A small-bent-arm insulated bucket arm truck bucket and its anti-collision control method

Abstract

The application discloses a small-bent-arm insulated bucket arm truck bucket, which is hinged on a main insulation section at the end of a telescopic arm and is controlled to swing up and down through a telescopic mechanism arranged in the telescopic arm, and the swing angle of the telescopic arm is used to determine whether the working bucket has a collision risk; if there is a collision risk in rotation, a rotary encoder is used to detect the real-time angles of the bucket rotation and the elbow rotation, the relative position coordinates of the collision point of the working bucket are calculated in real time through the angle information and the size information of the structural member, the distance from the telescopic arm body is fed back according to the coordinate value, and then the rotation control of the working bucket is performed; if the distance value enters the set dangerous area range, the corresponding rotation action is stopped; if there is a collision risk in amplitude lowering, the rotation coordinate value is calculated, and if the dangerous area range has been entered, the telescopic arm is prohibited from lowering into the dangerous angle range, so that the working bucket cannot collide with the telescopic arm body, and the safety is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of aerial work platforms, specifically relating to a small-arm insulated bucket truck and its anti-collision control method. Background Technology

[0002] With the rapid development of national infrastructure and urban power grid construction, insulated bucket trucks are increasingly used in power emergency repairs, municipal maintenance, and other occasions. The safe movement control of insulated bucket trucks has become increasingly important. Insulated bucket trucks with small crank arms are more flexible in various occasions because the working bucket can rotate flexibly and at a large angle. However, due to their flexible rotation operation, the working bucket is more likely to collide with the telescopic boom due to misoperation, leading to dangerous vehicle accidents. Summary of the Invention

[0003] To address the problems existing in the prior art, this invention provides a small-arm insulated bucket truck and its anti-collision control method. By adjusting the boom's luffing angle, the method determines whether the bucket poses a collision risk. If a collision risk exists during rotation, a rotation encoder detects the real-time rotation angles of the bucket and boom. Using the angle information and structural component dimensions, the relative position coordinates of the collision point are calculated in real time. Based on the coordinate values, the distance to the boom is fed back, and the bucket's rotation is controlled. If the distance enters a pre-defined danger zone, the corresponding rotation action is stopped. If a collision risk exists during boom descent, the boom's descent to the danger zone is prohibited by calculating the rotation coordinates.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a small-crank insulated bucket truck, installed on an engineering vehicle with a telescopic boom, wherein the end of the telescopic boom is a main insulation section, and the small-crank insulated bucket truck is hinged to the main insulation section. The small-crank insulated bucket truck is controlled to swing up and down by a telescopic mechanism set in the telescopic boom. The small-crank insulated bucket truck includes: a leveling base, a crank arm structure, a bucket rotation bracket, and an insulated working bucket. The leveling base is connected to the main insulation section and the telescopic mechanism. The two ends of the crank arm structure are respectively hinged to the leveling base and the bucket rotation bracket, so that the crank arm structure and the bucket rotation bracket can rotate left and right around the hinge position. The bucket rotation bracket is rigidly connected to the insulated working bucket.

[0005] Furthermore, a worm gear for crank arm rotation transmission is installed on the leveling base.

[0006] Furthermore, the crank arm structure includes: a worm gear for crank arm rotation transmission, a crank arm rotation angle detection encoder, a crank arm, and a worm wheel for bucket rotation transmission. The two ends of the crank arm are respectively hinged to the leveling base and the bucket rotation bracket. The worm gear for crank arm rotation transmission is mounted on the crank arm through a bearing seat, so that the worm gear for crank arm rotation transmission meshes with the worm wheel for crank arm rotation transmission. The crank arm rotation angle detection encoder is connected to the worm gear for crank arm rotation transmission. The rotation angle of the crank arm structure is calculated through the reduction ratio of the worm gear for crank arm rotation transmission and the worm wheel for crank arm rotation transmission. The worm wheel for bucket rotation transmission is installed at the end of the crank arm away from the leveling base.

[0007] Furthermore, the bucket slewing bracket includes: a worm gear for bucket slewing transmission, a bucket slewing angle detection encoder, and a slewing connection bracket; one end of the slewing connection bracket is rigidly connected to the insulated working bucket, and the other end is hinged to the crank arm structure; the worm gear for bucket slewing transmission is mounted on the slewing connection bracket through a bearing seat, so that the worm gear for bucket slewing transmission meshes with the worm wheel for bucket slewing transmission; the bucket slewing angle detection encoder and the worm gear for bucket slewing transmission calculate the slewing angle of the bucket slewing bracket through the reduction ratio of the worm gear for bucket slewing transmission and the worm wheel for bucket slewing transmission.

[0008] Furthermore, the worm gear for bucket slewing transmission and the worm gear for crank arm slewing transmission are controlled by an external motor, and the motor, encoder, and vehicle control system are connected.

[0009] Furthermore, the worm and worm wheel can also be replaced by a swing cylinder.

[0010] A collision prevention control method for a small-arm insulated bucket truck: The working bucket of the insulated arm and the main insulating section of the telescopic arm may collide in the following two ways: Situation 1: If the luffing angle of the main insulating section of the telescopic arm is too low, the crank arm structure and bucket slewing bracket may cause a collision between the working bucket and the main insulating section during the rotation towards the main insulating section; Situation 2: When the main insulating section of the telescopic arm is raised to a certain angle, the bottom of the insulated working bucket is above the main insulating section, and the crank arm structure and bucket slewing bracket can rotate freely. When the insulated working bucket rotates to above the main insulating section, if the main insulating section of the telescopic arm performs a luffing operation, a collision between the working bucket and the main insulating section may occur during the luffing process.

[0011] By calculating the corner coordinates of the insulating working bucket, the relative position of the working bucket and the insulating section is determined, and then risk prediction and control actions are taken. The specific implementation is as follows:

[0012] The crank arm structure rotates to the direction of extension of the main insulation section; this position is set as the relative rotation angle between the crank arm structure and the main insulation section. From the zero-degree position, The value is calculated from the reading of the crank arm slewing encoder using the reduction ratio of the worm gear and worm wheel used in the crank arm slewing drive; the bucket slewing trailer rotates to the extension direction of the crank arm structure, and this position is set as the relative rotation angle between the bucket slewing trailer and the crank arm structure. The zero-degree position, The reading value of the encoder for detecting the bucket slewing angle is calculated using the reduction ratio of the worm gear and the turbine gear used for bucket slewing transmission.

[0013] Taking the rightward rotation of the crank arm structure and the bucket slewing trailer as an example, a coordinate system is established with the arm direction of the main insulation section as the y-axis direction and the connection point between the main insulation section and the crank arm structure as the origin o. The x-coordinates of the two corners that may collide with the main insulation section of the telescopic arm during the rotation of the working bucket toward the telescopic arm are calculated, namely the x-coordinates of point a and point d.

[0014] The connection point between the crank arm structure and the bucket slewing bracket is point b, and the distance between point o and point b is fixed. Because the bucket slewing bracket and the insulated working bucket are rigidly connected, the distance between point a of the working bucket and the connection point b is fixed. The angle between ab and eb is a fixed value. The angle between eb and cb is the angle of rotation of the bucket. The angle between ab and ob is obtained by reading and converting data from the bucket rotation angle detection encoder. ;

[0015] According to the triangle cosine theorem ;

[0016] According to the triangle cosine theorem ;

[0017] angle ;

[0018] The x-coordinate of point a in the insulating working bucket. ;

[0019] Similarly, the x-coordinate of point d in the insulating working bucket can be determined. ;

[0020] The dangerous proximity value between the insulated working bucket and the main insulation section can be set. ,when or At that time, it can be determined that there is a risk of collision between the working bucket and the main insulation section.

[0021] A collision prevention control method for a small-arm insulated bucket truck, the specific control method is as follows: Based on the two collision scenarios mentioned above, the amplitude change angle of the main insulated section of the telescopic boom is less than the set angle. At that time, the control program in the vehicle control system enters the situation determination subroutine. By collecting the readings from the crank arm rotation angle detection encoder and the bucket rotation angle detection encoder, and based on the above calculation formula, the x-coordinates of points a and d in the current insulated working bucket are calculated. If... or Immediately stopping the current directional rotation will avoid the collision risk in scenario 1; the amplitude rise of the main insulating section of the telescopic boom exceeds the set angle. At this time, the control program in the vehicle control system enters the judgment subroutine of situation 2. The crank arm structure and the bucket slewing trailer can rotate arbitrarily. By collecting the readings of the crank arm slewing angle detection encoder and the bucket slewing angle detection encoder, the x-coordinates of points a and d in the current insulated working bucket are calculated according to the above calculation formula. If or It is assumed that the insulating work bucket has rotated to above the main insulating section. When the main insulating section performs the amplitude reduction operation, if it descends to the set angle... This means stopping the main insulation section's amplitude reduction operation to prevent the collision risk in situation 2.

[0022] The beneficial effects of this invention are as follows: By measuring the boom's luffing angle, the risk of collision with the work bucket is determined. If a collision risk exists during rotation, a rotation encoder detects the real-time rotation angles of the bucket and the boom. Using the angle information and structural component dimensions, the relative coordinates of the collision point are calculated in real-time. Based on these coordinates, the distance to the boom is fed back, and the bucket's rotation is controlled accordingly. If the distance enters a pre-defined danger zone, the corresponding rotation action is stopped. If a collision risk exists during boom descent, the boom's descent to the danger zone is prohibited by calculating the rotation coordinates; if the distance is already within the danger zone, descent is prevented to avoid collision with the boom, thus improving safety. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 Schematic diagram of the collision between the main insulating section of the working bucket and the telescopic boom;

[0025] Figure 3 Schematic diagram 2 showing the collision between the main insulation section of the working bucket and the telescopic boom;

[0026] Figure 4 This is a schematic diagram showing the structural extension of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of the present invention;

[0028] In the diagram: 1. Main insulation section; 2. Leveling base; 21. Worm gear for crank arm rotation drive; 3. Crank arm structure; 31. Worm for crank arm rotation drive; 32. Crank arm rotation angle detection encoder; 33. Crank arm; 34. Worm gear for bucket rotation drive; 4. Bucket rotation bracket; 41. Worm for bucket rotation drive; 42. Bucket rotation angle detection encoder; 43. Rotary connection bracket; 5. Insulated working bucket. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of the invention.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention.

[0031] like Figure 1 As shown, a small-arm insulated bucket truck is installed on an engineering vehicle with a telescopic boom. The end of the telescopic boom is a main insulation section 1. The small-arm insulated bucket truck is hinged to the main insulation section 1 and its up-and-down swing is controlled by a telescopic mechanism set in the telescopic boom. The small-arm insulated bucket truck includes: a leveling base 2, a crank arm structure 3, a bucket rotation bracket 4, and an insulated working bucket 5. The leveling base 2 is connected to the main insulation section 1 and the telescopic mechanism. The two ends of the crank arm structure 3 are respectively hinged to the leveling base 2 and the bucket rotation bracket 4, so that the crank arm structure 3 and the bucket rotation bracket 4 can rotate left and right around the hinge position. The bucket rotation bracket 4 is rigidly connected to the insulated working bucket 5.

[0032] The telescopic mechanism is one of a hydraulic cylinder, a pneumatic cylinder, or an electric cylinder.

[0033] The leveling base 2 is equipped with a worm gear 21 for crank arm rotation transmission. The crank arm structure 3 includes: a worm 31 for crank arm rotation transmission, a crank arm rotation angle detection encoder 32, a crank arm 33, and a worm gear 34 for bucket rotation transmission. The two ends of the crank arm 33 are respectively hinged to the leveling base 2 and the bucket rotation bracket 4. The worm 31 for crank arm rotation transmission is installed on the crank arm 33 through a bearing seat, so that the worm 31 for crank arm rotation transmission meshes with the worm gear 21 for crank arm rotation transmission. The crank arm rotation angle detection encoder 32 is connected to the worm 31 for crank arm rotation transmission. The rotation angle of the crank arm structure 3 is calculated by the reduction ratio of the worm 31 for crank arm rotation transmission and the worm gear 21 for crank arm rotation transmission. The worm gear 34 for bucket rotation transmission is installed at the end of the crank arm 33 away from the leveling base 2.

[0034] The bucket slewing bracket 4 includes: a worm gear 41 for bucket slewing transmission, a bucket slewing angle detection encoder 42, and a slewing connection bracket 43; one end of the slewing connection bracket 43 is rigidly connected to the insulated working bucket 5, and the other end is hinged to the crank arm structure 3. The worm gear 41 for bucket slewing transmission is mounted on the slewing connection bracket 43 through a bearing seat, so that the worm gear 41 for bucket slewing transmission meshes with the worm wheel 34 for bucket slewing transmission. The bucket slewing angle detection encoder 42 and the worm gear 41 for bucket slewing transmission calculate the slewing angle of the bucket slewing bracket 4 through the reduction ratio of the worm gear 41 and the worm wheel 34 for bucket slewing transmission.

[0035] The worm gear 41 for bucket slewing transmission and the worm gear 31 for crank arm slewing transmission are controlled by an external motor, and the motor encoder, telescopic mechanism and vehicle control system are connected.

[0036] The worm and worm wheel can also be replaced by a swing cylinder.

[0037] A collision prevention control method for a small-arm insulated bucket truck: The insulated bucket and the main insulating section 1 of the telescopic arm may experience the following two collision scenarios: Scenario 1: ... Figure 2 As shown, if the luffing angle of the main insulating section 1 of the telescopic boom is too low, the crank arm structure 3 and the bucket slewing bracket 4 may cause a collision between the working bucket and the main insulating section 1 during the slewing process towards the main insulating section 1; Situation 2: As Figure 3 As shown, when the main insulating section 1 of the telescopic boom is raised to a certain angle, the bottom of the insulating working bucket 5 is already above the main insulating section 1. The crank arm structure 3 and the bucket slewing trailer can rotate arbitrarily. When the insulating working bucket 5 rotates to above the main insulating section 1, if the main insulating section 1 of the telescopic boom is lowered during the lowering operation, there is a risk that the working bucket will collide with the main insulating section 1.

[0038] By calculating the corner coordinates of the insulating working bucket 5, the relative position of the working bucket and the insulating section is determined, and then risk prediction and control actions are performed. The specific implementation is as follows:

[0039] like Figure 4 As shown, the crank arm structure 3 rotates to the direction of extension of the main insulation section 1. This position is set as the relative rotation angle between the crank arm structure 3 and the main insulation section 1. From the zero-degree position, The value is calculated from the reading of the crank arm 33 rotary encoder through the reduction ratio of the crank arm rotary transmission worm 31 and the crank arm rotary transmission worm wheel 21; the bucket rotary trailer rotates to the extension direction of the crank arm structure 3, and this position is set as the relative rotation angle between the bucket rotary trailer and the crank arm structure 3. The zero-degree position, The reading value of the bucket slewing angle detection encoder 42 is calculated by the reduction ratio of the worm gear 41 and the turbine gear for bucket slewing transmission.

[0040] Taking the rightward rotation of the crank arm structure 3 and the bucket slewing trailer as an example, such as Figure 5 As shown, a coordinate system is established with the arm direction of the main insulation section 1 as the y-axis and the connection point between the main insulation section 1 and the crank arm structure 3 as the origin o. The x-coordinates of the two corners that may collide with the main insulation section 1 of the telescopic arm during the rotation of the working bucket toward the telescopic arm are calculated, namely the x-coordinates of point a and point d.

[0041] The connection point between the crank arm structure 3 and the bucket slewing bracket 4 is point b, and the distance between point o and point b is fixed. Because the bucket rotation bracket 4 and the insulated working bucket 5 are rigidly connected, the distance between point a of the working bucket and the connection point b is fixed. The angle between ab and eb is a fixed value. The angle between eb and cb is the angle of rotation of the bucket. The angle between ab and ob is obtained by reading and converting data from the bucket rotation angle detection encoder 42. ;

[0042] According to the triangle cosine theorem ;

[0043] According to the triangle cosine theorem ;

[0044] angle ;

[0045] The x-coordinate of point a in insulating work hopper 5. ;

[0046] Similarly, the x-coordinate of point d in the insulating working bucket 5 can be obtained. ;

[0047] The dangerous proximity value between the insulated working bucket 5 and the main insulation section 1 can be set. ,when or At that time, it can be determined that there is a risk of collision between the working bucket and the main insulation section 1.

[0048] A collision prevention control method for a small-arm insulated bucket truck, the specific control method is as follows: Based on the two collision scenarios mentioned above, the amplitude change angle of the main insulating section 1 of the telescopic boom is less than the set angle. At that time, the control program in the vehicle control system enters the situation determination subroutine. By collecting the readings from the crank arm rotation angle detection encoder 32 and the bucket rotation angle detection encoder 42, and based on the above calculation formula, the x-coordinates of points a and d in the current insulated working bucket 5 are calculated. If... or Immediately stopping the current directional rotation will avoid the collision risk in situation 1; the amplitude rise of the main insulating section 1 of the telescopic boom exceeds the set angle. At that time, the control program in the vehicle control system enters the judgment subroutine of situation 2. The crank arm structure 3 and the bucket slewing trailer can rotate arbitrarily. By collecting the reading values ​​of the crank arm rotation angle detection encoder 32 and the bucket rotation angle detection encoder 42, the x-coordinates of points a and d in the current insulated working bucket 5 are calculated according to the above calculation formula. If or It is assumed that the insulating working bucket 5 has rotated to above the main insulating section 1. When the main insulating section 1 performs the amplitude reduction operation, if it drops to the set angle... This means stopping the amplitude reduction operation of the main insulation section 1 to prevent the collision risk in situation 2.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A small-arm insulated bucket truck, mounted on an engineering vehicle with a telescopic boom, characterized in that: The telescopic arm end is the main insulation section, and the small-cranked insulated bucket arm is hinged to the main insulation section. The small-cranked insulated bucket arm is controlled to swing up and down by a telescopic mechanism set in the telescopic arm. The small-cranked insulated bucket arm includes: a leveling base, a crank arm structure, a bucket rotation bracket, and an insulated working bucket. The leveling base is connected to the main insulation section and the telescopic mechanism. The two ends of the crank arm structure are respectively hinged to the leveling base and the bucket rotation bracket, so that the crank arm structure and the bucket rotation bracket can rotate left and right around the hinge position. The bucket rotation bracket is rigidly connected to the insulated working bucket. The leveling base is equipped with a worm gear for crank arm rotation transmission; The crank arm structure includes: a worm gear for crank arm rotation transmission, a crank arm rotation angle detection encoder, a crank arm, and a worm wheel for bucket rotation transmission. The two ends of the crank arm are respectively hinged to the leveling base and the bucket rotation bracket. The worm gear for crank arm rotation transmission is installed on the crank arm through a bearing seat, so that the worm gear for crank arm rotation transmission meshes with the worm wheel for crank arm rotation transmission. The crank arm rotation angle detection encoder is connected to the worm gear for crank arm rotation transmission. The rotation angle of the crank arm structure is calculated through the reduction ratio of the worm gear for crank arm rotation transmission and the worm wheel for crank arm rotation transmission. The worm wheel for bucket rotation transmission is installed at the end of the crank arm away from the leveling base. The bucket slewing bracket includes: a worm gear for bucket slewing transmission, a bucket slewing angle detection encoder, and a slewing connection bracket; one end of the slewing connection bracket is rigidly connected to the insulated working bucket, and the other end is hinged to the crank arm structure; the worm gear for bucket slewing transmission is mounted on the slewing connection bracket through a bearing seat, so that the worm gear for bucket slewing transmission meshes with the worm wheel for bucket slewing transmission; the bucket slewing angle detection encoder is connected to the worm gear for bucket slewing transmission, and the slewing angle of the bucket slewing bracket is calculated through the reduction ratio of the worm gear for bucket slewing transmission and the worm wheel for bucket slewing transmission. The worm gear for bucket slewing transmission and the worm gear for crank arm slewing transmission are controlled by an external motor, and the motor, encoder and vehicle control system are connected. The anti-collision control method for the small-arm insulated bucket truck calculates the corner coordinates of the insulated working bucket to determine the relative position of the working bucket and the insulation section, and then performs risk prediction and control actions. Specifically, it is implemented as follows: The crank arm structure rotates to the direction of extension of the main insulation section; this position is set as the relative rotation angle between the crank arm structure and the main insulation section. From the zero-degree position, The value is calculated from the reading of the crank arm slewing encoder using the reduction ratio of the worm gear and worm wheel used in the crank arm slewing drive; the bucket slewing trailer rotates to the extension direction of the crank arm structure, and this position is set as the relative rotation angle between the bucket slewing trailer and the crank arm structure. The zero-degree position, The reading value of the encoder for detecting the bucket slewing angle is calculated using the reduction ratio of the worm gear and the turbine gear used for bucket slewing transmission. Taking the rightward rotation of the crank arm structure and the bucket slewing trailer as an example, a coordinate system is established with the arm direction of the main insulation section as the y-axis direction and the connection point between the main insulation section and the crank arm structure as the origin o. The x-coordinates of the two corners that may collide with the main insulation section of the telescopic arm during the rotation of the working bucket toward the telescopic arm are calculated, namely the x-coordinates of point a and point d. The connection point between the crank arm structure and the bucket slewing bracket is point b, and the distance between point o and point b is fixed. Because the bucket slewing bracket and the insulated working bucket are rigidly connected, the distance between point a of the working bucket and the connection point b is fixed. The angle between ab and eb is a fixed value. The angle between eb and cb is the angle of rotation of the bucket. The angle between ab and ob is obtained by reading and converting data from the bucket rotation angle detection encoder. ; According to the triangle cosine theorem ; According to the triangle cosine theorem ; angle ; The x-coordinate of point a in the insulating working bucket. ; Similarly, the x-coordinate of point d in the insulating working bucket can be determined. ; The dangerous proximity value between the insulated working bucket and the main insulation section can be set. ,when or At that time, it can be determined that there is a risk of collision between the working bucket and the main insulation section.

2. The small-arm insulated bucket truck bucket according to claim 1, characterized in that: The worm and worm wheel are replaced by a swing cylinder.

3. The small-arm insulated bucket truck bucket according to claim 1, characterized in that: There are two possible collision scenarios between the working bucket and the main insulating section of the telescopic boom: Scenario 1: If the luffing angle of the main insulating section of the telescopic boom is too low, the crank arm structure and bucket slewing bracket may cause a collision between the working bucket and the main insulating section during the rotation towards the main insulating section; Scenario 2: When the main insulating section of the telescopic boom is raised to a certain angle, the bottom of the insulated working bucket is already above the main insulating section, and the crank arm structure and bucket slewing bracket can rotate freely. When the insulated working bucket rotates to above the main insulating section, if the main insulating section of the telescopic boom performs a luffing operation at this time, there is a risk of a collision between the working bucket and the main insulating section during the luffing process.

4. The small-arm insulated bucket truck according to claim 3, characterized in that: The specific control method is as follows: Based on the two collision scenarios mentioned above, the amplitude change angle of the main insulating section of the telescopic boom is less than the set angle. At that time, the control program in the vehicle control system enters the situation determination subroutine. By collecting the readings from the crank arm rotation angle detection encoder and the bucket rotation angle detection encoder, and based on the above calculation formula, the x-coordinates of points a and d in the current insulated working bucket are calculated. If... or Immediately stopping the current directional rotation will avoid the collision risk in scenario 1; the amplitude rise of the main insulating section of the telescopic boom exceeds the set angle. At this time, the control program in the vehicle control system enters the judgment subroutine of situation 2. The crank arm structure and the bucket slewing trailer can rotate arbitrarily. By collecting the readings of the crank arm slewing angle detection encoder and the bucket slewing angle detection encoder, the x-coordinates of points a and d in the current insulated working bucket are calculated according to the above calculation formula. If or It is assumed that the insulating work bucket has rotated to above the main insulating section. When the main insulating section performs the amplitude reduction operation, if it descends to the set angle... This means stopping the main insulation section's amplitude reduction operation to prevent the collision risk in situation 2.

Images