WO2020248385A1

WO2020248385A1 - Dust suppression vehicle boom system, and control method and control system therefor

Info

Publication number: WO2020248385A1
Application number: PCT/CN2019/103352
Authority: WO
Inventors: 李亮; 张斌; 魏星; 姜方宁; 景斌; 唐山青; 王伟; 马爱丽
Original assignee: 长沙中联重科环境产业有限公司
Priority date: 2019-06-14
Filing date: 2019-08-29
Publication date: 2020-12-17
Also published as: CN110258425B; CN110258425A

Abstract

Disclosed are a dust suppression vehicle boom system, and a control method and a control system therefor. The dust suppression vehicle boom system of the present invention uses a foldable boom system, so that the height of a fog cannon can be easily adjusted. As the height of the fog cannon continues to increase, the free fall time of water mist sprayed by the fog cannon increases; in addition, the fog cannon platform is always in a horizontal state during the adjustment process, so that the water mist sprayed by the fog cannon can reach the farthest horizontal distance, thereby greatly increasing the working range of the fog cannon. The control method and control system for the dust suppression vehicle boom system of the present invention can realize the intelligent adjustment of the height of the fog cannon only by inputting a height instruction of the fog cannon; the operation is very convenient; moreover, during the adjustment process, the fog cannon platform is always in a horizontal state, so that the water mist sprayed by the fog cannon can reach the farthest horizontal distance, thereby greatly increasing the operation range of the fog cannon.

Description

Dust suppression vehicle boom system and control method and control system thereof

Technical field

The present invention relates to the technical field of dust suppression vehicles, in particular to a boom system for dust suppression vehicles, and in addition, it also relates to a control method and control system of the boom system for dust suppression vehicles.

Background technique

As shown in Figure 1, the fog cannons of the existing dust suppression vehicles are all fixedly connected to the rear of the vehicle chassis through the fog cannon support. The fog cannon is driven by the rotary platform to rotate left and right around the rotary platform, through the pitch cylinder To drive the fog cannon to rotate up and down around its hinge point with the fog cannon support. When the vehicle is parked, the working range of the fog cannon is limited to the horizontal distance that the fog cannon can reach. Therefore, the operation range of the fog cannon of the existing dust suppression vehicle is limited by the performance of the fog cannon, the improvement space is limited, and the dust suppression effect is not ideal.

Summary of the invention

The invention provides a boom system for a dust suppression vehicle and a control method and control system thereof, so as to solve the technical problem that the existing dust suppression vehicle has a limited operating range of fog cannons.

According to one aspect of the present invention, a dust suppression vehicle boom system is provided, which includes a first arm, a second arm, a third arm, a first cylinder, a second cylinder, a third cylinder, and a fog cannon support. One end of the first arm is hinged with the swing platform, and the other end is hinged with the second arm. One end of the first cylinder is hinged with the swing platform, and the other end is hinged with the first arm. One end of the second cylinder is hinged with the first arm. One arm is hinged, the other end is hinged to the second arm and the first arm, one end of the third arm is hinged to the second arm, and the other end is fixedly connected to the fog cannon support. One end of the three-cylinder is hinged with the second arm, and the other end is hinged with the third arm. The fog cannon support is hinged to the fog cannon. The fog cannon support is always level when adjusting the height of the fog cannon. State, the first oil cylinder, the second oil cylinder and the third oil cylinder are all connected with the electro-hydraulic proportional control system of the dust suppression vehicle.

Further, it also includes a pitch cylinder connected to the electro-hydraulic proportional control system of the dust suppression vehicle, one end of the pitch cylinder is hinged with the fog cannon support, and the other end is hinged with the fog cannon.

The present invention also provides a control method of the boom system for a dust suppression vehicle, which adopts the boom system for a dust suppression vehicle as described above, and includes the following steps:

Step S1: Input the height command of the fog cannon;

Step S2: Detect the current angular position information of the second joint, the third joint, and the fourth joint respectively. The angular position information of the second joint is the angle between the first arm and the horizontal plane, initially 0, the angle of the third joint The position information is the angle between the first arm and the second arm, which is initially 0, and the angle position information of the fourth joint is the angle between the third arm and the second arm, which is initially π;

Step S3: According to the height instruction of the fog cannon and the current angular position information of the second joint, the third joint, and the fourth joint, the first, second, and third oil cylinders are driven to perform an associated compound action.

Further, the step S3 specifically includes the following steps:

Step S31: controlling the second oil cylinder to drive the second arm to adjust to the target angle position according to the height instruction of the fog cannon and the current angle position information of the third joint;

Step S32: controlling the first oil cylinder to drive the first arm to adjust to the target angular position according to the current angular position information of the third joint;

Step S33: controlling the third oil cylinder to drive the third arm to adjust to the target angular position according to the current angular position information of the third joint.

Further, the target angular position b ₀ of the second arm in the step S31 is:

When the height command of the fog cannon is H≤H1=L1*sin(A), the target angle of the second arm b ₀ = arcsin(H/L1);

When the height command of the fog cannon H>H1=L1*sin(A), the target angle of the second arm b ₀ =arcsin[(H-H1)/L2]+A;

Among them, L1 represents the length of the linear section of the first arm extended to the second arm, L2 represents the length of the linear section of the second arm extended to the length of the first arm, A represents the maximum angle that the first arm can reach from the horizontal plane, And A≤90°.

Further, the target angular position a ₀ of the first arm in the step S32 is:

When the current angular position information of the second arm b≤A, the target angular position of the first arm a ₀ =b;

When the current angular position information of the second arm b>A, the target angular position of the first arm a ₀ =A;

A represents the maximum angle that the first arm can reach with the horizontal plane, and A≤90°.

Further, the target angular position c ₀ of the third arm in the step S33 is:

When the current angular position information of the second arm b≤A, the target angular position of the third arm c ₀ =π;

When the current angular position information of the second arm b>A, the target angular position of the third arm c ₀ =π-(bA);

The present invention also provides a control system of a boom system for a dust suppression vehicle, which adopts the above-mentioned control method and includes an input unit for inputting a height command of the fog cannon;

An angle detection unit for detecting the current angular position information of the second joint, the third joint, and the fourth joint respectively;

The controller is used to control the associated compound action of the first, second, and third oil cylinders according to the height command of the fog cannon and the current angular position information of the second, third, and fourth joints;

Both the input unit and the angle detection unit are connected to the controller.

Further, it further includes an electro-hydraulic proportional control system electrically connected to the controller, and the electro-hydraulic proportional control system is respectively connected to a first oil cylinder, a second oil cylinder, and a third oil cylinder;

The controller controls the electro-hydraulic proportional control system to drive the first oil cylinder, the second oil cylinder, and the third oil cylinder to perform related compound actions.

The present invention has the following beneficial effects:

The boom system for a dust suppression vehicle of the present invention adopts a folding boom system, which can easily adjust the height of the fog cannon. As the height of the fog cannon continues to increase, the free fall time of the water mist sprayed by the fog cannon During the adjustment process, the fog cannon platform is always in a horizontal state. The water mist sprayed by the fog cannon can reach the farthest horizontal distance, which greatly increases the operation range of the fog cannon and has a better dust suppression effect.

In addition, the control method of the boom system for a dust suppression vehicle of the present invention can realize the intelligent adjustment of the height of the fog cannon only by inputting the height command of the fog cannon. The operation is very convenient, and the fog cannon platform is always in a horizontal state during the adjustment process. , The water mist sprayed by the fog cannon can reach the farthest horizontal distance, which greatly increases the working range of the fog cannon and has a better dust suppression effect.

In addition, the control system of the boom system for dust suppression vehicles of the present invention also has the above advantages.

In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The present invention will be described in further detail with reference to the drawings.

Description of the drawings

The drawings constituting a part of the present application are used to provide a further understanding of the present invention, and the exemplary embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is a schematic diagram of the installation structure of the fog cannon of the existing dust suppression vehicle of the present invention.

Fig. 2 is a schematic structural diagram of a boom system for a dust suppression vehicle according to a preferred embodiment of the present invention.

Fig. 3 is a schematic diagram of a dust suppression vehicle boom system in an initial state according to a preferred embodiment of the present invention.

4 is a schematic diagram of the boom system for a dust suppression vehicle in a raised state according to a preferred embodiment of the present invention.

5 is a schematic flowchart of a control method of a boom system for a dust suppression vehicle according to a second embodiment of the present invention.

Fig. 6 is a schematic diagram of the sub-flow of step S3 in Fig. 5 according to the second embodiment of the present invention.

Fig. 7 is a schematic diagram of converting the height command of the fog cannon into the target angle position of the second arm in step S31 in Fig. 6 of the second embodiment of the present invention.

FIG. 8 is a schematic diagram of the associated compound action of driving the first, second, and third oil cylinders in step S33 in FIG. 5 in the second embodiment of the present invention.

9 is a schematic diagram of the module structure of the control system of the boom system for a dust suppression vehicle according to the third embodiment of the present invention.

Attached icon number description

1. Fog cannon; 2. Pitching cylinder; 3. Fog cannon support; 4. Third arm; 5. Third cylinder; 6. Second arm; 7. First arm; 8. Second cylinder; 9. A cylinder; 10, rotating platform; 11, rotating motor; 12, base; 100, input unit; 101, angle detection unit; 102, controller; 104, electro-hydraulic proportional control system.

Detailed ways

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention may be implemented in a variety of different ways defined and covered below.

As shown in FIG. 2, a preferred embodiment of the present invention provides a boom system for a dust suppression vehicle, which is applied to a dust suppression vehicle and has a fog cannon lifting function, which can adjust the lifting height of the fog cannon. The dust suppression vehicle includes a slewing platform 10, a base 12, and a vehicle chassis. The slewing platform 10 is fixedly installed on the base 12, and the base 12 is fixedly installed at the rear of the vehicle chassis. A slewing motor 11 is installed on the slewing platform 10. The turning motor 11 can drive the turning platform 10 to rotate left and right, and the boom system for dust suppression vehicles is installed on the turning platform 10. The boom system for dust suppression vehicles includes a first arm 7, a second arm 6, a third arm 4, a first cylinder 9, a second cylinder 8, a third cylinder 5, a fog cannon support 3, and a pitch cylinder 2. One end of the first arm 7 is hinged with the swing platform 10, and the other end is hinged with the second arm 6. One end of the first cylinder 9 is hinged with the swing platform 10, and the other end is hinged with the first arm 7. The first oil cylinder 9 can drive the first arm 7 to rotate up and down around the hinge point of the first arm 7 and the turning platform 10, that is, the first oil cylinder 9 is used to adjust the angle between the first arm 7 and the horizontal plane. One end of the second cylinder 8 is hinged with the first arm 7 and the other end is hinged with the second arm 6 and the first arm 7 respectively. The second cylinder 8 can drive the second arm 6 relative to the One arm 7 rotates up and down, that is, the second cylinder 8 is used to adjust the angle between the second arm 6 and the first arm 7. One end of the third arm 4 is hinged to the second arm 6, and the other end is fixedly connected to the fog cannon support 3. One end of the third cylinder 5 is hinged to the second arm 6, and the other end is hinged to the second arm 6 The third arm 4 is hinged, and the third oil cylinder 5 can drive the third arm 4 to rotate up and down relative to the second arm 6, that is, the third oil cylinder 5 is used to adjust the angle between the third arm 4 and the second arm 6. The fog cannon support 3 is hinged to the fog cannon 1. The fog cannon support 3 is always in a horizontal state during the process of adjusting the height of the fog cannon 1, and the horizontal distance that the fog cannon 1 can reach is always Keep the farthest distance, the fog cannon 1 has a wider working range. One end of the pitch cylinder 2 is hinged with the fog cannon 1, and the other end is hinged with the fog cannon support 3, and the pitch cylinder 2 is used to adjust the pitch angle of the fog cannon 1. It can be understood that when it is not necessary to adjust the pitch angle of the fog cannon 1, the pitch cylinder 2 can be omitted. It can also be understood that the first cylinder 9, the second cylinder 8, the third cylinder 5, and the pitch cylinder 2 are all connected to the electro-hydraulic proportional control system of the dust suppression vehicle, and the first cylinder 9 can be controlled by the electro-hydraulic proportional control system. , The working state of the second cylinder 8, the third cylinder 5 and the pitch cylinder 2, thereby adjusting the angle between the first arm 7 and the horizontal plane, the angle between the second arm 6 and the first arm 7, the third arm 4 and The angle between the second arm 6 and the pitch angle of the fog cannon 1.

As shown in Figures 3 and 4, the slewing platform 10 itself serves as a first joint N1 and has a first degree of freedom, and the first arm 7 and the slewing platform 10 form a second joint N2 with a second degree of freedom, so The second arm 6 and the first arm 7 form a third joint N3 with a third degree of freedom, and the third arm 4 and the second arm 6 form a fourth joint N4 with a fourth degree of freedom. The fog cannon 1 It forms a fifth joint N5 with the fog cannon support 3 and has a fifth degree of freedom. Among them, the stroke change of the pitch cylinder 2 is the angle change of the fifth joint N5, the stroke change of the third cylinder 5 is the angle change of the fourth joint N4, and the stroke change of the second cylinder 8 is the angle of the third joint N3 Change, the stroke change of the first cylinder 9 is the angle change of the second joint N2, and the angle change of the first joint N1 driven by the swing motor 11. The control change of the first joint N1 can realize the left and right rotation of the fog cannon 1, the control change of the fifth joint N5 can realize the up and down pitching of the fog cannon 1, and the control change of the second joint N2, the third joint N3 and the fourth joint N4 The height adjustment of the fog cannon 1 can be realized. The boom system for a dust suppression vehicle of the present invention has five degrees of freedom, and can adjust the working range of the fog cannon 1 adaptively, greatly improving the working range of the fog cannon 1.

The boom system for a dust suppression vehicle of the present invention adopts a folding boom system, which can easily adjust the height of the fog cannon 1. As the height of the fog cannon 1 continues to increase, the water mist sprayed by the fog cannon 1 The free fall time increases, and the fog cannon platform 3 is always in a horizontal state during the adjustment process, and the water mist sprayed by the fog cannon 1 can reach the farthest horizontal distance, thereby greatly improving the operation range of the fog cannon 1.

As shown in Figure 5, the second embodiment of the present invention also provides a control method of a dust suppression vehicle boom system, which adopts the above-mentioned dust suppression vehicle boom system, and the control of the dust suppression vehicle boom system The method includes the following steps:

Step S1: Input the height command of the fog cannon;

Step S3: According to the height command of the fog cannon and the current angular position information of the second joint, the third joint, and the fourth joint, the associated compound actions of the first, second, and third oil cylinders are controlled.

The control method of the boom system for a dust suppression vehicle of the present invention can realize the intelligent adjustment of the height of the fog cannon only by inputting the height instruction of the fog cannon. The operation is very convenient, and the fog cannon platform is always in a horizontal state during the adjustment process. The water mist sprayed by the cannon can reach the farthest horizontal distance, which greatly increases the working range of the fog cannon.

It can be understood that, as a preference, when the pitch angle command of the fog cannon is also input in the step S1, the control method of the boom system for the dust suppression vehicle further includes the following steps:

Step S4: Drive the pitch cylinder to move. The up and down pitch angle of the fog cannon can be adjusted by driving the movement of the pitch cylinder, which is convenient for adjusting the working range of the fog cannon.

It can be understood that in the step S1, the height instruction H of the fog cannon can be input through the touch screen or the keyboard.

It can be understood that in the step S2, the current angular position information of the second joint, the third joint, and the fourth joint can be detected by the angle sensor. As shown in Figures 3 and 4, the angular position information of the second joint N2 is the angle a between the first arm and the horizontal plane, which is initially 0, and the angular position information of the third joint N3 is the straight line segment of the first arm and The angle b between the straight sections of the second arm is initially 0, and the angular position information of the fourth joint N4 is the angle c between the third arm and the second arm, which is initially π.

It can be understood that, as shown in FIG. 6, the step S3 specifically includes the following steps:

It can be understood that, as shown in FIG. 7, in the step S31, the target angle position b ₀ of the second arm is parsed according to the input height command of the fog cannon and the inverse solution algorithm is used. The angle position of the second arm is the second arm. The angle between the first arm and the third joint N3, where

It can be understood that when the structure of the boom system for the dust suppression vehicle is determined, both L1 and A are known values.

After analyzing the target angle position b ₀ of the second arm, compare the actual detected current angle position information b of the third joint N3 with the analyzed target angle position b ₀ of the second arm, and compare the difference between the two The value is converted into cylinder stroke information based on structural parameters, and combined with the proportional characteristics of the electro-hydraulic proportional control system. After PID parameter adjustment, the output signal controls the electro-hydraulic proportional control circuit corresponding to the second cylinder, and drives the second cylinder to make the second arm At the target angle b ₀ position.

It can be understood that, as shown in Figure 8, in step S32, based on the current angular position information of the third joint N3, the first cylinder is controlled to drive the first arm to adjust to the target angular position a ₀ , that is, the current angular position b of the second arm The angle position of the first arm is controlled and adjusted. The angle position of the first arm is the angle between the first arm and the horizontal plane, that is, the angle between the second joint N2. Specifically, the target angular position a ₀ of the first arm is:

After analyzing the target angular position a ₀ of the first arm, compare the actual detected current angular position information a of the second joint N2 with the analyzed target angular position a ₀ of the first arm, and compare the difference between the two The value is converted into cylinder stroke information based on structural parameters, and combined with the proportional characteristics of the electro-hydraulic proportional control system. After PID parameter adjustment, the output signal controls the electro-hydraulic proportional control circuit corresponding to the first cylinder, and drives the first cylinder to make the first arm At the position of the target angle a ₀ , when the angular position b of the second arm is in the range of 0 to A, the first arm follows the movement of the second arm, and when the angular position b>A of the second arm, the first arm is adjusted to The maximum angle position prevents interference between the second arm and the first arm during the height adjustment process.

It can be understood that in step S33, based on the current angular position information of the third joint N3, the third cylinder is controlled to drive the third arm to adjust to the target angular position c ₀ , that is, the current angular position b of the second arm is used to control and adjust the third arm. The angular position, the angular position of the third arm is the angle between the third arm and the second arm, that is, the angle between the fourth joint N4. Specifically, the target angular position c ₀ of the third arm is:

When the current angular position information of the second arm b≤A, the target angular position c _{0 of} the third arm =π, that is, the third arm does not move;

After analyzing the target angle position c ₀ of the third arm, compare the actual detected current angle position information c of the fourth joint N4 with the analyzed target angle position c ₀ of the third arm, and compare the difference between the two The value is converted into cylinder stroke information based on structural parameters, and combined with the proportional characteristics of the electro-hydraulic proportional control system. After PID parameter adjustment, the output signal controls the electro-hydraulic proportional control circuit corresponding to the third cylinder, and drives the third cylinder to make the third arm At the target angle c ₀ , when the second arm's angular position b≤A, the third arm does not move, and when the second arm's angular position b>A, the third arm follows the movement of the second arm. Prevent the interference between the third arm and the second arm during the height adjustment process.

The control method of the boom system for a dust suppression vehicle of the present invention adopts the follow-up control technology of the second arm. First, based on the input height command of the fog cannon, the inverse solution algorithm is used to analyze the target angle position of the second arm, and then based on the first The actual angular position of the second arm adjusts the angular position of the first arm and the third arm respectively. In the process of adjusting the height of the fog cannon, it not only avoids the tediousness and danger of individually operating each arm to achieve lifting, but also eliminates the first Moving the first arm causes the problem of interference and collision between the arm and the arm, avoiding structural damage and even dangerous accidents.

As shown in FIG. 9, the third embodiment of the present invention also provides a control system of a boom system for a dust suppression vehicle, which adopts the control method of the boom system for a dust suppression vehicle as described above, and the control system includes An input unit 100, an angle detection unit 101, and a controller 102, the input unit 100 and the angle detection unit 101 are both connected to the controller 102, the input unit 100 is used to input the height command of the fog cannon, the angle detection unit 101 It is used to detect the current angular position information of the second joint, the third joint, and the fourth joint. The controller 102 is used to determine the current angular position of the second, third, and fourth joints according to the height command of the fog cannon The information controls the associated compound actions of the first cylinder 9, the second cylinder 8, and the third cylinder 5. It can be understood that the input unit 100 is a touch screen or a keyboard, the angle detection unit 101 is an angle sensor, and the controller 102 is a single-chip microcomputer or a PLC controller.

It can be understood that the control system further includes an electro-hydraulic proportional control system 104, the electro-hydraulic proportional control system 104 is electrically connected to the controller 102, and the electro-hydraulic proportional control system 104 is also connected to the first cylinder 9 and the second cylinder respectively. 8. The third cylinder 5 is connected to the pitch cylinder 2. The controller 102 respectively calculates the first cylinder 9, the second cylinder 8, and the third cylinder 5 based on the input fog gun height command and the detected current angular position information of the second, third, and fourth joints. And generate control signals to transmit to the electro-hydraulic proportional control system 104. The electro-hydraulic proportional control system 104 drives the first cylinder 9, the second cylinder 8 and the third cylinder 5 according to the control signal, thereby adjusting the first arm 7. The included angle with the horizontal plane, the included angle between the second arm 6 and the first arm 7, and the included angle between the third arm 4 and the second arm 6. It can be understood that the input unit 100 is also used to input a pitch angle command of the fog cannon 1, and the controller 102 calculates the control parameters of the pitch cylinder 2 according to the input pitch angle command, and generates a control signal and transmits it to the electro-hydraulic proportional control. System 104, the electro-hydraulic proportional control system 104 drives the pitch cylinder 2 according to the control signal, thereby adjusting the pitch angle of the fog cannon 1.

The control system of the boom system of the dust suppression vehicle of the present invention can realize the intelligent adjustment of the height of the fog cannon only by inputting the height command of the fog cannon 1, and the operation is very convenient, and the fog cannon platform 3 is always in a horizontal state during the adjustment process , The water mist sprayed by the fog cannon 1 can reach the farthest horizontal distance, which greatly increases the operation range of the fog cannon 1.

It can be understood that the fourth embodiment of the present invention also provides a dust suppression vehicle, which adopts the above-mentioned dust suppression vehicle boom system, and adopts the above-mentioned control method and control of the dust suppression vehicle boom system system.

The foregoing descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modification, equivalent replacement, improvement, etc., made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

A boom system for dust suppression vehicles, which is characterized in that:

Including the first arm (7), the second arm (6), the third arm (4), the first cylinder (9), the second cylinder (8), the third cylinder (5) and the fog cannon mount (3) One end of the first arm (7) is hinged with the revolving platform (10), the other end is hinged with the second arm (6), one end of the first cylinder (9) is hinged with the revolving platform (10), and the other end It is hinged to the first arm (7), one end of the second oil cylinder (8) is hinged to the first arm (7), and the other end is respectively to the second arm (6) and the first arm ( 7) Articulation, one end of the third arm (4) is hinged to the second arm (6), the other end is fixedly connected to the fog cannon support (3), and one end of the third oil cylinder (5) is connected to the The second arm (6) is hinged, the other end is hinged with the third arm (4), the fog cannon support (3) is hinged with the fog cannon (1), and the fog cannon support (3) is adjusted The fog cannon (1) is always in a horizontal state during the height process, and the first oil cylinder (9), the second oil cylinder (8) and the third oil cylinder (5) are all connected with the electro-hydraulic proportional control system of the dust suppression vehicle.
The boom system for a dust suppression vehicle according to claim 1, wherein:

It also includes a pitching cylinder (2) connected with the electro-hydraulic proportional control system of the dust suppression vehicle. One end of the pitching cylinder (2) is hinged with the fog cannon support (3), and the other end is hinged with the fog cannon (1).
A control method of the boom system for a dust suppression vehicle adopts the boom system for a dust suppression vehicle according to claim 1, characterized in that:

It includes the following steps:

Step S1: Input the height command of the fog cannon;

Step S2: Detect the current angular position information of the second joint, the third joint, and the fourth joint respectively. The angular position information of the second joint is the angle between the first arm and the horizontal plane, initially 0, the angle of the third joint The position information is the angle between the first arm and the second arm, which is initially 0, and the angle position information of the fourth joint is the angle between the third arm and the second arm, which is initially π;

Step S3: According to the height instruction of the fog cannon and the current angular position information of the second joint, the third joint, and the fourth joint, the first, second, and third oil cylinders are driven to perform an associated compound action.
The control method of the boom system for a dust suppression vehicle according to claim 3, wherein:

The step S3 specifically includes the following steps:

Step S31: controlling the second oil cylinder to drive the second arm to adjust to the target angle position according to the height instruction of the fog cannon and the current angle position information of the third joint;

Step S32: controlling the first oil cylinder to drive the first arm to adjust to the target angular position according to the current angular position information of the third joint;

Step S33: controlling the third oil cylinder to drive the third arm to adjust to the target angular position according to the current angular position information of the third joint.
The control method of the boom system for a dust suppression vehicle according to claim 4, wherein:

The target angular position b 0 of the second arm in the step S31 is:

When the height command of the fog cannon is H≤H1=L1*sin(A), the target angle of the second arm b 0 = arcsin(H/L1);

When the height command of the fog cannon H>H1=L1*sin(A), the target angle of the second arm b 0 =arcsin[(H-H1)/L2]+A;

Among them, L1 represents the length of the linear section of the first arm extended to the second arm, L2 represents the length of the linear section of the second arm extended to the length of the first arm, A represents the maximum angle that the first arm can reach from the horizontal plane, And A≤90°.
The control method of the boom system for a dust suppression vehicle according to claim 4, wherein:

The target angular position a 0 of the first arm in the step S32 is:

When the current angular position information of the second arm b≤A, the target angular position of the first arm a 0 =b;

When the current angular position information of the second arm b>A, the target angular position of the first arm a 0 =A;

A represents the maximum angle that the first arm can reach with the horizontal plane, and A≤90°.
The control method of the boom system for a dust suppression vehicle according to claim 4, wherein:

The target angular position c 0 of the third arm in the step S33 is:

When the current angular position information of the second arm b≤A, the target angular position of the third arm c 0 =π;

When the current angular position information of the second arm b>A, the target angular position of the third arm c 0 =π-(bA);

A represents the maximum angle that the first arm can reach with the horizontal plane, and A≤90°.
A control system of a boom system for a dust suppression vehicle adopts the control method according to claim 3, characterized in that:

Including an input unit (100) for inputting the height command of the fog cannon (1);

The angle detection unit (101) is used to detect the current angle position information of the second joint, the third joint, and the fourth joint respectively;

The controller (102) is used to control the first oil cylinder (9), the second oil cylinder (8) and the first oil cylinder (9) according to the height command of the fog cannon (1) and the current angular position information of the second joint, the third joint and the fourth joint Three oil cylinders (5) related compound action;

The input unit (100) and the angle detection unit (101) are both connected to the controller (102).
The control system of the boom system for a dust suppression vehicle according to claim 8, wherein:

It also includes an electro-hydraulic proportional control system (104) electrically connected to the controller (102). The electro-hydraulic proportional control system (104) is respectively connected to the first cylinder (9), the second cylinder (8), and the third cylinder. Oil cylinder (5) connection;

The controller (102) controls the electro-hydraulic proportional control system (104) to drive the first oil cylinder (9), the second oil cylinder (8) and the third oil cylinder (5) to perform related compound actions.