is in contact with the target object under the condition that the pressure value is greater than the preset pressure; determining that the tail end of the arm support is separated from the target object under the condition that the pressure value is equal to the preset pressure;
in the embodiment, a force bearing part is arranged on one side surface of the tail end of the arm support facing the target object, and the pressure sensor is arranged between the arm support and the opposite wall surface of the force bearing part.
As can be seen from the above, the present embodiment realizes the determination of the contact state between the end of the boom and the target object based on the form of pressure feedback. When the tail end of the arm support is in contact with a target object, the force bearing part is used as a supporting platform of the pressure sensor, the pressure sensor is mainly subjected to extrusion force from the tail end of the arm support, and the extrusion force is relatively large, so that when the pressure value fed back by the pressure sensor is larger than the preset pressure, the fact that the tail end of the arm support is in contact with the target object can be judged.
Correspondingly, when the tail end of the arm support is separated from the target object, the pressure sensor is mainly subjected to the pulling force from the force bearing part, and the pulling force is relatively small and reflects the gravity of the force bearing part, so that when the pressure value fed back by the pressure sensor is equal to the preset pressure, the tail end of the arm support can be judged to be separated from the target object.
Here, in this embodiment, an elastic connection member may be disposed between the arm support and the opposite wall surface of the force bearing part, for example, the elastic connection member is a spring, so as to effectively protect the pressure sensor without affecting the normal pressure detection of the pressure sensor.
The force bearing part comprises a hard layer and a flexible layer, the hard layer is connected with the flexible layer, the hard layer faces the tail end of the arm support, and the flexible layer deviates from the tail end of the arm support and is used for being in contact with an operation position.
In some embodiments, in order to facilitate performing arm extension control on the arm support accurately according to the position of the target object, the arm support control method of the work machine according to this embodiment includes, but is not limited to, the following steps:
acquiring position information of a target object;
determining control parameters of the arm support according to the position information;
and according to the control parameters, carrying out arm spreading control on the arm support so as to enable the arm support to be in contact with the target object.
Here, the position information of the target object may be obtained by a positioning device on the working machine, for example, the positioning device may be a radar, an ultrasonic positioning device, a visual positioning device, or the like, and is not particularly limited herein. Of course, the present embodiment may also acquire the position information of the target object by manual measurement in advance.
The present embodiment may also determine a position parameter of the work machine based on the position information of the target object, so as to control the work machine to move to the target position based on the position parameter.
The position parameter shown in this embodiment specifically refers to the position coordinates of the work platform of the work machine relative to the target object. In actual operation, the position coordinates of the operation platform can be reasonably planned according to actual road conditions and the operation range of the arm support. Therefore, after the position parameters of the operation platform are determined, the operation machine can be controlled to move to the target position corresponding to the position parameters, so that the arm support can be subjected to subsequent arm expanding control.
Meanwhile, because the control parameters of the boom shown in this embodiment include the variable amplitude angle for performing multiple variable amplitude operations on the boom, the length of the boom extension, and the like, the boom may need to be operated for multiple times to control the boom to contact with the target object. Therefore, in actual operation, the control parameters shown in this embodiment are specifically a plurality of parameters sequentially arranged in time sequence, and the boom can be subjected to one-time attitude control according to each parameter.
In some embodiments, in order to more reliably perform arm spreading control on the boom, the arm spreading control on the boom according to the control parameters in this embodiment is performed to make the boom contact with the target object, including but not limited to the following steps:
changing the amplitude of the arm support to a preset angle, and controlling the length of the arm support to reach a preset length;
and controlling the arm support to change the amplitude towards one side of the target object until the arm support is contacted with the target object.
As shown in fig. 2, the preset angle shown in this embodiment is an inclination angle of the boom relative to a horizontal plane, the preset angle is greater than arctan (H/L), H is a vertical height of the target object relative to the horizontal plane where the head end of the boom is located, and L is a horizontal distance between a vertical projection of the target object on the horizontal plane where the head end of the boom is located and the head end of the boom; the preset length is larger than or equal to the distance between the target object and the head end of the arm support.
It should be noted that, in the present embodiment, the preset length is greater than or equal to the distance between the target object and the head end of the boom, so as to ensure that the tail end of the boom or a portion of the boom close to the tail end of the boom can contact with the target object.
Before the amplitude variation operation is performed on the boom, each boom section of the boom shown in this embodiment may be in an arm expanding state or a contracting state, which is not specifically limited herein.
Of course, in order to prevent the boom from interfering with surrounding buildings or plants during the amplitude variation operation, the boom should be ensured to be in a contracted state as much as possible in the embodiment before the amplitude variation operation is performed on the boom.
The boom control device of the working machine according to the present invention is described below, and the boom control device of the working machine described below and the boom control method of the working machine described above may be referred to in correspondence with each other.
As shown in fig. 5, the present embodiment provides a boom control device for a working machine, including the following modules:
an obtaining module 510, configured to obtain a gap width between opposite wall surfaces of a first joint arm and a second joint arm that are adjacent to each other on the arm support;
the determining module 520 is configured to determine a contact state of the boom and the target object according to the gap width;
and the control module 530 is used for controlling the boom to stop acting under the condition that the boom is determined to be in contact with the target object.
Specifically, in this embodiment, when the boom is controlled to stop toward the target object, the contact state of the boom and the target object can be determined by monitoring the gap width between the opposite wall surfaces of the first joint arm and the second joint arm adjacent to each other on the boom, so that when the boom contacts the target object, the boom can be controlled to stop moving in real time, direct collision between the boom and the target object is avoided to a certain extent, a better stable state of the boom is achieved due to formation of bilateral support, and an operator can perform safe operation based on a working bucket or an aerial ladder on the boom conveniently.
Preferably, the present embodiment further provides a working machine, where the working machine may perform the steps of the boom control method for a working machine according to any one of the above descriptions.
Specifically, since the working machine shown in this embodiment can implement the boom control method of the working machine shown in the above embodiment, the working machine shown in this embodiment includes all technical solutions of the above embodiment, and therefore at least has all beneficial effects brought by all technical solutions of the above embodiment, which is not described in detail herein.
It should be noted that the working machine shown in the present embodiment includes a fire fighting truck, a hot-line work truck, a climbing truck, and the like, and is not particularly limited herein.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a processor (processor)610, a communication Interface 620, a memory (memory)630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 complete communication with each other through the communication bus 640. Processor 610 may invoke logic instructions in memory 630 to perform a method of boom control for a work machine, the method comprising: acquiring the gap width between the opposite wall surfaces of the adjacent first section arm and the second section arm on the arm support; determining the contact state of the arm support and a target object according to the gap width; and controlling the arm support to stop acting under the condition that the arm support is determined to be in contact with the target object.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present disclosure also provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by a computer, the computer can execute the boom control method of a working machine provided by the above methods, and the method includes: acquiring the gap width between the opposite wall surfaces of the adjacent first section arm and the second section arm on the arm support; determining the contact state of the arm support and a target object according to the gap width; and controlling the arm support to stop acting under the condition that the arm support is determined to be in contact with the target object.
In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the boom control method of the work machine provided in the above aspects, the method including: acquiring the gap width between the opposite wall surfaces of the adjacent first section arm and the second section arm on the arm support; determining the contact state of the arm support and a target object according to the gap width; and controlling the arm support to stop acting under the condition that the arm support is determined to be in contact with the target object.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A boom control method for a working machine, comprising:
acquiring the gap width between the opposite wall surfaces of the adjacent first section arm and the second section arm on the arm support;
determining the contact state of the arm support and a target object according to the gap width;
and controlling the arm support to stop acting under the condition that the arm support is determined to be in contact with the target object.
2. The boom control method of a working machine according to claim 1, wherein the step of determining the contact state of the boom with the target object according to the gap width includes:
determining that the arm support is in contact with the target object under the condition that the gap width exceeds a preset range; and under the condition that the width of the gap is within a preset range, determining that the arm support is separated from the target object.
3. The boom control method according to claim 2, wherein in a case where the gap width is a width between opposite wall surfaces of a side of the first joint arm and the second joint arm facing the target object, the step of determining the contact state of the boom with the target object based on the gap width further comprises:
under the condition that the gap width is larger than a first preset value, determining that the arm support is in contact with the target object; and under the condition that the gap width is not larger than the first preset value, determining that the arm support is separated from the target object.
4. The boom control method according to claim 2, wherein in a case where the gap width is a width between opposite wall surfaces of the first joint arm and a side of the second joint arm facing away from the target object, the step of determining the contact state of the boom with the target object based on the gap width further includes:
determining that the arm support is separated from the target object under the condition that the gap width is larger than a second preset value; and under the condition that the gap width is not larger than the second preset value, determining that the arm support is in contact with the target object.
5. The boom control method for a working machine according to any one of claims 1 to 4, further comprising:
acquiring position information of the target object;
determining control parameters of the arm support according to the position information;
and according to the control parameters, carrying out arm spreading control on the arm support so as to enable the arm support to be in contact with the target object.
6. The boom control method of the working machine according to claim 5, wherein the step of performing boom extension control on the boom so that the boom contacts the target object according to the control parameter includes:
changing the amplitude of the arm support to a preset angle, and controlling the length of the arm support to reach a preset length;
controlling the amplitude of the arm support to be changed towards one side of the target object until the arm support is in contact with the target object;
the preset angle is an inclination angle of the arm support relative to a horizontal plane, the preset angle is larger than arctan (H/L), H is a vertical height of the target object relative to the horizontal plane where the head end of the arm support is located, and L is a horizontal distance between a vertical projection of the target object on the horizontal plane where the head end of the arm support is located and the head end of the arm support; the preset length is larger than or equal to the distance between the target object and the head end of the arm support.
7. A boom control apparatus for a working machine, comprising:
the acquisition module is used for acquiring the width of a gap between opposite wall surfaces of a first section arm and a second section arm which are adjacent on the arm support;
the determining module is used for determining the contact state of the arm support and a target object according to the gap width;
and the control module is used for controlling the arm support to stop acting under the condition that the arm support is determined to be in contact with the target object.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the boom control method of a working machine according to any of claims 1 to 6 when executing the computer program.
9. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the boom control method of a work machine according to any of claims 1 to 6.
10. A working machine, characterized in that the working machine is adapted to carry out the steps of the boom control method of a working machine according to any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210096129.1A CN114477037B (en) | 2022-01-26 | 2022-01-26 | Arm support control method and device of working machine and working machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210096129.1A CN114477037B (en) | 2022-01-26 | 2022-01-26 | Arm support control method and device of working machine and working machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114477037A true CN114477037A (en) | 2022-05-13 |
| CN114477037B CN114477037B (en) | 2023-09-05 |
Family
ID=81475691
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210096129.1A Active CN114477037B (en) | 2022-01-26 | 2022-01-26 | Arm support control method and device of working machine and working machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114477037B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6446654A (en) * | 1987-08-17 | 1989-02-21 | Nippon Kokan Kk | Collision detecting device for robot |
| JPH08303176A (en) * | 1995-04-27 | 1996-11-19 | Furukawa Co Ltd | Deflection-angle detecting mechanism for sliding section of telescopic boom |
| US20080231221A1 (en) * | 2007-03-22 | 2008-09-25 | Kabushiki Kaisha Toshiba | Arm-equipped mobile robot and method for controlling the same |
| CN102163514A (en) * | 2011-04-08 | 2011-08-24 | 赵剑 | Permanent magnet type universal collision sensor |
| CN103663304A (en) * | 2013-12-13 | 2014-03-26 | 中联重科股份有限公司 | Device, method and system for collision prevention control over boom and engineering machine |
| CN105865401A (en) * | 2016-05-13 | 2016-08-17 | 北汽福田汽车股份有限公司 | Method and device for detecting deformation quantity of telescopic boom |
| CN206171235U (en) * | 2016-08-06 | 2017-05-17 | 王智勇 | Longitudinal wall receives electronic train of electric formula |
| JP2018080020A (en) * | 2016-11-16 | 2018-05-24 | 株式会社タダノ | Extendable boom |
| CN110921573A (en) * | 2018-09-20 | 2020-03-27 | 马尼托设备美国有限责任公司 | Cantilever extension monitoring system of telescopic forklift |
| CN112551397A (en) * | 2020-11-23 | 2021-03-26 | 长沙中联消防机械有限公司 | Control method and system for aerial ladder vehicle arm support and aerial ladder vehicle |
| JP2021060432A (en) * | 2021-01-25 | 2021-04-15 | 株式会社日立ハイテクサイエンス | Scanning probe microscope and probe contact detection method thereof |
| CN214989875U (en) * | 2021-07-05 | 2021-12-03 | 深圳市粤润通吊装运输有限公司 | Telescopic boom and crane |
-
2022
- 2022-01-26 CN CN202210096129.1A patent/CN114477037B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6446654A (en) * | 1987-08-17 | 1989-02-21 | Nippon Kokan Kk | Collision detecting device for robot |
| JPH08303176A (en) * | 1995-04-27 | 1996-11-19 | Furukawa Co Ltd | Deflection-angle detecting mechanism for sliding section of telescopic boom |
| US20080231221A1 (en) * | 2007-03-22 | 2008-09-25 | Kabushiki Kaisha Toshiba | Arm-equipped mobile robot and method for controlling the same |
| CN102163514A (en) * | 2011-04-08 | 2011-08-24 | 赵剑 | Permanent magnet type universal collision sensor |
| CN103663304A (en) * | 2013-12-13 | 2014-03-26 | 中联重科股份有限公司 | Device, method and system for collision prevention control over boom and engineering machine |
| CN105865401A (en) * | 2016-05-13 | 2016-08-17 | 北汽福田汽车股份有限公司 | Method and device for detecting deformation quantity of telescopic boom |
| CN206171235U (en) * | 2016-08-06 | 2017-05-17 | 王智勇 | Longitudinal wall receives electronic train of electric formula |
| JP2018080020A (en) * | 2016-11-16 | 2018-05-24 | 株式会社タダノ | Extendable boom |
| CN110921573A (en) * | 2018-09-20 | 2020-03-27 | 马尼托设备美国有限责任公司 | Cantilever extension monitoring system of telescopic forklift |
| CN112551397A (en) * | 2020-11-23 | 2021-03-26 | 长沙中联消防机械有限公司 | Control method and system for aerial ladder vehicle arm support and aerial ladder vehicle |
| JP2021060432A (en) * | 2021-01-25 | 2021-04-15 | 株式会社日立ハイテクサイエンス | Scanning probe microscope and probe contact detection method thereof |
| CN214989875U (en) * | 2021-07-05 | 2021-12-03 | 深圳市粤润通吊装运输有限公司 | Telescopic boom and crane |
Non-Patent Citations (2)
| Title |
|---|
| 潘冬;李娜;张晓东;梁常春;: "空间机械臂绳索式末端执行器柔顺抓捕策略研究", 载人航天, no. 05, pages 32 - 37 * |
| 贾庆轩;洪训超;陈钢;张龙;: "漂浮基空间柔性机械臂在轨捕获碰撞分析", 振动与冲击, no. 01, pages 195 - 203 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114477037B (en) | 2023-09-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109205515B (en) | System for stabilizing a self-propelled operating machine | |
| KR102418451B1 (en) | Robot control system | |
| CN102841566B (en) | Concrete pump truck monitoring method, concrete pump truck monitoring system and concrete pump truck | |
| US11534918B2 (en) | Device and method for controlling cooperative robot | |
| JP2018030692A (en) | Crane truck | |
| CA3048545C (en) | Operation control method and system for crane, and crane | |
| CN112942481B (en) | Excavator, anti-tipping control method and device thereof and storage medium | |
| CN104950909A (en) | Control system and control method for multi-section mechanical arm | |
| JP2017530273A (en) | Auto concrete pump and its operation method | |
| CN111721561B (en) | Method and device for judging stability of rotation operation and engineering machinery | |
| CN114477037A (en) | Arm support control method and device for operation machinery and operation machinery | |
| CN113478493A (en) | Collision protection method and system for mechanical arm, robot and storage medium | |
| CN111498698B (en) | Method and device for judging safety of boom rotation direction and engineering machinery | |
| EP3556712A1 (en) | Safety system | |
| CN116514031A (en) | Arm support control method, arm support controller, arm support control system and operation machine | |
| WO2020166720A1 (en) | Outrigger control device | |
| JP7159903B2 (en) | Target position estimation device | |
| KR101976358B1 (en) | Safety improve method of robot | |
| CN112390178A (en) | Crane and control method thereof | |
| CN113733040A (en) | Safety monitoring method and device for working robot and working robot | |
| CN112554253A (en) | Multifunctional emergency rescue vehicle and control method thereof | |
| CN115052830A (en) | System and method for monitoring crane and crane with system and method | |
| CN118045319A (en) | Arm support interference prevention method and device and engineering vehicle | |
| CN113371611B (en) | Control method and device for supporting leg assembly and engineering equipment | |
| CN117185207A (en) | Extrusion-preventing system, control method, control device and medium for aerial working equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |