CN219751853U - Automatic positioning control system for working bucket of overhead working truck - Google Patents

Abstract

The utility model discloses an automatic positioning control system for a working bucket of an overhead working truck, which comprises a turntable rotation angle encoder, an arm angle sensor, an arm length sensor, a crank arm rotation encoder, a platform lifting length sensor, a controller I and a controller II, wherein the turntable rotation angle encoder is used for detecting the rotation angle of a turntable. The sensor and the encoder are connected with the controller I, the controller I is in wireless connection with the controller II, and the remote control panel is in wireless connection with the controller II. The controller I is used for receiving the vehicle motion information and sending the vehicle motion information to the controller II, and the controller II is used for calculating and scanning the vehicle information and performing motion control through a remote control panel. The utility model can effectively improve the working efficiency of the overhead working truck and enable the working bucket to automatically reach the appointed working area.

Description

Automatic positioning control system for working bucket of overhead working truck

Technical Field

The utility model relates to the technical field of overhead working trucks, in particular to an automatic positioning control system for a working bucket of an overhead working truck.

Background

At present, an overhead working truck generally controls the actions of the overhead working truck by operating each action handle of a platform in a working bucket by an operator, so that the working bucket reaches a working area. The manual operation mode requires that operators have higher professional operation level, and in the operation process, the problems of avoidance obstacle, operation convenience and the like of the upper garment are also required to be considered, so that the operation vehicle needs to be improved, and the operation of the overhead operation vehicle is more free and convenient.

Disclosure of Invention

The utility model aims to provide an automatic positioning control system for a working bucket of an overhead working truck, which aims to solve the problems in the prior art.

In order to achieve the aim, the automatic positioning control system for the working bucket of the overhead working truck comprises an information acquisition unit, a controller I and a controller II, wherein the information acquisition unit comprises a turntable rotation angle encoder, an arm angle sensor, an arm length sensor, a crank arm rotation encoder, a platform rotation encoder and a platform lifting length sensor; the information acquisition unit is connected with the controller I, and the controller I is connected with the controller II through a CAN-to-WIFI module; the information acquisition unit is used for acquiring rotary table rotation, arm luffing, telescopic, crank arm rotation, platform rotation and lifting action information of the overhead working truck and sending the information to the controller I, and the controller II is used for receiving the vehicle action information of the controller I, modeling, calculating and planning a movement path for the vehicle operation space scanning and controlling the working bucket to automatically reach a specified position.

Further, the remote control panel is connected with the controller II in a wireless mode and is used for operating the vehicle and displaying the movable joint state of the vehicle.

Further, the controller II comprises a calculation module and a scanning modeling module, wherein the calculation module is used for transmitting wireless signals between the CAN-to-WIFI module and the remote control panel, planning the optimal motion trail of each part of the vehicle according to the instruction and sending information to the remote control panel; the scan modeling module is used for modeling data of the surrounding environment of the vehicle and transmitting information to the remote control panel.

The beneficial effects of the utility model are as follows: through the control system, through setting up various sensors, controller I and controller II, control work arm activity, can automatic control work position of fighting, make it reach appointed operation area automatically, this kind of automatic control's mode can improve the work efficiency of high altitude construction car and simplify the trouble that various manual operations brought.

Drawings

FIG. 1 is a control schematic of a control system;

FIG. 2 is a schematic view of the work implement positioning system and overhead working truck in accordance with the present utility model;

in the figure, a 1-turntable rotation angle encoder, a 2-arm angle sensor, a 3-arm length sensor, a 4-crank arm rotation encoder, a 5-platform rotation encoder, a 6-platform lifting length sensor, a 7-controller, an 8-CAN to WIFI module, a 9-controller II, a 901-calculation module, a 902-scanning modeling module and a 10-remote control panel.

Detailed Description

The utility model will be described in further detail with reference to the accompanying drawings and examples.

As shown in fig. 1, the automatic positioning control system for the working point of the working bucket of the aerial working vehicle comprises a turntable rotation angle encoder 1, an arm angle sensor 2, an arm length sensor 3, a crank arm rotation encoder 4, a platform rotation encoder 5, a platform lifting length sensor 6, a controller I7, a CAN-to-WIFI module 8, a controller II9 and a remote control panel 10, wherein the turntable rotation angle encoder 1 is arranged on a turntable of the aerial working vehicle, and a gear of the encoder is meshed with a slewing bearing gear fixed on the turntable, so that the slewing angle of the turntable is detected and fed back in real time. The arm angle sensor 2 is installed on the aerial working vehicle arm, and detects the angle between the arm and the horizontal plane in real time. The telescopic arm length sensor 3 is arranged on an aerial working vehicle arm, the main body is arranged on a basic arm, the pull rope is arranged on the telescopic arm, and the length of the arm can be obtained in real time through the change length of the pull rope and the initial length of the arm. The crank arm rotary encoder 4 is arranged on the crank arm, the encoder gear is meshed with the detection gear arranged on the leveling seat, and the detection gear is arranged on the shaft assembled by the crank arm and the platform, so that the rotation angle of the crank arm can be detected and fed back in real time. The platform rotary encoder 5 is arranged on the platform fixing bracket, and the encoder size wheel is meshed with the detection gear arranged on the crank arm, so that the rotary angle of the platform relative to the crank arm can be detected and fed back in real time. The platform lifting length sensor 6 is arranged on the platform bracket, the main body is fixed on the fixed bracket, the pull rope is arranged on the lifting bracket, and the vertical height of the bucket bottom from the arm hinge point can be obtained through the length change of the pull rope.

The controller I7 is provided with a CAN bus interface and is arranged in an electric control box for the off-vehicle of the overhead working truck, and the actions of all joints of the truck are controlled according to the instructions. The CAN interface of the CAN-to-WIFI module 8 is connected with the CAN bus interface of the controller I8, is arranged in the off-vehicle electrical control box of the overhead working truck and is used for wireless transmission of data and instructions between the controller II9 and the controller I8.

The controller II9 is provided with a calculation module 901 and a scan modeling module 902. The computing module 901 CAN transmit wireless signals between the CAN-to-WIFI module and the remote control panel 10, meanwhile, calculate the optimal motion trail of each part of the vehicle according to the instruction, send information to the remote control panel 10, and send action execution quality to the controller I8 after receiving the instruction of an operator on the panel. The scan modeling module 902 is used for data modeling of the vehicle surroundings and transmits information to the remote control tablet 10.

The remote control panel 10 can receive the environmental modeling data, the vehicle modeling data and the calculation data of the controller II9, display the environmental model, the vehicle state and the like on the display screen, send the operating points to the controller II9 by using the remote control panel 10 according to the environmental model, process the operating points by the operator through the calculation module 901, simulate the optimal track, display the track animation on the panel 10, after the operator confirms, the controller I8 operates all the components on the vehicle according to the received instruction information, report the data of the sensors at all the joints in real time, and judge whether the operating position is reached by the controller I7.

The controller II9 is in the prior art, and the specific content is shown in the patent application number: 2021116405510, the name is: intelligent controller, insulating arm car and live working equipment.

The working principle of the control system is as follows: the vehicle is supported and fixed, the upper assembly is in a driving state, the vehicle is defined as an initial state, during operation, firstly, the controller II9 carries out scanning modeling through a laser radar, a space coordinate system is established, an operator selects an operation point according to a three-dimensional picture on a display at present by taking a vehicle rotation center as an origin, the operation point is displayed on the remote control panel 10, then an operation point instruction is given to the vehicle, the upper arm starts to move, when the working bucket is in a position adjustment process, the vehicle model state and joint parameters are fed back to the controller II9 and the remote control panel 10 in real time, and the controller II9 timely adjusts the action instruction parameters to control the vehicle action and correct the position distance from the set point according to the upper assembly joint parameters. When the spatial coordinates of the position reach the range near the working point, namely, the working bucket is judged to reach the working area, the operator can perform relevant high-altitude operation.

The embodiments of the present utility model have been described in detail with reference to the accompanying drawings, but the present utility model is not limited thereto, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present utility model, and the present utility model is defined in the claims.

Claims (3)

1. The automatic positioning control system for the working bucket of the overhead working truck is characterized by comprising an information acquisition unit, a controller I (7) and a controller II (9), wherein the information acquisition unit comprises a turntable rotation angle encoder (1), an arm angle sensor (2), an arm length sensor (3), a crank arm rotation encoder (4), a platform rotation encoder (5) and a platform lifting length sensor (6); the information acquisition unit is connected with the controller I, and the controller I is connected with the controller II (9) through a CAN-to-WIFI module (8); the information acquisition unit is used for acquiring rotary table rotation, arm luffing, telescopic, crank arm rotation, platform rotation and lifting action information of the overhead working truck and sending the information to the controller I (7), and the controller II (9) is used for receiving the vehicle action information of the controller I (7), modeling, calculating and planning a movement path for the vehicle operation space scanning and controlling the working hopper to automatically reach a specified position.

2. The automatic bucket positioning control system of an overhead working truck according to claim 1, further comprising a remote control panel (10), wherein the remote control panel (10) is wirelessly connected to the controller II (9) for operating the vehicle and displaying the status of the movable joints of the vehicle.

3. The automatic positioning control system of the working bucket of the aerial working vehicle according to claim 2, wherein the controller II (9) comprises a calculation module (901) and a scanning modeling module (902), the calculation module (901) is used for transmitting wireless signals between the CAN-to-WIFI module (8) and the remote control panel (10), and simultaneously planning the optimal movement track of each part of the vehicle according to instructions, and transmitting information to the remote control panel (10); the scan modeling module (902) is used for data modeling of the vehicle surroundings and transmits information to the remote control tablet (10).