Job control method, device and job vehicle

Abstract

This disclosure provides a work control method, device, and work vehicle, relating to the field of engineering machinery technology. The method includes: acquiring a first angle between the main boom of the work vehicle and the ground, and a first boom length; controlling the luffing cylinder of the work vehicle to luff at a preset luffing speed corresponding to the first angle; acquiring a second angle between the main boom and the ground after luffing, and a second boom length after luffing; determining a first target boom length based on the first boom length, the first angle, and the second angle; and controlling the extension amount of the telescopic cylinder of the work vehicle when the second boom length differs from the first target boom length, so that the boom length reaches the first target boom length. This improves the accuracy of work control.

Description

Technical Field

[0001] This disclosure relates to the field of engineering machinery technology, and in particular to a work control method, device and work vehicle. Background Technology

[0002] A work vehicle (such as an aerial work platform or aerial work vehicle) is an engineering vehicle used to transport equipment and personnel to a designated height for work.

[0003] Normally, operators can adjust the angle between the boom and the ground by controlling the extension of the boom's luffing cylinder; they can also adjust the boom's length by controlling the extension of the telescopic cylinder, thus adjusting the boom's movement trajectory. Summary of the Invention

[0004] According to one aspect of the present disclosure, a work control method is provided, comprising: acquiring a first angle between the main boom of a work vehicle and the ground and a first boom length of the main boom; controlling the luffing cylinder of the work vehicle to luff at a preset luffing speed corresponding to the first angle; acquiring a second angle between the main boom and the ground after luffing and a second boom length of the main boom after luffing; determining a first target boom length of the main boom based on the first boom length, the first angle, and the second angle; and controlling the extension amount of the telescopic cylinder of the work vehicle to make the boom length reach the first target boom length when the second boom length is different from the first target boom length; wherein the preset luffing speed is determined based on the difference between the first length of the luffing cylinder corresponding to the first angle and the second length of the luffing cylinder corresponding to the preset target angle between the main boom and the ground, and the first extension time of the telescopic cylinder required for the main boom to change from the first boom length to the second target boom length corresponding to the preset target angle, and the length of the first projection of the main boom on the ground corresponding to the first angle and the length of the second projection of the main boom on the ground corresponding to the preset target angle are equal.

[0005] In some embodiments, the method further includes: determining a third length of the luffing cylinder corresponding to the second angle when the second included angle and the preset target included angle are different; determining a second extension time of the telescopic cylinder required for the main boom to change from the second included angle to the second target included angle based on the second boom length, the second target boom length, and the preset extension speed of the telescopic cylinder; determining a target luffing speed corresponding to the second included angle based on the difference between the second length and the third length and the second extension time; and controlling the luffing cylinder to luff according to the target luffing speed so that the angle between the main boom and the ground reaches the preset target included angle.

[0006] In some embodiments, the method further includes: controlling the extension amount of the telescopic cylinder of the work vehicle so that the boom length reaches the second target boom length.

[0007] In some embodiments, when the target luffing speed is greater than the maximum luffing speed of the luffing cylinder, the luffing cylinder is controlled to luff at the maximum luffing speed; when the target luffing speed is less than the minimum luffing speed of the luffing cylinder, the luffing cylinder is controlled to luff at the minimum luffing speed.

[0008] In some embodiments, the preset amplitude change rate corresponding to the first included angle being greater than the preset target included angle is different from the preset amplitude change rate corresponding to the first included angle being less than the preset target included angle.

[0009] In some embodiments, controlling the luffing cylinder of the work vehicle to luff at a preset luffing speed corresponding to the first included angle includes: determining a current value corresponding to the preset luffing speed; and providing a current having the current value to the proportional valve of the luffing cylinder to control the luffing cylinder to luff at the preset luffing speed.

[0010] According to another aspect of the present disclosure, a work control method is provided, comprising: determining the length of the projection of the main boom on the ground based on a first angle between the main boom of the work vehicle and the ground and a first boom length of the main boom; determining a target boom length based on the length of the projection and a target angle between the main boom and the ground; determining the extension time of the extension cylinder required for the main boom to change from the first boom length to the target boom length based on the first boom length, the target boom length, and a preset extension speed of the extension cylinder of the work vehicle; determining a target luffing speed corresponding to the first angle based on the difference between a first length of the luffing cylinder of the work vehicle corresponding to the first angle and a second length of the luffing cylinder corresponding to the target angle and the extension time; and controlling the luffing cylinder to luff according to the target luffing speed so that the angle between the main boom and the ground reaches the target angle.

[0011] In some embodiments, the preset extension speed is the maximum extension speed of the extension cylinder.

[0012] According to another aspect of the present disclosure, a work control device is provided, comprising: a first acquisition module configured to acquire a first angle between the main boom of a work vehicle and the ground and a first boom length of the main boom; a first control module configured to control the luffing cylinder of the work vehicle to luff at a preset luffing speed corresponding to the first angle; a second acquisition module configured to acquire a second angle between the main boom and the ground after luffing and a second boom length of the main boom after luffing; a determination module configured to determine a first target boom length of the main boom based on the first boom length, the first angle, and the second angle; and a second control module configured to determine a target boom length of the main boom based on the second boom length and the first angle. When the first target boom length is different, the extension amount of the telescopic cylinder of the work vehicle is controlled so that the boom length reaches the first target boom length; wherein, the preset luffing speed is determined based on the difference between the first length of the luffing cylinder corresponding to the first angle and the second length of the luffing cylinder corresponding to the preset target angle between the boom and the ground, and the first extension time of the telescopic cylinder required for the boom to change from the first boom length to the second target boom length corresponding to the preset target angle, and the length of the first projection of the boom on the ground corresponding to the first angle and the length of the second projection of the boom on the ground corresponding to the preset target angle are equal.

[0013] According to another aspect of the present disclosure, a work control device is provided, comprising: a determining module configured to determine the length of the projection of the main boom on the ground based on a first angle between the main boom of the work vehicle and the ground and a first boom length of the main boom; to determine a target boom length based on the length of the projection and a target angle between the main boom and the ground; to determine the extension time of the extension cylinder required for the main boom to change from the first boom length to the target boom length based on the first boom length, the target boom length, and a preset extension speed of the extension cylinder of the work vehicle; and to determine a target luffing speed corresponding to the first angle based on the difference between a first length of the luffing cylinder of the work vehicle corresponding to the first angle and a second length of the luffing cylinder corresponding to the target angle and the extension time; and a control module configured to control the luffing cylinder to luff according to the target luffing speed, so that the angle between the main boom and the ground reaches the target angle.

[0014] According to another aspect of the present disclosure, a job control device is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the method described in any of the above embodiments based on instructions stored in the memory.

[0015] According to another aspect of the present disclosure, a work vehicle is provided, including: the work control device described in any of the above embodiments.

[0016] According to another aspect of the present disclosure, a computer-readable storage medium is provided, including computer program instructions, wherein the computer program instructions, when executed by a processor, implement the method described in any of the above embodiments.

[0017] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, wherein the computer program, when executed by a processor, implements the method described in any of the above embodiments.

[0018] In this embodiment, on the one hand, since the preset luffing speed corresponding to the first included angle is determined under the condition that the length of the first projection corresponding to the first included angle and the length of the second projection corresponding to the preset target included angle are equal, by controlling the luffing cylinder of the work vehicle to luff according to the preset luffing speed, it can be ensured as much as possible that the length of the main boom's projection on the ground remains unchanged before and after luffing. On the other hand, when the second boom length after luffing and the first target boom length that the main boom needs to reach after luffing are different, by controlling the extension amount of the telescopic cylinder of the work vehicle, the error between the actual boom length after luffing and the corresponding target boom length can be reduced, so as to ensure as much as possible that the boom tip of the main boom achieves vertical linear movement before and after luffing. Thus, compared with the method of relying on human visual control to control the boom tip to move vertically linearly, the accuracy of operation control is improved.

[0019] The technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of a work vehicle according to some embodiments of the present disclosure;

[0022] Figure 2 This is a flowchart illustrating a job control method according to some embodiments of the present disclosure;

[0023] Figure 3 This is a flowchart illustrating a job control method according to other embodiments of the present disclosure;

[0024] Figure 4 This is a flowchart illustrating a job control method according to some embodiments of the present disclosure;

[0025] Figure 5 This is a schematic diagram of the structure of a work control device according to some embodiments of the present disclosure;

[0026] Figure 6 This is a schematic diagram of the structure of a work control device according to other embodiments of the present disclosure;

[0027] Figure 7 This is a schematic diagram of the structure of a work control device according to some embodiments of the present disclosure. Detailed Implementation

[0028] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0029] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this disclosure.

[0030] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0031] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0032] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0033] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0034] Figure 1 This is a schematic diagram of the structure of a work vehicle according to some embodiments of the present disclosure.

[0035] like Figure 1As shown, the work vehicle 100 includes a body 110, a main boom 120, a luffing cylinder 130, and a telescopic cylinder 140. A and B are the connection points of the luffing cylinder 130 (e.g., the upper hinge point and the lower hinge point), respectively, and F and C are the connection points of the main boom 120 (e.g., the upper hinge point (i.e., the boom end) and the lower hinge point, respectively). The angle between the main boom and the ground is ∠ECF=θ, and the boom length is the length between connection point F and connection point C.

[0036] The boom end of the main boom 120 can be hinged to a support platform 150 for carrying equipment and personnel to a designated height for operation.

[0037] In related technologies, to enable the workers transported by the carrying platform 150 of the work vehicle 100 to move vertically in a straight line along a vertical plane (such as a wall) for work, the operator typically controls the extension of the luffing cylinder 130 and the telescopic cylinder 140 of the work vehicle 100 based on the visually estimated length of the projection of the main boom 120 on the ground. This ensures that the length of the projection of the main boom 120 on the ground remains constant during movement, thereby allowing the boom tip of the main boom 120 to move vertically in a straight line. However, this method of control relying solely on human visual estimation results in low accuracy in work control.

[0038] To address the aforementioned problems, this disclosure proposes the following solutions, which can effectively improve the accuracy of job control.

[0039] Figure 2 This is a flowchart illustrating a job control method according to some embodiments of the present disclosure.

[0040] like Figure 2 As shown, the job control method includes steps 202 to 210.

[0041] In step 202, the first angle between the main boom of the work vehicle and the ground and the first boom length are obtained.

[0042] In some embodiments, sensors can be installed on the boom of the main boom to collect the current first angle between the main boom and the ground and the current first extension of the main boom (i.e., the current first extension of the telescopic cylinder of the work vehicle), and the current first boom length can be determined based on the current first extension of the main boom. For example, as Figure 1 As shown, the first angle between the main boom 120 of the work vehicle 100 and the ground is ∠ECF=θ1. Since the extension of each boom segment of the main boom 120 is the same during the extension and retraction process, except for the fully retracted basic boom segment, the current first boom length L1=L0+(n-1)L θ1 , where L θ1is the first extension of the main arm 120, n is the number of arm segments of the main arm 120, and L0 is the length of the basic arm segment of the main arm 120 after full retraction.

[0043] In step 204, the luffing cylinder of the control vehicle is controlled to luff at a preset luffing speed corresponding to the first included angle.

[0044] Here, the preset luffing speed is determined based on the difference between the first length of the luffing cylinder corresponding to the first included angle and the second length of the luffing cylinder corresponding to the preset target included angle between the main boom and the ground, as well as the first extension and retraction time of the telescopic cylinder required for the main boom to change from the first boom length to the second target boom length corresponding to the preset target included angle. The length of the first projection of the main boom on the ground corresponding to the first included angle and the length of the second projection of the main boom on the ground corresponding to the preset target included angle are equal.

[0045] It should be noted that the time required for the angle between the main boom and the ground to change from the first angle to the preset target angle (i.e., the extension time required for the luffing cylinder to change from the first length to the second length) is equal to the time required for the boom length to change from the first boom length to the second target boom length (i.e., the extension time required for the telescopic cylinder to change from the extension amount corresponding to the first boom length to the extension amount corresponding to the second target boom length).

[0046] In some embodiments, the preset luffing speed can be the ratio of the difference between the first and second lengths of the luffing cylinder to the first extension / retraction time required by the telescopic cylinder.

[0047] It should be understood that since the preset luffing speed is determined under the condition that the length of the first projection of the main boom on the ground corresponding to the first included angle and the length of the second projection of the main boom on the ground corresponding to the preset target included angle are equal, after the luffing cylinder of the control vehicle luffs according to the preset luffing speed, the included angle between the main boom and the ground should reach the preset target included angle and the length of the main boom should reach the second target length. Thus, the length of the projection of the main boom on the ground under the two angles before and after luffing should remain unchanged (i.e., the main boom moves vertically along a vertical plane (e.g., a wall)).

[0048] In step 206, the second angle between the main boom and the ground after the luffing is obtained, as well as the second boom length after the luffing is obtained.

[0049] The specific implementation of step 206 is similar to that of step 202 described above. For a detailed description, please refer to the relevant embodiments in step 202 described above, which will not be repeated here.

[0050] It should be understood that during the luffing process, the telescopic cylinder of the work vehicle also extends and retracts accordingly. The second included angle and the second boom length are the actual angle between the main boom and the ground and the actual boom length after luffing. The second included angle may be the same as or different from the preset target angle; the second boom length may be the same as or different from the second target boom length.

[0051] In step 208, the first target arm length of the main arm is determined based on the first arm length, the first included angle, and the second included angle.

[0052] In some embodiments, the length of a first projection of the main arm on the ground can be determined based on a first arm length and a first included angle, and a first target arm length of the main arm can be determined based on this first projection length and a second included angle. For example, as Figure 1 As shown, based on the first arm length (i.e., the length between connection point F and connection point C) L1 and the first included angle θ1, the length of the first projection of the main arm 120 on the ground (i.e., the length of the projection of the main arm 120 on the plane parallel to the ground where the horizontal line CE is located) d1 = L1 * cosθ1 can be determined. Based on the length of the first projection of the main arm 120 on the ground d1 and the second included angle θ2, the first target arm length of the main arm 120 L1' = d1 / cosθ2 can be determined.

[0053] It should be noted that the first target boom length refers to the target boom length that the main boom needs to achieve, determined based on the actual angle between the main boom after the luffing and the ground (i.e., the second angle), so that the length of the projection of the main boom on the ground after the luffing is equal to the length of the projection of the main boom on the ground before the luffing.

[0054] In step 210, when the second boom length is different from the first target boom length, the extension amount of the telescopic cylinder of the work vehicle is controlled so that the boom length reaches the first target boom length.

[0055] In some embodiments, the extension amount of the telescopic cylinder of the work vehicle can be controlled based on the difference between the second boom length and the first target boom length, so that the boom length reaches the first target boom length. For example, the extension amount of the telescopic cylinder of the work vehicle can be controlled based on the difference between the second boom length and the first target boom length and a proportional-integration-differential (PID) control algorithm.

[0056] For example, PID control algorithms can be used to... Where e(t) is the deviation, K represents the rate of change of deviation. p K I K DThese are the corresponding proportional control parameters, integral control parameters, and derivative control parameters. The difference between the second arm length and the first target arm length is used as the input signal e(t) into the PID control algorithm to obtain the output signal u(t). The extension of the telescopic cylinder is controlled according to the output signal u(t) to reduce the deviation between the second arm length and the first target arm length, thereby making the main arm length reach the first target arm length.

[0057] It should be understood that when the length of the second boom is the same as the length of the first target boom, it is not necessary to control the extension of the telescopic cylinder of the work vehicle.

[0058] In the above embodiments, on the one hand, since the preset luffing speed corresponding to the first included angle is determined under the condition that the length of the first projection corresponding to the first included angle and the length of the second projection corresponding to the preset target included angle are equal, by controlling the luffing cylinder of the work vehicle to luff according to the preset luffing speed, it can be ensured as much as possible that the length of the main boom's projection on the ground remains unchanged before and after luffing. On the other hand, when the second boom length after luffing is different from the first target boom length that the main boom needs to reach after luffing, by controlling the extension of the telescopic cylinder of the work vehicle, the error between the actual boom length after luffing and the corresponding target boom length can be reduced, so as to ensure as much as possible that the boom tip of the main boom achieves vertical linear movement before and after luffing. In this way, compared with the method of relying on human visual control to control the boom tip to move vertically linearly, the accuracy of operation control is improved.

[0059] In some embodiments, the work vehicle may be equipped with one or more operating components, such as control buttons, which can perform actions in response to user input of these operating components. Figure 1 The operation control method is illustrated. For example, the work vehicle can be equipped with a first button for controlling the vertical upward movement of the boom tip and a second button for controlling the vertical downward movement of the boom tip. The operator pressing the first button triggers... Figure 1 The operation control method shown is executed automatically to move the boom tip vertically upward; the operator can trigger this by pressing the second button. Figure 1 The operation control method shown is executed automatically so that the end of the main boom moves vertically downward.

[0060] Figure 3 This is a flowchart illustrating a job control method according to other embodiments of the present disclosure.

[0061] and Figure 2 Compared to the embodiments shown, Figure 3 The method shown also includes steps 302 to 308.

[0062] In step 302, if the second included angle and the preset target included angle are different, the third length of the variable amplitude cylinder corresponding to the second included angle is determined.

[0063] To facilitate understanding, the following will be combined with Figure 1 right Figure 3 The operation control methods shown are explained.

[0064] like Figure 1 As shown, based on the Law of Cosines and the triangle ABC formed by connecting points A, B, and C, the length of the luffing cylinder 130 of the work vehicle 100 (i.e., the length between connecting points A and B of the luffing cylinder 130) can be determined according to the following formula (1):

[0065]

[0066] Among them, L AC Let L be the length of side AC of triangle ABC. BC Let α be the length of side BC of triangle ABC, α be ∠ECB, θ be ∠ECF, and γ be ∠ACF.

[0067] Since hinge points A, B, and C are all fixed, L AC L BC α and γ are constants that remain unchanged during operation control. Therefore, the third length G3 of the luffing cylinder 130 can be determined based on the second angle θ2 between the main boom 120 and the ground.

[0068] In step 304, based on the second arm length, the second target arm length, and the preset extension and retraction speed of the telescopic cylinder, the second extension and retraction time of the telescopic cylinder required for the main arm to change from the second arm length to the second target arm length is determined.

[0069] In some embodiments, the length of the second target arm corresponding to the preset target angle can be determined based on the length of the first projection of the main arm on the ground corresponding to the first included angle and the preset target included angle. For example, please continue to see Figure 1 The second target arm length L2' = d1 / cosθ3 = L1*cosθ1 / cosθ3, where d1 is the length of the first projection of the main arm 120 on the ground, L1 is the first arm length of the main arm 120, θ1 is the first included angle of the main arm 120, and θ3 is the preset target included angle.

[0070] In some embodiments, the second extension / retraction time of the telescopic cylinder required for the main boom to change from the second boom length to the second target boom length can be determined based on the difference between the second boom length and the second target boom length, as well as the preset extension / retraction speed of the telescopic cylinder. For example, to change the main boom length from the second boom length to the second target boom length, the second extension / retraction time required by the telescopic cylinder is T2 = |L2 - L2'| / V1, where L2 is the second boom length of the main boom after luffing, L2' is the second target boom length corresponding to the preset target angle, and V1 is the preset extension / retraction speed of the telescopic cylinder.

[0071] In some embodiments, the preset extension speed of the telescopic cylinder during the extension of the main boom may be different from the preset extension speed of the telescopic cylinder during the retraction of the main boom.

[0072] In some embodiments, the preset extension speed of the telescopic cylinder can be the average extension speed of the telescopic cylinder. For example, during the extension of the main boom (i.e., during the process of increasing the extension of the main boom), the preset extension speed of the telescopic cylinder can be the average speed at which the main boom moves from full extension to full retraction; during the retraction of the main boom (i.e., during the process of decreasing the extension of the main boom), the preset extension speed of the telescopic cylinder can be the average speed at which the main boom moves from full retraction to full extension.

[0073] In some embodiments, the preset extension / retraction speed of the telescopic cylinder can be the maximum extension / retraction speed of the telescopic cylinder. For example, during the extension of the main boom (i.e., as the extension amount of the main boom increases), the preset extension / retraction speed of the telescopic cylinder of the work vehicle can be the maximum speed at which the main boom moves from full extension to full retraction; during the retraction of the main boom (i.e., as the extension amount of the main boom decreases), the preset extension / retraction speed of the telescopic cylinder of the work vehicle can be the maximum speed at which the main boom moves from full retraction to full extension. This shortens the extension / retraction time of the telescopic cylinder, thereby improving the efficiency of operation control.

[0074] In step 306, the target amplitude change speed corresponding to the second included angle is determined based on the difference between the second length and the third length and the second extension time.

[0075] For example, the target luffing speed corresponding to the second included angle is V2 = |G2-G3| / T2, where G2 is the second length of the luffing cylinder, G3 is the third length of the luffing cylinder, and T2 is the second extension time of the telescopic cylinder required for the main boom to change from the second boom length L2 to the second target boom length L2'.

[0076] It should be understood that the extension and retraction time of the luffing cylinder required for the angle between the main boom and the ground to change from the second angle to the preset target angle is equal to the extension and retraction time of the telescopic cylinder required for the main boom to change from the second boom length to the second target boom length.

[0077] In step 308, the luffing cylinder is controlled to luff at the target luffing speed so that the angle between the main boom and the ground reaches the preset target angle.

[0078] It should be noted that the first included angle can be understood as a preset target included angle with a corresponding preset luffing speed. The preset luffing speed corresponding to the first included angle is a predetermined luffing speed determined to change the angle between the main boom and the ground from one preset target included angle (i.e., the first included angle) to another preset target included angle. When the angle between the main boom and the ground after luffing does not reach this other preset target included angle, the target luffing speed corresponding to the actual angle between the main boom and the ground after luffing (i.e., the second included angle) can be determined according to steps 302 to 306, so as to luff to the other preset target included angle according to the target luffing speed. Thereafter, the luffing cylinder can be further controlled to luff according to the preset luffing speed corresponding to this other preset target included angle as needed.

[0079] For example, when the angle between the boom and the ground is a first angle of 73°, the luffing cylinder is controlled to luff at a preset luffing speed corresponding to the first angle. If the second angle reached after luffing is 73.6°, and the preset target angle is 74°, the target luffing speed corresponding to the second angle can be calculated. When the angle between the boom and the ground is the second angle, the luffing cylinder can continue to luff at this target speed, thus bringing the angle between the boom and the ground to the preset target angle of 74°. Once the angle between the boom and the ground reaches the preset target angle of 74°, the luffing cylinder can be further controlled to luff at the preset luffing speed corresponding to the preset target angle of 74°, as needed.

[0080] In the above embodiments, when the second included angle after luffing differs from the preset target included angle, the target luffing speed corresponding to the second included angle can be determined, and the luffing cylinder can be controlled to luff according to the target luffing speed, thereby achieving the preset target included angle. In this way, the actual included angle after luffing can be accurately adjusted to the preset target included angle, ensuring that the length of the first projection of the main boom on the ground remains unchanged before and after luffing, further ensuring that the boom end of the main boom achieves vertical linear movement before and after luffing, thereby further improving the accuracy of operation control.

[0081] In addition, it helps to directly adjust the luffing speed according to the preset luffing speed corresponding to the current angle between the main boom and the ground during the next luffing adjustment, without having to calculate the corresponding target luffing speed, thereby further improving the efficiency of operation control.

[0082] In some embodiments, when the second included angle and the preset target included angle are different, the extension amount of the telescopic cylinder of the work vehicle can be controlled so that the boom length reaches the second target boom length corresponding to the preset target included angle. In this way, the boom length of the main boom after luffing can be accurately adjusted to the second target boom length corresponding to the preset target included angle, further ensuring that the boom end of the main boom achieves vertical linear movement before and after luffing, thereby further improving the accuracy of operation control.

[0083] In some embodiments, when the target luffing speed is greater than the maximum luffing speed of the luffing cylinder, the luffing cylinder is controlled to luff at the maximum luffing speed; when the target luffing speed is less than the minimum luffing speed of the luffing cylinder, the luffing cylinder is controlled to luff at the minimum luffing speed. Thus, when the target luffing speed exceeds the speed range achievable by the luffing cylinder, luffing will be performed at either the maximum or minimum luffing speed, reducing the safety risks caused by directly performing luffing at a target luffing speed that is already out of range, thereby improving the safety of operation control.

[0084] In some embodiments, the preset amplitude change rate corresponding to the first included angle being greater than the preset target included angle is different from the preset amplitude change rate corresponding to the first included angle being less than the preset target included angle.

[0085] For example, please continue to see Figure 1 Given that the basic arm segment of the main arm after full retraction (120mm) has an arm length L0 = 11200mm, an arm segment number n = 4, and L... AC =3399.6mm, L BC =1189.4mm, ∠ECB=α=58.6°, ∠ACF=γ=13.9°. The maximum extension / retraction speed V of the telescopic cylinder 140 during the process of the main boom 120 from fully retracted to fully extended. out-max =44.7mm / s, the maximum extension / retraction speed V of the telescopic cylinder 140 during the process of the main boom 130 from full extension to full retraction. in-max = 67.1 mm / s.

[0086] To make the boom tip of the main boom 120 move vertically downwards, the angle ∠ECF = θ between the main boom 120 and the ground will gradually decrease (i.e., the boom's descent, or boom lowering), and the boom length of the main boom 120 will gradually shorten. In this case, the first angle between the main boom 120 and the ground is greater than the preset target angle to be reached after the boom change. Therefore, based on the first boom length corresponding to the first angle, the second target boom length corresponding to the preset target angle, and the maximum extension and retraction speed V of the telescopic cylinder 140 during the process of the main boom 120 from full extension to full retraction, the boom length will be determined. in-maxThe first extension and retraction time of the telescopic cylinder 140 required for the main boom 120 to change from the first boom length to the second target boom length can be determined. Then, based on the first length of the luffing cylinder 130 corresponding to the first included angle determined by formula (1), the second length of the luffing cylinder 130 corresponding to the preset target included angle, and the first extension and retraction time, the preset luffing speed corresponding to the first included angle can be determined.

[0087] Similarly, to make the boom tip of the main boom 120 move vertically upward, the angle ∠ECF = θ between the main boom 120 and the ground will gradually increase (i.e., the boom starts to rise, or the boom lifts), and the boom length of the main boom 120 will gradually extend. In this case, the first angle between the main boom 120 and the ground is less than the preset target angle to be reached after the boom shift. Therefore, based on the first boom length corresponding to the first angle, the second target boom length corresponding to the preset target angle, and the maximum extension speed V of the telescopic cylinder 140 during the process of the main boom 120 from full retraction to full extension, the boom length will be determined. out-max The first extension and retraction time of the telescopic cylinder 140 required for the main boom 120 to change from the first boom length to the second target boom length can be determined. Then, based on the first length of the luffing cylinder 130 corresponding to the first included angle determined by formula (1), the second length of the luffing cylinder 130 corresponding to the preset target included angle, and the first extension and retraction time, the preset luffing speed corresponding to the first included angle can be determined.

[0088] It can be seen that, due to the preset extension speed (i.e., V) of the telescopic cylinder 140 corresponding to the boom lifting (starting) process, out-max The preset extension / retraction speed (i.e., V) of the telescopic cylinder 140 corresponding to the boom lowering (lowering) process and the main boom 120. in-max The preset amplitude change speeds corresponding to the first included angle are different in the two cases.

[0089] For ease of description, the term "main boom lowering" (i.e., the angle between the main boom and the ground will decrease) will be referred to as "main boom lowering" in the following text, and the term "main boom raising" (i.e., the angle between the main boom and the ground will increase) will be referred to as "main boom raising".

[0090] In some embodiments, the preset luffing speed corresponding to the first included angle being greater than the preset target included angle (i.e., when the main boom is lowered) can be less than the preset luffing speed corresponding to the first included angle being less than the preset target included angle (i.e., when the main boom is raised).

[0091] Table 1 shows different preset luffing speeds corresponding to different angles between the boom and the ground according to some embodiments of the present disclosure.

[0092]

[0093] For example, when the angle between the main boom 120 and the ground is the first angle of 65°, if the work vehicle 100 needs to work vertically downward after starting, the main boom 120 will lower. At this time, the luffing cylinder 130 can be controlled to luff at a preset luffing speed of 2.7 mm / s corresponding to 65°. If the work vehicle 100 needs to work vertically upward after starting, the main boom 120 will raise. At this time, the luffing cylinder 130 can be controlled to luff at a preset luffing speed of 1.8 mm / s corresponding to 65°.

[0094] In this way, the luffing cylinder can be controlled by selecting the corresponding preset luffing speed according to the process of main boom shortening (i.e., main boom lowering) and main boom extension (i.e., main boom raising), which improves the accuracy of luffing cylinder control and further improves the accuracy of operation control.

[0095] In some embodiments, a current value corresponding to a preset luffing speed can be determined, and a current having that current value can be supplied to the proportional valve of the luffing cylinder to control the luffing cylinder to luff at a preset luffing speed corresponding to a first included angle. Thus, by supplying a current with a current value corresponding to the preset luffing speed to the proportional valve of the luffing cylinder, the luffing cylinder can be controlled more accurately, thereby further improving the accuracy of operation control.

[0096] In some embodiments, the luffing cylinder of the work vehicle may include multiple proportional valves. For example, the luffing cylinder may include a lifting proportional valve and a lowering proportional valve. During the boom lifting process, a current with a preset luffing speed corresponding to the lifting proportional valve of the luffing cylinder can be supplied; during the boom lowering process, a current with a preset luffing speed corresponding to the lowering proportional valve of the luffing cylinder can be supplied, so that the luffing cylinder can be accurately controlled to luff at the preset luffing speed during both lifting and lowering processes. Thus, by supplying corresponding currents to different proportional valves of the luffing cylinder, the luffing cylinder can be controlled separately during lifting and lowering processes, further improving the accuracy of the luffing cylinder control, and consequently, the accuracy of the operation control.

[0097] For example, it is known that the maximum luffing speed of the luffing cylinder during the main boom lowering process is V. down-max The corresponding maximum current value is I. down-max The minimum luffing speed V of the luffing cylinder during the main boom lowering process. down-min The corresponding minimum current value is I. down-min .

[0098] Therefore, based on the preset luffing speed V corresponding to the first included angle during the main boom descent process... down1 The corresponding current value I can be determined. down1 =((I down-max -I down-min ) / Vdown-max )*V down1 +I down-min This provides a current value I to the proportional valve of the luffing cylinder. down1 The current can be used to control the luffing cylinder to operate at the preset luffing speed V. down1 Adjust the amplitude.

[0099] Similarly, it is known that the maximum luffing speed of the luffing cylinder during the boom lifting process is V. up-max The corresponding maximum current value is I. up-max The minimum luffing speed V of the luffing cylinder during the boom lifting process. up-min The corresponding minimum current value is I. up-min .

[0100] Therefore, based on the preset luffing speed V corresponding to the first included angle during the main boom lifting process... up1 Then the corresponding current value I can be determined. up1 =((I up-max -I up-min ) / V up-max )*V up1 +I up-min This provides the proportional valve of the luffing cylinder with a current value I. up1 The current can be used to control the luffing cylinder to operate at the preset luffing speed V. up1 Adjust the amplitude.

[0101] Figure 4 This is a flowchart illustrating a job control method according to some embodiments of the present disclosure.

[0102] like Figure 4 As shown, the job control method includes steps 402 to 410.

[0103] In step 402, the length of the main boom's projection on the ground is determined based on the current first angle between the main boom and the ground, and the current first boom length. It should be understood that the length of the main boom's projection on the ground determined here is the length of the first projection.

[0104] In some embodiments, the first angle between the main boom of the work vehicle and the ground and the first boom length can be obtained in a manner similar to that in step 202 above. For details, please refer to the relevant embodiments in step 202 above, which will not be repeated here.

[0105] In some embodiments, see Figure 1 Based on the length L1 of the first arm and the first included angle θ1, the length d1 of the projection of the main arm 120 on the ground (i.e., the first projection) can be determined as L1 * cosθ1.

[0106] In step 404, the target arm length is determined based on the length of the main arm's projection on the ground and the target angle between the main arm and the ground.

[0107] For example, based on the length d1 of the projection of the main arm 120 on the ground and the target angle θ4, the target arm length L3' of the main arm 120 can be determined as d1 / cosθ4, where d1 = L1*cosθ1.

[0108] It should be understood that the length of the projection of the main arm on the ground when the angle between the main arm and the ground is the first angle and the arm length is the first arm length is equal to the length of the projection of the main arm on the ground when the angle between the main arm and the ground is the target angle and the arm length is the target arm length.

[0109] In step 406, the extension and retraction time of the telescopic cylinder required for the main boom to change from the first boom length to the target boom length is determined based on the first boom length, the target boom length, and the preset extension and retraction speed of the telescopic cylinder of the work vehicle.

[0110] In some embodiments, the extension / retraction time of the telescopic cylinder required for the main boom to change from the first arm length to the target arm length can be determined based on the difference between the first arm length and the target arm length and the preset extension / retraction speed of the telescopic cylinder. For example, the extension / retraction time T3 required for the main boom to change from the first arm length to the target arm length is T3 = |L1 - L3'| / V1, where L1 is the first arm length of the main boom, L3' is the target arm length corresponding to the target angle, and V1 is the preset extension / retraction speed of the telescopic cylinder. For example, when the first arm length is less than the target arm length, the preset extension / retraction speed V1 of the telescopic cylinder can be the maximum extension / retraction speed of the telescopic cylinder during the main boom extension process; when the first arm length is greater than the target arm length, the preset extension / retraction speed V1 of the telescopic cylinder can be the maximum extension / retraction speed of the telescopic cylinder during the main boom retraction process.

[0111] In step 408, the target luffing speed corresponding to the first angle is determined based on the difference between the first length of the luffing cylinder of the work vehicle corresponding to the first included angle and the second length of the luffing cylinder corresponding to the target included angle, as well as the extension and retraction time.

[0112] In some embodiments, the first length of the luffing cylinder can be determined based on the first included angle and the aforementioned formula (1), and the second length of the luffing cylinder can be determined based on the target included angle and the aforementioned formula (1). The target luffing speed corresponding to the first included angle can be determined based on the difference between the first and second lengths and the extension / retraction time of the telescopic cylinder required for the main boom to change from the first boom length to the target boom length. For example, the target luffing speed V3 corresponding to the first included angle is V3 = |G2 - G1| / T3, where G1 is the first length of the luffing cylinder, G2 is the second length of the luffing cylinder, and T3 is the extension / retraction time of the telescopic cylinder required for the main boom to change from the first boom length L1 to the target boom length L3'.

[0113] In step 410, the luffing cylinder is controlled to luff at the target luffing speed so that the angle between the main boom and the ground reaches the target angle.

[0114] In some embodiments, a current value corresponding to the target luffing speed can be determined, and then a current with that current value can be supplied to the proportional valve of the luffing cylinder to control the luffing cylinder to luff at the target luffing speed corresponding to the first included angle.

[0115] Figure 4 The specific implementation of the method shown is the same as described above. Figures 2 to 3 The specific implementation of the method shown is similar; for details, please refer to the aforementioned explanation. Figures 2 to 3 The relevant descriptions in the illustrated embodiments will not be repeated here.

[0116] In the above embodiments, to achieve vertical linear movement operation control, regardless of whether the boom is to raise or lower, the target luffing speed corresponding to the current first angle between the boom and the ground can be determined based on the current first angle between the boom and the ground and the current first boom length. The luffing cylinder is then controlled to luff at this target speed, ensuring that the angle between the boom and the ground reaches the target angle. Thus, during operation control, the target luffing speed corresponding to the current angle between the boom and the ground can be determined in real time, ensuring that the length of the boom's projection on the ground remains constant after luffing, improving the real-time performance of operation control and consequently enhancing its accuracy.

[0117] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus embodiments, since they largely correspond to the method embodiments, the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0118] Figure 5 This is a schematic diagram of the structure of a work control device according to some embodiments of the present disclosure.

[0119] like Figure 5 As shown, the operation control device 500 includes a first acquisition module 501, a first control module 502, a second acquisition module 503, a determination module 504, and a second control module 505.

[0120] The first acquisition module 501 can be configured to acquire the first angle between the main boom of the work vehicle and the ground, and the first boom length of the main boom.

[0121] The first control module 502 can be configured to control the luffing cylinder of the work vehicle to luff according to a preset luffing speed corresponding to the first included angle.

[0122] The second acquisition module 503 can be configured to acquire the second included angle between the main boom and the ground after the luffing and the second boom length after the luffing.

[0123] The determination module 504 can be configured to determine the first target arm length of the main arm based on the first arm length, the first included angle, and the second included angle.

[0124] The second control module 505 can be configured to control the extension of the telescopic cylinder of the work vehicle when the second boom length is different from the first target boom length, so that the boom length of the main boom reaches the first target boom length.

[0125] Here, the preset luffing speed is determined based on the difference between the first length of the luffing cylinder corresponding to the first included angle and the second length of the luffing cylinder corresponding to the preset target included angle between the main boom and the ground, as well as the first extension and retraction time of the telescopic cylinder required for the main boom to change from the first boom length to the second target boom length corresponding to the preset target included angle. The length of the first projection of the main boom on the ground corresponding to the first included angle and the length of the second projection of the main boom on the ground corresponding to the preset target included angle are equal.

[0126] In some embodiments, the job control device 500 may also include other modules that perform other operations in any of the above embodiments, which will not be described in detail here.

[0127] Figure 6 This is a schematic diagram of the structure of a work control device according to other embodiments of the present disclosure.

[0128] like Figure 6 As shown, the operation control device 600 includes a determination module 601 and a control module 602.

[0129] The determining module 601 can be configured to: determine the length of the main boom's projection on the ground based on the current first angle between the main boom of the work vehicle and the ground and the current first boom length; determine the target boom length based on the length of the main boom's projection on the ground and the target angle between the main boom and the ground; determine the extension and retraction time of the extension cylinder required for the main boom to change from the first boom length to the target boom length based on the first boom length, the target boom length, and the preset extension and retraction speed of the extension cylinder of the work vehicle; and determine the target luffing speed corresponding to the first angle based on the difference between the first length of the luffing cylinder of the work vehicle corresponding to the first angle and the second length of the luffing cylinder corresponding to the target angle, and the extension and retraction time.

[0130] The control module 602 can be configured to control the luffing cylinder to luff at the target luffing speed so that the angle between the main boom and the ground reaches the target angle.

[0131] In some embodiments, the job control device 600 may also include other modules that perform other operations in any of the above embodiments, which will not be described in detail here.

[0132] Figure 7 This is a schematic diagram of the structure of a work control device according to some embodiments of the present disclosure.

[0133] like Figure 7 As shown, the operation control device 700 includes a memory 701 and a processor 702 coupled to the memory 701. The processor 702 is configured to execute the method of any of the foregoing embodiments based on instructions stored in the memory 701.

[0134] The memory 701 may include, for example, system memory, fixed non-volatile storage media, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs.

[0135] The operation control device 700 may also include an input / output interface 703, a network interface 704, and a storage interface 705. The input / output interface 703, network interface 704, and storage interface 705, as well as the memory 701 and processor 702, can be connected via, for example, a bus 706. The input / output interface 703 provides a connection interface for input / output devices such as monitors, mice, keyboards, and touchscreens. The network interface 704 provides a connection interface for various networked devices. The storage interface 705 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0136] In some embodiments, the job control device 700 may be the job control device 500 / 600 of any of the above embodiments.

[0137] This disclosure also provides a work vehicle, including the work control device of any of the above embodiments (e.g., work control device 500 / 600 / 700).

[0138] This disclosure also provides a computer-readable storage medium including computer program instructions that, when executed by a processor, implement the method of any of the above embodiments.

[0139] This disclosure also provides a computer program product, including a computer program, wherein when the computer program is executed by a processor, it implements the method of any of the above embodiments.

[0140] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0141] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0142] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that the functions specified in one or more flowchart illustrations and / or one or more blocks in a block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate functions for implementing the functions in the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0143] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0144] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0145] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A job control method, comprising: Obtain the first angle between the main boom of the work vehicle and the ground, and the first boom length of the main boom; The luffing cylinder of the work vehicle is controlled to luff at a preset luffing speed corresponding to the first included angle; Obtain the second angle between the main boom and the ground after the luffing and the second boom length after the luffing; The first target arm length of the main arm is determined based on the first arm length, the first included angle, and the second included angle. When the second boom length differs from the first target boom length, the extension of the telescopic cylinder of the work vehicle is controlled so that the boom length reaches the first target boom length. The preset luffing speed is determined based on the difference between the first length of the luffing cylinder corresponding to the first angle and the second length of the luffing cylinder corresponding to the preset target angle between the main boom and the ground, and the first extension / retraction time of the telescopic cylinder required for the main boom to change from the first boom length to the second target boom length corresponding to the preset target angle. The length of the first projection of the main boom on the ground corresponding to the first angle and the length of the second projection of the main boom on the ground corresponding to the preset target angle are equal. Different angles between the main boom and the ground have different preset luffing speeds. The job control method also includes: When the second included angle and the preset target included angle are different, determine the third length of the variable amplitude cylinder corresponding to the second included angle; Based on the second arm length, the second target arm length, and the preset extension and retraction speed of the telescopic cylinder, determine the second extension and retraction time of the telescopic cylinder required for the main arm to change from the second arm length to the second target arm length; The target amplitude change speed corresponding to the second included angle is determined based on the difference between the second length and the third length and the second extension time; The luffing cylinder is controlled to luff at the target luffing speed so that the angle between the main boom and the ground reaches the preset target angle. The extension amount of the telescopic cylinder of the work vehicle is controlled so that the boom length reaches the second target boom length.

2. The method according to claim 1, wherein: When the target luffing speed is greater than the maximum luffing speed of the luffing cylinder, the luffing cylinder is controlled to luff at the maximum luffing speed. When the target luffing speed is less than the minimum luffing speed of the luffing cylinder, the luffing cylinder is controlled to luff at the minimum luffing speed.

3. The method according to claim 1, wherein, The preset amplitude change rate corresponding to the first included angle being greater than the preset target included angle is different from the preset amplitude change rate corresponding to the first included angle being less than the preset target included angle.

4. The method according to claim 1, wherein, Controlling the luffing cylinder of the work vehicle to luff at a preset luffing speed corresponding to the first included angle includes: Determine the current value corresponding to the preset amplitude change speed; A current with the specified current value is supplied to the proportional valve of the luffing cylinder to control the luffing cylinder to luff according to the preset luffing speed.

5. A work control device, comprising: The first acquisition module is configured to acquire the current first angle between the main boom of the work vehicle and the ground, and the current first boom length of the main boom. The first control module is configured to control the luffing cylinder of the work vehicle to luff according to a preset luffing speed corresponding to the first included angle; The second acquisition module is configured to acquire the second included angle between the main boom and the ground after the luffing and the second boom length of the main boom after the luffing. The determining module is configured to determine the first target arm length of the main arm based on the first arm length, the first included angle, and the second included angle; The second control module is configured to control the extension amount of the telescopic cylinder of the work vehicle when the second boom length is different from the first target boom length, so that the boom length of the main boom reaches the first target boom length. The preset luffing speed is determined based on the difference between the first length of the luffing cylinder corresponding to the first angle and the second length of the luffing cylinder corresponding to the preset target angle between the main boom and the ground, and the first extension / retraction time of the telescopic cylinder required for the main boom to change from the first boom length to the second target boom length corresponding to the preset target angle. The length of the first projection of the main boom on the ground corresponding to the first angle and the length of the second projection of the main boom on the ground corresponding to the preset target angle are equal. Different angles between the main boom and the ground have different preset luffing speeds. The operation control device is configured as follows: When the second included angle and the preset target included angle are different, determine the third length of the variable amplitude cylinder corresponding to the second included angle; Based on the second arm length, the second target arm length, and the preset extension and retraction speed of the telescopic cylinder, determine the second extension and retraction time of the telescopic cylinder required for the main arm to change from the second arm length to the second target arm length; The target amplitude change speed corresponding to the second included angle is determined based on the difference between the second length and the third length and the second extension time; The luffing cylinder is controlled to luff at the target luffing speed so that the angle between the main boom and the ground reaches the preset target angle. The extension amount of the telescopic cylinder of the work vehicle is controlled so that the boom length reaches the second target boom length.

6. A work control device, comprising: Memory; as well as A processor coupled to the memory is configured to execute the method of any one of claims 1-4 based on instructions stored in the memory.

7. A work vehicle, comprising: The operation control device as described in claim 5 or 6.

8. A computer-readable storage medium comprising computer program instructions, wherein, When the computer program instructions are executed by the processor, they implement the method described in any one of claims 1-4.

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