Arm adjustment method and device, aerial platform fire fighting truck and storage medium

Abstract

The application provides an arm support adjustment method and device, an aerial platform fire fighting truck and a storage medium, is applied to the mechanical engineering technical field, and can make a working bucket of an arm support more efficiently and accurately reach a target position. The method comprises the following steps: S1, in the case that the unfolded arm support and the target position are located on the same plane, the horizontal distance and the vertical distance between the target position and the working bucket of the arm support are acquired in real time; S2, the target luffing angle and the target elongation length of each spliced arm of the arm support are calculated according to the horizontal distance and the vertical distance; S3, the corresponding executing element is controlled to adjust the angle of the arm support based on the target luffing angle of the spliced arm, and the corresponding executing element is controlled to adjust the elongation length of the arm support based on the target elongation length of the spliced arm; S4, in the case that the working bucket does not reach the target position, S1-S3 are repeatedly executed; in the case that the working bucket reaches the target position, the process is ended.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical engineering, and in particular to an arm frame adjusting method and device, an aerial platform fire truck and a storage medium. BACKGROUND

[0002] An aerial platform fire truck is a special vehicle for extinguishing high-rise building fires, implementing personnel rescue and rescuing valuable materials. Its arm frame system is usually folding or folding and telescopic combination. Since the working bucket of the aerial platform fire truck needs to carry rescue personnel to perform rescue tasks, the rescue operation efficiency and the stability of the working bucket are directly related to the personal safety of the personnel, and are the core performance of the aerial platform fire truck.

[0003] In the prior art, the arm frame can be controlled to reach the working point in one key according to the current posture and working position of the arm frame. However, the path planning in this way often causes the arm frame to be unable to accurately reach the target point due to non-linear factors such as dead zone, hysteresis and time delay, which not only affects the rescue efficiency, but also cannot guarantee the personal safety of the rescue personnel. SUMMARY

[0004] The present application provides an arm frame adjusting method, device, aerial platform fire truck and storage medium, which can make the working bucket of the arm frame more efficiently and accurately reach the target position.

[0005] The present application provides an arm frame adjusting method, comprising: S1, in the case that the unfolded arm frame and the target position are in the same plane, real-time acquiring the horizontal distance and the vertical distance between the target position and the working bucket of the arm frame; S2, calculating the target luffing angle and the target elongation length of each spliced arm of the arm frame according to the horizontal distance and the vertical distance; S3, controlling the corresponding execution element to adjust the angle of the arm frame based on the target luffing angle of the spliced arm, and controlling the corresponding execution element to adjust the elongation length of the arm frame based on the target elongation length of the spliced arm; S4, in the case that the working bucket does not reach the target position, repeating S1-S3; in the case that the working bucket reaches the target position, the process ends.

[0006] According to the arm frame adjusting method provided by the present application, the arm frame comprises a first spliced arm and a second spliced arm; and the calculation of the luffing angle and the elongation length of each spliced arm of the arm frame according to the horizontal distance and the vertical distance comprises: calculating the luffing angle and the elongation length of each spliced arm of the arm frame according to the formula The target amplitude angle a of the first splicing arm, the target elongation length L of the first splicing arm, the target amplitude angle β of the second splicing arm and the target elongation length M of the second splicing arm are calculated in sequence; wherein X0 is the horizontal distance, Y0 is the vertical distance, L0 is the initial length of the first splicing arm, M0 is the initial length of the second splicing arm, and K is the horizontal distance between the edge of the working bucket and the second splicing arm.

[0007] According to the present application, a kind of arm adjusting method is provided, which controls corresponding actuator to adjust the angle of the arm based on the target amplitude angle of the splicing arm, including: obtaining the first distance between the two end winding points of the target splicing arm's amplitude cylinder and the turntable link point and the rodless chamber diameter of the target splicing arm's amplitude cylinder;Determine the elongation length of the target splicing arm's amplitude cylinder according to the first distance and the target amplitude angle of the target splicing arm;Determine the total flow required by the amplitude cylinder according to the rodless chamber diameter of the amplitude cylinder, the elongation length of the amplitude cylinder and the flow formula;Determine the action time of the amplitude cylinder according to the total flow required by the amplitude cylinder;Determine the amplitude drive current value of the amplitude cylinder according to the action time of the amplitude cylinder;Drive load-sensitive multi-way valve spool to move based on the amplitude drive current value, to control corresponding actuator to adjust the angle of the target splicing arm;Wherein, the target splicing arm is any one of the splicing arm of the arm.

[0008] According to the present application, a kind of arm adjusting method is provided, which controls corresponding actuator to adjust the elongation length of the arm based on the target elongation length of the splicing arm, including: obtaining the rodless chamber diameter of the target splicing arm's telescopic cylinder;Determine the total flow required by the telescopic cylinder according to the rodless chamber diameter of the telescopic cylinder, the target elongation length of the target splicing arm and the flow formula;Determine the action time of the telescopic cylinder according to the total flow required by the telescopic cylinder;Determine the telescopic drive current value of the telescopic cylinder according to the action time of the telescopic cylinder;Drive load-sensitive multi-way valve spool to move based on the telescopic drive current value, to control corresponding actuator to adjust the elongation length of the target splicing arm;Wherein, the target splicing arm is any one of the splicing arm of the arm.

[0009] According to the present application, a kind of arm adjusting method is provided, and the flow formula is: Wherein Q is the total flow required by the cylinder, a is the elongation length of the cylinder or the target elongation length of the splicing arm, and D is the rodless chamber diameter of the cylinder.

[0010] The application further provides an arm support adjusting device, comprising an acquisition module, a calculation module, a processing module and a repeated execution module; the acquisition module is used for acquiring a horizontal distance and a vertical distance between a target position and a working bucket of the arm support in real time when the unfolded arm support and the target position are in the same plane, the working bucket is connected to the end of the arm support, and the arm support comprises a plurality of spliced arms; the calculation module is used for calculating a target luffing angle and a target elongation length of each spliced arm of the arm support according to the horizontal distance and the vertical distance; the processing module is used for controlling a corresponding execution element to adjust the angle of the arm support based on the target luffing angle of the spliced arm, and controlling the corresponding execution element to adjust the elongation length of the arm support based on the target elongation length of the spliced arm; and the repeated execution module is used for controlling the acquisition module, the calculation module and the processing module to repeatedly execute when the working bucket does not reach the target position, and the process ends when the working bucket reaches the target position.

[0011] According to the application, the arm support adjusting device comprises a first spliced arm and a second spliced arm; the calculation module is specifically used for calculating the target luffing angle α of the first spliced arm, the target elongation length L of the first spliced arm, the target luffing angle β of the second spliced arm and the target elongation length M of the second spliced arm according to the formula

[0012] According to the application, the acquisition module is further used for acquiring a first distance between two end winding points of a luffing oil cylinder of a target spliced arm and a turntable linking point and a rodless cavity diameter of the luffing oil cylinder of the target spliced arm; and the processing module is specifically used for determining an elongation length of the luffing oil cylinder of the target spliced arm according to the first distance and a target luffing angle of the target spliced arm, determining a total flow required by the luffing oil cylinder according to the rodless cavity diameter of the luffing oil cylinder, the elongation length of the luffing oil cylinder and a flow formula, determining an action time of the luffing oil cylinder according to the total flow required by the luffing oil cylinder, determining a luffing drive current value of the luffing oil cylinder according to the action time of the luffing oil cylinder, and driving a load-sensitive multi-way valve core to move based on the luffing drive current value to control a corresponding execution element to adjust the angle of the target spliced arm; wherein the target spliced arm is any one of the spliced arms of the arm support.

[0013] ​According to the present application, the acquisition module is further configured to acquire the rodless cavity diameter of the telescopic oil cylinder of the target spliced arm; and the processing module is specifically configured to determine the total flow required by the telescopic oil cylinder according to the rodless cavity diameter of the telescopic oil cylinder, the target elongation length of the target spliced arm and the flow formula; determine the action time of the telescopic oil cylinder according to the total flow required by the telescopic oil cylinder; determine the telescopic drive current value of the telescopic oil cylinder according to the action time of the telescopic oil cylinder; and drive the load-sensitive multi-way valve core to move based on the telescopic drive current value, so as to control the corresponding execution element to adjust the elongation length of the target spliced arm; wherein the target spliced arm is any one of the spliced arms of the arm support.

[0014] According to the present application, the flow formula is as follows: wherein Q is the total flow required by the oil cylinder, a is the elongation length of the oil cylinder or the target elongation length of the spliced arm, and D is the rodless cavity diameter of the oil cylinder.

[0015] The present application further provides a climbing platform fire fighting truck, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the arm support adjustment method according to any one of the above embodiments when executing the program.

[0016] The present application further provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program implements the steps of the arm support adjustment method according to any one of the above embodiments when executed by a processor.

[0017] The arm support adjustment method, device, climbing platform fire fighting truck and storage medium provided by the present application can acquire the horizontal distance and the vertical distance between the target position and the working bucket of the arm support in real time, calculate the target luffing angle and the target elongation length of each spliced arm of the arm support according to the horizontal distance and the vertical distance, and control the corresponding execution element to adjust the elongation length of the arm support based on the target elongation length of the spliced arm. Through the above scheme, since the above steps can be repeatedly executed when the working bucket does not reach the target position, the path planning of the arm support can be updated in real time, so that the motion deviation of the arm support caused by non-linear factors such as dead zone, hysteresis and time delay can be effectively reduced, and the working bucket of the arm support can more efficiently and accurately reach the target position. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

[0019] Figure 1 is a flowchart of the arm adjusting method provided by the present application;

[0020] Figure 2 is a schematic diagram of the arm adjusting method provided by the present application;

[0021] Figure 3 is a schematic diagram of the flow rate change over time of the arm adjusting method provided by the present application;

[0022] Figure 4 is a schematic diagram of the hydraulic system of the arm adjusting method provided by the present application;

[0023] Figure 5 is a schematic diagram of the arm adjusting device provided by the present application;

[0024] Figure 6 is a schematic diagram of the aerial platform fire truck provided by the present application. DETAILED DESCRIPTION

[0025] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0026] It should be noted that in the embodiments of the present application, the words such as "exemplary" or "for example" are used to represent an example, illustration or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words such as "exemplary" or "for example" are intended to present the relevant concept in a specific manner.

[0027] It should be noted that the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that processes, methods, articles, or apparatuses that comprise a list of elements are not limited to those elements, but can also include other elements not expressly listed, or can also include elements inherent in such processes, methods, articles, or apparatuses. Without further limitation, an element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element. In addition, it should be noted that the scope of the methods and apparatuses in the embodiments of the present application is not limited to performing functions in the order shown or discussed, but can also include performing functions in a substantially simultaneous manner or in reverse order, for example, the described methods can be performed in an order different from that described, and various steps can be added, omitted, or combined. In addition, features described with reference to certain examples can be combined in other examples.

[0028] In order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, the terms "first", "second", etc. are used to distinguish the same or similar items with basically the same functions and effects, and those skilled in the art can understand that the terms "first", "second", etc. are not limited in number and execution order.

[0029] The embodiments of the present application describe some exemplary embodiments for the purpose of illustration, and it should be understood that the present application can be implemented in other ways not specifically shown in the drawings.

[0030] The above implementation modes will be described in detail below in combination with specific embodiments and drawings.

[0031] As shown in Figure 1 The arm adjustment method provided by the embodiments of the present application can be applied to an arm adjustment device. The arm adjustment method can include S101-S104:

[0032] S101, in the case that the unfolded arm and the target position are in the same plane, the arm adjustment device acquires the horizontal distance and the vertical distance between the target position and the working bucket of the arm in real time.

[0033] Wherein, the working bucket is connected to the end of the arm, and the arm includes a plurality of spliced arms.

[0034] First, the boom extension can be manually or automatically extended to the target angle α0. Then, the boom's turntable is rotated to align the extended boom with the target position on the same plane. With the extended boom and target position on the same plane, the boom adjustment device can use a lidar system mounted on the bucket to acquire the horizontal distance X0 and vertical distance Y0 between the target position and the bucket in real time. This lidar system can automatically detect the target object and track its positional changes.

[0035] S102, The boom adjustment device calculates the target luffing angle and target elongation length of each spliced ​​arm of the boom based on the horizontal distance and the vertical distance.

[0036] After obtaining the horizontal distance X0 and the vertical distance Y0, the boom adjustment device can calculate the target luffing angle and target extension length of each spliced ​​arm of the boom based on the horizontal distance X0 and the vertical distance Y0.

[0037] Optional, such as Figure 2 As shown, the boom described above may include a first splicing arm 21 and a second splicing arm 22. The first splicing arm 21 is connected to the second splicing arm 22, and the end of the second splicing arm 22 is connected to the work bucket 23. The boom adjustment device can be based on the formula: The target amplitude angle α of the first splicing arm 21, the target extension length L of the first splicing arm 21, the target amplitude angle β of the second splicing arm 22, and the target extension length M of the second splicing arm 22 are calculated sequentially. Wherein, L0 is the initial length of the first splicing arm 21, M0 is the initial length of the second splicing arm 22, and K is the horizontal distance between the edge of the working bucket 23 and the second splicing arm 22. Since the working bucket 23 is always horizontal, it can be considered to have no vertical component.

[0038] Optionally, the boom adjustment device can prioritize operating the splicing arm furthest from the work bucket, i.e., the first splicing arm, before operating the other splicing arms, i.e., the second splicing arm. When operating the first or second splicing arm, the boom adjustment device can first adjust the amplitude and then extend / retract. This reduces work bucket vibration, improves positioning accuracy, and shortens movement time.

[0039] It should be noted that when calculating the target luffing angle α of the first splicing arm, the target extension length L of the first splicing arm, the target luffing angle β of the second splicing arm, and the target extension length M of the second splicing arm, the boom adjustment device can use an intelligent algorithm to obtain α, L, β, and M sequentially. That is, the boom adjustment device can first ignore L, β, and M, and only calculate α. After obtaining α, it substitutes α into the above formula and ignores β and M to obtain L. Similarly, β and M can be obtained.

[0040] S103、the arm adjusting device controls the corresponding actuator to adjust the angle of the arm based on the target luffing angle of the splicing arm, and controls the corresponding actuator to adjust the extension length of the arm based on the target extension length of the splicing arm.

[0041] Optionally, the arm adjusting device controls the corresponding actuator to adjust the angle of the arm based on the target luffing angle of the splicing arm, and specifically can include: obtaining the first distance between the two end winding points of the luffing cylinder of the target splicing arm and the linkage point of the turntable, and the rodless cavity diameter of the luffing cylinder of the target splicing arm; determining the extension length of the luffing cylinder of the target splicing arm according to the first distance and the target luffing angle of the target splicing arm; determining the total flow required by the luffing cylinder according to the rodless cavity diameter of the luffing cylinder, the extension length of the luffing cylinder and the flow formula; determining the action time of the luffing cylinder according to the total flow required by the luffing cylinder; determining the luffing drive current value of the luffing cylinder according to the action time of the luffing cylinder; driving the load-sensitive multi-way valve core to move based on the luffing drive current value, so as to control the corresponding actuator to adjust the angle of the target splicing arm; wherein the target splicing arm is any one of the splicing arms of the arm.

[0042] Optionally, the arm adjusting device controls the corresponding actuator to adjust the extension length of the arm based on the target extension length of the splicing arm, and specifically can include: obtaining the rodless cavity diameter of the telescopic cylinder of the target splicing arm; determining the total flow required by the telescopic cylinder according to the rodless cavity diameter of the telescopic cylinder, the target extension length of the target splicing arm and the flow formula; determining the action time of the telescopic cylinder according to the total flow required by the telescopic cylinder; determining the telescopic drive current value of the telescopic cylinder according to the action time of the telescopic cylinder; driving the load-sensitive multi-way valve core to move based on the telescopic drive current value, so as to control the corresponding actuator to adjust the extension length of the target splicing arm.

[0043] Optionally, the above flow formula can be: wherein Q is the total flow required by the cylinder, a is the extension length of the cylinder or the target extension length of the splicing arm, and D is the rodless cavity diameter of the cylinder.

[0044] Illustratively, taking the above arm including a first splicing arm and a second splicing arm as an example. The process of the arm adjusting device adjusting the angle and the extension length of the arm can include the following steps:

[0045] Step 1: The boom adjusting device can obtain the distance between the two end points of the first splicing arm luffing cylinder and the linking point of the first splicing arm and the turntable, and obtain the extension length a of the first splicing arm luffing cylinder according to the cosine theorem. Similarly, the distance between the two end points of the second splicing arm luffing cylinder and the linking point of the first splicing arm and the second splicing arm can be obtained, and the extension length b of the second splicing arm luffing cylinder can be obtained.

[0046] Step 2: The boom adjusting device can obtain the rodless cavity diameter D1 of the first splicing arm luffing cylinder, the rodless cavity diameter D2 of the first splicing arm telescopic cylinder, the rodless cavity diameter D3 of the second splicing arm luffing cylinder, and the rodless cavity diameter D4 of the second splicing arm telescopic cylinder.

[0047] Step 3: The boom adjusting device can obtain the relationship between the displacement of each valve core of the load-sensitive multi-way valve and the flow, and the relationship between the displacement of each valve core and the current.

[0048] Step 4: The boom adjusting device can obtain the total flow Q1, Q2, Q3, Q4 required by the rodless cavities of the four cylinders respectively according to the rodless cavity diameter of the cylinder, the extension length of the cylinder, and the flow formula.

[0049] Step 5: The boom adjusting device can obtain the maximum allowable displacement x of each valve core of the load-sensitive multi-way valve, the rising slope k1 to reach the maximum displacement, and the falling slope k2 when the displacement decreases to 0 (i.e. the cylinder stops moving). These parameters are preset parameters.

[0050] Step 6: The action time of the cylinder is determined according to the maximum allowable displacement x of the valve core, the rising slope k1 to reach the maximum displacement, the falling slope k2 when the displacement decreases to 0, and the flow Q. The flow entering the rodless cavity during the extension of the cylinder is similar to a trapezoidal relationship, as shown in Figure 3 , the upper base of the trapezoid corresponds to the flow Q, and the slopes of the two sides of the trapezoid are k1 and k2 respectively. According to the trapezoidal area formula, the length of the lower base of the trapezoid, i.e. the action time of the cylinder, can be obtained. Thus, the action times t1, t2, t3 and t4 of the four cylinders are obtained.

[0051] Step 7: According to the relationship between the valve core opening and the current, the maximum allowable displacement of the four valve cores of the load-sensitive multi-way valve is determined to obtain four driving current values I1, I2, I3 and I4.

[0052] Step 8: According to the principle of preferentially moving the boom away from the working bucket and preferentially luffing, the valve core of the load-sensitive multi-way valve is driven by the current obtained in the above step 7, so that each actuator moves.

[0053] As Figure 4As shown, the four-piece valve core of the load-sensitive multi-way valve includes an electric proportional directional valve 1, an electric proportional directional valve 2, an electric proportional directional valve 3 and an electric proportional directional valve 4, the boom adjusting device can control the electric proportional directional valve 1 to drive the first spliced arm luffing oil cylinder to adjust the angle based on the driving current value I1, control the electric proportional directional valve 2 to drive the first spliced arm telescopic oil cylinder to adjust the extension length based on the driving current value I2, control the electric proportional directional valve 3 to drive the second spliced arm luffing oil cylinder to adjust the angle based on the driving current value I3, and control the electric proportional directional valve 4 to drive the second spliced arm telescopic oil cylinder to adjust the extension length based on the driving current value I4.

[0054] S104, in the case where the working bucket does not reach the target position, the boom adjusting device repeatedly performs S101-S103; in the case where the working bucket reaches the target position, the process ends.

[0055] S103 will cause the position of the working bucket to change, since the laser radar system can measure the distance between the working bucket and the target position in real time and feedback, the boom adjusting device can re-plan the path until the horizontal distance and the vertical distance between the working bucket and the target position are both 0, and the adjustment process of the boom is completed.

[0056] In the embodiment of the present application, the horizontal distance and the vertical distance between the target position and the working bucket of the boom can be obtained in real time, and the target luffing angle and the target extension length of each spliced arm of the boom are calculated according to the horizontal distance and the vertical distance, and the extension length of the boom is adjusted based on the target extension length of the spliced arm. Through the scheme, since the above steps can be repeatedly performed in the case where the working bucket does not reach the target position, the path planning of the boom can be updated in real time, thereby effectively reducing the motion deviation of the boom caused by nonlinear factors such as dead zone, hysteresis and time delay, and making the working bucket of the boom more efficiently and accurately reach the target position.

[0057] The above mainly introduces the scheme provided by the embodiment of the present application from the perspective of method. In order to realize the above functions, it contains the hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in the present text can be realized in the form of hardware or the combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driven hardware depends on the specific application and design constraints of the technical scheme. Professional technicians can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0058] The boom adjustment method provided in this embodiment of the invention can be executed by a boom adjustment device or a control module for boom adjustment within that device. This embodiment uses a boom adjustment device to execute the boom adjustment method as an example to illustrate the boom adjustment device provided in this embodiment.

[0059] It should be noted that, according to the above method examples, the boom adjustment device can be divided into functional modules in the embodiments of the present invention. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated modules can be implemented in hardware or as software functional modules. Optionally, the module division in the embodiments of the present invention is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods.

[0060] like Figure 5 As shown, this embodiment of the invention provides a boom adjustment device 500. The boom adjustment device 500 includes: an acquisition module 501, a calculation module 502, a processing module 503, and a repetitive execution module 504. The acquisition module 501 is used to acquire in real time the horizontal and vertical distances between the target position and the working bucket of the boom, where the boom and the target position are on the same plane. The working bucket is connected to the end of the boom, and the boom includes multiple spliced ​​arms. The calculation module 502 is used to calculate the target luffing angle and target extension length of each spliced ​​arm of the boom based on the horizontal and vertical distances. The processing module 503 is used to control corresponding actuators to adjust the angle of the boom based on the target luffing angle of the spliced ​​arm, and to control corresponding actuators to adjust the extension length of the boom based on the target extension length of the spliced ​​arm. The repetitive execution module 504 is used to control the acquisition module, the calculation module, and the processing module to repeat execution when the working bucket has not reached the target position; the process ends when the working bucket reaches the target position.

[0061] Optionally, the boom includes a first splicing arm and a second splicing arm; the calculation module 502 is specifically used to: calculate according to the formula The target amplitude angle α of the first splicing arm, the target extension length L of the first splicing arm, the target amplitude angle β of the second splicing arm, and the target extension length M of the second splicing arm are calculated sequentially; where X0 is the horizontal distance, Y0 is the vertical distance, L0 is the initial length of the first splicing arm, M0 is the initial length of the second splicing arm, and K is the horizontal distance between the edge of the working bucket and the second splicing arm.

[0062] Optionally, the acquisition module 501 is further configured to acquire a first distance between two end winding points of a luffing cylinder of a target splicing arm and a turntable linkage point and a rodless chamber diameter of the luffing cylinder of the target splicing arm; and the processing module 503 is specifically configured to determine an elongation length of the luffing cylinder of the target splicing arm according to the first distance and a target luffing angle of the target splicing arm, determine a total flow required by the luffing cylinder according to the rodless chamber diameter of the luffing cylinder, the elongation length of the luffing cylinder and a flow formula, determine an action time of the luffing cylinder according to the total flow required by the luffing cylinder, determine a luffing drive current value of the luffing cylinder according to the action time of the luffing cylinder, and drive a load-sensitive multi-way valve core to move based on the luffing drive current value, so as to control a corresponding execution element to adjust the angle of the target splicing arm; wherein the target splicing arm is any one of the splicing arms of the arm support.

[0063] Optionally, the acquisition module 501 is further configured to acquire a rodless chamber diameter of a telescopic cylinder of the target splicing arm; and the processing module 503 is specifically configured to determine a total flow required by the telescopic cylinder according to the rodless chamber diameter of the telescopic cylinder, a target elongation length of the target splicing arm and the flow formula, determine an action time of the telescopic cylinder according to the total flow required by the telescopic cylinder, determine a telescopic drive current value of the telescopic cylinder according to the action time of the telescopic cylinder, and drive a load-sensitive multi-way valve core to move based on the telescopic drive current value, so as to control a corresponding execution element to adjust the elongation length of the target splicing arm.

[0064] According to the present application, an arm support adjustment device is provided, and the flow formula is as follows: wherein Q is the total flow required by the cylinder, a is the elongation length of the cylinder or the target elongation length of the splicing arm, and D is the rodless chamber diameter of the cylinder.

[0065] In the embodiment of the present application, the horizontal distance and the vertical distance between the target position and the working bucket of the arm support can be acquired in real time, and the target luffing angle and the target elongation length of each splicing arm of the arm support are calculated according to the horizontal distance and the vertical distance, and the elongation length of the arm support is adjusted by the corresponding execution element based on the target elongation length of the splicing arm. Through the scheme, since the above steps can be repeatedly executed when the working bucket does not reach the target position, the path planning of the arm support can be updated in real time, so that the motion deviation of the arm support caused by nonlinear factors such as dead zone, hysteresis and time delay is effectively reduced, and the working bucket of the arm support reaches the target position more efficiently and accurately.

[0066] Figure 6 An entity structure schematic diagram of an aerial platform fire truck is shown as follows, Figure 6As shown, the aerial platform fire truck can include a processor 1010, a communications interface 1020, a memory 1030, and a communications bus 1040, wherein the processor 1010, the communications interface 1020, and the memory 1030 communicate with each other through the communications bus 1040. The processor 1010 can call the logic instructions in the memory 1030 to execute the boom adjustment method, which includes: S1, in the case that the unfolded boom and the target position are in the same plane, real-time acquisition of the horizontal distance and the vertical distance between the target position and the working bucket of the boom; S2, calculation of the target luffing angle and the target elongation length of each spliced arm of the boom according to the horizontal distance and the vertical distance; S3, control of the corresponding actuator to adjust the angle of the boom based on the target luffing angle of the spliced arm, and control of the corresponding actuator to adjust the elongation length of the boom based on the target elongation length of the spliced arm; S4, in the case that the working bucket does not reach the target position, repeated execution of S1-S3; in the case that the working bucket reaches the target position, the process ends.

[0067] In addition, the logic instructions in the memory 1030 described above can be implemented in the form of a software functional unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0068] In another aspect, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the boom adjustment method provided by any of the above methods, the method comprising: S1, in a case where the unfolded boom and the target position are in the same plane, acquiring a horizontal distance and a vertical distance between the target position and a working bucket of the boom in real time; S2, calculating a target luffing angle and a target elongation length of each splicing arm of the boom according to the horizontal distance and the vertical distance; S3, controlling a corresponding actuator to adjust the angle of the boom based on the target luffing angle of the splicing arm, and controlling the corresponding actuator to adjust the elongation length of the boom based on the target elongation length of the splicing arm; S4, in a case where the working bucket does not reach the target position, repeating S1-S3; in a case where the working bucket reaches the target position, the process ends.

[0069] In yet another aspect, the present application also provides a non-transitory computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement a boom adjustment method provided by any of the above methods, the method comprising: S1, in a case where the unfolded boom and the target position are in the same plane, acquiring a horizontal distance and a vertical distance between the target position and a working bucket of the boom in real time; S2, calculating a target luffing angle and a target elongation length of each splicing arm of the boom according to the horizontal distance and the vertical distance; S3, controlling a corresponding actuator to adjust the angle of the boom based on the target luffing angle of the splicing arm, and controlling the corresponding actuator to adjust the elongation length of the boom based on the target elongation length of the splicing arm; S4, in a case where the working bucket does not reach the target position, repeating S1-S3; in a case where the working bucket reaches the target position, the process ends.

[0070] The device embodiments described above are merely illustrative, wherein the units illustrated as separate components can or can not be physically separate, and the components illustrated as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0071] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0072] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A boom adjustment method, characterized in that, include: S1. When the deployed boom and the target position are on the same plane, the horizontal and vertical distances between the target position and the working bucket of the boom are obtained in real time. The working bucket is connected to the end of the boom, and the boom includes multiple splicing booms. S2. Calculate the target luffing angle and target elongation length of each splicing arm of the boom based on the horizontal distance and the vertical distance; S3. Based on the target luffing angle of the splicing arm, control the corresponding actuator to adjust the angle of the boom; based on the target extension length of the splicing arm, control the corresponding actuator to adjust the extension length of the boom. S4. If the working bucket has not reached the target position, repeat S1-S3; if the working bucket reaches the target position, the process ends. The horizontal and vertical distances between the target position and the boom's working bucket are obtained in real time by a lidar system installed on the working bucket.

2. The boom adjustment method according to claim 1, characterized in that, The boom includes a first splicing arm and a second splicing arm; the calculation of the luffing angle and extension length of each splicing arm of the boom based on the horizontal distance and the vertical distance includes: According to the formula Calculate the target amplitude angle of the first splicing arm sequentially. The target elongation length of the first splicing arm The target amplitude angle of the second splicing arm and the target elongation length of the second splicing arm ; in, The horizontal distance is... The vertical distance is... The initial length of the first splicing arm. This is the initial length of the second splicing arm. The horizontal distance between the edge of the working bucket and the second splicing arm.

3. The boom adjustment method according to claim 1 or 2, characterized in that, The control of the corresponding actuator based on the target luffing angle of the splicing arm to adjust the angle of the boom includes: Obtain the first distance between the two hinge points of the luffing cylinder of the target splicing arm and the turntable connection point, as well as the rodless cavity diameter of the luffing cylinder of the target splicing arm; The extension length of the luffing cylinder of the target splicing arm is determined based on the first distance and the target luffing angle of the target splicing arm. The total flow rate required for the luffing cylinder is determined based on the rodless chamber diameter, the extension length of the luffing cylinder, and the flow rate formula. The action time of the luffing cylinder is determined based on the total flow rate required by the luffing cylinder. The amplitude-changing drive current value of the amplitude-changing cylinder is determined based on the action time of the amplitude-changing cylinder; The variable amplitude drive current value drives the valve core of the load-sensitive multi-way valve to move, thereby controlling the corresponding actuator to adjust the angle of the target splicing arm; The target splicing arm is any one of the splicing arms of the boom.

4. The boom adjustment method according to claim 1 or 2, characterized in that, The method of controlling the corresponding actuator to adjust the extension length of the boom based on the target extension length of the splicing arm includes: Obtain the rodless cavity diameter of the telescopic cylinder of the target splicing arm; The total flow rate required by the telescopic cylinder is determined based on the rodless cavity diameter of the telescopic cylinder, the target extension length of the target splicing arm, and the flow rate formula. The action time of the telescopic cylinder is determined based on the total flow rate required by the telescopic cylinder. The telescopic drive current value of the telescopic cylinder is determined based on the action time of the telescopic cylinder. The load-sensitive multi-way valve core is moved based on the telescopic drive current value to control the corresponding actuator to adjust the extension length of the target splicing arm; The target splicing arm is any one of the splicing arms of the boom.

5. The boom adjustment method according to claim 4, characterized in that, The flow rate formula is: ;in, The total flow rate required by the hydraulic cylinder. This refers to the extension length of the hydraulic cylinder or the target extension length of the splicing arm. This is the diameter of the rodless chamber of the hydraulic cylinder.

6. A boom adjustment device, characterized in that, include: The module includes an acquisition module, a calculation module, a processing module, and a repetitive execution module. The acquisition module is used to acquire, in real time, the horizontal and vertical distances between the target position and the working bucket of the boom when the deployed boom and the target position are on the same plane. The working bucket is connected to the end of the boom, and the boom includes multiple splicing booms. The calculation module is used to calculate the target luffing angle and target elongation length of each splicing arm of the boom based on the horizontal distance and the vertical distance. The processing module is used to control the corresponding actuators to adjust the angle of the boom based on the target luffing angle of the splicing arm, and to control the corresponding actuators to adjust the extension length of the boom based on the target extension length of the splicing arm. The repetitive execution module is used to control the acquisition module, the calculation module, and the processing module to execute repeatedly when the work bucket has not reached the target position. The process ends when the working bucket reaches the target position; The horizontal and vertical distances between the target position and the boom's working bucket are obtained in real time by a lidar system installed on the working bucket.

7. The boom adjustment device according to claim 6, characterized in that, The boom includes a first splicing arm and a second splicing arm; the computing module is specifically used for: According to the formula Calculate the target amplitude angle of the first splicing arm sequentially. The target elongation length of the first splicing arm The target amplitude angle of the second splicing arm and the target elongation length of the second splicing arm ; in, The horizontal distance is... The vertical distance is... The initial length of the first splicing arm. This is the initial length of the second splicing arm. The horizontal distance between the edge of the working bucket and the second splicing arm.

8. The boom adjustment device according to claim 6 or 7, characterized in that, The acquisition module is also used to: acquire the first distance between the two end hinge points of the luffing cylinder of the target splicing arm and the turntable connection point, as well as the rodless cavity diameter of the luffing cylinder of the target splicing arm; The processing module is specifically used to: determine the extension length of the luffing cylinder of the target splicing arm based on the first distance and the target luffing angle of the target splicing arm; and determine the total flow rate required by the luffing cylinder based on the rodless cavity diameter of the luffing cylinder, the extension length of the luffing cylinder, and the flow rate formula. The action time of the luffing cylinder is determined based on the total flow rate required by the luffing cylinder. The amplitude-changing drive current value of the amplitude-changing cylinder is determined based on the action time of the amplitude-changing cylinder; The variable amplitude drive current value drives the valve core of the load-sensitive multi-way valve to move, thereby controlling the corresponding actuator to adjust the angle of the target splicing arm; wherein, the target splicing arm is any one of the splicing arms of the boom.

9. The boom adjustment device according to claim 6 or 7, characterized in that, The acquisition module is also used to: acquire the rodless cavity diameter of the telescopic cylinder of the target splicing arm; The processing module is specifically used to: determine the total flow rate required by the telescopic cylinder based on the rodless cavity diameter of the telescopic cylinder, the target extension length of the target splicing arm, and the flow rate formula; and determine the action time of the telescopic cylinder based on the total flow rate required by the telescopic cylinder. The telescopic drive current value of the telescopic cylinder is determined based on the action time of the telescopic cylinder. The load-sensitive multi-way valve core is moved based on the telescopic drive current value to control the corresponding actuator to adjust the extension length of the target splicing arm; The target splicing arm is any one of the splicing arms of the boom.

10. The boom adjustment device according to claim 9, characterized in that, The flow rate formula is: ;in, The total flow rate required by the hydraulic cylinder. This refers to the extension length of the hydraulic cylinder or the target extension length of the splicing arm. This is the diameter of the rodless chamber of the hydraulic cylinder.

11. An aerial platform fire truck, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps in the boom adjustment method as described in any one of claims 1 to 5.

12. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps in the boom adjustment method as described in any one of claims 1 to 5.

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