Arm control method, device, storage medium and working vehicle

Abstract

The application discloses an arm support control method, device, storage medium and working vehicle. The arm support control method comprises the following steps: obtaining a current activity type of an arm support selected by a user, and obtaining a current position parameter corresponding to the current activity type; determining a speed regulation interval and a uniform speed interval on an activity stroke corresponding to the current activity type according to the current activity type; when the current position parameter is in the speed regulation interval and a position change direction of the arm support is determined, determining an activity speed adjustment strategy of the arm support according to the current position parameter and the position change direction, and controlling a driving device corresponding to the current activity type to act according to the activity speed adjustment strategy, so as to reduce the activity speed of the arm support, avoid a larger impact when the activity of the arm support reaches an activity limit, prevent a worker from falling from a working frame of the working vehicle, and thus help to improve the safety of working of the working vehicle.

Description

Technical Field

[0001] This invention relates to the field of aerial work technology, and in particular to boom control methods, devices, storage media, and work vehicles. Background Technology

[0002] Currently, aerial work platform booms typically have two movement modes: luffing and telescopic. Both luffing and telescopic movements have limits. However, existing booms operate at a fixed speed during luffing or telescopic movements. When the boom reaches its limit, a significant impact occurs, causing the work platform to sway and potentially causing workers inside the work frame at the top of the boom to fall out. Summary of the Invention

[0003] The main objective of this invention is to propose a boom control method, device, storage medium, and work vehicle, which aims to solve the problem that existing booms generate significant impacts when moving to their limit.

[0004] To achieve the above objectives, the present invention proposes a boom control method, comprising the following steps:

[0005] Obtain the current activity type of the boom selected by the user, and obtain the current position parameters corresponding to the current activity type;

[0006] Determine the speed adjustment range and constant speed range on the corresponding activity route based on the current activity type;

[0007] Once the current position parameter is within the speed adjustment range and the direction of position change of the boom is determined, the activity rate adjustment strategy of the boom is determined based on the current position parameter and the direction of position change, and the drive device corresponding to the current activity type is controlled to operate according to the activity rate adjustment strategy.

[0008] Optionally, the speed regulation range includes an upper speed regulation range, which includes an upper limit value and an upper speed regulation value, and the upper speed regulation value is set adjacent to the uniform speed range;

[0009] After the current position parameter is within the speed regulation range and the direction of position change of the boom is determined, the boom's activity rate adjustment strategy is determined based on the current position parameter and the direction of position change, and the drive device corresponding to the current activity type is controlled to operate according to the activity rate adjustment strategy, including:

[0010] When the current position parameter is within the upward speed adjustment range, and the direction of the boom's position change is determined to be a position change corresponding to the upward speed adjustment value, the boom is controlled to move at a first speed.

[0011] When the current position parameter is within the upper speed range, and the direction of the boom's position change is determined to be a position change towards the upper limit value, the boom is controlled to move at a second speed, wherein the first speed is greater than the second speed.

[0012] Optionally, the first rate is V1, and the second rate is V2, where V2 = α1 * V1;

[0013] in, or,

[0014] In the formula: α1 is the upward speed adjustment coefficient, a is the current position parameter of the boom, P is the set coefficient, a2 is the upper limit value, and a4 is the upward speed adjustment value.

[0015] Optionally, the speed regulation range includes a lower speed regulation range, which includes a lower speed regulation value and a lower limit value, and the lower speed regulation value is set adjacent to the uniform speed range;

[0016] After the current position parameter is within the speed regulation range and the direction of position change of the boom is determined, the boom's activity rate adjustment strategy is determined based on the current position parameter and the direction of position change, and the drive device corresponding to the current activity type is controlled to operate according to the activity rate adjustment strategy, including:

[0017] When the current position parameter is within the downward speed adjustment range, and the direction of the boom's position change is determined to be a position change corresponding to the downward speed adjustment value, the boom is controlled to move at a third speed.

[0018] When the current position parameter is within the lower speed range, and the direction of the boom's position change is determined to be a change towards the position corresponding to the lower limit value, the boom is controlled to move at a fourth speed, wherein the third speed is greater than the fourth speed.

[0019] Optionally, the third rate is V3 and the fourth rate is V4, where V3 = α2 * V4;

[0020] in, or,

[0021] In the formula: α2 is the downward speed adjustment coefficient, a is the current position parameter of the boom, P is the set coefficient, a1 is the lower limit value, and a3 is the downward speed adjustment value.

[0022] Optionally, after determining the speed adjustment range and constant speed range on the activity journey corresponding to the current activity type, the method further includes:

[0023] When the current position parameter is within the uniform speed range, the boom is controlled to move at a first speed.

[0024] Optionally, the current activity type includes variable amplitude activity, and correspondingly, the current position parameter is the current amplitude parameter; and / or,

[0025] The current activity type includes a scaling activity, and correspondingly, the current position parameter is the current scaling length parameter.

[0026] The present invention also provides a boom control device, including a memory, a processor, and a boom control program stored in the memory and executable on the processor, the boom control program being configured to implement the steps of the boom control method described above.

[0027] The present invention also provides a storage medium storing the boom control program, wherein the boom control program, when executed by a processor, implements the steps of the boom control method described above.

[0028] In addition, the present invention also provides a work vehicle, comprising:

[0029] Vehicle body;

[0030] The boom is movably mounted on the vehicle body;

[0031] The drive assembly includes a luffing drive and a telescopic drive, the luffing drive driving the boom to rotate, and the telescopic drive driving the boom to extend or retract; and...

[0032] A control device electrically connected to the luffing drive and the telescopic drive includes a memory and a processor, and a boom control program stored in the memory and executable on the processor, the boom control program being configured to implement the steps of the boom control method described above.

[0033] In the technical solution of this invention, when the current position parameter is within the speed adjustment range, it indicates that the current position of the boom is close to its limit position. At this time, it is necessary to determine the direction of the boom's position change in order to determine whether the boom is moving towards its activity limit. Thus, by using the current position parameter and the direction of position change, it is determined that the boom is moving towards the limit position corresponding to the current activity type, so as to determine the boom's activity rate adjustment strategy, and adjust the drive device corresponding to the current activity type to reduce the boom's activity rate, so as to avoid a large impact when the boom moves to its activity limit, and prevent the worker from falling from the work frame of the work vehicle, thereby helping to improve the safety of the work vehicle operation. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0035] Figure 1 This is a side view of an embodiment of the work vehicle provided by the present invention;

[0036] Figure 2 for Figure 1 A schematic diagram of the structure of the control device for the hardware operating environment involved in the embodiment of the Chinese version;

[0037] Figure 3 This is a schematic diagram of the first process of the boom control method provided by the present invention.

[0038] Explanation of icon numbers:

[0039] 100 work vehicle 2 boom 1 vehicle body 3 Work box

[0040] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0042] It should be noted that if the embodiments of the present invention involve directional indication, the directional indication is only used to explain the relative positional relationship and movement of the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0043] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0044] Currently, aerial work platform booms typically have two movement modes: luffing and telescopic. Both luffing and telescopic movements have limits. However, existing booms operate at a fixed speed during luffing or telescopic movements. When the boom reaches its limit, a significant impact occurs, causing the work platform to sway and potentially causing workers inside the work frame at the top of the boom to fall out.

[0045] Based on this, the present invention provides a boom control method for a work vehicle, which aims to solve the problem that existing booms will generate a large impact when they move to their limit. Figure 1 This is a schematic diagram of the structure of the work vehicle provided by the present invention; Figure 2 This is a schematic diagram of the structure of the control device for the hardware operating environment involved in the embodiments of the present invention; Figure 3 A flowchart illustrating the boom control method provided.

[0046] Please see Figure 1 The work vehicle 100 includes a vehicle body 1, a boom 2, a drive assembly, and a control device. The boom 2 is movably mounted on the vehicle body 1. The drive assembly includes a luffing drive device and a telescopic drive device. The luffing drive device drives the boom 2 to rotate, and the telescopic drive device drives the boom 2 to extend or retract. The control device is electrically connected to the luffing drive device and the telescopic drive device. In this invention, by setting the luffing drive device to drive the boom 2 to rotate, the rotation position of the boom 2 is adjusted. By setting the telescopic drive device to drive the boom 2 to extend or retract, the length of the boom 2 is adjusted. By setting the control device to control the activity rate of the luffing drive device and the telescopic drive device, the luffing or telescopic activity rate of the boom 2 is reduced when the luffing or telescopic activity of the boom 2 approaches its activity limit, so as to avoid the boom 2 forming a large impact when it moves to its activity limit, and to prevent workers from falling from the work frame 3 of the work vehicle 100, thereby helping to improve the safety of the work vehicle 100.

[0047] It should be noted that you should refer to [link / reference]. Figure 2 The control device may include: a processor 1001, such as a CPU; a communication bus 1002; a user interface 1003; a network interface 1004; and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0048] Those skilled in the art will understand that Figure 2 The structure shown does not constitute a limitation on the control device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0049] like Figure 2 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a control program for the boom 2.

[0050] exist Figure 2 In the control device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the control device of the present invention can be set in the control device. The control device calls the humidification control program stored in the memory 1005 through the processor 1001 and executes the humidification control method provided in the embodiment of the present invention.

[0051] exist Figure 2 In the control device shown, the processor 1001 calls the control program for the boom 2 stored in the memory 1005. The control program for the boom 2 includes the following steps:

[0052] Obtain the current activity type of boom 2 selected by the user, and obtain the current position parameters corresponding to the current activity type;

[0053] Determine the speed adjustment range and constant speed range on the corresponding activity route based on the current activity type;

[0054] After the current position parameter is within the speed adjustment range and the position change direction of the boom 2 is determined, the activity rate adjustment strategy of the boom 2 is determined according to the current position parameter and the position change direction, and the drive device corresponding to the current activity type is controlled to operate according to the activity rate adjustment strategy.

[0055] Furthermore, the speed regulation range includes an upper speed regulation range, which includes an upper limit value and an upper speed regulation value, and the upper speed regulation value is set adjacent to the uniform speed range;

[0056] After the current position parameter is within the speed adjustment range and the direction of position change of the boom 2 is determined, the activity rate adjustment strategy of the boom 2 is determined based on the current position parameter and the direction of position change, and the drive device corresponding to the current activity type is controlled according to the activity rate adjustment strategy, including:

[0057] When the current position parameter is within the upward speed adjustment range, and the direction of position change of the boom 2 is determined to be a position change corresponding to the upward speed adjustment value, the boom 2 is controlled to move at a first speed.

[0058] When the current position parameter is within the upper speed range, and the position change direction of the boom 2 is determined to be a position change towards the upper limit value, the boom 2 is controlled to move at a second speed, wherein the first speed is greater than the second speed.

[0059] Further, the first speed is V1, the second speed is V2, where V2 = α1 * V1;

[0060] in, or,

[0061] In the formula: α1 is the upward speed adjustment coefficient, a is the current position parameter of the boom 2, P is the set coefficient, a2 is the upper limit value, and a4 is the upward speed adjustment value.

[0062] Furthermore, the speed regulation range includes a lower speed regulation range, which includes a lower speed regulation value and a lower limit value, and the lower speed regulation value is set adjacent to the uniform speed range;

[0063] After the current position parameter is within the speed adjustment range and the direction of position change of the boom 2 is determined, the activity rate adjustment strategy of the boom 2 is determined based on the current position parameter and the direction of position change, and the drive device corresponding to the current activity type is controlled according to the activity rate adjustment strategy, including:

[0064] When the current position parameter is within the downward speed adjustment range, and the direction of position change of the boom 2 is determined to be a position change corresponding to the downward speed adjustment value, the boom 2 is controlled to move at the third speed.

[0065] When the current position parameter is within the lower speed range, and the position change direction of the boom 2 is determined to be towards the position corresponding to the lower limit value, the boom 2 is controlled to move at a fourth speed, wherein the third speed is greater than the fourth speed.

[0066] Furthermore, the third rate is V3, and the fourth rate is V4, where V3 = α2 * V4;

[0067] in: or,

[0068] In the formula: α2 is the downward speed adjustment coefficient, a is the current position parameter of the boom 2, P is the set coefficient, a1 is the lower limit value, and a3 is the downward speed adjustment value.

[0069] Furthermore, after determining the speed adjustment range and constant speed range on the corresponding activity stroke based on the current activity type, the method further includes:

[0070] When the current position parameter is within the uniform speed range, the boom 2 is controlled to move at a first speed.

[0071] Furthermore, the current activity type includes variable amplitude activity, and correspondingly, the current position parameter is the current amplitude parameter; and / or,

[0072] The current activity type includes a scaling activity, and correspondingly, the current position parameter is the current scaling length parameter.

[0073] Based on the above hardware structure, the present invention proposes a boom 2 control method. The boom 2 control method controls the activity rate of the luffing drive device and the telescopic drive device, so as to reduce the luffing activity rate or telescopic activity rate of the boom 2 when the luffing activity or telescopic activity of the boom 2 approaches its activity limit, thereby avoiding the boom 2 from forming a large impact when it moves to its activity limit.

[0074] Please see Figure 3 The first flowchart of the boom 2 control method provided by the present invention is shown.

[0075] The boom 2 control method includes the following steps:

[0076] S10: Obtain the current activity type of the boom 2 selected by the user, and obtain the current position parameters corresponding to the current activity type;

[0077] It should be noted that when the activity type of the boom 2 changes, the travel of the boom 2 will also change, that is, its activity limit will also change. Specifically, the activity type of the boom 2 includes, but is not limited to, luffing and telescopic activities.

[0078] S20: Determine the speed adjustment range and constant speed range on the activity stroke corresponding to the current activity type;

[0079] It should be noted that the speed regulation range refers to the area close to the limit value and requiring speed control, while the constant speed range refers to the area far from the activity limit and not requiring speed control. The travel distance of the boom 2 is the sum of the speed regulation range and the constant speed range. Furthermore, when the travel distance of the boom 2 changes, both the speed regulation range and the constant speed range of the boom 2 will change.

[0080] S30: After the current position parameter is within the speed adjustment range and the position change direction of the boom 2 is determined, the activity rate adjustment strategy of the boom 2 is determined according to the current position parameter and the position change direction, and the drive device corresponding to the current activity type is controlled to move according to the activity rate adjustment strategy.

[0081] In this embodiment, when the current position parameter is within the speed adjustment range, it indicates that the current position of the boom 2 is close to its limit position. At this time, it is necessary to determine the direction of position change of the boom 2 in order to determine whether the boom 2 is moving towards its activity limit. Thus, by using the current position parameter and the direction of position change, it is determined that the boom 2 is moving towards the limit position corresponding to the current activity type, so as to determine the activity rate adjustment strategy of the boom 2, and adjust the drive device corresponding to the current activity type to reduce the activity rate of the boom 2, so as to avoid a large impact when the boom 2 moves to its activity limit, and prevent the worker from falling from the work frame 3 of the work vehicle 100, thereby helping to improve the safety of the work vehicle 100 operation.

[0082] Furthermore, the speed regulation range includes an upper speed regulation range, which includes an upper limit value and an upper speed regulation value, and the upper speed regulation value is set adjacent to the uniform speed range;

[0083] Step S30 includes:

[0084] S311: When the current position parameter is within the upward speed adjustment range, and after determining that the position change direction of the boom 2 is the position change corresponding to the upward speed adjustment value, control the boom 2 to move at the first speed.

[0085] It should be noted that the travel range of the boom 2 includes an upper limit and a lower limit, and the upper speed adjustment range refers to the area close to the upper limit and requiring speed control. There are various ways to obtain the direction of position change; the direction of position change can be obtained through control keys or a remote control, or it can be obtained through position changes at intervals. This invention does not limit this method.

[0086] S312: After the current position parameter is within the upper speed range and the position change direction of the boom 2 is determined to be a position change towards the upper limit value, the boom 2 is controlled to move at a second speed, wherein the first speed is greater than the second speed.

[0087] In this embodiment, when the current position parameter is within the upper speed adjustment range, it indicates that the current position of the boom 2 is close to its upper limit position. At this time, it is necessary to determine the direction of position change of the boom 2. When the direction of position change of the boom 2 is towards the position corresponding to the upper speed adjustment value, it indicates that the boom 2 is moving away from the upper limit position. At this time, it is not necessary to control the activity rate of the boom 2, so the boom 2 is controlled to move at the first rate to quickly move out of the upper speed adjustment range. When the direction of position change of the boom 2 is towards the position corresponding to the upper limit value, it indicates that the boom 2 is moving towards the upper limit position. At this time, it is necessary to control the activity rate of the boom 2, so the boom 2 is controlled to move at the second rate to reduce the activity rate of the boom 2 and prevent the boom 2 from generating a large impact.

[0088] Further, the first speed is V1, the second speed is V2, where V2 = α1 * V1;

[0089] in, or,

[0090] In the formula: α1 is the upward speed adjustment coefficient, a is the current position parameter of the boom 2, P is the set coefficient, a2 is the upper limit value, and a4 is the upward speed adjustment value.

[0091] In this embodiment, the speed adjustment system adopts a quadratic function or an exponential function so that the closer the movement of the boom 2 is to the upper limit value, the smaller the movement rate of the boom 2, so that the entire speed adjustment process can be smoothly transitioned, avoiding sudden changes in the movement rate of the boom 2, thereby effectively preventing the boom 2 from shaking during the speed adjustment process.

[0092] In some embodiments of the present invention, the speed regulation range includes a lower speed regulation range, the lower speed regulation range includes a lower speed regulation value and a lower limit value, and the lower speed regulation value is set adjacent to the uniform speed range;

[0093] Step S30 includes:

[0094] S321: When the current position parameter is within the downward speed adjustment range, and after determining that the position change direction of the boom 2 is a position change corresponding to the downward speed adjustment value, control the boom 2 to move at the third speed.

[0095] It should be noted that the travel range of the boom 2 includes an upper limit and a lower limit. The lower speed adjustment range refers to the area close to the lower limit and requiring speed control. There are multiple ways to obtain the direction of position change; it can be obtained through control keys or a remote control, or through position changes at intervals. This invention does not limit this. Specifically, the third speed can be the same as or different from the first speed. This invention does not limit this; furthermore, the third speed is equal to the first speed to reduce the control difficulty of the system.

[0096] S322: After the current position parameter is within the lower speed range and the position change direction of the boom 2 is determined to be towards the position corresponding to the lower limit value, the boom 2 is controlled to move at a fourth speed, wherein the third speed is greater than the fourth speed.

[0097] In this embodiment, when the current position parameter is within the lower speed adjustment range, it indicates that the current position of the boom 2 is close to its lower limit value. At this time, it is necessary to determine the direction of position change of the boom 2. When the direction of position change of the boom 2 is towards the position corresponding to the lower speed adjustment value, it indicates that the boom 2 is moving away from the lower limit position. At this time, it is not necessary to control the activity rate of the boom 2, so the boom 2 is controlled to move at the third speed to quickly move out of the upper speed adjustment range. When the direction of position change of the boom 2 is towards the position corresponding to the lower limit value, it indicates that the boom 2 is moving towards the lower limit position. At this time, it is necessary to control the activity rate of the boom 2, so the boom 2 is controlled to move at the fourth speed to reduce the activity rate of the boom 2 and prevent the boom 2 from generating a large impact.

[0098] Furthermore, the third rate is V3, and the fourth rate is V4, where V3 = α2 * V4;

[0099] in: or,

[0100] In the formula: α2 is the downward speed adjustment coefficient, a is the current position parameter of the boom 2, P is the set coefficient, a1 is the lower limit value, and a3 is the downward speed adjustment value.

[0101] In this embodiment, the speed adjustment system uses a quadratic or exponential function so that the closer the movement of the boom 2 is to the lower limit value, the smaller the movement rate of the boom 2, so that the entire speed adjustment process can be smoothly transitioned, avoiding sudden changes in the movement rate of the boom 2, thereby effectively preventing the boom 2 from shaking during the speed adjustment process.

[0102] In some embodiments of the present invention, after step S20, the method further includes:

[0103] S21: When the current position parameter is within the uniform speed range, control the boom 2 to move at a first speed.

[0104] In this embodiment, when the current position parameter is within the uniform speed range, it indicates that the current position of the boom 2 is far from its limit position. At this time, it is not necessary to control the activity rate of the boom 2. Therefore, the boom 2 is controlled to move at the first speed so that the boom 2 can be quickly adjusted to the target position, thereby helping to improve the activity efficiency of the boom 2 and save activity time.

[0105] In some embodiments of the present invention, the current activity type includes luffing activity, and correspondingly, the current position parameter is the current amplitude parameter. This allows for control of the luffing activity of the boom 2, reducing the luffing rate of the boom 2 when it approaches its luffing limit, thereby preventing swaying of the boom 2 during luffing activity. ; and / or,

[0106] In some embodiments of the present invention, the current activity type includes telescopic activity, and correspondingly, the current position parameter is the current telescopic length parameter. This is to control the telescopic activity of the boom 2 so as to reduce the telescopic activity rate of the boom 2 when the telescopic activity of the boom 2 approaches the telescopic limit, thereby preventing the boom 2 from swaying during the telescopic activity.

[0107] The following examples illustrate this embodiment:

[0108] Specifically, the activity type is a variable amplitude activity. The upper limit value in a variable amplitude activity is 78°, the upper speed adjustment value is 70°, the lower limit value is -19°, and the lower speed adjustment value is -10°. Therefore, the upper speed adjustment range is 70° to 78°, the lower speed adjustment range is -19° to -10°, and the constant speed range is -10° to 70° (excluding -10° and 70°). If the current amplitude is 75°, and the boom 2 is in the upper speed adjustment range, it indicates that the current amplitude is close to the upper limit value (78°). At this time, it is necessary to determine the amplitude direction of the boom 2. When the amplitude direction is towards the upward speed adjustment value (i.e., 70°), it indicates that the... When the boom 2 moves away from the upper limit value, it is controlled to move at the first speed. When the luffing direction is towards the upper limit value (78°), it means that the boom 2 is moving closer to the upper limit value. At this time, the boom 2 is controlled to move at the second speed, where the second speed is equal to the first speed multiplied by the speed adjustment coefficient. The speed adjustment coefficient is a quadratic or exponential function so that the speed of the boom 2 is smaller as the movement of the boom 2 approaches the upper limit value, so that the entire luffing process can be smoothly transitioned and the luffing speed of the boom 2 can be avoided from abruptly changing.

[0109] Similarly, if the current amplitude is -15° and the boom 2 is in the downward speed adjustment range, it means that the current amplitude is close to the lower limit (-19°). At this time, it is necessary to determine the amplitude direction of the boom 2. When the amplitude direction is the downward speed adjustment value (-10°), it means that the boom 2 is moving away from the lower limit value. At this time, the boom 2 is controlled to move at the third activity rate. When the amplitude direction is the downward limit value (-19°), it means that the boom 2 is moving closer to the lower limit value. At this time, the boom 2 is controlled to move at the fourth rate. The fourth activity rate is equal to the third activity rate multiplied by the downward speed adjustment coefficient. The downward speed adjustment coefficient adopts a quadratic function or an exponential function so that the closer the activity of the boom 2 is to the lower limit value, the smaller the activity rate of the boom 2 is, so that the entire amplitude process can be smoothly transitioned and the amplitude rate of the boom 2 can be avoided from sudden changes.

[0110] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A boom control method, characterized in that, Includes the following steps: Obtain the current activity type of the boom selected by the user, and obtain the current position parameters corresponding to the current activity type; Determine the speed adjustment range and constant speed range on the corresponding activity route based on the current activity type; After the current position parameter is within the speed regulation range and the direction of position change of the boom is determined, the activity rate adjustment strategy of the boom is determined according to the current position parameter and the direction of position change, and the drive device corresponding to the current activity type is controlled to operate according to the activity rate adjustment strategy. The speed regulation range includes an upper speed regulation range, which includes an upper limit value and an upper speed regulation value. The upper speed regulation value is set adjacent to the uniform speed range. After the current position parameter is within the speed regulation range and the direction of position change of the boom is determined, the boom's activity rate adjustment strategy is determined based on the current position parameter and the direction of position change, and the drive device corresponding to the current activity type is controlled to operate according to the activity rate adjustment strategy, including: When the current position parameter is within the upward speed adjustment range, and the direction of the boom's position change is determined to be a position change corresponding to the upward speed adjustment value, the boom is controlled to move at a first speed. When the current position parameter is within the upper speed range, and the direction of the boom's position change is determined to be a position change towards the upper limit value, the boom is controlled to move at a second speed, wherein the first speed is greater than the second speed.

2. The boom control method as described in claim 1, characterized in that, The first speed is V1, and the second speed is V2, where V2 = α1 * V1; in, ,or, ; In the formula: α1 is the upward speed adjustment coefficient, a is the current position parameter of the boom, P is the set coefficient, a2 is the upper limit value, and a4 is the upward speed adjustment value.

3. The boom control method as described in claim 1, characterized in that, The speed regulation range includes a lower speed regulation range, which includes a lower speed regulation value and a lower limit value. The lower speed regulation value is set adjacent to the uniform speed range. After the current position parameter is within the speed regulation range and the direction of position change of the boom is determined, the boom's activity rate adjustment strategy is determined based on the current position parameter and the direction of position change, and the drive device corresponding to the current activity type is controlled to operate according to the activity rate adjustment strategy, including: When the current position parameter is within the downward speed adjustment range, and the direction of the boom's position change is determined to be a position change corresponding to the downward speed adjustment value, the boom is controlled to move at a third speed. When the current position parameter is within the lower speed range, and the direction of the boom's position change is determined to be a change towards the position corresponding to the lower limit value, the boom is controlled to move at a fourth speed, wherein the third speed is greater than the fourth speed.

4. The boom control method as described in claim 3, characterized in that, The third speed is V3, and the fourth speed is V4, where V3 = α2 * V4; in, ,or, ; In the formula: α2 is the downward speed adjustment coefficient, a is the current position parameter of the boom, P is the set coefficient, a1 is the lower limit value, and a3 is the downward speed adjustment value.

5. The boom control method as described in claim 1, characterized in that, After determining the speed adjustment range and constant speed range on the activity journey corresponding to the current activity type, the method further includes: When the current position parameter is within the uniform speed range, the boom is controlled to move at a first speed.

6. The boom control method as described in claim 1, characterized in that, The current activity type includes variable amplitude activity, and correspondingly, the current position parameter is the current amplitude parameter; and / or, The current activity type includes a scaling activity, and correspondingly, the current position parameter is the current scaling length parameter.

7. A boom control device, characterized in that, The system includes a memory, a processor, and a boom control program stored in the memory and executable on the processor, the boom control program being configured to implement the steps of the boom control method as described in any one of claims 1 to 6.

8. A storage medium, characterized in that, The storage medium stores the boom control program, which, when executed by a processor, implements the steps of the boom control method as described in any one of claims 1 to 6.

9. A work vehicle, characterized in that, include: Vehicle body; The boom is movably mounted on the vehicle body; A drive assembly, including a luffing drive unit and a telescopic drive unit, wherein the luffing drive unit and the telescopic drive unit are drivably connected to the boom; and... A control device electrically connected to the luffing drive device and the telescopic drive device, the control device including the boom control device as described in claim 7.

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