CN115557439A - Method, device and medium for controlling straight arm type aerial work platform arm support - Google Patents
Method, device and medium for controlling straight arm type aerial work platform arm support Download PDFInfo
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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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Abstract
The invention provides a method, a device and a medium for controlling a straight arm type aerial work platform arm support. The method comprises the following steps: acquiring a boom angle of a boom, a boom length of the boom and a vehicle body inclination angle of a turntable part; determining an included angle between the arm support and the bottom surface of the working bucket according to the angle of the arm support and the inclination angle of the vehicle body; calculating the vertical height between the connecting point between the arm support and the rotary table part and the bottom surface of the working bucket according to the included angle between the arm support and the bottom surface of the working bucket, the arm support length and a preset calculation formula; judging whether the vertical height is greater than a preset threshold value or not, and if so, stopping the arm support from continuously changing the amplitude; if not, the current operation state of the arm support is kept. The technical problem that the working bucket impacts the ground is solved under the condition that the cost of any hardware device is not increased, and the service lives of the working bucket and the electric component connected with the arm support are prolonged.
Description
Technical Field
The invention relates to the technical field of aerial work platforms, in particular to a method, a device and a medium for controlling a straight arm type aerial work platform arm support.
Background
The straight arm type aerial work platform comprises a rotary table part, an arm support and a working bucket; one end of the arm support is connected with the trolley, and the other end of the arm support is connected with the working bucket; the arm support can rotate up and down relative to the lower vehicle, and the length of the arm support can be extended and contracted; the height of the working bucket relative to the ground can be controlled through the rotation of the arm support. In practical application of the straight-arm type aerial work platform, the working bucket directly impacts the ground when the amplitude of the working bucket is downward, so that the working bucket and electrical components (such as a weighing sensor) connected with the arm support are easily damaged.
Disclosure of Invention
The invention provides a method, a device and a medium for controlling a straight arm type aerial work platform arm support, which aim to solve the technical problem that a working bucket impacts the ground.
In order to solve the technical problem, the invention provides a method for controlling a straight arm type aerial work platform arm support, which comprises the following steps:
acquiring a boom angle of a boom, a boom length of the boom and a vehicle body inclination angle of a turntable part;
determining an included angle between the arm support and the bottom surface of the working bucket according to the arm support angle and the vehicle body inclination angle;
calculating the vertical height between the connecting point between the arm support and the rotary table part and the bottom surface of the working hopper according to the included angle between the arm support and the bottom surface of the working hopper, the length of the arm support and a preset calculation formula;
judging whether the vertical height is greater than a preset threshold value or not, and if so, stopping the arm support from continuously changing the amplitude; and if not, keeping the current operating state of the arm support.
Optionally, before the step of obtaining the boom angle of the boom, the boom length of the boom, and the vehicle body inclination of the turntable, the method further includes the following calibration steps:
moving the straight arm type aerial work platform to the horizontal ground;
extending the arm support to any length;
downwards rotating the arm support to enable the height of the bottom surface of the working bucket from the ground to be equal to a preset height;
acquiring a boom angle of the boom, a boom length of the boom and a vehicle body inclination angle of the turntable part;
if the vehicle body inclination angle is equal to 0, according to the formula h Calibration ＝Sinβ Calibration *L Calibration Calculating the calibrated vertical height between the connecting point between the arm support and the rotary table part and the bottom surface of the working bucket, wherein h is Calibration Represents a nominal vertical height, beta, between a connecting point between the boom and the turntable portion and a bottom surface of the working bucket at the time of calibration Calibration Representing the angle, L, between the boom and the bottom surface of the bucket during calibration Calibration Indicating the boom length at calibration.
Optionally, the step of determining an included angle between the boom and the bottom surface of the working bucket according to the boom angle and the vehicle body inclination angle specifically includes the following steps:
determining β = | α |, if γ =0 and α ≦ 0;
determining β = | α | - | γ |, if γ <0, α <0, and | α | > | γ |;
determining β = γ - α if γ >0, α >0, and γ > α;
determining β = γ + | α |, if γ >0 and α ≦ 0; wherein gamma represents the inclination angle of the vehicle body, alpha represents the angle of the arm support, and beta represents the included angle between the arm support and the bottom surface of the working bucket.
Optionally, the step of calculating the vertical height between the connecting point between the boom and the turntable portion and the bottom surface of the working bucket according to the included angle between the boom and the bottom surface of the working bucket, the boom length, and a preset calculation formula specifically includes the following steps:
substituting beta and L into a preset formula h1= Sin beta L to obtain h1, wherein L represents the length of the arm support, and h1 represents the vertical height between a connecting point between the arm support and the rotary table part and the bottom surface of the working bucket.
Optionally, the step of obtaining the boom angle of the boom, the boom length of the boom, and the vehicle body inclination angle of the turntable portion specifically includes the following steps:
acquiring a boom angle of a boom through a boom angle sensor;
acquiring the boom length of the boom through a boom length sensor;
and acquiring the inclination angle of the vehicle body of the turntable part through a vehicle body inclination angle sensor.
The invention also provides a device for controlling the straight arm type aerial work platform arm support, which comprises the following modules:
the acquisition module is used for acquiring the arm support angle of the arm support, the arm support length of the arm support and the vehicle body inclination angle of the turntable part;
the determining module is used for determining an included angle between the arm support and the bottom surface of the working bucket according to the arm support angle and the vehicle body inclination angle;
the calculating module is used for calculating the vertical height between the connecting point between the arm support and the rotary table part and the bottom surface of the working bucket according to the included angle between the arm support and the bottom surface of the working bucket, the length of the arm support and a preset calculating formula;
the judging module is used for judging whether the vertical height is larger than a preset threshold value or not, and if so, stopping the arm support from continuously changing the amplitude; and if not, keeping the current operation state of the arm support.
Optionally, the apparatus further includes a calibration module, configured to perform the following steps:
moving the straight arm type aerial work platform to the horizontal ground;
extending the arm support to any length;
rotating the arm support downwards to enable the height of the bottom surface of the working bucket from the ground to be equal to a preset height;
acquiring a boom angle of the boom, a boom length of the boom and a vehicle body inclination angle of the turntable part;
if the body inclination angle is equal to 0, then according to the formula h Calibration ＝Sinβ Calibration *L Calibration Calculating the calibrated vertical height between the connecting point between the arm support and the rotary table part and the bottom surface of the working bucket, wherein h is Calibration Represents a nominal vertical height, β, between a connection point between the boom and the turntable portion and a bottom surface of the working bucket at the time of calibration Calibration Represents an angle between the arm support and the bottom surface of the working bucket at the time of calibration, L Calibration Indicating the boom length at calibration.
Optionally, the determining module is specifically configured to perform the following steps:
if γ =0 and α ≦ 0, then determine β = | α |;
determining β = | α | - | γ |, if γ <0, α <0, and | α | > | γ |;
determining β = γ - α if γ >0, α >0, and γ > α;
determining β = γ + | α |, if γ >0 and α ≦ 0; wherein gamma represents the inclination angle of the vehicle body, alpha represents the angle of the arm support, and beta represents the included angle between the arm support and the bottom surface of the working bucket.
Optionally, the calculation module is specifically configured to execute the following steps:
substituting beta and L into a preset formula h1= Sin beta L to obtain h1, wherein L represents the length of the arm support, and h1 represents the vertical height between a connecting point between the arm support and the rotary table part and the bottom surface of the working bucket.
The invention also provides a computer storage medium on which a computer program is stored, which, when executed by a processor, is capable of implementing any one of the above-mentioned methods of controlling a boom of a straight-arm aerial work platform.
The method, the device and the medium for controlling the straight-arm type aerial work platform arm support provided by the invention can utilize the arm support angle sensor, the arm support length sensor and the vehicle body inclination angle sensor which are arranged on the straight-arm type aerial work platform to respectively obtain the arm support angle, the arm support length and the vehicle body inclination angle, calculate the vertical height between the connecting point between the arm support and the rotary table part and the bottom surface of the working bucket through the arm support angle, the arm support length, the vehicle body inclination angle and a preset calculation formula, and judge whether to stop the arm support to continuously change the amplitude according to the size relation between the calculated vertical height and a preset threshold value, so that the technical problem that the working bucket impacts the ground is solved under the condition that the cost of any hardware device is not increased, and the service lives of the working bucket and an electric component connected with the arm support are prolonged.
Drawings
Fig. 1 is a flowchart of a method for controlling a boom of a straight boom type aerial work platform according to an embodiment of the present invention.
Fig. 2 is a schematic diagram illustrating a principle of calibrating and monitoring the straight-arm aerial work platform on a horizontal ground according to an embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating the principle of calibrating and monitoring the straight-arm aerial work platform on an inclined surface according to an embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating a principle of calibrating and monitoring a straight-arm type aerial work platform on an inclined plane according to an embodiment of the present invention.
Fig. 5 is a schematic diagram illustrating the principle of calibrating and monitoring the straight-arm aerial work platform on an inclined surface according to an embodiment of the present invention.
[ reference symbols are explained below ]:
the rotary table part-1, the arm support-2, the working bucket-3, a connecting point-4 between the arm support and the rotary table part and a horizontal ground-5.
Detailed Description
To make the objects, advantages and features of the present invention more apparent, the method, apparatus and medium for controlling the boom of a straight boom type aerial work platform according to the present invention will be described in detail with reference to the accompanying drawings. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
In the description of the present invention, the terms "first", "second", etc. are used for convenience of description and reference, but are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined by a qualifier of "first," "second," etc. may explicitly or implicitly include one or more of that feature.
As shown in fig. 1 and fig. 2, the present embodiment provides a method for controlling a boom of a straight-arm type aerial work platform, including the following steps:
s1, acquiring an arm support angle of an arm support 2, an arm support length of the arm support 2 and a vehicle body inclination angle of a turntable part 1.
Optionally, the boom angle of the boom 2 is obtained through a boom angle sensor; acquiring the boom length of the boom 2 through a boom length sensor; the vehicle body inclination of the turntable portion 1 is acquired by a vehicle body inclination sensor.
The straight arm type aerial working platform is provided with an arm support angle sensor, an arm support length sensor, a vehicle body inclination angle sensor and a controller, the execution main body of the embodiment can be the controller, the arm support angle can be measured by the arm support angle sensor in real time, the arm support length can be measured by the arm support length sensor in real time, and the vehicle body inclination angle can be measured by the vehicle body inclination angle sensor in real time. The arm support angle sensor, the arm support length sensor and the vehicle body inclination angle sensor can send the measured results to the controller. As shown in fig. 2, the boom angle α is an included angle between the boom and a horizontal plane (or horizontal line), where an included angle above the horizontal line is a positive angle, and an angle below the horizontal line is a negative angle; the arm support length L is the extending length of the arm support 2; the vehicle body inclination angle γ refers to the inclination degree of the turntable portion 1, the vehicle body inclination angle γ is equal to 0 when the turntable portion 1 is placed on a horizontal plane, and when the top surface of the turntable portion 1 is a plane, the included angle between the top surface of the turntable portion 1 and the horizontal plane can be used as the vehicle body inclination angle.
S2, determining an included angle between the arm support 2 and the bottom surface of the working bucket 3 according to the arm support angle and the car body inclination angle.
Optionally, a calculation formula of an included angle β between the arm support 2 and the bottom surface of the working bucket 3 may be divided into the following four cases:
determining β = | α |, if γ =0 and α ≦ 0; this situation is illustrated in figure 2, which shows the straight boom aerial work platform on a level ground 5.
Determining β = | α | - | γ |, if γ <0, α <0, and | α | > | γ |; this situation is shown in fig. 3, which shows that the straight arm type aerial work platform is on the inclined surface, and β 1= | α | - | γ |, and β = β 1.
Determining β = γ - α if γ >0, α >0, and γ > α; this case is shown in fig. 4, where β 1= γ - α and β = β 1, indicating that the straight arm type aerial work platform is on an inclined surface.
Determining β = γ + | α |, if γ >0 and α ≦ 0; this situation is illustrated in figure 5, which shows the straight boom aerial work platform on an inclined surface. Wherein γ represents the vehicle body inclination angle, α represents the boom angle, and β represents an included angle between the boom 2 and the bottom surface of the working bucket 3.
The actual road surface condition is subdivided into the four conditions, and the beta value can be calculated by using different calculation formulas according to different road surface conditions, so that the anti-collision effect of the method is better.
And S3, calculating the vertical height between the connecting point 4 between the arm support 2 and the rotary table part 1 and the bottom surface of the working bucket 3 according to the included angle between the arm support 2 and the bottom surface of the working bucket 3, the length of the arm support and a preset calculation formula.
Optionally, β and L are substituted into a preset formula h1= Sin β × L to obtain h1, where L represents the length of the boom, and h1 represents the vertical height between a connection point 4 between the boom 2 and the turntable portion 1 and the bottom surface of the working bucket 3. This facilitates calculation of h1. In other embodiments, the preset formula may be modified appropriately. For example, for four cases in S2, for the first case, h1= Sin β L may be expressed as h1= Sin | α | L; for the second case, h1= Sin β L may be expressed as h1= Sin (| α | - | γ |) L; the principle is the same for the other cases.
S4, judging whether the vertical height is larger than a preset threshold value or not, and if so, stopping the arm support 2 from continuously changing the amplitude; and if not, keeping the current operation state of the arm support 2.
The preset threshold value is obtained according to the calibration step, one or more straight-arm type aerial work platforms can be selected for calibration when the method is practically applied, and the threshold value obtained after calibration can be directly used for other straight-arm type aerial work platforms with the same model and without calibration. If the vertical height is larger than a preset threshold value, the controller can close the hydraulic valve under the amplitude variation to stop the arm support 2.
The method for controlling the boom of the straight-arm aerial work platform provided by this embodiment may respectively obtain the boom angle, the boom length, and the vehicle body inclination angle by using the boom angle sensor, the boom length sensor, and the vehicle body inclination angle sensor of the straight-arm aerial work platform, calculate the vertical height between the connection point 4 between the boom 2 and the turntable portion 1 and the bottom surface of the working bucket 3 by using the boom angle, the boom length, the vehicle body inclination angle, and a preset calculation formula, and then judge whether to stop the boom 2 from continuously changing its amplitude according to the magnitude relation between the calculated vertical height and a preset threshold value, so as to solve the technical problem that the working bucket 3 impacts the ground without increasing the cost of any hardware device, thereby improving the service lives of the working bucket 3 and the electrical components connected to the boom 2.
Optionally, as shown in fig. 2, before the step of obtaining the boom angle of the boom 2, the boom length of the boom 2, and the vehicle body inclination of the turntable portion 1, the method further includes the following calibration steps:
moving the straight arm type aerial work platform to the horizontal ground 5;
extending the arm support 2 to any length;
downwards rotating the arm support 2 to enable the height of the bottom surface of the working bucket 3 from the ground to be equal to a preset height; the preset height may be h0 in fig. 2-5 or other values;
acquiring the arm support angle of the arm support 2, the arm support length of the arm support 2 and the vehicle body inclination angle of the turntable part 1;
if the vehicle body inclination angle is equal to 0, according to the formula h Calibration ＝Sinβ Calibration *L Calibration Calculating a calibrated vertical height between a connecting point 4 between the arm support 2 and the rotary table part 1 and the bottom surface of the working bucket 3, wherein h Calibration Represents a nominal vertical height, β, between a connection point 4 between the boom 2 and the turntable portion 1 and the bottom surface of the bucket 3 at the time of calibration Calibration Represents an angle, L, between the arm support 2 and the bottom surface of the bucket 3 at the time of calibration Calibration Indicating the boom length at calibration. If the inclination angle of the vehicle body is not equal to 0, the current ground is not the horizontal ground 5, and the calibration step needs to be executed again. h is Calibration May be the predetermined threshold, or will be close to h Calibration The value of (d) is used as the predetermined threshold value.
In the method for controlling the boom of the straight-arm aerial work platform provided by this embodiment, the calibrated vertical height is obtained in a calibration manner, so that an error corresponding to the calibrated vertical height and an error corresponding to the vertical height between the connection point 4 and the bottom surface of the working bucket 3 calculated in the real-time monitoring process can be mutually offset, and further, the vertical height between the connection point 4 and the bottom surface of the working bucket 3 calculated by the method is more accurate.
In other embodiments, the straight arm type aerial work platform can be placed on an inclined plane for calibration. The calibration data (e.g., values of h0 and h 1) on the level ground and the inclined plane may be the same or different.
Referring to fig. 1 and 2, based on the same technical concept as the method for controlling the boom of the straight-arm aerial work platform, the embodiment further provides a device for controlling the boom of the straight-arm aerial work platform, which includes the following modules:
the acquisition module is used for acquiring the arm support angle of the arm support 2, the arm support length of the arm support 2 and the vehicle body inclination angle of the turntable part 1;
the determining module is used for determining an included angle between the arm support 2 and the bottom surface of the working bucket 3 according to the arm support angle and the vehicle body inclination angle;
the calculation module is used for calculating the vertical height between a connection point 4 between the arm support 2 and the rotary table part 1 and the bottom surface of the working bucket 3 according to the included angle between the arm support 2 and the bottom surface of the working bucket 3, the arm support length and a preset calculation formula;
the judging module is used for judging whether the vertical height is larger than a preset threshold value or not, and if so, stopping the arm support 2 from continuously changing the amplitude; and if not, keeping the current operation state of the arm support 2.
The boom device for controlling the straight-arm type aerial work platform provided by the embodiment can utilize the boom angle sensor, the boom length sensor and the vehicle body inclination angle sensor which are arranged on the straight-arm type aerial work platform to respectively obtain the boom angle, the boom length and the vehicle body inclination angle, the vertical height between the connecting point 4 between the boom 2 and the turntable part 1 and the bottom surface of the working bucket 3 is calculated through the boom angle, the boom length, the vehicle body inclination angle and a preset calculation formula, and whether the boom 2 stops continuously changing the amplitude is judged according to the size relation between the calculated vertical height and a preset threshold value, so that the technical problem that the working bucket 3 impacts the ground is solved under the condition that the cost of any hardware device is not increased, and the service lives of the working bucket 3 and the electric components connected with the boom 2 are prolonged.
Optionally, referring to fig. 2, the apparatus further includes a calibration module, configured to perform the following steps:
moving the straight arm type aerial work platform to the horizontal ground 5;
extending the arm support 2 to any length;
downwards rotating the arm support 2 to enable the height between the bottom surface of the working bucket 3 and the ground to be equal to a preset height;
acquiring the arm support angle of the arm support 2, the arm support length of the arm support 2 and the vehicle body inclination angle of the turntable part 1;
if the body inclination angle is equal to 0, then according to the formula h Calibration ＝Sinβ Calibration *L Calibration Calculating a calibrated vertical height between a connecting point 4 between the arm support 2 and the rotary table part 1 and the bottom surface of the working bucket 3, wherein h Calibration Represents a nominal vertical height, β, between a connection point 4 between the boom 2 and the turntable portion 1 and the bottom surface of the bucket 3 at the time of calibration Calibration Represents the angle, L, between the boom 2 and the bottom surface of the bucket 3 during calibration Calibration Indicating the boom length at calibration.
The calibrated vertical height is obtained in a calibration mode, so that the error corresponding to the calibrated vertical height and the error corresponding to the vertical height between the connecting point 4 and the bottom surface of the working bucket 3 calculated in the real-time monitoring process can be mutually offset, and the vertical height between the connecting point 4 and the bottom surface of the working bucket 3 calculated by the method is more accurate.
Optionally, referring to fig. 2 to 5, the determining module is specifically configured to execute the following steps:
if γ =0 and α ≦ 0, then determine β = | α |;
determining β = | α | - | γ |, if γ <0, α <0, and | α | > | γ |;
determining β = γ - α if γ >0, α >0, and γ > α;
determining β = γ + | α |, if γ >0 and α ≦ 0; wherein γ represents the vehicle body inclination angle, α represents the boom angle, and β represents an included angle between the boom 2 and the bottom surface of the working bucket 3.
The actual road surface condition is subdivided into the four conditions, and the beta value can be calculated by using different calculation formulas according to different road surface conditions, so that the anti-collision effect of the method is better.
Optionally, referring to fig. 2 to 5, the calculation module is specifically configured to execute the following steps:
substituting β and L into a preset formula h1= Sin β × L to obtain h1, where L represents the length of the arm support, and h1 represents the vertical height between a connection point 4 between the arm support 2 and the turntable portion 1 and the bottom surface of the working bucket 3. This facilitates calculation of h1.
Optionally, referring to fig. 2, the obtaining module is specifically configured to perform the following steps:
acquiring the boom angle of the boom 2 through a boom angle sensor;
acquiring the boom length of the boom 2 through a boom length sensor;
the vehicle body inclination of the turntable portion 1 is acquired by a vehicle body inclination sensor.
Monitoring data required by the device and the method can be acquired through the arm support angle sensor, the arm support length sensor and the vehicle body inclination angle sensor, and then the anti-collision effect is achieved.
Based on the same technical concept as the method for controlling the boom of the straight-arm type aerial work platform, the invention also provides a computer storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, can perform any one of the methods for controlling the boom of the straight-arm type aerial work platform. The computer storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device, such as, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing.
It should be noted that, in the present specification, all the embodiments are described in a related manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus and computer-readable storage medium embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
In summary, the method, the device and the medium for controlling the boom of the straight-arm aerial work platform provided by the invention can utilize the boom angle sensor, the boom length sensor and the vehicle body inclination angle sensor of the straight-arm aerial work platform to respectively obtain the boom angle, the boom length and the vehicle body inclination angle, calculate the vertical height between the connecting point 4 between the boom 2 and the turntable part 1 and the bottom surface of the working bucket 3 through the boom angle, the boom length, the vehicle body inclination angle and a preset calculation formula, and judge whether to stop the boom 2 to continuously amplitude according to the size relationship between the calculated vertical height and a preset threshold value, so that the technical problem that the working bucket 3 impacts the ground is solved under the condition of not increasing the cost of any hardware device, and the service lives of the working bucket 3 and the electrical components connected with the boom 2 are further prolonged.
The above description is only for the purpose of describing the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the present invention.
Claims (10)
1. The method for controlling the arm support of the straight arm type aerial work platform is characterized by comprising the following steps of:
acquiring a boom angle of a boom, a boom length of the boom and a vehicle body inclination angle of a turntable part;
determining an included angle between the arm support and the bottom surface of the working bucket according to the arm support angle and the vehicle body inclination angle;
calculating the vertical height between the connecting point between the arm support and the rotary table part and the bottom surface of the working bucket according to the included angle between the arm support and the bottom surface of the working bucket, the length of the arm support and a preset calculation formula;
judging whether the vertical height is greater than a preset threshold value or not, and if so, stopping the arm support from continuously changing the amplitude; and if not, keeping the current operating state of the arm support.
2. The method for controlling the boom of the straight-arm aerial work platform of claim 1, wherein before the step of obtaining the boom angle of the boom, the boom length of the boom and the body inclination of the turntable portion, the method further comprises the following calibration steps:
moving the straight arm type aerial work platform to the horizontal ground;
extending the arm support to any length;
rotating the arm support downwards to enable the height of the bottom surface of the working bucket from the ground to be equal to a preset height;
acquiring a boom angle of the boom, a boom length of the boom and a vehicle body inclination angle of the turntable part;
if the vehicle body inclination angle is equal to 0, according to the formula h Calibration ＝Sinβ Calibration *L Calibration Calculating the calibrated vertical height between the connecting point between the arm support and the rotary table part and the bottom surface of the working bucket, wherein h is Calibration Represents a nominal vertical height, beta, between a connecting point between the boom and the turntable portion and a bottom surface of the working bucket at the time of calibration Calibration Representing the angle, L, between the boom and the bottom surface of the bucket during calibration Calibration Indicating the boom length at calibration.
3. The method of claim 1, wherein the step of determining an included angle between the boom and a bottom surface of the working bucket based on the boom angle and the body tilt angle comprises the steps of:
determining β = | α |, if γ =0 and α ≦ 0;
determining β = | α | - | γ |, if γ <0, α <0, and | α | > | γ |;
determining β = γ - α if γ >0, α >0, and γ > α;
determining β = γ + | α |, if γ >0 and α ≦ 0; wherein gamma represents the inclination angle of the vehicle body, alpha represents the angle of the arm support, and beta represents the included angle between the arm support and the bottom surface of the working bucket.
4. The method for controlling the boom of the straight-arm aerial work platform of claim 3, wherein the step of calculating the vertical height between the connecting point between the boom and the turntable portion and the bottom surface of the working bucket according to the included angle between the boom and the bottom surface of the working bucket, the boom length, and a preset calculation formula comprises the following steps:
substituting beta and L into a preset formula h1= Sin beta L to obtain h1, wherein L represents the length of the arm support, and h1 represents the vertical height between a connecting point between the arm support and the rotary table part and the bottom surface of the working bucket.
5. The method for controlling the boom of the straight-arm aerial work platform of claim 1, wherein the step of obtaining the boom angle of the boom, the boom length of the boom and the body tilt angle of the turntable portion comprises the following steps:
acquiring a boom angle of a boom through a boom angle sensor;
acquiring the boom length of the boom through a boom length sensor;
and acquiring the inclination angle of the vehicle body of the turntable part through the vehicle body inclination angle sensor.
6. The device for controlling the arm support of the straight arm type aerial work platform is characterized by comprising the following modules:
the acquisition module is used for acquiring the arm support angle of the arm support, the arm support length of the arm support and the vehicle body inclination angle of the turntable part;
the determining module is used for determining an included angle between the arm support and the bottom surface of the working bucket according to the arm support angle and the vehicle body inclination angle;
the calculating module is used for calculating the vertical height between the connecting point between the arm support and the rotary table part and the bottom surface of the working bucket according to the included angle between the arm support and the bottom surface of the working bucket, the length of the arm support and a preset calculating formula;
the judging module is used for judging whether the vertical height is larger than a preset threshold value or not, and if so, stopping the arm support from continuously changing the amplitude; and if not, keeping the current operating state of the arm support.
7. The apparatus of claim 6 further comprising a calibration module for performing the steps of:
moving the straight arm type aerial work platform to the horizontal ground;
extending the arm support to any length;
downwards rotating the arm support to enable the height of the bottom surface of the working bucket from the ground to be equal to a preset height;
acquiring a boom angle of the boom, a boom length of the boom and a vehicle body inclination angle of the turntable part;
if the body inclination angle is equal to 0, then according to the formula h Calibration ＝Sinβ Calibration *L Calibration Calculating the calibrated vertical height between the connecting point between the arm support and the rotary table part and the bottom surface of the working bucket, wherein h is Calibration Represents a nominal vertical height, β, between a connection point between the boom and the turntable portion and a bottom surface of the working bucket at the time of calibration Calibration Representing the angle, L, between the boom and the bottom surface of the bucket during calibration Calibration Indicating the boom length at calibration.
8. The apparatus of claim 6, wherein the determination module is specifically configured to perform the following steps:
if γ =0 and α ≦ 0, then determine β = | α |;
determining β = | α | - | γ |, if γ <0, α <0, and | α | > | γ |;
determining β = γ - α if γ >0, α >0, and γ > α;
determining β = γ + | α |, if γ >0 and α ≦ 0; wherein gamma represents the inclination angle of the vehicle body, alpha represents the angle of the arm support, and beta represents the included angle between the arm support and the bottom surface of the working bucket.
9. The apparatus of claim 8, wherein the computing module is specifically configured to perform the following steps:
substituting beta and L into a preset formula h1= Sin beta L to obtain h1, wherein L represents the length of the arm support, and h1 represents the vertical height between a connecting point between the arm support and the rotary table part and the bottom surface of the working bucket.
10. A computer storage medium having a computer program stored thereon, the computer program when executed by a processor being operable to implement the method of controlling a boom of a straight boom aerial work platform of any of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211156939.8A CN115557439A (en) | 2022-09-21 | 2022-09-21 | Method, device and medium for controlling straight arm type aerial work platform arm support |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211156939.8A CN115557439A (en) | 2022-09-21 | 2022-09-21 | Method, device and medium for controlling straight arm type aerial work platform arm support |
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| Publication Number | Publication Date |
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| CN115557439A true CN115557439A (en) | 2023-01-03 |
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|---|---|---|---|
| CN202211156939.8A Pending CN115557439A (en) | 2022-09-21 | 2022-09-21 | Method, device and medium for controlling straight arm type aerial work platform arm support |
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| Country | Link |
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| CN (1) | CN115557439A (en) |
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- 2022-09-21 CN CN202211156939.8A patent/CN115557439A/en active Pending
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Address after: Building 1 and 1-3 floors of Building 2 of Jinan Energy Industry Park, No. 1815 Gangyuan 7th Road, High tech Zone, Jinan City, Shandong Province, 250104 Applicant after: Beigu Electronics Co.,Ltd. Applicant after: Beigu Electronics (Wuxi) Co.,Ltd. Applicant after: Luogu Technology (Shanghai) Co.,Ltd. Applicant after: Beigu Electronics Co.,Ltd. Shanghai Branch Address before: 250104 building 20, zhizaogu, 2966 Chunhui Road, high tech Zone, Jinan City, Shandong Province Applicant before: NORTH VALLEY ELECTRONICS Co.,Ltd. Applicant before: Beigu Electronics (Wuxi) Co.,Ltd. Applicant before: Luogu Technology (Shanghai) Co.,Ltd. Applicant before: Beigu Electronics Co.,Ltd. Shanghai Branch |