Control method and device of working machine and working machine

Abstract

The invention provides a control method and device of an operation machine and the operation machine. The operation machine comprises a rotating tower, an arm frame and a plurality of supporting legs. The control method of the operation machine comprises the steps that a working area of the arm support is divided into a plurality of operation areas, and each operation area corresponds to a first target supporting leg with the minimum pressure and a second target supporting leg with the second minimum pressure; acquiring a first pressure of a first target support leg and a second pressure of a second target support leg corresponding to the current operation area of the boom; and controlling the arm support based on the first pressure and the second pressure. According to the control method of the operation machine, through division of the operation area, safety control over the arm frame can be achieved under the condition that only the angle of the rotary table and the pressure of the supporting legs are monitored, and the material distribution range of the arm frame is wide.

Description

technical field [0001] The present invention relates to the technical field of machine safety control, and in particular, to a control method, device and work machine for a working machine. Background technique [0002] During the operation of the working machine, the stretching and movement of various structures are involved, so that the center of gravity of the working machine will change greatly during the operation. Especially for working machines with booms, such as concrete pump trucks, the booms are long in length and heavy in weight. During the operation, the state of the booms has a great influence on the center of gravity of the whole vehicle. It is easy to cause the overturning of the working machine. [0003] In related technologies, the center of gravity of the whole vehicle is mostly calculated in real time, and the boom is controlled by monitoring the position of the center of gravity. This control method requires a large amount of calculation and has hystere...

AI Technical Summary

Problems solved by technology

Especially for working machinery with booms, such as concrete pump trucks, the boom length is large and the weight is heavy. During the operation, the state of the boom has a great influence on the center of gravity of the vehicle. It is easy to cause the working machinery to overturn

[0003] In related technologies, the center of gravity of the whole vehicle is mostly calculated in real time, and the boom is controlled by monitoring the position of the center of gravity. This control method requires a large amount of calculation and has hysteresis; or through simple partition control, the movement of the boom in each area is preset. range, this control method will seriously restrict the cloth range of the boom

Images