CN117587883A - Arm support control system and method of grooved lattice beam comprehensive operation vehicle - Google Patents
Arm support control system and method of grooved lattice beam comprehensive operation vehicle Download PDFInfo
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- CN117587883A CN117587883A CN202311497877.1A CN202311497877A CN117587883A CN 117587883 A CN117587883 A CN 117587883A CN 202311497877 A CN202311497877 A CN 202311497877A CN 117587883 A CN117587883 A CN 117587883A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/005—Fault detection or monitoring
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a cantilever crane control system and method of a grooved lattice beam comprehensive operation vehicle, which comprises the steps of firstly obtaining three-dimensional point cloud data of a slope, then calculating to obtain a first functional relation between the telescopic capacity of a large arm and the telescopic capacity of a supporting leg according to the three-dimensional point cloud data of the slope, judging whether the telescopic capacity of the supporting leg can reach a first limiting position in the posture adjustment based on the target telescopic capacity of the large arm and the first functional relation, and if the telescopic capacity of the supporting leg cannot reach the first limiting position, directly locking a large arm pitching oil cylinder, namely locking the large arm pitching action, synchronously controlling the telescopic capacity of the large arm and the telescopic capacity of the supporting leg according to the first functional relation until the telescopic capacity of the large arm reaches the target telescopic capacity, thereby completing the posture adjustment. The whole arm support action process is realized based on coordinated control of large arm extension and support leg extension, automatic control of a closed-loop multi-degree-of-freedom arm support system of the grooved lattice beam comprehensive operation vehicle is realized, the large arm pitching action is locked when the large arm extension is controlled, and the stability of arm support movement in the automatic control process is improved.
Description
Technical Field
The invention relates to the technical field of arm support control, in particular to an arm support control system and an arm support control method of a grooved lattice beam comprehensive operation vehicle, and in addition, the invention particularly relates to the grooved lattice beam comprehensive operation vehicle adopting the system.
Background
The grooving lattice beam comprehensive operation is mainly used for slope protection reinforcement construction of a slope outside a tunnel or other types, an arm support system mainly comprises a hinged arm support, a telescopic arm support, a supporting leg arm and the like, and meanwhile, an unpowered supporting wheel is arranged at the tail end of the supporting leg arm, and during construction, the supporting wheel at the tail end of the arm support needs to move along the surface of the slope, and the supporting wheel also needs to provide stable and effective supporting force. The support wheels at the tail ends of the arm support of the grooved lattice beam comprehensive operation vehicle need to be attached to the surface of a slope to move during construction, the slope surface is not smooth, the position of the left support wheel and the right support wheel is uneven, the support wheels are suspended to cause no support force when encountering slope surface pits, the support wheels encounter slope surface bumps to cause overlarge support force, if the left support force and the right support force are different, the arm support is caused to receive axial torsion, in addition, the grounding position of the support wheels is insufficient in support force which causes the contact between the support wheels and the slope surface due to insufficient hardness, the conditions are regarded as ineffective support, the ineffective support can cause the arm support to be stressed greatly, the arm support is bent, twisted and even broken, and the stability and the service life of equipment are affected. In order to adapt the arm support to complex terrains of a slope, the traditional manual arm support control mode is to observe the tail end condition of the arm support by an operator and control each section of arm according to the concave-convex condition of the surface of the slope, but the mode is complex in operation and low in efficiency, and special requirements of the tail end condition of the arm support under complex conditions cannot be guaranteed. The current popular arm support automatic control method obtains the motion gesture change of each arm through inverse kinematics solution according to the arm support tail end motion track planned in advance, and further coordinates and controls the motion of each joint, but the method is only suitable for automatic control of an open-loop multi-degree-of-freedom arm support system with a simple arm support tail end motion track, and is not suitable for automatic regulation and control of a closed-loop multi-degree-of-freedom arm support system with a complex arm support tail end working condition of a slotted lattice Liang Zhelei.
Disclosure of Invention
The invention provides a boom control system and method of a grooved lattice beam comprehensive operation vehicle and the grooved lattice beam comprehensive operation vehicle, and aims to solve the technical problem that the existing boom control method is not suitable for automatic regulation and control of a closed-loop multi-degree-of-freedom boom system with complex boom tail end working conditions, such as the grooved lattice beam comprehensive operation vehicle.
According to one aspect of the present invention, there is provided a boom control system of a slotted lattice beam comprehensive operation vehicle, including:
the three-dimensional imaging sensor is used for acquiring three-dimensional point cloud data of the slope;
the controller is electrically connected with the three-dimensional imaging sensor and is used for calculating a first functional relation between the telescopic capacity of the large arm and the telescopic capacity of the support leg according to three-dimensional point cloud data of a slope, obtaining the target telescopic capacity of the large arm in the posture adjustment, judging whether the support leg telescopic capacity can reach a first limiting position in the posture adjustment according to the target telescopic capacity of the large arm and the first functional relation, locking the large arm pitching oil cylinder if the support leg telescopic capacity cannot reach the first limiting position, and synchronously controlling the large arm telescopic capacity and the support leg telescopic capacity according to the first functional relation until the large arm moves to the target telescopic capacity.
Further, if the support leg expansion and contraction can reach the first limiting position in the gesture adjustment, unlocking the boom pitching oil cylinder after the support leg expansion and contraction reaches the first limiting position, determining the pitching direction of the boom according to the support leg expansion and contraction state, calculating to obtain a second functional relation among the boom pitching angle, the boom expansion and contraction amount and the support leg expansion and contraction amount, and synchronously controlling the boom pitching, the boom expansion and contraction and the support leg expansion according to the second functional relation to complete the gesture adjustment of the arm support.
Further, the telescopic support comprises a first displacement sensor, a second displacement sensor and a third displacement sensor which are electrically connected with the controller, wherein the first displacement sensor is used for detecting telescopic displacement of the left support leg, the second displacement sensor is used for detecting telescopic displacement of the right support leg, the third displacement sensor is used for detecting telescopic displacement of the large arm, and the controller is further used for respectively carrying out feedback adjustment on telescopic and support leg telescopic of the large arm according to detection results of the first displacement sensor, the second displacement sensor and the third displacement sensor.
Further, the device also comprises an angle sensor electrically connected with the controller and used for detecting the pitching angle of the large arm, and the controller is also used for carrying out feedback adjustment on the pitching of the large arm according to the detection result of the angle sensor.
Further, the hydraulic jack further comprises a left support leg oil cylinder pressure sensor and a right support leg oil cylinder pressure sensor which are electrically connected with the controller, and the controller also respectively compensates the expansion and contraction amounts of the left support leg and the right support leg according to the detection results of the left support leg oil cylinder pressure sensor and the right support leg oil cylinder pressure sensor.
Further, the controller establishes a three-dimensional rectangular coordinate system by taking the position of the three-dimensional imaging sensor as a coordinate origin, the telescopic direction of the large arm as a y-axis and the telescopic direction of the supporting leg as a z-axis, and fits according to coordinate values of a plurality of point clouds to obtain a first functional relation between the telescopic amount of the large arm and the telescopic amount of the supporting leg: z=f (y), where y represents the amount of boom extension and retraction, and z represents the amount of leg extension and retraction.
Further, the expression of the second functional relationship is:
wherein y represents the extension and retraction amount of the large arm, z represents the extension and retraction amount of the supporting leg, and L 1 Indicating the current telescopic capacity of the boom, L 2 The current expansion and contraction amount of the supporting leg is represented,representing the pitch angle of the boom.
In addition, the invention also provides a cantilever crane control method of the grooved lattice beam comprehensive operation vehicle, which adopts the cantilever crane control system and comprises the following steps:
acquiring three-dimensional point cloud data of a slope;
calculating to obtain a first functional relation between the telescopic capacity of the large arm and the telescopic capacity of the supporting leg according to the three-dimensional point cloud data of the slope;
acquiring a target telescopic capacity of the large arm in the current posture adjustment, and judging whether the support leg telescopic capacity can reach a first limit position in the current posture adjustment according to the target telescopic capacity of the large arm and a first functional relation;
and if the supporting leg stretches and contracts and does not reach the first limiting position, locking the large arm pitching oil cylinder, and synchronously controlling the large arm stretching and retracting and supporting leg stretching and retracting according to the first functional relation until the large arm moves to the target stretching and retracting amount.
Further, the method also comprises the following steps:
if the support leg expansion and contraction can reach the first limiting position in the gesture adjustment, unlocking the boom pitching oil cylinder after the support leg expansion and contraction reaches the first limiting position, determining the pitching direction of the boom according to the support leg expansion and contraction state, calculating to obtain a second functional relation among the boom pitching angle, the boom expansion and contraction amount and the support leg expansion and contraction amount, and synchronously controlling the boom pitching, the boom expansion and contraction and the support leg expansion and contraction according to the second functional relation to complete the gesture adjustment of the arm support.
In addition, the invention also provides a comprehensive operation vehicle with the grooved lattice beam, and the arm support control system is adopted.
The invention has the following effects:
according to the arm support control system of the grooved lattice beam comprehensive operation vehicle, in consideration of the fact that the telescopic quantity of the large arm pitching oil cylinder and the large arm angle change quantity are in a nonlinear function relation in the actual motion process of the whole arm support, even if the large arm pitching oil cylinder has small displacement motion, the large arm tail end position can be greatly changed, and the problem of abrupt instability is easily caused. Therefore, the three-dimensional point cloud data of the slope surface are firstly obtained, and then the first functional relation between the telescopic boom expansion amount and the telescopic boom expansion amount is calculated according to the three-dimensional point cloud data of the slope surface, so that whether the telescopic boom reaches a first limiting position in the posture adjustment can be judged based on the target telescopic boom expansion amount and the first functional relation, if the telescopic boom does not reach the first limiting position, the boom pitching cylinder is directly locked, namely the boom pitching action is locked, and the telescopic boom expansion are synchronously controlled according to the first functional relation until the telescopic boom moves to the target telescopic boom amount, and the posture adjustment is completed. The whole arm support action process is realized based on coordinated control of large arm extension and support leg extension, automatic control of a closed-loop multi-degree-of-freedom arm support system of the grooved lattice beam comprehensive operation vehicle is realized, the large arm pitching action is locked when the large arm extension is controlled, and the stability of arm support movement in the automatic control process is improved.
In addition, the arm support control method of the grooved lattice beam comprehensive operation vehicle has the advantages.
In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of the mounting location of a boom control system of a slotted lattice beam working truck in accordance with a preferred embodiment of the present invention.
Fig. 2 is a schematic flow chart of a boom control method of a grooved lattice beam comprehensive operation vehicle according to another embodiment of the present invention.
Fig. 3 is another flow chart of a boom control method of a grooved lattice beam comprehensive operation vehicle according to another embodiment of the present invention.
Description of the reference numerals
1. A three-dimensional imaging sensor; 2. a controller; 3. a first displacement sensor; 4. a second displacement sensor; 5. a third displacement sensor; 6. an angle sensor.
Detailed Description
Embodiments of the invention are described in detail below with reference to the attached drawing figures, but the invention can be practiced in a number of different ways, as defined and covered below.
It can be appreciated that, as shown in fig. 1, the preferred embodiment of the invention provides a boom control system of a grooved lattice beam comprehensive operation vehicle, which comprises a three-dimensional imaging sensor 1 and a controller 2, wherein the three-dimensional imaging sensor 1 is electrically connected with the controller 2, the three-dimensional imaging sensor 1 is used for acquiring three-dimensional point cloud data of a slope, namely shooting a three-dimensional image of the slope, the controller 2 is used for firstly calculating a first functional relation between the telescopic capacity of a boom and the telescopic capacity of a supporting leg according to the three-dimensional point cloud data of the slope, then acquiring a target telescopic capacity of the boom at the current posture adjustment, judging whether the telescopic capacity of the supporting leg can reach a first limiting position at the current posture adjustment according to the target telescopic capacity and the first functional relation of the boom, locking a boom pitching cylinder if the telescopic capacity of the supporting leg can not reach the first limiting position, and synchronously controlling the telescopic capacity of the boom and the supporting leg according to the first functional relation until the boom moves to the target telescopic capacity. Wherein the first limit position refers to the maximum size position in which the leg is retracted, i.e. the leg is extended to the longest position or the leg is retracted to the shortest position. In addition, the three-dimensional imaging sensor 1 preferably employs a binocular camera, although a three-dimensional scanner or an RGB-D camera may be employed in other embodiments of the present invention. The three-dimensional imaging sensor 1 is arranged on a cross beam with a large arm connected with a left support leg and a right support leg, and is preferably arranged at the middle position of measurement.
It can be understood that, in the arm support control system of the grooved lattice beam comprehensive operation vehicle of the embodiment, in consideration of the fact that the telescopic capacity and the large arm angle variable capacity of the large arm pitching oil cylinder are in a nonlinear function relation in the actual motion process of the whole arm support, even if the large arm pitching oil cylinder has small displacement motion, the large arm tail end position can be greatly changed, and the problem of mutation instability is easily caused. Therefore, the three-dimensional point cloud data of the slope surface are firstly obtained, and then the first functional relation between the telescopic boom expansion amount and the telescopic boom expansion amount is calculated according to the three-dimensional point cloud data of the slope surface, so that whether the telescopic boom reaches a first limiting position in the posture adjustment can be judged based on the target telescopic boom expansion amount and the first functional relation, if the telescopic boom does not reach the first limiting position, the boom pitching cylinder is directly locked, namely the boom pitching action is locked, and the telescopic boom expansion are synchronously controlled according to the first functional relation until the telescopic boom moves to the target telescopic boom amount, and the posture adjustment is completed. The whole arm support action process is realized based on coordinated control of large arm extension and support leg extension, automatic control of a closed-loop multi-degree-of-freedom arm support system of the grooved lattice beam comprehensive operation vehicle is realized, the large arm pitching action is locked when the large arm extension is controlled, and the stability of arm support movement in the automatic control process is improved.
The process of calculating the first functional relationship between the large arm expansion and contraction amount and the supporting leg expansion and contraction amount by the controller 2 according to the three-dimensional point cloud data of the slope surface specifically comprises the following steps:
the controller 2 establishes a three-dimensional rectangular coordinate system by taking the position of the three-dimensional imaging sensor 1 as a coordinate origin, the telescopic direction of the large arm as a y-axis and the telescopic direction of the supporting leg as a z-axis, and fits according to coordinate values of a plurality of point clouds to obtain a first functional relation between the telescopic amount of the large arm and the telescopic amount of the supporting leg: z=f (y), where y represents the amount of boom extension and retraction, and z represents the amount of leg extension and retraction.
It can be understood that, because the supporting leg and the big arm of the grooved lattice beam comprehensive operation vehicle are vertically arranged, after a three-dimensional rectangular coordinate system is established by taking the position of the three-dimensional imaging sensor 1 as the origin of coordinates, the telescopic direction of the big arm as the y axis and the telescopic direction of the supporting leg as the z axis, a first functional relation can be obtained directly according to the fitting of the y-axis coordinate values and the z-axis coordinate values of a plurality of point clouds: z=f (y).
Optionally, in another embodiment of the present invention, the process of calculating, by the controller 2, the first functional relationship between the boom extension and retraction amount and the leg extension and retraction amount according to the three-dimensional point cloud data of the slope is:
firstly, a three-dimensional rectangular coordinate system is established by taking the position of the three-dimensional imaging sensor 1 as a coordinate origin, the telescopic direction of the big arm as a y axis and the telescopic direction of the supporting leg as a z axis, filtering is carried out on three-dimensional point clouds shot by the three-dimensional imaging sensor 1, invalid points are removed, then plane fitting is carried out on the point clouds by using a least square method, and the included angle between a slope and the big arm is calculated according to the fitted plane.
Specifically, let the plane equation be: ax+by+cz+d=0 (c+.0), let a 0 ＝-A/C、a 1 ＝-B/C、a 2 = -D/C, then the above equation is converted into: z=a 0 x+a 1 y+a 2 . A plurality of slope point cloud data (x i ，y i ，z i ) Substituting, the corresponding least squares matrix ax=b is:
when AX-B is the smallest, solving the vector X as: x= (a) 0 ,a 1 ,a 2 )＝(A T A) -1 A T B, the expression to obtain the fitting plane is: a, a 0 x+a 1 y+a 2 -z=0. The relative angle theta of the big arm and the slope 1 Relative angle θ of leg and slope 2 Respectively isWherein n is 1 Representing the normal vector of the fitting plane.
Then, based on the included angle between the big arm and the landing leg and the slope, the functional relation between the extension amount of the big arm and the extension amount of the landing leg is calculated by a kinematic equation, and can be expressed as:
z＝△l*cosθ 1 +z 0 +△z i
y＝△l*cosθ 2 +y 0
wherein y represents the extension and retraction amount of the large arm, z represents the extension and retraction amount of the supporting leg, deltal is the moving distance of the supporting point, (x) 0 ，y 0 ，z 0 ) As the three-dimensional coordinates of the current supporting point, deltaz i Is a point cloud (x) 0 ，y 0 ，z 0 ) Fitting withThe plane deviates on the z axis, and a first functional relation between the telescopic capacity of the large arm and the telescopic capacity of the supporting leg can be obtained by arranging the above-mentioned components: z=f (x 0 ，y)。
In addition, if the controller 2 determines that the leg stretches out and draws back to the first limit position at the gesture adjustment of this time, that is, the leg stretches out and draws back to the longest position or the leg retracts to the shortest position, the controller 2 unlocks the boom pitch cylinder after the leg stretches out and draws back to the first limit position, determines the pitch direction of the boom according to the telescopic state of the leg, calculates and obtains a second functional relation among the boom pitch angle, the boom telescopic capacity and the leg telescopic capacity, and synchronously controls the boom pitch, the boom telescopic capacity and the leg telescopic capacity according to the second functional relation, thereby completing the gesture adjustment of the boom.
It can be understood that if the leg extension and retraction can reach the first limit position in the posture adjustment, the boom extension and retraction and the leg extension and retraction are cooperatively controlled according to the first functional relationship before the leg extension and retraction reaches the first limit position, and the boom pitching action is locked. After the supporting leg stretches and contracts to reach the first limiting position, the controller 2 unlocks the large arm pitching oil cylinder, the pitching direction of the large arm is determined according to the stretching state of the supporting leg, the large arm is controlled to pitch if the supporting leg stretches to the proper position, the large arm is controlled to pitch if the supporting leg contracts to the proper position, then the position of the supporting wheel is kept unchanged, and a second functional relation among the large arm pitching angle, the large arm stretching amount and the supporting leg stretching amount is calculated according to a kinematic equation. The support leg is perpendicular to the big arm, the positions of the hinge points of the support point and the big arm are unchanged, the distance from the hinge point to the support point is taken as a diameter to be a circle, and the big arm and the support leg can be regarded as two right-angle sides of the right-angled triangle inscribed in the circle, so that the expression of the second functional relation is as follows:
wherein y represents the extension and retraction amount of the large arm, z represents the extension and retraction amount of the supporting leg, and L 1 Indicating the current telescopic capacity of the boom, L 2 The current expansion and contraction amount of the supporting leg is represented,representing the pitch angle of the boom. And synchronously controlling the pitching of the boom, the telescoping of the boom and the telescoping of the supporting leg according to the second functional relation, and completing the posture adjustment of the arm support.
Optionally, adjusting the leg extension to a second limit position while synchronously controlling boom pitch, boom extension and leg extension according to a second functional relationship. The second limiting position refers to a telescopic size position of the supporting leg with a margin, and is preferably a central position of the telescopic amplitude of the supporting leg.
Optionally, when the boom extension and retraction and the leg extension and retraction are synchronously controlled according to the first functional relation, when the supporting wheel moves to the third limit position, the three-dimensional image of the slope surface needs to be shot again for the next round of adjustment. The third limiting position refers to a position, for example, a position 10cm in front of the boundary position, of the single three-dimensional image, so that continuity of the two boom actions can be guaranteed.
Optionally, the boom control system further includes a first displacement sensor 3, a second displacement sensor 4 and a third displacement sensor 5 electrically connected to the controller 2, where the first displacement sensor 3 is used to detect the telescopic displacement of the left leg, the second displacement sensor 4 is used to detect the telescopic displacement of the right leg, the third displacement sensor 5 is used to detect the telescopic displacement of the boom, and the controller further performs feedback adjustment on the boom expansion and the leg expansion according to the detection results of the first displacement sensor 3, the second displacement sensor 4 and the third displacement sensor 5. It can be understood that the actual telescopic displacement of the left supporting leg, the right supporting leg and the large arm is detected through the displacement sensor and feedback control is carried out, so that closed-loop control of large arm expansion and supporting leg expansion is realized, and the control accuracy of large arm expansion and supporting leg expansion is improved. Among them, the first displacement sensor 3 and the second displacement sensor 4 are preferably magnetostrictive displacement sensors, and the third displacement sensor 5 is preferably a pull-rope sensor.
Optionally, the boom control system further includes an angle sensor 6 electrically connected to the controller 2, and configured to detect a pitch angle of the boom, where the controller 2 further performs feedback adjustment on the boom pitch according to a detection result of the angle sensor 6. It can be understood that the angle sensor 6 detects the pitching angle of the large arm and performs feedback control, so that closed-loop control of pitching of the large arm is realized, and control accuracy of pitching of the large arm is improved. Wherein the angle sensor 6 preferably employs an angle encoder.
Optionally, the boom control system further includes a left leg cylinder pressure sensor and a right leg cylinder pressure sensor electrically connected to the controller 2, where the left leg cylinder pressure sensor is used to detect a pressure value of the left leg telescopic cylinder, the right leg cylinder pressure sensor is used to detect a pressure value of the right leg telescopic cylinder, and the controller 2 further compensates the telescopic amounts of the left leg and the right leg according to the detection results of the left leg cylinder pressure sensor and the right leg cylinder pressure sensor. It can be understood that when the left and right support legs are supported on the slope, the effective supporting force can be reflected by the fixed pressure value of the oil cylinder, if the pressure sensor detects that the actual pressure value of the oil cylinder has deviation after the left and right support legs are stretched in place, the controller 2 finely adjusts the stretching amount of the left and right support legs according to the deviation value until the actual pressure value detected by the pressure sensor is near the fixed pressure value, so as to realize the pressure compensation of the stretching amount of the support legs. By adopting the pressure sensor to establish the supporting leg expansion compensation system, the left supporting leg and the right supporting leg are ensured to play an effective supporting role, the left supporting leg and the right supporting leg are separately controlled, the support of the cantilever crane is ensured to be in contact with uneven slope or insufficient slope hardness to cause too small supporting force, the two supporting wheels can effectively play a supporting role, and the stability of the grooved lattice beam comprehensive operation vehicle is improved.
In addition, as shown in fig. 2, another embodiment of the present invention further provides a boom control method for a comprehensive operation vehicle with grooved lattice beams, preferably adopting the boom control system as described above, including the following contents:
step S1: acquiring three-dimensional point cloud data of a slope;
step S2: calculating to obtain a first functional relation between the telescopic capacity of the large arm and the telescopic capacity of the supporting leg according to the three-dimensional point cloud data of the slope;
step S3: acquiring a target telescopic capacity of the large arm in the current posture adjustment, and judging whether the support leg telescopic capacity can reach a first limit position in the current posture adjustment according to the target telescopic capacity of the large arm and a first functional relation;
step S4: and if the supporting leg stretches and contracts and does not reach the first limiting position, locking the large arm pitching oil cylinder, and synchronously controlling the large arm stretching and retracting and supporting leg stretching and retracting according to the first functional relation until the large arm moves to the target stretching and retracting amount.
It can be understood that, according to the arm support control method of the grooved lattice beam comprehensive operation vehicle, in consideration of the fact that the telescopic capacity and the large arm angle variable capacity of the large arm pitching oil cylinder are in a nonlinear function relation in the actual movement process of the whole arm support, even if small displacement movement exists in the large arm pitching oil cylinder, the large arm tail end position can be greatly changed, and the problem of mutation instability is easily caused. Therefore, the three-dimensional point cloud data of the slope surface are firstly obtained, and then the first functional relation between the telescopic boom expansion amount and the telescopic boom expansion amount is calculated according to the three-dimensional point cloud data of the slope surface, so that whether the telescopic boom reaches a first limiting position in the posture adjustment can be judged based on the target telescopic boom expansion amount and the first functional relation, if the telescopic boom does not reach the first limiting position, the boom pitching cylinder is directly locked, namely the boom pitching action is locked, and the telescopic boom expansion are synchronously controlled according to the first functional relation until the telescopic boom moves to the target telescopic boom amount, and the posture adjustment is completed. The whole arm support action process is realized based on coordinated control of large arm extension and support leg extension, automatic control of a closed-loop multi-degree-of-freedom arm support system of the grooved lattice beam comprehensive operation vehicle is realized, the large arm pitching action is locked when the large arm extension is controlled, and the stability of arm support movement in the automatic control process is improved.
In addition, as shown in fig. 3, the boom control method further includes the following:
step S5: if the support leg expansion and contraction can reach the first limiting position in the gesture adjustment, unlocking the boom pitching oil cylinder after the support leg expansion and contraction reaches the first limiting position, determining the pitching direction of the boom according to the support leg expansion and contraction state, calculating to obtain a second functional relation among the boom pitching angle, the boom expansion and contraction amount and the support leg expansion and contraction amount, and synchronously controlling the boom pitching, the boom expansion and contraction and the support leg expansion and contraction according to the second functional relation to complete the gesture adjustment of the arm support.
In addition, another embodiment of the invention also provides a comprehensive operation vehicle for the grooved lattice beam, and the arm support control system is preferably adopted.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
Claims (10)
1. The utility model provides a fluting lattice beam comprehensive operation car's cantilever crane control system which characterized in that includes:
the three-dimensional imaging sensor (1) is used for acquiring three-dimensional point cloud data of the slope;
the controller (2) is electrically connected with the three-dimensional imaging sensor (1) and is used for calculating a first functional relation between the telescopic capacity of the large arm and the telescopic capacity of the support leg according to three-dimensional point cloud data of a slope, then obtaining the target telescopic capacity of the large arm in the current posture adjustment, judging whether the telescopic capacity of the support leg can reach a first limiting position in the current posture adjustment according to the target telescopic capacity of the large arm and the first functional relation, locking the large arm pitching oil cylinder if the telescopic capacity of the support leg cannot reach the first limiting position, and synchronously controlling the telescopic capacity and the telescopic capacity of the support leg according to the first functional relation until the large arm moves to the target telescopic capacity.
2. The boom control system of the slotted lattice girder comprehensive operation vehicle according to claim 1, wherein if the landing leg is judged to be telescopic and reaches a first limit position in the current posture adjustment, the boom pitching cylinder is unlocked after the landing leg is telescopic and reaches the first limit position, the pitching direction of the boom is determined according to the telescopic state of the landing leg, a second functional relation among the boom pitching angle, the boom telescopic quantity and the landing leg telescopic quantity is calculated, and then boom pitching, boom telescopic and landing leg telescopic are synchronously controlled according to the second functional relation, so that the boom posture adjustment is completed.
3. The arm support control system of the grooved lattice beam comprehensive operation vehicle according to claim 1, further comprising a first displacement sensor (3), a second displacement sensor (4) and a third displacement sensor (5) which are electrically connected with the controller (2), wherein the first displacement sensor (3) is used for detecting the telescopic displacement of the left support leg, the second displacement sensor (4) is used for detecting the telescopic displacement of the right support leg, the third displacement sensor (5) is used for detecting the telescopic displacement of the big arm, and the controller is further used for respectively carrying out feedback adjustment on the big arm telescopic and the support leg telescopic according to the detection results of the first displacement sensor (3), the second displacement sensor (4) and the third displacement sensor (5).
4. The arm support control system of the grooved lattice beam comprehensive operation vehicle according to claim 2, further comprising an angle sensor (6) electrically connected with the controller (2) and used for detecting the pitching angle of the large arm, wherein the controller (2) is further used for carrying out feedback adjustment on the pitching of the large arm according to the detection result of the angle sensor (6).
5. The arm support control system of the grooved lattice beam comprehensive operation vehicle according to claim 1, further comprising a left support leg oil cylinder pressure sensor and a right support leg oil cylinder pressure sensor which are electrically connected with the controller (2), wherein the controller (2) further compensates the expansion and contraction amounts of the left support leg and the right support leg respectively according to detection results of the left support leg oil cylinder pressure sensor and the right support leg oil cylinder pressure sensor.
6. The arm support control system of the integrated operation vehicle for the slotted lattice beam according to claim 1, wherein the controller (2) establishes a three-dimensional rectangular coordinate system by taking the position of the three-dimensional imaging sensor (1) as a coordinate origin, the telescopic direction of the large arm as a y-axis and the telescopic direction of the supporting leg as a z-axis, and fits according to coordinate values of a plurality of point clouds to obtain a first functional relation between the telescopic amount of the large arm and the telescopic amount of the supporting leg: z=f (y), where y represents the amount of boom extension and retraction, and z represents the amount of leg extension and retraction.
7. The boom control system of a slotted lattice girder comprehensive operation vehicle of claim 1, wherein the expression of the second functional relationship is:
wherein y represents the extension and retraction amount of the large arm, z represents the extension and retraction amount of the supporting leg, and L 1 Indicating the current telescopic capacity of the boom, L 2 The current expansion and contraction amount of the supporting leg is represented,representing the pitch angle of the boom.
8. The arm support control method of the grooved lattice beam comprehensive operation vehicle adopts the arm support control system as claimed in any one of claims 1 to 7, and is characterized by comprising the following contents:
acquiring three-dimensional point cloud data of a slope;
calculating to obtain a first functional relation between the telescopic capacity of the large arm and the telescopic capacity of the supporting leg according to the three-dimensional point cloud data of the slope;
acquiring a target telescopic capacity of the large arm in the current posture adjustment, and judging whether the support leg telescopic capacity can reach a first limit position in the current posture adjustment according to the target telescopic capacity of the large arm and a first functional relation;
and if the supporting leg stretches and contracts and does not reach the first limiting position, locking the large arm pitching oil cylinder, and synchronously controlling the large arm stretching and retracting and supporting leg stretching and retracting according to the first functional relation until the large arm moves to the target stretching and retracting amount.
9. The boom control method of the slotted lattice girder comprehensive operation vehicle according to claim 8, further comprising the following contents:
if the support leg expansion and contraction can reach the first limiting position in the gesture adjustment, unlocking the boom pitching oil cylinder after the support leg expansion and contraction reaches the first limiting position, determining the pitching direction of the boom according to the support leg expansion and contraction state, calculating to obtain a second functional relation among the boom pitching angle, the boom expansion and contraction amount and the support leg expansion and contraction amount, and synchronously controlling the boom pitching, the boom expansion and contraction and the support leg expansion and contraction according to the second functional relation to complete the gesture adjustment of the arm support.
10. A grooved lattice beam comprehensive operation vehicle, characterized in that the boom control system according to any one of claims 1-7 is adopted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311497877.1A CN117587883A (en) | 2023-11-10 | 2023-11-10 | Arm support control system and method of grooved lattice beam comprehensive operation vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311497877.1A CN117587883A (en) | 2023-11-10 | 2023-11-10 | Arm support control system and method of grooved lattice beam comprehensive operation vehicle |
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| CN117587883A true CN117587883A (en) | 2024-02-23 |
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| CN202311497877.1A Pending CN117587883A (en) | 2023-11-10 | 2023-11-10 | Arm support control system and method of grooved lattice beam comprehensive operation vehicle |
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| Country | Link |
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| CN (1) | CN117587883A (en) |
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