CN114477037B - Arm support control method and device of working machine and working machine - Google Patents
Arm support control method and device of working machine and working machine Download PDFInfo
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- CN114477037B CN114477037B CN202210096129.1A CN202210096129A CN114477037B CN 114477037 B CN114477037 B CN 114477037B CN 202210096129 A CN202210096129 A CN 202210096129A CN 114477037 B CN114477037 B CN 114477037B
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- arm support
- target object
- arm
- gap width
- boom
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
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- 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
Abstract
The invention provides a boom control method and device of a working machine and the working machine, wherein the boom control method 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; according to the gap width, determining the contact state of the arm support and a target object; and under the condition that the arm support is determined to be in contact with the target object, controlling the arm support to stop acting. According to the invention, when the arm support is controlled to stop towards a target object, the arm support can be prevented from directly colliding with the target object to a certain extent, so that the arm support can achieve a better stable state due to the formation of double-side supports, and the safety operation of operators based on a working bucket or an aerial ladder on the arm support is facilitated.
Description
Technical Field
The present invention relates to the field of working machines, and in particular, to a boom control method and apparatus for a working machine, and a working machine.
Background
Aerial work machines typically include fire trucks, aerial powered work vehicles, boarding vehicles, and the like. The aerial working machine delivers the working personnel to the working position based on the working bucket or the scaling ladder on the arm support, so that the working personnel can work aloft or rescue the stay personnel at the working position. In practical application, the end of the arm support is easy to collide with the working position due to misoperation of operators and other reasons, so that safety risks are caused.
In the related art, by installing the ultrasonic sensor at the tail end of the arm support, when the ultrasonic sensor detects that the tail end of the arm support reaches a preset distance from the operation position, the arm support is actively controlled to stop moving, so that the arm support and the operation position can be prevented from collision. However, when the tail end of the arm support and the working position reach a preset distance, the arm support is in a cantilever state, and when an operator lifts the working bucket or the scaling ladder of the arm support up and down, the working bucket or the scaling ladder is easy to shake, so that the operator is inconvenient to lift up and down, and the working danger is easy to occur.
Disclosure of Invention
The invention provides a method and a device for controlling an arm support of a working machine and the working machine, which are used for solving or improving the problem that the safety operation of the arm support of the working machine is difficult to control at present.
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;
according to the gap width, determining the contact state of the arm support and a target object;
and under the condition that the arm support is determined to be in contact with the target object, controlling the arm support to stop acting.
According to the arm support control method of the working machine provided by the invention, the step of determining the contact state of the arm support and the target object according to the gap width comprises the following steps:
under the condition that the gap width exceeds a preset range, the arm support is determined to be in contact with the target object; and under the condition that the gap width is in a preset range, determining that the arm support is separated from the target object.
According to the arm support control method of the working machine provided by the invention, in the case that the gap width is the width between the opposite wall surfaces of the first arm and the second arm facing to one side of the target object, the step of determining the contact state of the arm support and the target object according to the gap width further comprises:
under the condition that the gap width is larger than a first preset value, the arm support is determined to be 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 arm support control method of the working machine provided by the invention, in the case that the gap width is the width between the opposite wall surfaces of one side of the first arm and one side of the second arm, which are away from the target object, the step of determining the contact state of the arm support and the target object according to the gap width further comprises:
under the condition that the gap width is larger than a second preset value, the arm support is determined to be separated from the target object; 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.
The arm support control method of the working machine provided by the invention 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, performing arm expanding control on the arm support so as to enable the arm support to be in contact with the target object.
According to the arm support control method of the working machine, according to the control parameters, the arm support is controlled to be unfolded so that the arm support is contacted with the target object, and the method comprises the following steps:
the arm support is subjected to amplitude variation to a preset angle, and the length of the arm support is controlled to reach a preset length;
controlling the amplitude of the arm support towards one side of the target object until the arm support contacts 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 greater than or equal to the distance between the target object and the head end of the arm support.
The invention also provides a boom control device of the working machine, which comprises:
the acquisition module is used for acquiring the gap width between the opposite wall surfaces of the adjacent first section arm and the second section arm on the arm support;
the determining module is used for determining the contact state of the arm support and the 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 also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the arm support control method of the working machine when executing the computer program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the boom control method of a work machine as described in any of the above.
The invention also provides a working machine which can perform the steps of the boom control method of a working machine as described in any one of the above.
According to the arm support control method and device for the operation machine and the operation machine, when the arm support is controlled to stop towards the target object, the contact state of the arm support and the target object can be judged by monitoring the gap width between the opposite wall surfaces of the adjacent first arm and second arm on the arm support, so that when the arm support contacts the target object, the arm support can be controlled to stop acting in real time, the arm support is prevented from being directly collided with the target object to a certain extent, the arm support can achieve a better stable state due to the formation of double-side supports, and the operation machine is convenient for operators to carry out safe operation based on a working bucket or an aerial ladder on the arm support.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a boom control method for a work machine provided by the present disclosure;
FIG. 2 is a schematic diagram of a construction of a boom for a work machine according to the present disclosure for performing a work on a location of a target object;
FIG. 3 is a schematic illustration of a boom of a work machine provided by the present disclosure;
FIG. 4 is a schematic view of a structure for detecting a gap width between a side of a second arm facing a target object and an opposite wall of a first arm according to the present invention;
fig. 5 is a schematic structural view of a boom control apparatus for a work machine according to the present invention;
fig. 6 is a schematic structural diagram of an electronic device provided by the present invention.
Reference numerals:
100: an operation platform; 200: an amplitude variation mechanism; 300: arm support;
400: a target object; 500: a proximity switch; 600: a slide block;
31: a first arm; 32: a second arm segment; 33: a telescopic aerial ladder;
331: a first segment; 332: a second segment.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The following describes a boom control method and apparatus for a working machine and the working machine in accordance with the present invention with reference to fig. 1 to 6.
As shown in fig. 1, the present embodiment provides a boom control method for a working machine, where an execution body of the method may be a vehicle-mounted controller of the working machine or may be a server communicatively connected to the vehicle-mounted controller, and the method includes the following steps:
step 110, obtaining the gap width between the 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 section arms, the first section arm and the second section arm are any two adjacent sections among the plurality of section arms, and the second section arm is telescopically inserted into the first section arm.
In this embodiment, the gap width between the opposite wall surfaces of the adjacent first and second section arms can be detected by a mechanical proximity switch or a non-contact proximity switch.
And 120, determining the contact state of the arm support and the target object according to the gap width.
Because under the effect of dead weight, the second festival arm is kept away from the one end of first festival arm and has the trend of taking place the rotation down for the tip of first festival arm to before the second festival arm contacts with the object, back, the clearance width between the opposite wall of first festival arm and second festival arm can change, and then this embodiment can be according to clearance width, confirm the contact state of cantilever crane and object.
And 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.
According to the invention, when the arm support is controlled to stop towards the target object, the contact state of the arm support and the target object can be judged by monitoring the gap width between the opposite wall surfaces of the adjacent first arm and second arm on the arm support, so that the arm support can be controlled to stop action in real time when the arm support contacts the target object, the arm support is prevented from directly colliding with the target object to a certain extent, the arm support can reach a better stable state due to the formation of double-side supports, and the safety operation of operators based on a working bucket or an aerial ladder on the arm support is facilitated.
As shown in fig. 2, the present embodiment provides a working machine that may be a fire truck, an overhead power-on working truck, a boarding car, or the like.
The working machine includes a working platform 100, a luffing mechanism 200 and a boom 300, wherein one end of the luffing mechanism 200 and the head end of the boom 300 are respectively rotatably connected with the working platform 100, the other end of the luffing mechanism 200 is rotatably connected with the middle part of the boom 300, and the tail end of the boom 300 is contacted with a target object 400.
The working platform 100 is preferably a movable vehicle body, and the boom of the working machine is a telescopic boom, where the telescopic boom is provided with N sections of arms, the telescopic boom includes a first arm section, a second arm section, a … section, a N-1 section and a N-th section that are sequentially connected. The second arm may be an nth arm, and the first arm may be an N-1 arm, where N is a natural number greater than or equal to 2.
In the case that the telescopic boom is provided with two joint arms, one end of the first joint arm 31 shown in the embodiment is rotatably connected to the working platform 100, and one end of the second joint arm 32 is movably inserted into the other end of the first joint arm 31, and the other end of the second joint arm 32 is used as the second joint arm of the boom 300.
Here, the first arm 31 and the second arm 32 are connected by a telescopic driving mechanism, preferably an oil cylinder, and the second arm 32 can be controlled to move relative to the first arm 31 by controlling the telescopic stroke of the telescopic driving mechanism, so as to change the length of the arm frame 300.
As shown in fig. 2 and 3, a telescopic aerial ladder 33 is disposed on a side surface 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 arm 31, the second section 332 is disposed on the second arm 32, and the second section 332 can perform telescopic motion relative to the first section 331 along with movement of the second arm 32. In some embodiments, in the case where the boom is a telescopic boom, determining the contact state between the boom and the target object according to the gap width in the embodiment includes, but is not limited to, the following steps:
under the condition that the gap width exceeds a preset range, the arm support is determined to be in contact with a target object; and under the condition that the gap width 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 double-side supports, and a better stable state is achieved. Therefore, compared with the gap width between the opposite wall surfaces of the adjacent first section arm and the second section arm can be changed when the target object supports the arm support before the arm support contacts with the target object, the contact state of the arm support and the target object can be judged according to the distribution condition of the gap width relative to the preset range.
In a specific embodiment, in a case where the gap width is the width between the opposite wall surfaces of the first arm and the second arm facing the side of the target object, the contact state between the boom and the target object is determined according to the gap width according to the embodiment, which includes but is not limited to the following steps:
under the condition that the gap width is larger than a first preset value, the arm support is determined to be in contact with a target object; and under the condition that the gap width is not larger than a first preset value, determining that the arm support is separated from the target object.
Specifically, for the gap distributed between the opposite wall surfaces of the first section arm and the second section arm on the side facing the target object, when the arm support is not in contact with the target object, the tail end of the second section arm deflects towards one side of the target object relative to the first section arm under the action of the gravity of the second section arm, so that the gap width between the opposite wall surfaces of the second section arm and the first section arm on the side facing the target object 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 separation of the arm support and the target object can be determined.
In contrast, when the arm support contacts with the target object, since the two ends of the arm support form double-side supports, the gap width between the side surface of the second arm facing the target object and the opposite wall surface of the first arm is increased to a certain extent, and when the gap width is determined to be larger than the first preset value, the arm support can be determined to contact with the target object.
As shown in fig. 4, in this embodiment, a proximity switch 500 is mounted at the end of the first arm 31, the proximity switch 500 is located at a side of the end of the first arm 31 facing the target object 400, and the detection end of the proximity switch 500 extends toward 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 better protection for the proximity switch 500, the present embodiment may provide a slider 600 on the inner wall surface of the end of the first arm 31, and the second arm 32 may slide relative to the slider 600 within the first arm. Meanwhile, the present embodiment constructs a mounting hole on the slider 600 in which the proximity switch 500 is mounted, and a detection end of the proximity switch 500 is opposite to a side of the second link arm 32 toward the target object 400 so as to detect a gap width W between the second link arm 32 and the slider 600.
Accordingly, in the case where the gap width is the width between the opposite wall surfaces of the first arm 31 and the second arm 32 on the side facing away from the target object 400, the contact state between the boom and the target object is determined according to the gap width as shown in the present embodiment, including, but not limited to, the following steps:
under the condition that the gap width is larger than a second preset value, the arm support is determined to be separated from the target object; 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, regarding the gaps between the opposite wall surfaces distributed on one side of the first section arm and the second section arm, which is away from the target object, compared with the gaps between the opposite wall surfaces distributed on one side of the first section arm and the second section arm, when the target object supports the arm frame before the arm frame contacts the target object, the gap width between the opposite wall surfaces of the adjacent first section arm and second section arm is reduced. In some embodiments, the contact state between the boom and the target object may be obtained by a method including, but not limited to, the steps of:
acquiring a pressure value fed back by a pressure sensor;
under the condition that the pressure value is larger than the preset pressure, the tail end of the arm support is determined to be in contact with the target object; under the condition that the pressure value is equal to the preset pressure, the tail end of the arm support is determined to be separated from the target object;
in this embodiment, a force bearing component is disposed at a side surface of the end of the arm frame facing the target object, and the pressure sensor is disposed between opposite wall surfaces of the arm frame and the force bearing component.
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 contacted with the target object, the bearing component 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 tail end of the arm support can be judged to be contacted with the target object.
Correspondingly, when the tail end of the arm support is separated from the target object, the pressure sensor mainly receives the tensile force from the bearing component, and the tensile force reflects the gravity of the bearing component due to the fact that the tensile force is relatively small, 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 bearing member, 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 bearing component comprises a hard layer and a flexible layer, wherein the hard layer is connected with the flexible layer, the hard layer faces towards the tail end of the arm support, and the flexible layer faces away 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 accurate boom extension control of the boom according to the position of the target object, the boom control method of the working machine according to the present 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, performing arm expanding control on the arm support so as to enable the arm support to be in contact with the target object.
Here, the positional information of the target object may be acquired by a positioning device on the work machine, and the positioning device may be, for example, 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 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 coordinate of the work platform of the work machine with respect to the target object. In actual operation, the embodiment can reasonably plan the position coordinates of the operation platform according to the actual road conditions and the operation range of the arm support. Therefore, after the position parameter of the working platform is determined, the working machine can be controlled to move to the target position corresponding to the position parameter so as to carry out subsequent arm expanding control on the arm frame.
Meanwhile, due to the influence of the operation environment, multiple operations may be required to be performed on the arm frame to control the arm frame to be in contact with the target object, and the control parameters of the arm frame shown in the embodiment include an amplitude changing angle for carrying out amplitude changing on the arm frame for multiple times, an extension length of the arm frame, and the like. Therefore, in actual operation, the control parameters shown in the present embodiment are specifically a plurality of parameters sequentially arranged in time series, and the attitude control can be performed on the boom once according to each parameter.
In some embodiments, in order to perform arm-expanding control on the arm frame more reliably, according to the control parameters, the arm-expanding control is performed on the arm frame, so that the arm frame contacts with the target object, which includes but is not limited to the following steps:
the arm support is subjected to amplitude variation to a preset angle, and the length of the arm support is controlled to reach the preset length;
and controlling the amplitude variation of the arm support towards one side of the target object until the arm support contacts with the target object.
As shown in fig. 2, the preset angle shown in the embodiment is the inclination angle of the arm support relative to the horizontal plane, the preset angle is larger than arctan (H/L), H is the vertical height of the target object relative to the horizontal plane where the head end of the arm support is located, and L is the horizontal distance between the 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 greater than or equal to the distance between the target object and the head end of the arm support.
It should be noted that, in this embodiment, the preset length is greater than or equal to the distance between the target object and the head end of the arm frame, so as to ensure that the tail end of the arm frame or the part of the arm frame near the tail end of the arm frame can be contacted with the target object.
Before the boom is subjected to the luffing operation, each arm section of the boom shown in the embodiment may be in a boom expanding state or a boom contracting state, which is not particularly limited herein.
Of course, in order to prevent the boom from interfering with surrounding buildings or plants during the luffing operation, the present embodiment should ensure that the boom is in a contracted state as much as possible before the luffing operation is performed on the boom.
The boom control apparatus for a working machine according to the present invention will be described below, and the boom control apparatus for a working machine described below and the boom control method for a working machine described above may be referred to correspondingly.
As shown in fig. 5, the present embodiment provides a boom control apparatus for a working machine, including the following modules:
the acquiring module 510 is configured to acquire a gap width between opposite wall surfaces of adjacent first and second section arms on the arm support;
a determining module 520, 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 arm rest to stop acting under the condition that the arm rest is determined to be in contact with the target object.
Specifically, when the arm support is controlled to stop towards the target object, the contact state of the arm support and the target object can be judged by monitoring the gap width between the opposite wall surfaces of the adjacent first arm and second arm on the arm support, so that when the arm support contacts the target object, the stop action of the arm support can be controlled in time, the arm support is prevented from directly colliding with the target object to a certain extent, the arm support can reach a better stable state due to the formation of double-side supports, and the safety operation of operators based on a working bucket or an aerial ladder on the arm support is facilitated.
Preferably, the present embodiment also provides a working machine that can perform the steps of the boom control method of a working machine as described in any one of the above.
Specifically, since the working machine shown in the present embodiment may implement the boom control method of the working machine shown in the foregoing embodiment, the working machine shown in the present embodiment includes all the technical solutions of the foregoing embodiment, and therefore, at least all the beneficial effects brought by all the technical solutions of the foregoing embodiment are not described herein in detail.
It should be noted here that the working machine shown in the present embodiment includes a fire truck, a live working vehicle, a climbing vehicle, and the like, and is not particularly limited herein.
Fig. 6 illustrates a physical schematic diagram of an electronic device, as shown in fig. 6, which may include: processor 610, communication interface (Communications Interface) 620, memory 630, and communication bus 640, wherein processor 610, communication interface 620, and memory 630 communicate with each other via communication bus 640. Processor 610 may invoke logic instructions in memory 630 to perform a boom control method of 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; according to the gap width, determining the contact state of the arm support and a target object; and under the condition that the arm support is determined to be in contact with the target object, controlling the arm support to stop acting.
Further, the logic instructions in the memory 630 may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the boom control method of a work machine provided by the methods described above, 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; according to the gap width, determining the contact state of the arm support and a target object; and under the condition that the arm support is determined to be in contact with the target object, controlling the arm support to stop acting.
In yet another aspect, the present invention provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the boom control method of the work machine provided above, 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; according to the gap width, determining the contact state of the arm support and a target object; and under the condition that the arm support is determined to be in contact with the target object, controlling the arm support to stop acting.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A boom control method for a work machine, comprising:
acquiring the gap width between the opposite wall surfaces of a first section arm and a second section arm which are adjacent to each other on the arm support, wherein the arm support is a telescopic arm support, and the second section arm is telescopically inserted into the first section arm;
according to the gap width, determining the contact state of the arm support and a target object;
and under the condition that the arm support is determined to be in contact with the target object, controlling the arm support to stop acting, wherein the arm support forms double-side support.
2. The boom control method of a working machine according to claim 1, wherein the step of determining a contact state of the boom with a target object according to the gap width includes:
under the condition that the gap width exceeds a preset range, the arm support is determined to be in contact with the target object; and under the condition that the gap width is in a preset range, determining that the arm support is separated from the target object.
3. The boom control method of a working machine according to claim 2, wherein in a case where the gap width is a width between opposite wall surfaces of the first and second boom on a side facing the target object, the step of determining a 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, the arm support is determined to be 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 of a working machine 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 and second boom facing away from the target object, the step of determining a 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 second preset value, the arm support is determined to be separated from the target object; 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 of a work machine according to any one of claims 1 to 4, further comprising:
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, performing arm expanding 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 a 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:
the arm support is subjected to amplitude variation to a preset angle, and the length of the arm support is controlled to reach a preset length;
controlling the amplitude of the arm support towards one side of the target object until the arm support contacts 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 greater than or equal to the distance between the target object and the head end of the arm support.
7. An arm support control device for a working machine, comprising:
the acquisition module is used for acquiring the gap width between the opposite wall surfaces of the adjacent first section arm and the second section arm on the arm support, the arm support is a telescopic arm support, and the second section arm is telescopically inserted into the first section arm;
the determining module is used for determining the contact state of the arm support and the 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, and the arm support forms double-side support.
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, when executing the computer program, implements the steps of the boom control method of a work machine according to any of claims 1 to 6.
9. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the steps of the boom control method of a working machine according to any one of claims 1 to 6.
10. A work machine, characterized in that the work machine is adapted to perform the steps of the boom control method of a work machine according to any one of claims 1 to 6.
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| CN114477037A (en) | 2022-05-13 |
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