Controlling method for lower folding type high-altitude operation vehicle capable of realizing self-damage prevention of vehicle body

Abstract

The invention discloses a controlling method for lower folding type high-altitude operation vehicle capable of realizing self-damage prevention of the vehicle body. The lower folding type high-altitude operation vehicle comprises a vehicle body assembly, a boom assembly, a working platform, a movement control hydraulic valve block, a controller, a knuckle arm tilt sensor, a knuckle linear sensor, and a slewing angle sensor of the boom assembly. The control method includes boom control, tilt angle data acquisition, comparison and judgment of calculation data, and emergency control of the boom. When the control method is used in the working process of lower folding type high-altitude operation vehicle, the controller is combined with the real-time working condition and the rotation angle of the turntable is compared with the preset parameter through the variable angle or telescopic length off each knuckle arm. The safety action of each knuckle arm can be judged, and the dangerous action input is forbidden to realize the automatic judgment of the safety action. The controller can automatically determine the self-damage protection without the operator's experience or human judgment, and the self-damage protection can be carried out, which can simplify the operation and improve work efficiency.

Description

technical field [0001] The invention relates to a control method of an aerial work vehicle, in particular to a control method of a fold-down type aerial work vehicle capable of preventing self-damage of a vehicle body, and belongs to the technical field of aerial work vehicles. Background technique [0002] The high-altitude operation vehicle is a special special vehicle for transporting staff and equipment to the high altitude for installation, maintenance, and cleaning of equipment located at high altitudes. Compared with traditional operating methods such as scaffolding and ladders, it has good operating performance, high operating efficiency, Safety and other advantages are widely used in infrastructure industries such as electric power, transportation, petrochemical, communication, and gardening. [0003] At present, aerial work vehicles are generally divided into three categories according to the type of boom: folding arm aerial work vehicles, telescopic boom aerial wo...

AI Technical Summary

Problems solved by technology

[0005] For telescopic boom aerial work vehicles with simple working arm structure, the anti-self-damage control calculation of the body is relatively simple and easy to implement. Usually, it is only necessary to control the amplitude drop of the working arm and calculate the rotation angle of the current turntable to effectively realize self-collision avoidance , but for folding-arm aerial work vehicles and hybrid-arm aerial work vehicles with complex working arm structures, the anti-self-damage control calculation of the body is relatively complicated and difficult to implement, such as figure 1 The shown fold-down hybrid boom aerial work vehicle is also provided with a telescopic arm inside the fold-down foldable arm. figure 1 In the state shown, it is not only that the first-stage arm can hit the vehicle body when it is lowered by luffing, but the second-stage arm can be swiveled and retracted or extended at the same time. In this case, only relying on The self-damage control of the car body that simply controls the amplitude drop of the working arm and calculates the current slewing angle of the turntable can no longer solve the problem, and relying on fixed-point control not only has a large amount of fixed-point control but also cannot cover the entire car body. Complete the self-damage control of the body. If the operator is not familiar with the on-site working conditions or the operation of the work vehicle, the operation of the boom will become more complicated and difficult, and the work efficiency will be low.

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