Arm support self-weight lowering control method and system, self-weight lowering device, and medium

Abstract

The application discloses an arm frame self-weight descending control method, system, self-weight descending equipment and medium, and the arm frame self-weight descending control method comprises the following steps: acquiring an actual value of a luffing angle in a self-weight descending process of an arm frame; obtaining an actual current control value of a self-weight proportional valve according to a maximum luffing angle value and the actual value of the luffing angle of the arm frame, a maximum current control value and a minimum current control value of the self-weight proportional valve, wherein the maximum luffing angle value, the maximum current control value and the minimum current control value are pre-stored values; and sending the actual current control value to the self-weight proportional valve to control linear deceleration of the arm frame in the self-weight descending process. The arm frame self-weight descending control method of the embodiment of the application can effectively control the speed during luffing self-weight descending, reduce the speed change during luffing descending, thereby improving the control precision of the descending speed, reducing the energy consumption in the descending process, and making the equipment more stable and energy-saving.

Description

Technical Field

[0001] This invention relates to the technical field of engineering machinery, and in particular to a method, system, equipment and medium for controlling the descent of a boom due to its own weight. Background Technology

[0002] With the introduction and improvement of relevant regulations and systems for safe production in high-altitude operations in China, the market demand for aerial work platforms is increasing year by year. The self-weight descent function of aerial work platforms is becoming increasingly mature, and users are paying more and more attention to whether it can be safe and smooth during self-weight descent. Currently, the self-weight descent function relies on a self-weight proportional valve to control the boom descent. However, because the boom load gradually increases during descent, the boom descent speed becomes faster and faster, thus failing to meet the requirements of safety, real-time performance, and smoothness, and also resulting in high energy consumption. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a boom self-weight descent control method, which can effectively control the speed during luffing self-weight descent, reduce speed changes during luffing descent, thereby improving the control accuracy of the descent speed, while reducing energy consumption during the descent process, making the equipment more stable and energy-efficient.

[0004] The present invention also provides a boom self-weight descent control system, a self-weight descent device, and a computer-readable storage medium.

[0005] According to a first aspect of the present invention, a boom self-weight descent control method is applied to a self-weight descent device. The self-weight descent device includes a vehicle body, a boom, and a self-weight proportional valve. One end of the boom is connected to the vehicle body, and the other end is used to connect to a working device. The boom is used to extend and retract, thereby driving the working device to move away from or towards the vehicle body. The self-weight proportional valve is used to control the boom to descend under its own weight. The boom self-weight descent control method includes the following steps:

[0006] Obtain the actual value of the amplitude angle during the descent of the boom under its own weight;

[0007] The actual current control value of the self-weight proportional valve is obtained based on the maximum luffing angle value of the boom and the actual luffing angle value, the maximum current control value and the minimum current control value of the self-weight proportional valve, wherein the maximum luffing angle value, the maximum current control value and the minimum current control value are pre-stored values.

[0008] The actual current control quantity is sent to the self-weight proportional valve to control the boom to decelerate linearly during its descent under its own weight.

[0009] The boom self-weight descent control method according to embodiments of the present invention has at least the following beneficial effects:

[0010] As the boom load gradually increases with the decrease in boom angle during descent, the descent speed becomes increasingly faster. By feeding back the actual change in the boom's luffing angle, and linearly controlling the actual current control of the self-weight proportional valve based on the maximum and actual luffing angle values, as well as the maximum and minimum current control values, the boom can be controlled to decelerate linearly under its own weight. This effectively controls the speed of descent under self-weight, reduces speed variations during luffing descent, improves the control accuracy of the descent speed, reduces energy consumption during descent, makes the equipment more stable and energy-efficient, and also meets the safety and real-time requirements of the equipment.

[0011] According to some embodiments of the present invention, the constraint formula for the actual quantity of the current control is:

[0012] C0 = C max -(A max -A0) / (A max / (C max -C min ));

[0013] Where C0 is the actual current control quantity, C max C is the maximum current control quantity. min A is the minimum current control quantity. max A0 is the maximum amplitude angle value, and A0 is the actual amplitude angle value.

[0014] According to some embodiments of the present invention, the maximum current control amount and the minimum current control amount are obtained by the following steps:

[0015] In response to a boom luffing signal, the boom is controlled to descend under its own weight.

[0016] Record multiple current values ​​collected during the process of the boom descending from the start to the stop of descent;

[0017] The maximum value among the multiple current acquisition values ​​is determined as the maximum current control quantity;

[0018] The minimum value among the multiple current acquisition values ​​is determined as the minimum current control quantity.

[0019] According to some embodiments of the present invention, the actual value of the luffing angle is detected by a luffing angle sensor. Before obtaining the actual value of the luffing angle during the descent of the boom under its own weight, the boom self-weight descent control method further includes the following steps:

[0020] Determine whether the amplitude angle sensor is working properly;

[0021] If the amplitude angle sensor is in normal working condition, the step of obtaining the actual value of the amplitude angle during the descent of the boom under its own weight is executed.

[0022] According to some embodiments of the present invention, the boom self-weight descent control method further includes the following steps:

[0023] If the amplitude angle sensor is faulty, an alarm signal is generated to prompt the staff to carry out maintenance.

[0024] According to a second aspect of the present invention, a boom self-weight descent control system is applied to a self-weight descent device, the self-weight descent device including a vehicle body, a boom, and a self-weight proportional valve, one end of the boom being connected to the vehicle body, and the other end being used to connect to a working device, the boom being used to extend and retract to move the working device away from or towards the vehicle body, the self-weight proportional valve being used to control the boom to descend under its own weight, the boom self-weight descent control system comprising:

[0025] The actual angle acquisition unit is used to acquire the actual value of the amplitude angle of the boom during its descent under its own weight.

[0026] The current calculation unit is used to obtain the actual current control quantity of the self-weight proportional valve based on the maximum luffing angle value of the boom and the actual luffing angle value, the maximum current control quantity and the minimum current control quantity of the self-weight proportional valve, wherein the maximum luffing angle value, the maximum current control quantity and the minimum current control quantity are pre-stored values.

[0027] A linear deceleration control unit is used to send the actual current control quantity to the self-weight proportional valve to control the linear deceleration of the boom during its descent under its own weight.

[0028] The boom self-weight lowering control system according to an embodiment of the present invention has at least the following beneficial effects:

[0029] As the boom load gradually increases with the decrease in boom angle during descent, the descent speed becomes increasingly faster. By feeding back the actual change in the boom's luffing angle, and linearly controlling the actual current control of the self-weight proportional valve based on the maximum and actual luffing angle values, as well as the maximum and minimum current control values, the boom can be controlled to decelerate linearly under its own weight. This effectively controls the speed of descent under self-weight, reduces speed variations during luffing descent, improves the control accuracy of the descent speed, reduces energy consumption during descent, makes the equipment more stable and energy-efficient, and also meets the safety and real-time requirements of the equipment.

[0030] According to a third aspect of the present invention, a weight-lowering device includes:

[0031] Vehicle body;

[0032] The boom has one end connected to the vehicle body and the other end used to connect to the working device. The boom is used to extend and retract to move the working device away from or towards the vehicle body.

[0033] A detection device, mounted on the boom, is used to detect the actual value of the boom's luffing angle;

[0034] A weight proportional valve, located on the vehicle body, is used to control the boom to descend under its own weight.

[0035] A control device is disposed on the vehicle body and electrically connected to the detection device and the self-weight proportional valve respectively. The control device is used to implement the boom self-weight descent control method as described in the first aspect embodiment above.

[0036] The weight-lowering device according to embodiments of the present invention has at least the following beneficial effects:

[0037] As the boom load gradually increases with the decrease in boom angle during descent, the descent speed increases. By detecting and feeding back the actual change in the boom's luffing angle using a detection device, the control device can linearly control the actual current control of the self-weight proportional valve based on the maximum and actual luffing angle values, as well as the maximum and minimum current control values. This allows for linear deceleration of the boom during its descent under its own weight, effectively controlling the speed of descent under luffing weight, reducing speed variations, improving descent speed control accuracy, reducing energy consumption during descent, making the equipment more stable and energy-efficient, and meeting the equipment's safety and real-time requirements.

[0038] According to some embodiments of the present invention, the detection device employs a variable amplitude angle sensor.

[0039] According to some embodiments of the present invention, a boom luffing handle is also included, which is used to output a boom luffing signal to control the boom to descend under its own weight.

[0040] According to a fourth aspect embodiment of the present invention, a computer-readable storage medium stores computer-executable instructions for performing the boom weight descent control method as described in the first aspect embodiment. Since the computer-readable storage medium employs all the technical solutions of the boom weight descent control method of the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments.

[0041] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. Attached Figure Description

[0042] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0043] Figure 1 This is a flowchart of a boom self-weight descent control method according to an embodiment of the present invention. Detailed Implementation

[0044] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0045] In the description of this invention, the use of terms such as "first," "second," etc., is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or implicitly indicating the order of the technical features indicated.

[0046] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0047] In the description of this invention, it should be noted that, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0048] The following will combine Figure 1 The boom self-weight descent control method according to the first aspect of the present invention will be clearly and completely described. Obviously, the embodiments described below are some embodiments of the present invention, not all embodiments.

[0049] According to a first aspect of the present invention, a boom self-weight descent control method is applied to a self-weight descent device. The self-weight descent device includes a vehicle body, a boom, and a self-weight proportional valve. One end of the boom is connected to the vehicle body, and the other end is used to connect to a working device. The boom is used to extend and retract, thereby driving the working device to move away from or towards the vehicle body. The self-weight proportional valve is used to control the boom to descend under its own weight. The boom self-weight descent control method includes the following steps:

[0050] Obtain the actual value of the boom's amplitude angle during its descent under its own weight;

[0051] The actual current control value of the self-weight proportional valve is obtained based on the maximum luffing angle value and the actual luffing angle value of the boom, and the maximum current control value and the minimum current control value of the self-weight proportional valve. The maximum luffing angle value, the maximum current control value and the minimum current control value are pre-stored values.

[0052] The actual current control is sent to the weight proportional valve to control the linear deceleration of the boom during its descent under its own weight.

[0053] The maximum boom luffing angle is the initial angle of the boom before it descends under its own weight. By controlling the boom to descend under its own weight and recording multiple current values ​​during the descent, the maximum and minimum current control values ​​of the weight proportional valve can be obtained.

[0054] The constraint formula for the actual quantity of current control is:

[0055] C0 = C max -(A max -A0) / (A max / (C max -C min ));

[0056] Where C0 is the actual current control quantity, C max C is the maximum current control quantity. min As the minimum current control quantity, A max A0 represents the maximum amplitude angle value, and C represents the actual amplitude angle value. max -C min The value is the difference between the maximum and minimum current control values ​​of the weight-proportional valve, mainly taking the range of variation between the maximum and minimum current control values; A max -A0 is the difference between the maximum boom luffing angle and the actual luffing angle, i.e., the real-time change in angle; A max / (C max -C min (A) is the ratio of the current range to the angle range, i.e., the coefficient of correspondence between angle and current; max -A0) / (Amax / (C max -C min The ratio of the real-time change value of the angle to the coefficient is the current value corresponding to the real-time angle value. Finally, by subtracting the current value corresponding to the real-time angle value from the maximum current control value, a linear value in which the current decreases as the angle decreases can be obtained, which is the actual current control value, thereby achieving the purpose of linear deceleration.

[0057] As the boom load gradually increases with the decrease in boom angle during descent, the descent speed becomes faster and faster. By feeding back the actual change in the boom's luffing angle, the current control of the self-weight proportional valve is linearly controlled. This allows for linear deceleration of the boom during its descent under its own weight, effectively controlling the speed of descent under luffing weight, reducing speed variations during descent, improving the control accuracy of the descent speed, reducing energy consumption during descent, making the equipment more stable and energy-efficient, and meeting the equipment's safety and real-time requirements.

[0058] According to the boom self-weight descent control method of the present invention, since the boom load gradually increases as the boom angle decreases during descent, resulting in an increasingly faster descent speed, the method feeds back the changes in the actual value of the boom's luffing angle. Based on the maximum luffing angle value and the actual luffing angle value, as well as the maximum and minimum current control values ​​of the self-weight proportional valve, the method linearly controls the actual current control value of the self-weight proportional valve. This controls the boom to decelerate linearly during descent under its own weight, effectively controlling the speed during luffing self-weight descent, reducing speed variations during luffing descent, thereby improving the control accuracy of the descent speed. Simultaneously, it reduces energy consumption during descent, making the equipment more stable and energy-efficient, while also meeting the safety and real-time requirements of the equipment.

[0059] In some embodiments of the present invention, the maximum current control amount and the minimum current control amount are obtained by the following steps:

[0060] In response to a boom luffing signal, the boom is controlled to descend under its own weight.

[0061] Record multiple current values ​​during the process of the boom descending from the start to the stop of descent;

[0062] The maximum value among multiple current acquisition values ​​is determined as the maximum current control value;

[0063] The minimum value among multiple current acquisition values ​​is determined as the minimum current control quantity.

[0064] By controlling the boom to descend under its own weight and recording multiple current values ​​during the descent, the maximum and minimum current control values ​​of the weight-proportional valve can be obtained. It should be noted that the maximum and minimum current control values ​​of the weight-proportional valve under different loads can be measured and stored in the control device. This allows for more accurate current control under varying loads, ensuring linear deceleration of the boom under different loads, improving the control precision of the descent speed, and enhancing operational reliability and safety.

[0065] In some embodiments of the present invention, reference is made to Figure 1 The actual value of the luffing angle is detected by the luffing angle sensor. Before obtaining the actual value of the luffing angle during the descent of the boom under its own weight, the boom self-weight descent control method also includes the following steps:

[0066] Determine if the amplitude angle sensor is working properly;

[0067] If the luffing angle sensor is in normal working condition, the actual value of the luffing angle during the descent of the boom under its own weight will be obtained.

[0068] If the amplitude angle sensor is faulty, an alarm signal will be generated to prompt staff to carry out maintenance.

[0069] Before generating the actual current control value, the status of the amplitude angle sensor needs to be checked. If the amplitude angle sensor malfunctions, the detected amplitude angle value will be inaccurate, and the resulting actual current control value will not meet the actual needs, potentially causing system malfunctions and equipment damage. Calculating the actual current control value only after confirming that the amplitude angle sensor is in normal working order ensures the reliability and safety of the system.

[0070] By determining whether the actual value of the amplitude angle detected by the amplitude angle sensor is within the preset normal angle range, it can be determined whether the amplitude angle sensor is functioning properly. The specific preset normal angle range needs to be determined based on the actual normal angle detection range of the amplitude angle sensor.

[0071] In addition, the normality of the amplitude angle sensor can be determined by detecting its voltage value. By checking whether the voltage value is within the preset normal voltage range, it can be determined whether the amplitude angle sensor is normal. The specific normal voltage range needs to be determined based on the actual normal operating voltage range of the amplitude angle sensor.

[0072] It should be noted that the method for determining whether the amplitude angle sensor is functioning properly can be changed, and the method mentioned above should not be regarded as a limitation of the present invention.

[0073] According to a second aspect of the present invention, a boom self-weight descent control system is applied to a self-weight descent device. The self-weight descent device includes a vehicle body, a boom, and a self-weight proportional valve. One end of the boom is connected to the vehicle body, and the other end is used to connect to a working device. The boom is used to extend and retract to drive the working device away from or towards the vehicle body. The self-weight proportional valve is used to control the boom to descend by its own weight. The boom self-weight descent control system includes an actual angle acquisition unit, a current calculation unit, and a linear deceleration control unit.

[0074] The actual angle acquisition unit is used to acquire the actual value of the amplitude angle during the descent of the boom under its own weight;

[0075] The current calculation unit is used to obtain the actual current control quantity of the self-weight proportional valve based on the maximum luffing angle value and the actual luffing angle value of the boom, the maximum current control quantity and the minimum current control quantity of the self-weight proportional valve, wherein the maximum luffing angle value, the maximum current control quantity and the minimum current control quantity are pre-stored values.

[0076] The linear deceleration control unit sends the actual current control quantity to the weight proportional valve to control the linear deceleration of the boom during its descent under its own weight.

[0077] The maximum boom luffing angle is the initial angle of the boom before it descends under its own weight. By controlling the boom to descend under its own weight and recording multiple current values ​​during the descent, the maximum and minimum current control values ​​of the weight proportional valve can be obtained.

[0078] The constraint formula for the actual quantity of current control is:

[0079] C0 = C max -(A max -A0) / (A max / (C max -C min ));

[0080] Where C0 is the actual current control quantity, C max C is the maximum current control quantity. min As the minimum current control quantity, A max A0 represents the maximum amplitude angle value, and C represents the actual amplitude angle value. max -C min The value is the difference between the maximum and minimum current control values ​​of the weight-proportional valve, mainly taking the range of variation between the maximum and minimum current control values; A max -A0 is the difference between the maximum boom luffing angle and the actual luffing angle, i.e., the real-time change in angle; A max / (C max -Cmin (A) is the ratio of the current range to the angle range, i.e., the coefficient of correspondence between angle and current; max -A0) / (A max / (C max -C min The ratio of the real-time change value of the angle to the coefficient is the current value corresponding to the real-time angle value. Finally, by subtracting the current value corresponding to the real-time angle value from the maximum current control value, a linear value in which the current decreases as the angle decreases can be obtained, which is the actual current control value, thereby achieving the purpose of linear deceleration.

[0081] As the boom load gradually increases with the decrease in boom angle during descent, the descent speed becomes faster and faster. By feeding back the actual change in the boom's luffing angle, the current control of the self-weight proportional valve is linearly controlled. This allows for linear deceleration of the boom during its descent under its own weight, effectively controlling the speed of descent under luffing weight, reducing speed variations during descent, improving the control accuracy of the descent speed, reducing energy consumption during descent, making the equipment more stable and energy-efficient, and meeting the equipment's safety and real-time requirements.

[0082] According to the boom self-weight descent control system of the present invention, since the boom load gradually increases as the boom angle decreases during descent, resulting in an increasingly faster descent speed, the system feeds back the actual value of the boom's luffing angle and linearly controls the actual current control of the self-weight proportional valve based on the maximum luffing angle value, the actual luffing angle value, the maximum current control value, and the minimum current control value of the self-weight proportional valve. This controls the boom to decelerate linearly during descent under its own weight, effectively controlling the speed during luffing self-weight descent, reducing speed variations during luffing descent, thereby improving the control accuracy of the descent speed, reducing energy consumption during descent, making the equipment more stable and energy-efficient, and meeting the safety and real-time requirements of the equipment.

[0083] Furthermore, a third aspect of the present invention provides a weight-lowering device, including a vehicle body, a boom, a detection device, a weight proportional valve, and a control device.

[0084] The boom is connected to the vehicle body at one end and to the working device at the other end. The boom is used to extend and retract to move the working device away from or towards the vehicle body.

[0085] The detection device, mounted on the boom, is used to detect the actual value of the boom's luffing angle.

[0086] The self-weight proportional valve, located on the vehicle body, is used to control the descent of the boom under its own weight.

[0087] A control device is mounted on the vehicle body and electrically connected to a detection device and a weight proportional valve, respectively. The control device is used to implement the boom weight descent control method as described in the first aspect embodiment above.

[0088] Self-weight lowering equipment includes, but is not limited to, aerial work platforms and other equipment that requires self-weight lowering. The specific type of self-weight lowering equipment is not limited here.

[0089] The detection device employs a variable amplitude angle sensor. However, other types of angle sensors can also be used, as long as they can detect the real-time actual value of the boom's variable amplitude angle; this should not be considered a limitation of the invention. It should be noted that the specific principle of the variable amplitude angle sensor is prior art known to those skilled in the art and will not be elaborated upon here.

[0090] The control device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor and memory can be connected via a bus or other means.

[0091] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0092] The non-transient software program and instructions required to implement the boom self-weight descent control method of the above embodiments are stored in memory. When executed by the processor, the boom self-weight descent control method of the above embodiments is executed.

[0093] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0094] The maximum boom luffing angle is the initial angle of the boom before it descends under its own weight. By controlling the boom to descend under its own weight and recording multiple current values ​​during the descent, the maximum and minimum current control values ​​of the weight proportional valve can be obtained.

[0095] The constraint formula for the actual quantity of current control is:

[0096] C0 = C max -(A max -A0) / (A max / (C max -C min ));

[0097] Where C0 is the actual current control quantity, C max C is the maximum current control quantity. min As the minimum current control quantity, A max A0 represents the maximum amplitude angle value, and C represents the actual amplitude angle value. max -C min The value is the difference between the maximum and minimum current control values ​​of the weight-proportional valve, mainly taking the range of variation between the maximum and minimum current control values; A max -A0 is the difference between the maximum boom luffing angle and the actual luffing angle, i.e., the real-time change in angle; A max / (C max -C min (A) is the ratio of the current range to the angle range, i.e., the coefficient of correspondence between angle and current; max -A0) / (A max / (C max -C min The ratio of the real-time change value of the angle to the coefficient is the current value corresponding to the real-time angle value. Finally, by subtracting the current value corresponding to the real-time angle value from the maximum current control value, a linear value in which the current decreases as the angle decreases can be obtained, which is the actual current control value, thereby achieving the purpose of linear deceleration.

[0098] As the boom load gradually increases with the decrease in boom angle during descent, the descent speed becomes faster and faster. By feeding back the actual change in the boom's luffing angle, the current control of the self-weight proportional valve is linearly controlled. This allows for linear deceleration of the boom during its descent under its own weight, effectively controlling the speed of descent under luffing weight, reducing speed variations during descent, improving the control accuracy of the descent speed, reducing energy consumption during descent, making the equipment more stable and energy-efficient, and meeting the equipment's safety and real-time requirements.

[0099] According to the self-weight lowering device of the present invention, since the boom load gradually increases as the boom angle decreases during boom descent, the boom descent speed becomes faster and faster. By detecting and feeding back the change in the actual value of the boom's luffing angle through a detection device, the control device can linearly control the actual current control amount of the self-weight proportional valve based on the maximum luffing angle value and the actual luffing angle value of the boom, as well as the maximum current control amount and the minimum current control amount of the self-weight proportional valve. This controls the boom to decelerate linearly during its descent under its own weight, effectively controlling the speed during luffing self-weight descent, reducing speed changes during luffing descent, thereby improving the control accuracy of the descent speed, reducing energy consumption during descent, making the equipment more stable and energy-efficient, and also meeting the safety and real-time requirements of the equipment.

[0100] In some embodiments of the present invention, a boom luffing handle is also included. The boom luffing handle is used to output a boom lowering signal to control the boom's descent under its own weight. By operating the boom luffing handle, the user can output a boom lowering signal to the control device, enabling the control device to implement the boom descent control method of the first aspect embodiment, facilitating the user's boom extension and retraction control. It should be noted that operating the boom luffing handle can also extend the boom; it is not limited to lowering the boom under its own weight and should not be considered a limitation of the present invention.

[0101] In addition, it should be noted that the boom luffing signal can also be generated directly through the control device or through other structures. The method of generating the boom luffing signal should not be regarded as a limitation of the present invention, and can be changed according to actual needs.

[0102] Furthermore, a fourth aspect of the present invention provides a computer-readable storage medium storing computer-executable instructions that are executed by a processor or controller, for example, by a processor of the aforementioned control device, such that the processor performs the boom weight descent control method described in the above embodiments.

[0103] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0104] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A method for controlling the descent of a boom due to its own weight, applied to a self-weight descent device, the self-weight descent device comprising a vehicle body, a boom, and a self-weight proportional valve, one end of the boom being connected to the vehicle body, and the other end being used to connect to a working device; the boom is used to extend and retract, thereby moving the working device away from or towards the vehicle body; the self-weight proportional valve is used to control the descent of the boom by its own weight, characterized in that... The method for controlling the descent of the boom due to its own weight includes the following steps: Obtain the actual value of the amplitude angle during the descent of the boom under its own weight; The actual current control value of the self-weight proportional valve is obtained based on the maximum luffing angle value and the actual luffing angle value of the boom, and the maximum and minimum current control values ​​of the self-weight proportional valve. The maximum luffing angle value, the maximum current control value, and the minimum current control value are pre-stored values. The constraint formula for the actual current control value is: ； in, The actual quantity for current control. This refers to the maximum current control value. This refers to the minimum current control amount. The maximum amplitude angle value, The actual value of the luffing angle; the maximum luffing angle value is the initial angle value of the boom before it descends under its own weight; the maximum current control value and the minimum current control value are obtained by the following steps: in response to the boom luffing signal, controlling the boom to descend under its own weight; recording multiple current acquisition values ​​of the boom from the start of descent to the stop of descent; determining the maximum value among the multiple current acquisition values ​​as the maximum current control value; determining the minimum value among the multiple current acquisition values ​​as the minimum current control value; The actual current control quantity is sent to the self-weight proportional valve to control the boom to decelerate linearly during its descent under its own weight.

2. The method of claim 1, wherein, The actual value of the luffing angle is detected by the luffing angle sensor. Before obtaining the actual value of the luffing angle during the descent of the boom under its own weight, the boom weight descent control method further includes the following steps: Determine whether the amplitude angle sensor is working properly; If the amplitude angle sensor is in normal working condition, the step of obtaining the actual value of the amplitude angle during the descent of the boom under its own weight is executed.

3. The method of claim 2, wherein, The boom self-weight descent control method further includes the following steps: If the amplitude angle sensor is faulty, an alarm signal is generated to prompt the staff to carry out maintenance.

4. A boom self-weight lowering control system, applied to a self-weight lowering device, the self-weight lowering device comprising a vehicle body, a boom, and a self-weight proportional valve, one end of the boom being connected to the vehicle body, and the other end being used to connect to a working device; the boom is used to extend and retract to move the working device away from or towards the vehicle body; the self-weight proportional valve is used to control the boom to lower under its own weight, characterized in that... The boom self-weight descent control system includes: The actual angle acquisition unit is used to acquire the actual value of the amplitude angle of the boom during its descent under its own weight. The current calculation unit is used to obtain the actual current control value of the self-weight proportional valve based on the maximum luffing angle value and the actual luffing angle value of the boom, and the maximum and minimum current control values ​​of the self-weight proportional valve. The maximum luffing angle value, the maximum current control value, and the minimum current control value are pre-stored values. The constraint formula for the actual current control value is: ； in, The actual quantity for current control. This refers to the maximum current control value. This refers to the minimum current control amount. The maximum amplitude angle value, The actual value of the luffing angle; the maximum luffing angle value is the initial angle value of the boom before it descends under its own weight; the maximum current control value and the minimum current control value are obtained by the following steps: in response to the boom luffing signal, controlling the boom to descend under its own weight; recording multiple current acquisition values ​​of the boom from the start of descent to the stop of descent; determining the maximum value among the multiple current acquisition values ​​as the maximum current control value; determining the minimum value among the multiple current acquisition values ​​as the minimum current control value; A linear deceleration control unit is used to send the actual current control quantity to the self-weight proportional valve to control the linear deceleration of the boom during its descent under its own weight.

5. A self-weight lowering apparatus characterized by comprising: include: Vehicle body; The boom has one end connected to the vehicle body and the other end used to connect to the working device. The boom is used to extend and retract to move the working device away from or towards the vehicle body. A detection device, mounted on the boom, is used to detect the actual value of the boom's luffing angle; A weight proportional valve, located on the vehicle body, is used to control the boom to descend under its own weight. A control device is disposed on the vehicle body and electrically connected to the detection device and the self-weight proportional valve respectively. The control device is used to implement the boom self-weight descent control method as described in any one of claims 1 to 3.

6. The self-reduction device according to claim 5, characterized in that, The detection device uses a variable amplitude angle sensor.

7. The self-reduction device according to claim 5, characterized in that, It also includes a boom luffing handle, which is used to output a boom luffing signal to control the boom to descend under its own weight.

8. A computer-readable storage medium storing computer-executable instructions, characterized in that, The computer-executable instructions are used to execute the boom self-weight descent control method as described in any one of claims 1 to 3.

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