KR100707363B1 - Apparatus and method for controlling zero point return of ladder for high place works car - Google Patents

Abstract

The present invention is a one-touch control process is automatically carried out to perform a quick and accurate ladder home return, and implement a device by a sensor device of a simpler structure to lower the manufacturing cost of the device Ladder homing control device and a control method thereof.

To this end, the present invention, a ladder unit is provided in the vehicle, the ladder unit includes a ladder and a turntable and a driving unit for stretching the ladder and rotating the turntable, the turntable, the sensor is installed on the turntable, the turntable The rotatably mounted fixed table includes: a sensor unit each having a detector for detecting an angle of the turntable detected by the sensor on a surface opposite to the surface on which the sensor is installed; After receiving the signal detected by the sensor unit, provides a ladder home return control device for a aerial vehicle, characterized in that it comprises a control circuit unit for reading this by rotating the turntable to the home position.

In addition, the present invention, the ladder unit is provided in the vehicle, the ladder unit in the process of controlling the ladder unit of the aerial work vehicle including a ladder, a turntable and a drive unit for rotating the turntable and the ladder, the ladder is Contracted by the drive unit; Simultaneously with the contraction of the ladder, the control circuit unit controls the driving unit to rotate the turntable, and when a detector is detected by a sensor installed on the rotating turntable, two sets of detectors are simultaneously detected by two sets of sensors installed on the turntable. Determining whether or not which one of the two sets of detectors is first detected by any one of the two sets of sensors; And the control circuit unit recognizes the rotation direction of the turntable based on the determined result and rotates the turntable clockwise or counterclockwise to rotate to a position where two sets of detectors are simultaneously detected by two sets of sensors. Provided is a control method of a ladder homing control apparatus for a aerial work vehicle.

Aerial Lift Truck, Ladder Truck, Fire Truck, Home Return

Description

Apparatus and Method for Controlling Zero Point Return of Ladder for High Place Works Car}

1 is an exemplary view of a typical aerial work vehicle.

2 is a side view of a ladder turntable in which a control process according to the present invention is performed.

3 is a plan view illustrating a ladder turntable in which a control process according to the present invention is performed.

4 is a circuit diagram of a ladder homing control device according to the present invention.

5 is a flowchart of a ladder homing control process according to the present invention.

<Explanation of symbols for the main parts of the drawings>

10: sensor unit 11: sensor

12: fixed table 13: detector

20: control circuit unit 30: drive unit

The present invention relates to a ladder homing control device and a control method of the aerial vehicle. In detail, the control process is automatically performed by the one-touch method, so that the return to the ladder can be performed more quickly and accurately, and the aerial work vehicle that lowers the manufacturing cost of the device by implementing the device by the sensor device of simpler configuration. Ladder homing control device and a control method thereof.

The aerial vehicle is a work vehicle commonly referred to as a "ladder car", and the fire engine used for rescue activities such as fire is the most representative. Other aerial work vehicles can be exemplified a dedicated vehicle used for roadside maintenance, street light maintenance, or moving a moving vehicle. Such aerial work trucks allow the worker to move to a work site located at a substantial height above ground level so that they can carry out the desired activity (in the case of fire trucks).

1 is an exemplary view showing the aerial work vehicle as described above. The aerial work vehicle in the drawing presents a fire truck used for rescue activities such as fire, and will be described below with reference to rescue activities.

Referring to the drawings, the aerial work vehicle is mounted on the rear of the vehicle unit (1) and the rear of the vehicle unit (1) for mounting the various equipment used for rescue activities to the position where the disaster occurred, active personnel It consists of the ladder part 2 which moves (worker) to a target height.

The vehicle unit 1 has a driving configuration similar to that of a general vehicle of four or more multi-wheels, and includes a equipment installation unit 3 on which the various equipment is mounted and installed.

The ladder unit 2 is a turntable (4) rotated on the upper surface of the equipment installation unit 3, the ladder is installed on the upper surface of the turntable (4) stretched (extended / contracted) and the angle is rotated up and down (5) and the work platform 6 is installed at the end of the ladder (5) active personnel boarding.

Ladder portion 2 of this configuration is the turntable 4 is rotated and the ladder 5 is extended and rotated by a predetermined angle to perform rescue activities. After completion of the rescue operation, the driver of the aerial vehicle (driver operating the ladder) contracts and rotates the ladder 5, returns the turntable 4 to its initial position, and then moves the aerial vehicle to the garage. Let's go.

At this time, the contraction and angular rotation of the ladder 5 and the rotation of the turntable 4 are performed by the division operation. In particular, the ladder part 2 causes the driver to be very familiar with the driving of the ladder part 2 to move the turntable 4 to its initial position, depending on the sense, to rotate the turntable 4 to its original position. Here, the turntable 4 is rotated by a motor, the ladder 5 is naturally driven by a driving device such as a plurality of cylinders. In addition, it is as well known that the switching arrangement for driving the drive device is installed in the vehicle unit 1.

Conventional aerial work ladder unit as described above, the ladder contraction and angular rotation and turntable rotation is driven separately by the switching configuration, because the contraction of the ladder and rotation of the turntable must be performed several times to confirm the correct position Operation to return to the origin is very cumbersome and the homing time is delayed. In particular, since the process of finding the correct home position by rotating the turntable depends on the driver's sense, the waste of power due to frequent driving of the turntable and the driving of the vehicle due to the uneven balance of the vehicle when the ladder does not return to the correct home position Problems that cause anxiety arise.

In order to solve this problem, an apparatus has been proposed in which an encoder is installed on a turntable and a servo motor, a controller, and the like are installed to control the encoder to return the ladder to the correct origin. However, since the encoder, the servomotor, and the controller are quite expensive equipment, the unit price of the aerial work vehicle to which the encoder, the servomotor, and the controller are applied is very high, thereby providing a considerable economic burden to the purchaser.

The present invention has been invented to solve the above problems, and provides a ladder homing control device to implement a configuration in which the ladder is returned to the correct origin by a single switching process, and to be manufactured in a simplified configuration of a lower unit cost Has its purpose.

Another object of the present invention is to provide an optimized control method of the ladder homing control device which is manufactured with the simplified homing and low cost simplified configuration.

In order to achieve the above object, the present invention has the following configuration.

According to an aspect of the present invention, a ladder unit is provided in a vehicle unit, and the ladder unit includes a ladder, a turntable, and a driving unit configured to expand and contract the ladder and rotate the turntable, wherein the turntable is provided with a sensor, and the turntable is rotated. The fixed table may include: a sensor unit each having a detector for detecting an angle of the turntable detected by the sensor on a surface opposite the surface on which the sensor is installed; After receiving the signal detected by the sensor unit, it comprises a control circuit for reading this by rotating the turntable to the home position to return.

In order to achieve the above another object, the present invention, the ladder unit is provided in the vehicle, the ladder unit in the process for controlling the ladder unit of the aerial work vehicle including a ladder and the turntable and a drive unit for stretching the ladder and rotating the turntable. The step of contracting the ladder by the drive unit; Simultaneously with the contraction of the ladder, the control circuit unit controls the driving unit to rotate the turntable, and if a detector is detected by a sensor installed on the rotated turntable, whether two sets of detectors are simultaneously detected by two sets of sensors installed on the turntable. Or determining, by either of the two sets of sensors, which one of the two sets of detectors is first detected by the control circuit unit; And the control circuit unit recognizes the rotation direction of the turntable based on the determined result and rotates the turntable clockwise or counterclockwise to rotate to a position where two sets of detectors are simultaneously detected by two sets of sensors. It is characterized by.

Hereinafter, exemplary embodiments of the present invention to which the above configuration is applied will be described in detail with reference to the accompanying drawings.

2 is a side view of a ladder turntable in which a control process according to the present invention is performed, FIG. 3 is a plan view of a ladder turntable in which a control process according to the present invention is performed, and FIG. 4 is a circuit diagram of a ladder homing control apparatus according to the present invention. to be. Here, the description of the aerial work vehicle to which the control device according to the present invention is applied will be described with reference to the fire truck as shown in FIG.

Referring to the drawings, the control device according to the present invention comprises a sensor unit 10 and the control circuit unit 20. In particular, the sensor unit 10 is installed in the turntable 4 and the adjacent position of the aerial work vehicle, the control circuit unit 20 is installed in the vehicle unit 1 in a separate controller configuration, or separate wired / wireless It can be manufactured in the form of a remote controller.

In the figure, reference numeral 31 denotes each cylinder for stretching and rotating the ladder 5 at a predetermined angle. Such a cylinder 30 is connected to a control circuit configuration (not shown) for controlling supply / recovery of pneumatic and hydraulic pressure. It is as well known.

The sensor unit 10 is integrally formed with the two sets of sensors 11 installed on the turntable 4 to be rotated and the vehicle unit 1 under the turntable 4 to be detected by the sensors 11. Is composed of a detector 13 installed in the fixed table 12 is coupled separately.

The sensor 11 is provided with two sets of sensors 11 arranged on a straight line facing outward from the center of rotation of the turntable 4. Here, the sensor 11 is configured to determine whether there is a detector 13 at a constant distance as a proximity sensor.

The detector 13 is installed on a surface of the fixed table 12 on which the turntable 4 is rotatably opposed to the surface on which the sensor 11 is installed. Here, the detector 13 may be installed by each of a plurality of angles so as to be detected by the sensor 11 to detect the angle of the turntable 4, the ladder 5 only clockwise or counterclockwise What is necessary is just to install at the 0 degree angle used as the origin, and the 180 degree angle symmetrical with respect to the characteristic of the turntable 4 to rotate.

In particular, the detector 13 is composed of two sets corresponding to the number of sensors 11, at least a part of each other in order to be detected by two sets of sensors 11 at the same angle line of 0 ° Arranged so as to overlap on the sensing line of the sensor (11). On the contrary, the detector 13 installed on the 180 ° angle line is arranged so that there are no overlapping sections, and is configured to detect a detection signal different from the detection signal of the origin.

The control circuit unit 20 detects the detector 13 by the sensor 11 of the sensor unit 10, receives the detected signal, reads it, and rotates the turntable 4 to the origin to return. It is composed. The control circuit unit 20 is a switching circuit that controls the driving of the cylinder for contracting the ladder 5 and the motor for rotating the turntable 4 by the signal of the sensor unit 10.

Such switching circuits are most commonly used microprocessors, but have a circuit configuration made by flip-flops or transistors. In addition, the cylinder and the motor is a drive unit 30 for performing ladder homing.

5 is a flowchart of a ladder homing control process according to the present invention.

Referring to the drawings, in the control process according to the present invention, first, the control circuit unit 20 drives the drive unit 30 so that the ladder 5 is contracted and rotated at a predetermined angle (rotated in a horizontal state). S1) Here, the ladder 5 is contracted and angled by the respective cylinders 30, the amount of expansion and contraction is configured to be confirmed by the configuration of the potentiometer, limit sensor, etc. installed on the ladder (5) .

Subsequently, the turntable 4 is rotated by controlling the drive unit 30 in the control circuit unit 20 at the same time as the ladder 5 contracts. (S2) At this time, the turntable 4 is the drive unit. Rotation by the motor of 30 is as well known, preferably applied to the servo motor that is controlled by the amount of rotation received the signal from the control circuit unit 20.

 When the detector 13 is detected by the sensor 11 installed on the turntable 4 while the turntable 4 is being rotated as described above, two sets of two sensors are mounted on the two sets of sensors 11 installed on the turntable 4. The control circuit unit 20 determines whether the detector 13 is simultaneously sensed or which one of the two sets of detectors 13 is first detected by one of the two sets of sensors 11. (S3)

As a result of the determination, the control circuit unit 20 recognizes the rotational direction of the turntable 4 and rotates the turntable 4 clockwise or counterclockwise to detect two sets of the two sets of sensors 11. The chair 13 is rotated to the position where it is detected at the same time (S4).

At this time, the determined results are as in Table 1, Table 2. In the table below, "0" represents a state detected by the sensor and "X" represents a state not detected.

0 ° 180 ° XS1 0 0 0 x XS2 0 x x 0

Table 1 shows a determination result when the turntable 4 is rotated in the clockwise direction with reference to FIG. 3.

0 ° 180 ° XS1 0 X X 0 XS2 0 0 0 X

Table 2 shows a determination result when the turntable 4 is rotated counterclockwise with reference to FIG. 3.

After the completion of the work according to the determination results as shown in Tables 1 and 2 above, it is possible to know the rotation direction of the ladder for returning to the original position from the current holding position of the turntable 4, and to find the fastest path to rotate to the origin. Predictable.

As described above, according to the present invention, since the expansion and contraction of the ladder and the rotation of the turntable are simultaneously performed by a single switching process, the ladder returns to the correct origin, thereby achieving a more convenient and quick ladder homing.

In addition, the present invention is produced by the low-cost sensor unit on the turntable with a simplified configuration of a lower unit cost, thereby lowering the manufacturing cost of the aerial vehicle to reduce the wider application of the device and the economic burden of the buyer It works.

Claims (4)

The ladder unit 2 is installed in the vehicle unit 1, and the ladder unit 2 extends the ladder 5, the turntable 4, and the ladder 5, and drives the drive unit 30 to rotate the turntable 4. In the aerial vehicle, including) A sensor 11 is installed on the turntable 4, and the fixed table 12 on which the turntable 4 is rotatably sensed is detected by the sensor 11 on a surface opposite to the surface on which the sensor 11 is installed. Sensor units 10 provided with detectors 13 for detecting the angles of the turntables 4 by angles; After receiving the signal detected by the sensor unit 10, the ladder origin return control of the aerial vehicle, characterized in that it comprises a control circuit unit 20 for reading this by rotating the turntable 4 to the origin; Device. The method of claim 1, The sensor 11 is provided with two sets of sensors 11 arranged on a straight line facing outward from the rotation center of the turntable 4, and the detector 13 is a fixed table corresponding to the sensors 11. In order to be detected by each sensor 11 at the origin of (12) and the angle spaced from the origin, two sets are respectively provided in the fixed table 12, the detector 13 installed at the origin is a sensor on both sides To detect at the same time, the detector 13 is installed at an angle spaced from the origin of the ladder home return control device of the aerial vehicle, characterized in that configured to be detected first on either side of the sensor on either side of the sensor. The ladder unit 2 is installed in the vehicle unit 1, and the ladder unit 2 extends the ladder 5, the turntable 4, and the ladder 5, and drives the drive unit 30 to rotate the turntable 4. In the process for controlling the ladder part 2 of the aerial vehicle, including) The ladder 5 is contracted by the drive unit 30; Simultaneously with the contraction of the ladder 5, the control circuit unit 20 drives the drive unit 30 to rotate the turntable 4, and the detector 13 to the sensor 11 installed on the turntable 4 to be rotated. Is detected, two sets of detectors 13 are simultaneously detected by two sets of sensors 11 installed on the turntable 4 or two sets of ones of the two sets of sensors 11. Determining, by the control circuit unit 20, which one of the detectors 13 is first detected; As a result of the determination, the control circuit unit 20 recognizes the rotational direction of the turntable 4 and rotates the turntable 4 clockwise or counterclockwise to detect two sets of the two sets of sensors 11. The control method of the ladder homing control apparatus of the aerial vehicle, characterized in that it comprises the step of rotating to the position where the ruler (13) is sensed at the same time. The method of claim 3, wherein The detectors 13 are spaced apart from each other so as to place two sets of ones simultaneously sensed by the two sets of sensors 11 at the origin and to be preferentially detected by any one of the two sets of sensors 11. A control method for a ladder homing control device for an aerial vehicle, characterized in that two sets are installed at a position of 180 ° from the origin.

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