Control method, processor, control device and engineering equipment for engineering equipment

Abstract

The present invention relates to the technical field of engineering machinery, and discloses a control method, a processor, a control device and engineering equipment for engineering equipment. The engineering equipment includes a boom and a working device, and the control method includes: obtaining the boom's amplitude change angle and length; determining the first amplitude of the boom according to the amplitude change angle and length; determining the amplitude change speed of the boom according to the amplitude change angle; performing an amplitude change action on the boom according to the amplitude change speed; re-determining the second amplitude of the boom within a preset time, the first amplitude and the second amplitude being the projection length of the boom on the horizontal plane; determining the telescopic speed of the boom according to the difference between the second amplitude and the first amplitude; and controlling the working device to perform vertical lifting and lowering according to the amplitude change speed and the telescopic speed. The working device can be lifted and lowered vertically at a relatively balanced speed at the end of the boom, which reduces the operating intensity of the operator, simplifies the operation process, and improves the safety and efficiency of the engineering equipment operation.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a control method, a processor, a control device and engineering equipment for engineering equipment. Background Art

[0002] In one type of engineering equipment, the engineering equipment includes a boom and a work bucket. The work bucket is set at the end of the boom to carry personnel or materials. When the boom moves, it drives the personnel or materials to move together. Taking engineering equipment such as a high-rise fire truck as an example, the work bucket at the end of the boom can play a role in manned rescue. The situations encountered by high-rise fire trucks when performing rescue missions are complex and changeable. When performing rescue missions at the bottom of a well or on multiple floors, the operator needs to operate the boom to change the amplitude, lift and retract at the same time, which requires a high level of proficiency and professional quality of the operator.

[0003] The amplitude can be understood as the projected length of the boom on the horizontal plane. When the amplitude remains unchanged but rescue is carried out at different heights (for example, rescuing people or materials on different floors), in order to ensure safety, the boom needs to be retracted first, then the boom is raised and lowered to the appropriate position, and then the boom is extended to move the working bucket to the target rescue position. When there are many floors to be rescued, the operator needs to frequently adjust the boom extension and amplitude lifting to control the position of the working bucket. The operation is complicated and time-consuming, resulting in low rescue efficiency. Summary of the invention

[0004] In order to overcome the deficiencies in the prior art, an embodiment of the present invention provides a control method, a processor, a control device and engineering equipment for engineering equipment.

[0005] In order to achieve the above object, the first aspect of the present invention provides a control method for engineering equipment, the engineering equipment includes a boom and a working device, the working bucket is arranged at the end of the boom, and the control method includes:

[0006] Get the luffing angle and length of the boom;

[0007] Determine the first amplitude of the boom according to the amplitude change angle and length;

[0008] Determine the boom speed according to the boom angle;

[0009] Execute luffing action on the boom according to the luffing speed;

[0010] Re-determine the second amplitude of the boom within a preset time, the first amplitude and the second amplitude being the projection length of the boom on the horizontal plane;

[0011] Determining the extension and retraction speed of the boom according to the difference between the second amplitude and the first amplitude;

[0012] The working device is controlled to perform vertical lifting according to the boom speed and the telescopic speed.

[0013] In the embodiment of the present invention, the amplitude change speed is inversely proportional to the amplitude change angle, and the control method further includes:

[0014] When the luffing angle increases, the luffing speed is controlled to decrease;

[0015] When the amplitude change angle decreases, the amplitude change speed is controlled to increase.

[0016] In the embodiment of the present invention, the difference is in direct proportion to the telescopic speed.

[0017] In an embodiment of the present invention, when the amplitude variation angle exceeds a preset angle, the ratio of the difference to the telescopic speed is a first proportional value; when the amplitude variation angle does not exceed the preset angle, the ratio of the difference to the telescopic speed is a second proportional value, wherein the first proportional value is greater than the second proportional value.

[0018] In the embodiment of the present invention, the preset angle ranges from 60 degrees to 70 degrees.

[0019] In an embodiment of the present invention, the control method further includes:

[0020] When the second amplitude is greater than the first amplitude, the control arm is shortened so that the second amplitude approaches the first amplitude;

[0021] When the second amplitude is smaller than the first amplitude, the control arm is extended so that the second amplitude approaches the first amplitude.

[0022] In the embodiment of the present invention, the difference between the second amplitude and the first amplitude is smaller than a preset value, and the preset value ranges from 0.1 meter to 0.2 meter.

[0023] In an embodiment of the present invention, the engineering equipment includes a fire-fighting truck, and the working device includes a working bucket.

[0024] In an embodiment of the present invention, the working device includes a spraying device.

[0025] A second aspect of the present invention provides a processor configured to execute the above-mentioned control method for engineering equipment.

[0026] A third aspect of the present invention provides a control device for engineering equipment, comprising:

[0027] Angle sensor, used to obtain the boom angle;

[0028] A length sensor for obtaining the length of the boom; and

[0029] The processors described above.

[0030] A fourth aspect of the present invention provides an engineering equipment, comprising the above-mentioned control device for engineering equipment.

[0031] In an embodiment of the present invention, the engineering equipment includes a fire-fighting truck.

[0032] A fifth aspect of the present invention provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned control method for engineering equipment.

[0033] In an embodiment of the present invention, the first amplitude and the second amplitude are the projection lengths of the boom on the horizontal plane, and the telescopic speed of the boom is determined according to the difference between the second amplitude and the first amplitude, so that the second amplitude is always close to or equal to the first amplitude during the boom's luffing action, so that the working device can be vertically raised or lowered at the end of the boom. The luffing speed can be understood as the angular velocity of the boom's movement. At the same luffing speed, the larger the luffing angle, the larger the corresponding up and down lifting distance of the working device. The working device can be used to carry personnel or materials. Therefore, for safety reasons, in order to keep the working device at the end of the boom to be lifted and lowered at a relatively balanced speed, the luffing speed is determined according to the luffing angle, such as controlling the luffing speed to be smaller when the luffing angle is large. In this way, the operator only needs to set the height of the work device to rise or fall, or operate the luffing handle, and the boom can automatically control the telescopic speed and the luffing speed. The working device can be vertically raised or lowered at a relatively balanced speed at the end of the boom, which reduces the operator's operating intensity, simplifies the operating process, and improves the safety and efficiency of engineering equipment operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0035] Figure 1 A schematic diagram of an engineering device according to an embodiment of the present invention is schematically shown;

[0036] Figure 2 A flow chart of a control method for engineering equipment according to an embodiment of the present invention is schematically shown;

[0037] Figure 3 A simplified schematic diagram of a lower boom with different amplitude change angles according to an embodiment of the present invention is schematically shown;

[0038] Figure 4 A flowchart schematically shows another control method for engineering equipment according to an embodiment of the present invention;

[0039] Figure 5 The hardware block diagram of the engineering device according to the embodiment of the present invention is schematically shown.

[0040] Description of Reference Numerals

[0041] 10- boom; 11- working bucket;

[0042] 12-angle sensor; 13-length encoder;

[0043] 14-data processing module; 15-motion control module;

[0044] 16- programmable controller; 17- display screen;

[0045] 18-Electro-hydraulic proportional valve. DETAILED DESCRIPTION

[0046] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0047] It should be noted that if the implementation methods of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0048] In addition, if there are descriptions involving "first", "second", etc. in the implementation methods of this application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various implementation methods can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0049] Figure 1 A schematic diagram of an engineering device according to an embodiment of the present invention is shown schematically. Figure 1 As shown, the engineering equipment may be a fire truck, the working device may be a working bucket 11 , and the engineering equipment includes a boom 10 and the working bucket 11 , wherein the working bucket 11 is disposed at the end of the boom 10 . Figure 2 The flowchart of the control method for engineering equipment according to an embodiment of the present invention is schematically shown. Figure 2As shown, in one embodiment of the present invention, a control method for engineering equipment is provided, comprising the following steps:

[0050] Step 201, obtaining the luffing angle and length of the boom;

[0051] Step 202, determining a first amplitude of the boom according to the amplitude variation angle and length;

[0052] Step 203, determining the boom speed according to the boom angle;

[0053] Step 204, performing a luffing action on the boom according to the luffing speed;

[0054] Step 205, re-determining the second amplitude of the boom within a preset time, the first amplitude and the second amplitude being the projection length of the boom on the horizontal plane;

[0055] Step 206, determining the extension and retraction speed of the boom according to the difference between the second amplitude and the first amplitude;

[0056] Step 207, controlling the working device to perform vertical lifting according to the amplitude changing speed and the telescopic speed.

[0057] It should be noted that Figure 1 The working device is a working bucket 11 as an exemplary description. In addition to the working bucket 11, the working device can also be other types of devices. For example, the working device can be a spraying device, a sprinkler device, or other devices that have precision requirements for the vertical trajectory. When the engineering equipment is a high-rise fire truck and the working device is a working bucket 11, the control method for engineering equipment provided by the embodiment of the present invention can be applied to achieve vertical rescue; when the working device is a spraying device, vertical spraying can be achieved; when the working device is a sprinkler device, vertical sprinkler can be achieved.

[0058] Engineering equipment includes a fire truck, but is not limited to a fire truck. Engineering equipment may include other equipment with a boom and a working bucket. Fire trucks may include a platform fire truck and a ladder fire truck. The technical solution in the embodiment of the present invention may be applied to other fire trucks with a rescue platform.

[0059] Figure 1 A schematic diagram of an engineering device according to an embodiment of the present invention is shown schematically. Figure 1 As shown in the figure, L is the length of the boom, which can be obtained in real time through the length sensor. a is the amplitude angle of the boom, which can be obtained in real time through the angle sensor. The amplitude is the projection length of the boom on the horizontal plane, such as Figure 1 As shown, W is the amplitude of the boom. According to the length L of the boom and the amplitude change angle a, the height H and amplitude W of the working bucket 11 can be calculated and determined in real time.

[0060] Figure 3 The following schematic diagram shows a simplified schematic diagram of a boom with different amplitude change angles according to an embodiment of the present invention. Figure 3 As shown, without changing the telescopic length of the boom, when the boom 10 is at different amplitude change angles, the amplitude of the boom 10 is different, and the height of the working bucket 11 is also different. Figure 3 In the embodiment, when the boom 10 is at the amplitude change angle a1, the amplitude of the boom 10 is W1, and the height of the working bucket 11 is H1. When the boom 10 is at the amplitude change angle a2, the amplitude of the boom 10 is W2, and the height of the working bucket 11 is H2. Without changing the telescopic length of the boom, if a1 and a2 are not equal, then W1 and W2 are not equal, and H1 and H2 are also not equal.

[0061] In one embodiment, the working bucket 11 is used to carry personnel and materials, and the engineering equipment can be used in rescue scenarios with the same amplitude but different heights, for example, the engineering equipment is used to rescue personnel or materials on different floors. That is, in order to keep the working bucket 11 able to be lifted and lowered vertically (the amplitude of the boom 10 remains unchanged), before the boom 10 performs the amplitude change action, the first amplitude of the boom 10 is determined, and then during the process of the boom 10 performing the amplitude change action, the second amplitude of the boom 10 is obtained in real time, the difference between the second amplitude and the first amplitude is calculated, and the telescopic speed of the boom is determined according to the difference.

[0062] Specifically, for example, during the process of the boom 10 changing its amplitude and lowering (lifting down), when the second amplitude determined in real time is greater than the first amplitude, the boom 10 is controlled to shorten so that the second amplitude is close to the first amplitude. During the process of the boom 10 changing its amplitude and raising (raising up), when the second amplitude determined in real time is less than the first amplitude, the boom 10 is controlled to extend so that the second amplitude is close to the first amplitude. The difference between the second amplitude and the first amplitude is recorded as ΔW, and the telescopic speed of the boom 10 is recorded as V1, then V1=K*ΔW, K is the proportional coefficient, that is, the difference is directly proportional to the telescopic speed. When the difference between the second amplitude and the first amplitude is large, the telescopic speed of the boom 10 is also large. At this time, the boom 10 will be controlled to shorten or extend at a larger speed so that the second amplitude is close to the first amplitude. When the difference between the second amplitude and the first amplitude is small, the telescopic speed of the boom 10 is also small. When the second amplitude is equal to the first amplitude, that is, when the difference is 0, the telescopic speed of the boom 10 is 0, and no telescopic operation is required.

[0063] The above is an example of a positive proportional relationship between the difference and the telescopic speed. The difference and the rope speed may also be in other formula relationships, which are not limited. The telescopic speed of the boom 10 is determined according to the difference between the second amplitude and the first amplitude, so that the second amplitude is always close to or equal to the first amplitude during the boom 10's amplitude change action, so that the working bucket 11 can be vertically raised or lowered at the end of the boom 10. The operator does not need to retract the boom 10 first, then raise or lower the boom 10 to a suitable position, and then extend the boom to move the working bucket 11 to the target rescue position as in the prior art. In the embodiment of the present invention, the operator only needs to set the height of the work bucket 11 to rise or fall, or operate the amplitude change handle (the operator does not need to operate the boom amplitude change and telescopic handle at the same time), and the boom 10 will automatically perform telescopic control to achieve vertical rise or fall of the working bucket 11.

[0064] The difference between the second amplitude and the first amplitude is less than a preset value, the preset value range is 0.1m to 0.2m, and illustratively, the preset value may be 0.15m. When the difference between the second amplitude and the first amplitude remains within a range of less than 0.15m, it can be understood that the working bucket 11 is performing vertical lifting.

[0065] The working bucket 11 carries personnel or materials. For safety reasons, in order to keep the working bucket 11 at the end of the boom 10 to be able to be raised and lowered at a relatively balanced speed, the amplitude change speed is determined according to the amplitude change angle. Because if the amplitude change angle change value and the same amplitude change speed are the same, when the amplitude change angle is larger, the up and down lifting distance of the working bucket 11 will be larger. Therefore, in order to ensure safety, in order to keep the working bucket 11 at the end of the boom 10 to be able to be raised and lowered at a relatively balanced speed, when the amplitude change angle is larger, the amplitude change speed is controlled to be smaller.

[0066] Specifically, in one embodiment, the amplitude change speed and the amplitude change angle are inversely proportional. The amplitude change speed is set to V2, the amplitude change angle is set to a, V2=K1 / a, and K1 is a setting coefficient. When the amplitude change angle increases, the amplitude change speed is controlled to decrease; when the amplitude change angle decreases, the amplitude change speed is controlled to increase, so that the working bucket 11 can be raised and lowered at a relatively balanced speed at the end of the boom 10. The above is an example of an inversely proportional relationship between the amplitude change speed and the amplitude change angle. The amplitude change speed and the amplitude change angle can also be in other formula relationships, which are not limited to this.

[0067] In addition, if the change value of the amplitude change angle and the same amplitude change speed are the same, when the amplitude change angle is large, the length change of the boom 10 will be large, and when the amplitude change angle increases, the value of the telescopic action will become larger and larger. At this time, the telescopic speed of the boom may not keep up with the amplitude change speed, which may cause the vertical lifting and lowering of the working bucket 11 to fail. Therefore, in order to make the telescopic speed of the boom keep up with the amplitude change speed, when the amplitude change angle is large, the amplitude change speed is controlled to be small, and when the amplitude change angle increases, the amplitude change speed is controlled to be reduced, so as to better help the working bucket 11 to rise or fall vertically.

[0068] When the amplitude variation angle exceeds the preset angle, the ratio of the difference to the telescopic speed is a first ratio value; when the amplitude variation angle does not exceed the preset angle, the ratio of the difference to the telescopic speed is a second ratio value, wherein the first ratio value is greater than the second ratio value. The preset angle ranges from 60 degrees to 70 degrees, and illustratively, the preset angle can be 65 degrees.

[0069] That is to say, in one embodiment, when the amplitude change angle of the boom 10 exceeds 65 degrees, the telescopic speed V1 of the boom 10 is V1 = K2*ΔW; when the amplitude change angle of the boom 10 does not exceed 65 degrees, the telescopic speed V1 of the boom 10 is V1 = K3*ΔW. When the amplitude change angle of the boom 10 exceeds 65 degrees, when the working bucket 11 is vertically raised or lowered, a small change in the amplitude change angle may cause a large change in the length of the boom 10, so K2 is set to be greater than K3, K2 is the first proportional value, and K3 is the second proportional value. When the amplitude change angle is larger, the telescopic action is faster.

[0070] In the embodiment of the present invention, the boom speed of the boom 10 can be controlled by controlling the output current of the boom valve, and the telescopic speed of the boom 10 can be controlled by controlling the output current of the telescopic valve. The vertical lifting of the working bucket 11 is achieved by controlling the boom speed and the telescopic speed of the boom 10, but the control strategies of these two actions (both the boom action and the telescopic action) are different. Among them, the output current of the telescopic valve is subject to segmented current control. K1, K2 and K3 can be set according to the specific working conditions and the specific model of the engineering equipment. Figure 4 A flowchart schematically shows another control method for engineering equipment according to an embodiment of the present invention, which can be seen in Figure 4 .

[0071] In the embodiment of the present invention, the telescopic speed of the boom 10 is determined according to the difference between the second amplitude and the first amplitude, so that the second amplitude is always close to or equal to the first amplitude during the boom 10 performing the amplitude change action, so that the working bucket 11 can be vertically raised or lowered at the end of the boom 10. The amplitude change speed can be understood as the angular velocity of the boom movement. Under the same amplitude change speed, the larger the amplitude change angle, the larger the corresponding up and down lifting distance of the working bucket 11. The working bucket 11 is used to carry personnel or materials. Therefore, for safety reasons, in order to keep the working bucket 11 at the end of the boom 10 to be able to be lifted and lowered at a relatively balanced speed, the amplitude change speed is determined according to the amplitude change angle, for example, when the amplitude change angle is large, the amplitude change speed is controlled to be small. In this way, the operator only needs to set the height of the work bucket 11 to rise or fall, or operate the amplitude change handle, and the boom 10 can automatically control the telescopic speed and the amplitude change speed. The working bucket 11 can be vertically raised or lowered at a relatively balanced speed at the end of the boom 10, which reduces the operating intensity of the operator, simplifies the operation process, and improves the safety and efficiency of the engineering equipment operation. Taking the engineering equipment as an example, the aerial fire truck greatly reduces the operating intensity of operators during the rescue process, while improving the rescue safety and efficiency under complex rescue conditions.

[0072] In the above embodiment, the engineering equipment is used to perform ground floor rescue. Similarly, the engineering equipment can also perform bottom well operations. When performing bottom well operations, the height of the working bucket 11 will be lower than the height of the engineering equipment chassis, and the height of the working bucket 11 is lower than the horizontal ground. However, in order to achieve the working bucket 11 to rise or fall vertically at a relatively balanced speed at the bottom of the well, the control method is similar and will not be repeated here.

[0073] Figure 5 The hardware block diagram of the engineering device according to the embodiment of the present invention is schematically shown. Figure 5 As shown, the angle sensor 12 is responsible for obtaining the amplitude angle of the boom 10 in real time, and the length encoder 13 (which can also be understood as a length sensor) is responsible for obtaining the length value of the boom 10 in real time. The programmable controller 16 is responsible for processing these data, and comparing the processed data with the actual height and amplitude of the boom 10, to obtain the motion control strategy of the boom 10, control the action of the electro-hydraulic proportional valve 18, and the opening of the electro-hydraulic proportional valve 18 is adjustable. The display screen 17 is responsible for displaying the real-time working conditions and providing a window for the operator to start or terminate vertical rescue. The display screen 17 can be used for human-computer interaction.

[0074] An embodiment of the present invention provides a processor, which is configured to execute any one of the control methods for engineering equipment in the above embodiments.

[0075] The engineering equipment comprises a boom and a working device, wherein the working device is arranged at the end of the boom.

[0076] Specifically, the processor may be configured to:

[0077] Get the luffing angle and length of the boom;

[0078] Determine the first amplitude of the boom according to the amplitude change angle and length;

[0079] Determine the boom speed according to the boom angle;

[0080] Execute luffing action on the boom according to the luffing speed;

[0081] Re-determine the second amplitude of the boom within a preset time, the first amplitude and the second amplitude being the projection length of the boom on the horizontal plane;

[0082] Determining the extension and retraction speed of the boom according to the difference between the second amplitude and the first amplitude;

[0083] The working bucket is controlled to move vertically up and down according to the boom speed and telescopic speed.

[0084] In an embodiment of the present invention, the processor is configured to:

[0085] The amplitude change speed and the amplitude change angle are inversely proportional.

[0086] When the luffing angle increases, the luffing speed is controlled to decrease;

[0087] When the amplitude change angle decreases, the amplitude change speed is controlled to increase.

[0088] In an embodiment of the present invention, the processor is configured to:

[0089] The difference is directly proportional to the expansion and contraction speed.

[0090] In an embodiment of the present invention, the processor is configured to:

[0091] When the amplitude variation angle exceeds the preset angle, the ratio of the difference to the telescopic speed is a first proportional value; when the amplitude variation angle does not exceed the preset angle, the ratio of the difference to the telescopic speed is a second proportional value, wherein the first proportional value is greater than the second proportional value.

[0092] In an embodiment of the present invention, the processor is configured to:

[0093] The preset angle ranges from 60 degrees to 70 degrees.

[0094] In an embodiment of the present invention, the processor is configured to:

[0095] When the second amplitude is greater than the first amplitude, the control arm is shortened so that the second amplitude approaches the first amplitude;

[0096] When the second amplitude is smaller than the first amplitude, the control arm is extended so that the second amplitude approaches the first amplitude.

[0097] In an embodiment of the present invention, the processor is configured to:

[0098] The difference between the second amplitude and the first amplitude is smaller than a preset value, and the preset value ranges from 0.1 meters to 0.2 meters.

[0099] In an embodiment of the present invention, the processor is configured to:

[0100] The engineering equipment includes a fire-fighting crane, and the working device includes a working bucket.

[0101] In an embodiment of the present invention, the processor is configured to:

[0102] The working device includes a spraying device.

[0103] An embodiment of the present invention provides a control device for engineering equipment, comprising:

[0104] Angle sensor, used to obtain the boom angle;

[0105] A length sensor for obtaining the length of the boom; and

[0106] The processors described above.

[0107] An embodiment of the present invention provides an engineering equipment, including the above-mentioned control device for engineering equipment.

[0108] In an embodiment of the present invention, the engineering equipment includes a fire-fighting truck.

[0109] An embodiment of the present invention provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned control method for engineering equipment.

[0110] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0111] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0112] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0113] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0114] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0115] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0116] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0117] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0118] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A control method for engineering equipment, characterized in that: The engineering equipment includes a boom and a working device, wherein the working device is arranged at the end of the boom, and the control method includes: Get the luffing angle and length of the boom; Determine a first amplitude of the boom according to the amplitude variation angle and the length; Determining a luffing speed of the boom according to the luffing angle; Performing a luffing action on the boom according to the luffing speed; Re-determining the second amplitude of the boom within a preset time, wherein the first amplitude and the second amplitude are projection lengths of the boom on a horizontal plane; Determining the telescopic speed of the boom according to the difference between the second amplitude and the first amplitude, wherein the difference is in direct proportion to the telescopic speed; The working device is controlled to perform vertical lifting according to the amplitude changing speed and the telescopic speed.

2. The control method according to claim 1, characterized in that: The amplitude change speed is inversely proportional to the amplitude change angle, and the control method further includes: When the amplitude variation angle increases, controlling the amplitude variation speed to decrease; When the amplitude variation angle decreases, the amplitude variation speed is controlled to increase.

3. The control method according to claim 1, characterized in that: When the amplitude variation angle exceeds a preset angle, the ratio of the difference to the telescopic speed is a first proportional value; when the amplitude variation angle does not exceed a preset angle, the ratio of the difference to the telescopic speed is a second proportional value, wherein the first proportional value is greater than the second proportional value.

4. The control method according to claim 3, characterized in that: The preset angle ranges from 60 degrees to 70 degrees.

5. The control method according to claim 1, characterized in that: Also includes: When the second amplitude is greater than the first amplitude, controlling the boom to shorten so that the second amplitude approaches the first amplitude; When the second amplitude is smaller than the first amplitude, the boom is controlled to extend so that the second amplitude approaches the first amplitude.

6. The control method according to claim 1, characterized in that: The difference between the second amplitude and the first amplitude is smaller than a preset value, and the preset value ranges from 0.1 meters to 0.2 meters.

7. The control method according to claim 1, characterized in that: The engineering equipment includes a fire-lift truck, and the working device includes a working bucket.

8. The control method according to claim 1, characterized in that: The working device comprises a spraying device.

9. A processor, characterized in that: The method is configured to execute the control method for engineering equipment according to any one of claims 1 to 8.

10. A control device for engineering equipment, characterized in that: include: Angle sensor, used to obtain the boom angle; A length sensor, used for obtaining the length of the boom; as well as A processor according to claim 9.

11. An engineering equipment, characterized in that: The invention comprises the control device for engineering equipment as claimed in claim 10.

12. The engineering equipment according to claim 11, characterized in that: The engineering equipment includes a fire-fighting vehicle.

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