CN118083874A - Control method and control device for aerial working vehicle and aerial working vehicle - Google Patents
Control method and control device for aerial working vehicle and aerial working vehicle Download PDFInfo
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Abstract
The application discloses a control method and device for an overhead working truck and the overhead working truck. Comprising the following steps: acquiring weight load on a working platform of the overhead working truck, the inclination angle of a chassis and the supporting reaction force of each supporting leg in real time; determining a sum of the counter-forces between each two adjacent legs; determining a critical value corresponding to each counter force sum value according to the currently executing operation action; aiming at any counter-force and value, under the condition that the counter-force and value is smaller than the corresponding critical value, the operation action currently executed by the overhead working truck is limited until the counter-force and value is larger than or equal to the corresponding critical value, and the maintenance time length is longer than or equal to the first preset time length, so that the stability and safety of the overhead working truck are improved, the overhead working truck can dynamically execute the operation action under the constraints of weight load, inclination angle and counter-force, the limitation degree of the overhead working truck is reduced, and the flexibility of the overhead working truck is improved.
Description
Technical Field
The application relates to the technical field of aerial work vehicle control, in particular to a control method and device for an aerial work vehicle, the aerial work vehicle and a storage medium.
Background
The overhead working truck is a movable overhead working product widely applied to overhead working, equipment security maintenance and the like in various industries. In order to prevent the vehicle from being overturned due to insufficient stability during operation of the overhead working truck, and further cause casualties or property loss, it is necessary to ensure that the stabilizing moment of the vehicle is greater than the tipping moment, i.e. the stability of the vehicle is sufficient. Since the stability of the overhead working truck is related to the work platform, load position, working posture, etc. of the vehicle.
In the prior art, in order to ensure that the stability of the aerial working vehicle is enough in the working process, the working action of the aerial working vehicle is usually calculated based on extremely severe working condition data, so that the aerial working vehicle must strictly execute the calculated working action in the working process, and the aerial working vehicle is excessively limited, and the flexibility of the aerial working vehicle is seriously insufficient.
Disclosure of Invention
The embodiment of the application aims to provide a control method and device for an aerial working vehicle, the aerial working vehicle and a storage medium, which are used for solving the problem that the aerial working vehicle is excessively limited in the prior art.
In order to achieve the above object, a first aspect of the present application provides a control method for an aerial work vehicle, the control method comprising:
Acquiring weight load on a working platform of the aerial working vehicle, an inclination angle of a chassis and a supporting reaction force of each supporting leg in real time in the process that the aerial working vehicle sequentially executes each working action corresponding to a working task;
Determining the counter-force sum value between every two adjacent supporting legs of the overhead working truck;
determining a critical value corresponding to each counter force sum value according to the currently executing operation action;
Judging whether each counter force sum value is smaller than a corresponding critical value or not under the condition that the weight load is smaller than or equal to the preset weight and the inclination angle is smaller than or equal to the preset angle;
And limiting the operation currently being executed by the overhead working truck until the counter-force sum is greater than or equal to the corresponding critical value and the maintenance time length is greater than or equal to the first preset time length under the condition that the counter-force sum is smaller than the corresponding critical value for any counter-force sum.
In the embodiment of the application, the control method further comprises the following steps: and limiting the operation currently being executed by the overhead working truck until the weight load is less than or equal to the preset weight and the maintenance time period is longer than or equal to the second preset time period, and the inclination angle is less than or equal to the preset angle and the maintenance time period is longer than or equal to the third preset time period under the condition that the weight load is greater than the preset weight and/or the inclination angle is greater than the preset angle.
In the embodiment of the application, the control method further comprises the following steps: after each counter force sum value is greater than or equal to a corresponding critical value and the maintenance time period is greater than or equal to a first preset time period, determining whether to release the restriction on the operation action being executed by the overhead working truck according to the re-acquired weight load, the inclination angle and the counter force sum value; and under the condition that the re-acquired weight load is smaller than or equal to the preset weight, the inclination angle is smaller than or equal to the preset angle and each counter force sum value is larger than or equal to the corresponding critical value, the limitation on the currently executing work action of the aerial working vehicle is released, so that the aerial working vehicle continues to execute the currently executing work action.
In the embodiment of the application, the control method further comprises the following steps: after the weight load is less than or equal to the preset weight and the maintenance time period is greater than or equal to the second preset time period, and the inclination angle is less than or equal to the preset angle and the maintenance time period is greater than or equal to the third preset time period, determining whether to release the restriction on the operation action being executed by the aerial working vehicle according to the re-acquired weight load, inclination angle and support reaction force and value; and under the condition that the re-acquired weight load is smaller than or equal to the preset weight, the inclination angle is smaller than or equal to the preset angle and each counter force sum value is larger than or equal to the corresponding critical value, the limitation on the currently executing work action of the aerial working vehicle is released, so that the aerial working vehicle continues to execute the currently executing work action.
In the embodiment of the application, the control method further comprises the following steps: and after limiting the operation currently being executed by the aerial work vehicle, controlling an alarm device of the aerial work vehicle to alarm.
In the embodiment of the application, the control method further comprises the following steps: and under the condition that the weight load is smaller than or equal to the preset weight, the inclination angle is smaller than or equal to the preset angle, and each counter-force sum value is larger than or equal to the corresponding critical value, allowing the overhead working truck to continue to execute the currently executed operation action, and returning to the step of acquiring the weight load on the working platform of the overhead working truck, the inclination angle of the chassis and the counter-force of each supporting leg in real time again until any counter-force sum value is smaller than the corresponding critical value.
In an embodiment of the present application, the operation currently being performed by the aerial vehicle includes a turning operation of a turntable of the aerial vehicle, and limiting the operation currently being performed by the aerial vehicle includes: acquiring a revolving angle of a revolving stage of the overhead working truck; taking two support legs corresponding to the support reaction force sum value smaller than the corresponding critical value as target support legs; determining the main arm azimuth of the overhead working truck according to the revolving angle of the turntable and the target landing leg; and limiting the working action currently being executed by the aerial working vehicle according to the main arm position and the landing leg position of the target landing leg.
In an embodiment of the present application, the operation currently being performed by the aerial vehicle includes a turning operation of a turntable of the aerial vehicle, and limiting the operation currently being performed by the aerial vehicle according to a main arm orientation and a leg orientation in which a target leg is located includes: under the condition that the main arm direction is the same as the landing leg direction of the target landing leg, controlling the turntable to rotate towards a first preset direction; and under the condition that the main arm direction is different from the landing leg direction of the target landing leg, controlling the turntable to rotate towards a second preset direction.
In the embodiment of the application, the working actions currently being executed by the aerial working vehicle comprise swinging actions of a working platform of the aerial working vehicle, actions of a tower arm, amplitude variation and extension of a main arm and amplitude variation of a fly arm, and limiting the working actions currently being executed by the aerial working vehicle comprises: under the condition that the weight load is greater than the preset weight and/or the inclination angle is greater than the preset angle, all other actions of the overhead working truck except the swinging action of the working platform are forbidden; and under the condition that any counter force sum value is smaller than a corresponding critical value, prohibiting all actions except retraction of the main arm, all actions of the tower arm and amplitude variation of the fly arm.
A second aspect of the present application provides a control apparatus for an overhead working truck, comprising:
A memory configured to store instructions; and
And a processor configured to call instructions from the memory and to implement the control method for the aerial vehicle described above when the instructions are executed.
A third aspect of the present application provides an overhead working truck comprising a control apparatus for an overhead working truck as described above.
A fourth aspect of the application provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the above-described control method for an aerial work vehicle.
Through the technical scheme, in the process that the aerial working vehicle executes each working action corresponding to a working task, the weight load on the working platform of the aerial working vehicle, the inclination angle of the chassis and the supporting reaction force of each supporting leg can be obtained in real time, the currently executed working action of the aerial working vehicle is limited according to the obtained weight load, inclination angle and supporting reaction force, the stability and safety of the aerial working vehicle are improved, the aerial working vehicle can dynamically execute the working action under the constraint of the weight load, inclination angle and supporting reaction force, the limitation degree of the aerial working vehicle is reduced, and the flexibility of the aerial working vehicle is improved.
Additional features and advantages of embodiments of the application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain, without limitation, the embodiments of the application. In the drawings:
FIG. 1 schematically illustrates a flow diagram of a control method for an overhead working truck according to an embodiment of the application;
FIG. 2 schematically illustrates a top view of an aerial work vehicle in accordance with an embodiment of the present application;
FIG. 3 schematically illustrates a schematic diagram of a control method for an overhead working truck according to an embodiment of the present application;
FIG. 4 schematically illustrates another flow diagram of a control method for an overhead working truck according to an embodiment of the present application;
FIG. 5 schematically illustrates a schematic view of a range curve for an overhead working truck according to an embodiment of the present application;
FIG. 6 schematically illustrates a schematic view of an operating envelope of an overhead working truck according to an embodiment of the present application;
fig. 7 schematically shows an internal structural view of a computer device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the detailed description described herein is merely for illustrating and explaining the embodiments of the present application, and is not intended to limit the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present application, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.
Fig. 1 schematically shows a flow diagram of a control method for an overhead working truck according to an embodiment of the application. As shown in fig. 1, an embodiment of the present application provides a control method for an overhead working truck, which may include the following steps.
Step 101: and acquiring weight load on a working platform of the aerial working vehicle, an inclination angle of the chassis and a supporting reaction force of each supporting leg in real time in the process that the aerial working vehicle sequentially executes each working action corresponding to the working task.
Step 102: a total reaction force and value between each two adjacent legs of the aerial work device is determined.
Step 103: a threshold value corresponding to each counter force sum value is determined based on the currently executing job action.
The overhead working truck is a movable overhead working product widely applied to overhead working, equipment security maintenance and the like in various industries. In the process that the aerial working vehicle sequentially executes each working action corresponding to the working task, the processor can acquire the weight load on the working platform of the aerial working vehicle, the chassis inclination angle and the supporting reaction force of each supporting leg in real time. For example, the task is mainly performed by personnel on a working platform, including a tower arm, a main arm, a fly arm and a platform moving in the working process, and the aerial work vehicle may include a working platform, a chassis and a plurality of supporting legs. When the aerial working vehicle sequentially executes each working action corresponding to the working task, the processor can acquire the weight load M p in real time through a weighing sensor on the working platform, acquire the inclination angle gamma of the chassis in real time through a chassis inclination sensor, and acquire the supporting reaction force F of each supporting leg in real time through a supporting reaction force measuring system.
After the weight load, the angle of inclination, and the counter-force of each leg are obtained, the processor may determine a sum of the counter-forces between each two adjacent legs of the aerial vehicle. And determining a critical value corresponding to each counter force sum value according to the currently executing operation action. Wherein, the critical value corresponding to each counter-force sum value can be related to the working condition of the currently executing working action. For example, the threshold value for each job action may be the same or different.
For example, as shown in fig. 2, four directions are determined from a plan view of the overhead working truck, namely, right front, right rear, and right left Fang Yiji. The overhead working truck can comprise four supporting legs, namely a left front supporting leg, a left rear supporting leg, a right front supporting leg and a right rear supporting leg, and can also comprise a main arm, a fly arm and a working platform, wherein the rotation angle of the turntable is 60 degrees. Wherein, the left front landing leg is adjacent with left back landing leg and right front landing leg respectively, and the right back landing leg is adjacent with right front landing leg and left back landing leg respectively. In the case where the weight load M p is less than or equal to the preset weight M E and the inclination angle γ is less than or equal to the preset angle γ 0, the processor may determine the branch reaction force sum F s1 between the front left leg and the front right leg, the branch reaction force sum F s2 between the front left leg and the rear left leg, the branch reaction force sum F s3 between the rear left leg and the rear right leg, and the branch reaction force sum F s4 between the rear right leg and the front right leg.
After determining the counter-force sum between each two adjacent legs, the processor may determine a threshold value corresponding to each counter-force sum based on the work action currently being performed. For example, the critical value corresponding to the branch reaction force sum F s1 is F y1, the critical value corresponding to the branch reaction force sum F s2 is F y2, the critical value corresponding to the branch reaction force sum F s3 is F y3, and the critical value corresponding to the branch reaction force sum F s4 is F y4. The critical values F y1、Fy2、Fy3、Fy4 may be all the same or different values.
Step 104: and judging whether each counter force sum value is smaller than a corresponding critical value or not under the condition that the weight load is smaller than or equal to the preset weight and the inclination angle is smaller than or equal to the preset angle.
The processor may determine whether the weight load is less than or equal to a predetermined weight and the tilt angle is less than or equal to a predetermined angle. In the case that the weight load is less than or equal to the preset weight and the inclination angle is less than or equal to the preset angle, the processor may determine whether each counter force sum value is less than a corresponding critical value.
In the embodiment of the application, the control method further comprises the following steps: and limiting the operation currently being executed by the overhead working truck until the weight load is less than or equal to the preset weight and the maintenance time period is longer than or equal to the second preset time period, and the inclination angle is less than or equal to the preset angle and the maintenance time period is longer than or equal to the third preset time period under the condition that the weight load is greater than the preset weight and/or the inclination angle is greater than the preset angle.
When the weight load is greater than the preset weight and/or the inclination angle is greater than the preset angle, the processor may limit the current operation performed by the aerial working vehicle until the weight load is less than or equal to the preset weight and the maintenance time period is greater than or equal to the second preset time period, and the inclination angle is less than or equal to the preset angle and the maintenance time period is greater than or equal to the third preset time period.
For example, after acquiring the weight load M p and the inclination angle γ, the processor may determine whether the weight load M p is less than or equal to the preset weight M E and whether the inclination angle γ is less than or equal to the preset angle γ 0. In the event that the weight load M p is greater than the preset weight M E, the processor may limit the work action currently being performed by the aerial vehicle until the weight load M p is less than or equal to the preset weight M E and remains greater than or equal to 5 seconds, i.e., the weight load M p remains less than or equal to the preset weight M E throughout 5 seconds. Wherein the limitation of the work action may not include limitation of the swing action of the work platform.
In the case where the inclination angle γ is greater than the preset angle γ 0 (e.g., 6 °), the processor may limit the work action currently being performed by the aerial work vehicle until the inclination angle γ is less than or equal to the preset angle γ 0 and remains greater than or equal to 7s, i.e., the inclination angle γ remains less than or equal to the preset angle γ 0 throughout 7 s. Wherein the limitation of the work action may not include limitation of the swing action of the work platform.
Step 105: and limiting the operation currently being executed by the overhead working truck until the counter-force sum is greater than or equal to the corresponding critical value and the maintenance time length is greater than or equal to the first preset time length under the condition that the counter-force sum is smaller than the corresponding critical value for any counter-force sum.
After determining the threshold value corresponding to each of the branch counter-forces and values, the processor may determine, for any one of the branch counter-forces and values, whether the branch counter-force and value is less than the corresponding threshold value. And under the condition that the counter force sum is smaller than the corresponding critical value, the processor can limit the operation action currently being executed by the aerial working vehicle until the counter force sum is larger than or equal to the corresponding critical value and the maintenance time length is larger than or equal to the first preset time length. In the embodiment of the application, the control method further comprises the following steps: and after limiting the operation currently being executed by the aerial work vehicle, controlling an alarm device of the aerial work vehicle to alarm.
For example, after determining the threshold value F y1、Fy2、Fy3、Fy4, the processor may determine, for the branch reaction force sum F s1, whether the branch reaction force sum F s1 is less than the corresponding threshold value F y1. In the case of F s1＜Fy1, the processor may limit the work actions currently being performed by the aerial vehicle such that F s1＞Fy1 or F s1＝Fy1, and the hold time period is greater than or equal to 10s.
In an embodiment of the present application, the operation currently being performed by the aerial vehicle includes a turning operation of a turntable of the aerial vehicle, and limiting the operation currently being performed by the aerial vehicle includes: acquiring a revolving angle of a revolving stage of the overhead working truck; taking two support legs corresponding to the support reaction force sum value smaller than the corresponding critical value as target support legs; determining the main arm azimuth of the overhead working truck according to the revolving angle of the turntable and the target landing leg; and limiting the working action currently being executed by the aerial working vehicle according to the main arm position and the landing leg position of the target landing leg.
The work action currently being performed by the aerial work device includes a swing action of a turntable of the aerial work device. The processor can acquire the revolving angle of the turntable of the overhead working truck, and takes the two support legs corresponding to the counter force sum value smaller than the corresponding critical value as target support legs. After determining the turntable rotation angle and the target leg, the processor may determine a main arm orientation of the aerial vehicle based on the turntable rotation angle and the target leg. And limiting the operation action currently being executed by the aerial working vehicle according to the main arm position and the landing leg position of the target landing leg.
In an embodiment of the present application, the operation currently being performed by the aerial vehicle includes a turning operation of a turntable of the aerial vehicle, and limiting the operation currently being performed by the aerial vehicle according to a main arm orientation and a leg orientation in which a target leg is located includes: under the condition that the main arm direction is the same as the landing leg direction of the target landing leg, controlling the turntable to rotate towards a first preset direction; and under the condition that the main arm direction is different from the landing leg direction of the target landing leg, controlling the turntable to rotate towards a second preset direction.
The work actions currently being performed by the aerial work vehicle include luffing and telescoping actions of the tower arm of the aerial work vehicle. The processor may limit the work actions currently being performed by the aerial work vehicle based on the main arm orientation and the leg orientation in which the target leg is located. In particular, the processor may determine whether the main arm orientation and the leg orientation of the target leg are the same. Under the condition that the main arm direction is the same as the landing leg direction of the target landing leg, the processor can control the turntable to rotate towards a first preset direction. Under the condition that the main arm direction is different from the landing leg direction of the target landing leg, the processor can control the turntable to rotate towards a second preset direction.
In the embodiment of the application, the working actions currently being executed by the aerial working vehicle comprise swinging actions of a working platform of the aerial working vehicle, actions of a tower arm, amplitude variation and extension of a main arm and amplitude variation of a fly arm, and limiting the working actions currently being executed by the aerial working vehicle comprises: under the condition that the weight load is greater than the preset weight and/or the inclination angle is greater than the preset angle, all other actions of the overhead working truck except the swinging action of the working platform are forbidden; and under the condition that any counter force sum value is smaller than a corresponding critical value, prohibiting all actions except retraction of the main arm, all actions of the tower arm and amplitude variation of the fly arm.
The working actions currently being executed by the aerial working vehicle comprise swinging actions of a working platform of the aerial working vehicle, actions of a tower arm, amplitude variation and extension of a main arm and amplitude variation of a fly arm. In the case where the weight load is greater than the preset weight and/or the inclination angle is greater than the preset angle, the processor may prohibit all other actions of the aerial work vehicle except the swing action of the work platform. And under the condition that the weight load is smaller than or equal to the preset weight, the inclination angle is smaller than or equal to the preset angle and any counter force sum value is smaller than the corresponding critical value, all actions except retraction of the main arm, all actions of the tower arm and amplitude variation of the fly arm are forbidden. For example, if any of the counter-forces sum is less than the corresponding threshold value, the processor may prohibit the boom from ascending, descending, extending, and retracting, prohibit all other actions than retraction of the main boom, and prohibit the fly jib luffing action.
For example, the range of the turntable rotation angle of the overhead working truck is 0 ° or more and 360 ° or less. From the overlooking state of the overhead working truck, the turntable rotates anticlockwise every 1 DEG, and the rotation angle is correspondingly increased by 1 deg. For example, as shown in fig. 2, the overhead working truck includes four orientations, right-front, right-rear, and right-left, respectively. The overhead working truck comprises a right front supporting leg, a right rear supporting leg, a left front supporting leg, a left rear supporting leg, a main arm, a fly arm and a working platform. When the rotation angle is 60 degrees, the main arm is deviated to the right at the rear of the overhead working truck. When the turning angle is 135 degrees, the main arm is at the right front of the overhead working truck. When the rotation angle is 270 degrees, the main arm is right and left of the overhead working truck. When the turning angle is 350 degrees, the main arm is deviated to the left behind the overhead working truck. The processor may limit the main arm motion of the aerial work vehicle in the event that the sum of the support forces of the front left leg and the front right leg is less than or equal to a threshold value.
Specifically, the processor may acquire the current turntable rotation angle, which is 30 °. The processor may determine that the two legs corresponding to the branch reaction force sum value less than the corresponding threshold value are the front left leg and the front right leg. The processor may determine that the leg orientation in which the left and right front legs are located is front. The processor can determine that the main arm of the overhead working truck is positioned at the right rear according to the rotation angle of the turntable, the left front supporting leg and the right rear supporting leg. After the main arm direction is determined, the processor can judge that the right rear direction is opposite to the front direction, the processor can allow the turntable to rotate in the direction deviating from the front direction, the processor can also control the main arm to retract, inhibit the amplitude of the tower arm from ascending, the amplitude from descending, the extension and the retraction, inhibit all actions except the retraction of the main arm and inhibit the amplitude variation action of the fly arm.
For example, the turntable rotation angle acquired by the processor is 320 °. The processor may determine that the two legs corresponding to the branch reaction force sum value less than the corresponding threshold value are the front left leg and the front right leg. The processor may determine that the leg orientation in which the left and right front legs are located is front. The processor can determine that the main arm of the overhead working truck is positioned at the left rear according to the rotation angle of the turntable, the left front supporting leg and the right rear supporting leg. After the main arm direction is determined, the processor can judge that the left rear direction and the front direction are opposite directions, the processor can allow the turntable to rotate in the direction deviating from the front direction, the processor can also control the main arm to retract, inhibit the amplitude of the tower arm from ascending, the amplitude from descending, the extension and the retraction, inhibit all actions except the retraction of the main arm and inhibit the amplitude variation action of the fly arm.
For example, the turntable rotation angle acquired by the processor is 130 °. The processor may determine that the two legs corresponding to the branch reaction force sum value less than the corresponding threshold value are the front left leg and the front right leg. The processor may determine that the leg orientation in which the left and right front legs are located is front. The processor can determine that the main arm of the overhead working truck is positioned at the right front according to the rotation angle of the turntable, the left front supporting leg and the right rear supporting leg. After the main arm direction is determined, the processor can judge that the right front direction and the front direction are the same, the processor can allow the turntable to rotate in the direction deviating from the front direction, the processor can also control the main arm to retract, inhibit the amplitude of the tower arm from ascending, the amplitude from descending, the extension and the retraction, inhibit all actions except the retraction of the main arm and inhibit the amplitude variation action of the fly arm.
For example, the turntable rotation angle acquired by the processor is 220 °. The processor may determine that the two legs corresponding to the branch reaction force sum value less than the corresponding threshold value are the front left leg and the front right leg. The processor may determine that the leg orientation in which the left and right front legs are located is front. The processor can determine that the main arm of the overhead working truck is positioned at the left front according to the rotation angle of the turntable, the left front supporting leg and the right rear supporting leg. After the main arm direction is determined, the processor can judge that the left front direction and the front direction are the same, the processor can allow the turntable to rotate in the direction deviating from the front direction, the processor can also control the main arm to retract, inhibit the amplitude of the tower arm from ascending, the amplitude from descending, the extension and the retraction, inhibit all actions except the retraction of the main arm and inhibit the amplitude variation action of the fly arm.
In the embodiment of the application, the control method further comprises the following steps: after each counter force sum value is greater than or equal to a corresponding critical value and the maintenance time period is greater than or equal to a first preset time period, determining whether to release the restriction on the operation action being executed by the overhead working truck according to the re-acquired weight load, the inclination angle and the counter force sum value; and under the condition that the re-acquired weight load is smaller than or equal to the preset weight, the inclination angle is smaller than or equal to the preset angle and each counter force sum value is larger than or equal to the corresponding critical value, the limitation on the currently executing work action of the aerial working vehicle is released, so that the aerial working vehicle continues to execute the currently executing work action.
After each of the branch counter forces and values is greater than or equal to the corresponding threshold value and the maintenance time period is greater than or equal to the first preset time period, the processor may retrieve the weight load, the tilt angle, and the branch counter force and value. And determining whether to release the restriction on the work operation being performed by the working aloft vehicle based on the re-acquired weight load, inclination angle, and counter force sum value. The processor may determine whether the re-acquired weight load is less than or equal to a predetermined weight, whether the tilt angle is less than or equal to a predetermined angle, and whether each counter force sum is greater than or equal to a corresponding threshold value. When the re-acquired weight load is less than or equal to the preset weight, the inclination angle is less than or equal to the preset angle, and each counter force sum value is greater than or equal to the corresponding critical value, the processor may remove the restriction on the currently executing work action of the aerial work vehicle, so that the aerial work vehicle continues to execute the currently executing work action. For example, in the case of M p＜＜ME,γ＜＜γ0 and F s1＞Fy1、Fs2＞Fy2、Fs3＞Fy3、Fs4＞Fy4, the processor may unblock the task action currently being performed by the aerial vehicle so that the aerial vehicle continues to perform the task action currently being performed.
In the embodiment of the application, the control method further comprises the following steps: after the weight load is less than or equal to the preset weight and the maintenance time period is greater than or equal to the second preset time period, and the tilt angle is less than or equal to the preset angle and the maintenance time period is greater than or equal to the third preset time period, the processor may retrieve the weight load, the tilt angle, and the support force and value. And determining whether to release the restriction on the work operation being performed by the working aloft vehicle based on the re-acquired weight load, inclination angle, and counter force sum value. The processor may determine whether the re-acquired weight load is less than or equal to a predetermined weight, whether the tilt angle is less than or equal to a predetermined angle, and whether each counter force sum is greater than or equal to a corresponding threshold value. When the re-acquired weight load is less than or equal to the preset weight, the inclination angle is less than or equal to the preset angle, and each counter force sum value is greater than or equal to the corresponding critical value, the processor may remove the restriction on the currently executing work action of the aerial work vehicle, so that the aerial work vehicle continues to execute the currently executing work action.
For example, in the case where the weight load M p is always kept less than or equal to the preset weight M E within 5s, and the tilt angle γ is always kept less than or equal to the preset angle γ 0 within 7s, the processor may acquire the weight load, the tilt angle, and the counter-force and value. And in the case of M p＜＜ME,γ＜＜γ0 and F s1＞Fy1、Fs2＞Fy2、Fs3＞Fy3、Fs4＞Fy4, the processor may remove the restriction on the currently executing work action of the aerial vehicle so that the aerial vehicle continues to execute the currently executing work action.
In the embodiment of the application, the control method further comprises the following steps: and under the condition that the weight load is smaller than or equal to the preset weight, the inclination angle is smaller than or equal to the preset angle, and each counter-force sum value is larger than or equal to the corresponding critical value, allowing the overhead working truck to continue to execute the currently executed operation action, and returning to the step of acquiring the weight load on the working platform of the overhead working truck, the inclination angle of the chassis and the counter-force of each supporting leg in real time again until any counter-force sum value is smaller than the corresponding critical value.
After determining the threshold value corresponding to each of the branch reaction forces and values, the processor may determine whether each of the branch reaction forces and values is greater than or equal to the threshold value corresponding to each of the branch reaction forces and values. When the weight load is less than or equal to the preset weight, the inclination angle is less than or equal to the preset angle, and each counter-force sum is greater than or equal to a threshold value corresponding to each counter-force sum, the processor may allow the aerial working vehicle to continue to perform the current working action being performed, and return to the step of acquiring the weight load on the working platform of the aerial working vehicle, the inclination angle of the chassis, and the counter-force of each leg in real time again until any one counter-force sum is less than the corresponding threshold value.
In the embodiment of the application, as shown in fig. 3, the overhead working truck comprises a supporting leg, a tower arm, a main arm, a turntable, a chassis, a tower arm amplitude changing valve bank, a tower arm amplitude changing oil cylinder, a tower arm telescopic valve bank, a tower arm telescopic oil cylinder, a main arm amplitude changing valve bank, a main arm amplitude changing oil cylinder, a main arm telescopic valve bank, a main arm telescopic oil cylinder, a turntable rotating valve bank, a turntable rotating motor, a supporting leg expanding valve bank and an alarm. The support leg is provided with a support reaction force detection sensor connected with the control system through CAN communication, and the support reaction force detection sensor CAN input the detected support reaction force to the control system. The tower arm is provided with a tower arm angle sensor which is connected with the control system through CAN communication, and the tower arm angle sensor CAN input the detected tower arm angle to the control system. The main arm is provided with a main arm angle sensor which is connected with the control system through CAN communication, and the main arm angle sensor CAN input the detected main arm angle to the control system. The turntable is provided with two turntable rotation angle sensors which are connected with the control system through CAN communication, and the turntable rotation angle sensors CAN input the detected turntable rotation angle to the control system. The chassis is provided with a get-off inclination sensor which is connected with the control system through CAN communication, and the get-off inclination sensor CAN input the detected chassis inclination angle to the control system.
The control system can output control information according to the input support reaction force, the tower arm angle, the main arm angle, the turntable rotation angle and the chassis inclination angle, and respectively control the tower arm amplitude changing valve group so that the tower arm amplitude changing oil cylinder performs amplitude changing action; the tower arm telescopic valve group enables the tower arm telescopic oil cylinder to perform telescopic action; the main arm amplitude changing valve group enables the main arm amplitude changing oil cylinder to perform amplitude changing action; the main arm telescopic valve group enables the main arm telescopic oil cylinder to perform telescopic action; the rotary table rotates the valve group, so that the rotary table rotates the motor to perform corresponding actions; the support leg expansion valve group expands the support leg; and the alarm makes the alarm sound.
For example, as shown in fig. 4, the controller (i.e., the processor) may receive in real time the chassis inclination angle sent by the chassis inclination sensor, the load weight sent by the platform load sensor, and the support reaction force of the support leg monitored by the support reaction force measurement system. After receiving the chassis inclination angle, the load weight and the counter force, the controller can determine whether the chassis inclination angle exceeds a threshold value and whether the load weight exceeds the threshold value. And under the condition that the chassis inclination exceeds the threshold value and/or the load weight exceeds the threshold value, the controller can limit an execution structure included in an execution system of the aerial working vehicle and control the alarm to give an alarm. The limitation of the execution structure comprises the limitation of the walking action of the chassis, the limitation of the rotation action of the turntable and the limitation of the amplitude variation and the telescopic action of the tower arm and the main arm.
Under the condition that the inclination angle of the chassis does not exceed the threshold value and the load weight does not exceed the threshold value, the controller can judge whether the sum of the supporting forces of the same side supporting legs exceeds the threshold value. Under the condition that the sum of the supporting counter forces of the same side supporting legs exceeds a threshold value, the controller can limit an execution structure included in an execution system of the overhead working truck and control the alarm to give an alarm. The limitation of the execution structure comprises the limitation of the walking action of the chassis, the limitation of the rotation action of the turntable and the limitation of the amplitude variation and the telescopic action of the tower arm and the main arm.
As shown in fig. 5, the stability of the overhead working truck is determined based on the sum of the counter-forces to determine whether or not the actuator of the overhead working truck needs to be limited, so that the working range of the overhead working truck is wider than that of the conventional overhead working truck. The limitation on the actuating mechanism can be the limitation on each gesture combination of the tower arm and the main arm, for example, in one gesture combination, the extension of the two sections of arms of the main arm can be limited to half; in another attitude combination, the extension of the main arm section two can be limited to be far less than half. As shown in fig. 6, the maximum elevation angle of the tower arm may be increased from the existing 70 ° to 85 °, the maximum elevation angle of the main arm may be increased from the existing 70 ° to 80 °, and the maximum working amplitude of the main arm may be increased from the existing 20.9m to 22.8m, the maximum working height of the overhead working truck may be increased from 34.6m to 36m, and the drop angle may be increased from 3 ° to 6 °.
Through the technical scheme, the stability and the safety of the overhead working truck are improved, so that the overhead working truck can dynamically execute the operation action under the constraint of weight load, inclination angle and supporting counter force, the limitation degree of the overhead working truck is reduced, the operation range is greatly improved, and the flexibility of the overhead working truck is improved.
Fig. 1 and 4 are flow diagrams of a control method for an overhead working truck in one embodiment. It should be understood that, although the steps in the flowcharts of fig. 1 and 4 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 and 4 may include multiple sub-steps or phases that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or phases are performed necessarily occur sequentially, but may be performed alternately or alternately with at least a portion of the sub-steps or phases of other steps or other steps.
The embodiment of the application also provides a control device for the overhead working truck, which comprises:
A memory configured to store instructions; and
And a processor configured to call instructions from the memory and to implement the control method for the aerial vehicle described above when the instructions are executed.
The embodiment of the application also provides an overhead working truck, which comprises the control device for the overhead working truck.
The embodiment of the application also provides a machine-readable storage medium, which stores instructions for causing a machine to execute the control method for the aerial work vehicle.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor a01, a network interface a02, a memory (not shown) and a database (not shown) connected by a system bus. Wherein the processor a01 of the computer device is adapted to provide computing and control capabilities. The memory of the computer device includes internal memory a03 and nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used for storing data of weight load, inclination angle and counter force. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program B02, when executed by the processor a01, implements a control method for an aerial vehicle.
It will be appreciated by those skilled in the art that the structure shown in FIG. 7 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes the following steps when executing the program: acquiring weight load on a working platform of the aerial working vehicle, an inclination angle of a chassis and a supporting reaction force of each supporting leg in real time in the process that the aerial working vehicle sequentially executes each working action corresponding to a working task; determining the counter-force sum value between every two adjacent supporting legs of the overhead working truck; determining a critical value corresponding to each counter force sum value according to the currently executing operation action; judging whether each counter force sum value is smaller than a corresponding critical value or not under the condition that the weight load is smaller than or equal to the preset weight and the inclination angle is smaller than or equal to the preset angle; and limiting the operation currently being executed by the overhead working truck until the counter-force sum is greater than or equal to the corresponding critical value and the maintenance time length is greater than or equal to the first preset time length under the condition that the counter-force sum is smaller than the corresponding critical value for any counter-force sum.
In one embodiment, the control method further comprises: and limiting the operation currently being executed by the overhead working truck until the weight load is less than or equal to the preset weight and the maintenance time period is longer than or equal to the second preset time period, and the inclination angle is less than or equal to the preset angle and the maintenance time period is longer than or equal to the third preset time period under the condition that the weight load is greater than the preset weight and/or the inclination angle is greater than the preset angle.
In one embodiment, the control method further comprises: after each counter force sum value is greater than or equal to a corresponding critical value and the maintenance time period is greater than or equal to a first preset time period, determining whether to release the restriction on the operation action being executed by the overhead working truck according to the re-acquired weight load, the inclination angle and the counter force sum value; and under the condition that the re-acquired weight load is smaller than or equal to the preset weight, the inclination angle is smaller than or equal to the preset angle and each counter force sum value is larger than or equal to the corresponding critical value, the limitation on the currently executing work action of the aerial working vehicle is released, so that the aerial working vehicle continues to execute the currently executing work action.
In one embodiment, the control method further comprises: after the weight load is less than or equal to the preset weight and the maintenance time period is greater than or equal to the second preset time period, and the inclination angle is less than or equal to the preset angle and the maintenance time period is greater than or equal to the third preset time period, determining whether to release the restriction on the operation action being executed by the aerial working vehicle according to the re-acquired weight load, inclination angle and support reaction force and value; and under the condition that the re-acquired weight load is smaller than or equal to the preset weight, the inclination angle is smaller than or equal to the preset angle and each counter force sum value is larger than or equal to the corresponding critical value, the limitation on the currently executing work action of the aerial working vehicle is released, so that the aerial working vehicle continues to execute the currently executing work action.
In one embodiment, the control method further comprises: and after limiting the operation currently being executed by the aerial work vehicle, controlling an alarm device of the aerial work vehicle to alarm.
In one embodiment, the control method further comprises: and under the condition that the weight load is smaller than or equal to the preset weight, the inclination angle is smaller than or equal to the preset angle, and each counter-force sum value is larger than or equal to the corresponding critical value, allowing the overhead working truck to continue to execute the currently executed operation action, and returning to the step of acquiring the weight load on the working platform of the overhead working truck, the inclination angle of the chassis and the counter-force of each supporting leg in real time again until any counter-force sum value is smaller than the corresponding critical value.
In one embodiment, the work action currently being performed by the aerial vehicle comprises a swivel action of a turntable of the aerial vehicle, and limiting the work action currently being performed by the aerial vehicle comprises: acquiring a revolving angle of a revolving stage of the overhead working truck; taking two support legs corresponding to the support reaction force sum value smaller than the corresponding critical value as target support legs; determining the main arm azimuth of the overhead working truck according to the revolving angle of the turntable and the target landing leg; and limiting the working action currently being executed by the aerial working vehicle according to the main arm position and the landing leg position of the target landing leg.
In one embodiment, the work action currently being performed by the aerial vehicle comprises a swivel action of a turntable of the aerial vehicle, and limiting the work action currently being performed by the aerial vehicle based on the main arm orientation and the leg orientation in which the target leg is located comprises: under the condition that the main arm direction is the same as the landing leg direction of the target landing leg, controlling the turntable to rotate towards a first preset direction; and under the condition that the main arm direction is different from the landing leg direction of the target landing leg, controlling the turntable to rotate towards a second preset direction.
In one embodiment, the work actions currently being performed by the aerial vehicle include swing actions of a work platform of the aerial vehicle, actions of a tower arm, luffing and telescoping of a main arm, and luffing of a fly arm, and limiting the work actions currently being performed by the aerial vehicle includes: under the condition that the weight load is greater than the preset weight and/or the inclination angle is greater than the preset angle, all other actions of the overhead working truck except the swinging action of the working platform are forbidden; and under the condition that any counter force sum value is smaller than a corresponding critical value, prohibiting all actions except retraction of the main arm, all actions of the tower arm and amplitude variation of the fly arm.
The application also provides a computer program product adapted to perform a program for initializing steps of a control method for an aerial vehicle when the program is executed on a data processing apparatus.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (12)
1. A control method for an overhead working truck, the control method comprising:
acquiring weight load on a working platform of the aerial working vehicle, an inclination angle of a chassis and a supporting reaction force of each supporting leg in real time in the process that the aerial working vehicle sequentially executes each working action corresponding to a working task;
Determining a counter-force sum value between every two adjacent legs of the aerial work vehicle;
determining a critical value corresponding to each counter force sum value according to the currently executing operation action;
Judging whether each counter force sum value is smaller than a corresponding critical value or not under the condition that the weight load is smaller than or equal to preset weight and the inclination angle is smaller than or equal to a preset angle;
And limiting the operation currently being executed by the overhead working truck until any branch counter force and value are larger than or equal to the corresponding critical value and the maintenance time length is longer than or equal to the first preset time length under the condition that the branch counter force and value are smaller than the corresponding critical value.
2. The control method for an overhead working truck according to claim 1, characterized in that the control method further comprises:
And limiting the operation action currently being executed by the aerial working vehicle until the weight load is less than or equal to the preset weight and the maintenance time period is greater than or equal to a second preset duration and the inclination angle is less than or equal to the preset angle and the maintenance time period is greater than or equal to a third preset duration under the condition that the weight load is greater than the preset weight and/or the inclination angle is greater than the preset angle.
3. The control method for an overhead working truck according to claim 2, characterized in that the control method further comprises:
After each counter force sum value is greater than or equal to a corresponding critical value and the maintenance time period is greater than or equal to a first preset time period, determining whether to release the restriction on the operation action being executed by the aerial working vehicle according to the re-acquired weight load, the inclination angle and the counter force sum value;
And under the condition that the re-acquired weight load is smaller than or equal to the preset weight, the inclination angle is smaller than or equal to the preset angle and each counter force sum value is larger than or equal to a corresponding critical value, releasing the limitation on the currently executing work action of the aerial working vehicle, so that the aerial working vehicle continues to execute the currently executing work action.
4. The control method for an overhead working truck according to claim 2, characterized in that the control method further comprises:
After the weight load is less than or equal to the preset weight and the maintenance time period is greater than or equal to a second preset time period, and the inclination angle is less than or equal to the preset angle and the maintenance time period is greater than or equal to a third preset time period, determining whether to release the restriction on the operation action being executed by the overhead working truck according to the re-acquired weight load, inclination angle and support reaction force and value;
And under the condition that the re-acquired weight load is smaller than or equal to the preset weight, the inclination angle is smaller than or equal to the preset angle and each counter force sum value is larger than or equal to a corresponding critical value, releasing the limitation on the currently executing work action of the aerial working vehicle, so that the aerial working vehicle continues to execute the currently executing work action.
5. The control method for an overhead working truck according to claim 2, characterized in that the control method further comprises:
and after limiting the operation action currently being executed by the aerial working vehicle, controlling an alarm device of the aerial working vehicle to alarm.
6. The control method for an overhead working truck according to claim 1, characterized in that the control method further comprises:
And allowing the aerial working vehicle to continue to execute the currently executing working action under the condition that the weight load is smaller than or equal to the preset weight, the inclination angle is smaller than or equal to the preset angle and each counter-force sum is larger than or equal to the corresponding critical value, and returning to the step of acquiring the weight load on the working platform of the aerial working vehicle, the inclination angle of the chassis and the counter-force of each support leg in real time again until any counter-force sum is smaller than the corresponding critical value.
7. The control method for an overhead working truck according to claim 1, wherein the operation action currently being performed by the overhead working truck includes a turning action of a turntable of the overhead working truck, and the restricting the operation action currently being performed by the overhead working truck includes:
acquiring a revolving angle of a revolving stage of the overhead working truck;
taking the two support legs corresponding to the counter force sum value smaller than the corresponding critical value as target support legs;
determining the main arm azimuth of the aerial working vehicle according to the revolving angle of the revolving stage and the target landing leg;
And limiting the operation action currently being executed by the aerial working vehicle according to the main arm position and the landing leg position of the target landing leg.
8. The control method for an overhead working truck according to claim 7, wherein the work action currently being performed by the overhead working truck includes a turning action of a turntable of the overhead working truck, and the restricting the work action currently being performed by the overhead working truck according to the main arm orientation and the leg orientation in which the target leg is located includes:
Under the condition that the main arm direction is the same as the landing leg direction of the target landing leg, controlling the turntable to rotate in a first preset direction;
And controlling the turntable to rotate in a second preset direction under the condition that the main arm direction is different from the landing leg direction of the target landing leg.
9. The control method for an overhead working truck according to claim 1, wherein the operation actions currently being performed by the overhead working truck include a swing action of a work platform of the overhead working truck, an action of a tower arm, a luffing and telescoping of a main arm, and a luffing of a fly arm, and the restricting the operation actions currently being performed by the overhead working truck includes:
prohibiting all other actions of the aerial work vehicle except for the swinging action of the working platform under the condition that the weight load is larger than the preset weight and/or the inclination angle is larger than the preset angle;
and under the condition that any branch counter force sum value is smaller than a corresponding critical value, prohibiting all actions except retraction of the main arm, all actions of the tower arm and amplitude variation of the fly arm.
10. A control device for an overhead working truck, comprising:
A memory configured to store instructions; and
A processor configured to invoke the instructions from the memory and when executing the instructions is capable of implementing the control method for an aerial vehicle according to any of claims 1to 9.
11. An aerial vehicle comprising a control device for an aerial vehicle according to claim 10.
12. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the control method for an aerial vehicle of any of claims 1 to 9.
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| CN202410188234.7A CN118083874A (en) | 2024-02-20 | 2024-02-20 | Control method and control device for aerial working vehicle and aerial working vehicle |
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