Control method, system and equipment of arm type operation device and storage medium

Abstract

The invention discloses a control method, system and equipment of an arm type operation device and a storage medium, and belongs to the technical field of engineering machinery technologies. The control method of the arm type operation device comprises the following steps: determining a size parameter of the arm type operation device; if the vertical lifting mode of the arm type operation device is started, the initial oil cylinder elongation, the initial main arm frame amplitude variation angle and the initial auxiliary arm frame amplitude variation angle of the arm type operation device at the current moment are determined; according to the size parameters, the initial oil cylinder elongation, the initial main boom amplitude variation angle and the initial auxiliary boom amplitude variation angle, the extension distance is calculated; and if a lifting instruction is received, target state parameters meeting constraint conditions are generated, and the working platform is driven to ascend or descend according to the target state parameters. According to the invention, the working platform of the arm type operation device can be automatically and vertically lifted.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a control method, system, equipment and storage medium for an arm-type working device. Background Art

[0002] The arm-type working device is also called an arm truck, an arm-type aerial work platform or an aerial work platform. The common working conditions of this device include the maintenance of the facades of buildings such as factories and urban houses, such as spraying of exterior wall paint, installation and cleaning of exterior wall glass, etc. At present, the arm-type working devices in the industry cannot intelligently identify the position of the wall during paint spraying, glass installation and cleaning. When the operator uses the equipment to perform vertical up and down operations, it is necessary to operate the boom amplitude adjustment and boom extension and retraction at the same time to achieve vertical up and down operations, otherwise it will cause certain areas in the up and down directions to be unable to operate. Because the operator is required to operate two buttons at the same time and observe the environment, improper operation often causes the equipment working platform to touch the exterior wall, which poses a great safety hazard.

[0003] Therefore, how to automatically lift the working platform of the arm-type working device vertically is a technical problem that technical personnel in this field currently need to solve. Summary of the invention

[0004] The purpose of the present application is to provide a control method, system, device and storage medium for an arm-type working device, which can automatically lift and lower the working platform of the arm-type working device vertically.

[0005] In order to solve the above technical problems, the present application provides a control method for an arm-type working device, wherein the arm-type working device comprises a turntable, a secondary boom, a connecting seat, a main boom, a flying boom and a working platform, wherein the secondary boom is connected to the turntable via a first hinge point, the connecting seat is connected to the secondary boom via a second hinge point, the main boom is connected to the connecting seat via a third hinge point, the flying boom is connected to the main boom via a fourth hinge point, and the working platform is connected to the flying boom. The control method for the arm-type working device comprises:

[0006] Determine the size parameters of the arm-type working device; wherein the size parameters include the length of the auxiliary boom, the fully retracted length of the main boom, and the distance between the third hinge point and the fourth hinge point;

[0007] If the vertical lifting mode of the arm working device is started, the initial cylinder extension, initial main boom luffing angle and initial auxiliary boom luffing angle of the arm working device at the current moment are determined; wherein the cylinder extension is used to describe the extension of the telescopic cylinder of the main boom;

[0008] The extension distance is calculated according to the size parameter, the initial cylinder extension, the initial main boom luffing angle and the initial auxiliary boom luffing angle; wherein the extension distance is the horizontal distance between the fourth hinge point and the turntable;

[0009] If a lifting or lowering instruction is received, target state parameters that meet the constraint conditions are generated, and the working platform is driven to rise or fall according to the target state parameters; wherein the target state parameters include the target main boom luffing angle, the target auxiliary boom luffing angle and the target cylinder extension of the main boom; the constraint condition is that the rising or falling of the working platform does not change the value of the extension distance.

[0010] Optionally, generating target state parameters that meet the constraint conditions includes:

[0011] Constructing a constraint function according to the constraint condition, and generating the target state parameter using the constraint function;

[0012] Wherein, the constraint function is:

[0013] ; represents the target cylinder extension of the main boom, L1 represents the length of the auxiliary boom, L2 represents the fully retracted length of the main boom, L3 represents the distance between the third hinge point and the fourth hinge point, and L4 represents the initial cylinder extension of the main boom. Indicates the initial jib luffing angle, Indicates the target jib luffing angle, Indicates the initial main boom luffing angle, Indicates the target main boom luffing angle, Indicates the ground inclination angle.

[0014] Optionally, after generating the target state parameters that meet the constraint conditions, the following is also included:

[0015] Determine whether the target state parameters are all within the corresponding value range;

[0016] If yes, then enter the step of driving the working platform to rise or fall according to the target state parameter;

[0017] If not, an error message is generated or the target state parameters that meet the constraint conditions are recalculated.

[0018] Optionally, driving the working platform to rise or fall according to the target state parameter includes:

[0019] Synchronously executing the first operation, the second operation and the third operation according to the target state parameter so as to drive the working platform to rise or fall;

[0020] Among them, the first operation is: controlling the main boom to move to a position corresponding to the target main boom amplitude variation angle; the second operation is: controlling the auxiliary boom to move to a position corresponding to the target auxiliary boom amplitude variation angle; the third operation is: controlling the telescopic cylinder of the main boom to move to a position corresponding to the target cylinder extension amount.

[0021] Optionally, also include:

[0022] Calculating the current height of the working platform according to the size parameters;

[0023] If the current height of the working platform is equal to the first height, shielding the received ascending instruction;

[0024] If the current height of the working platform is equal to the second height, the received descending instruction is shielded; wherein the first height is higher than the second height.

[0025] Optionally, generating target state parameters that meet the constraint conditions, and driving the working platform to rise or fall according to the target state parameters, includes:

[0026] generating a plurality of groups of target state parameters that meet the constraint conditions;

[0027] The arm-type working device is controlled to move in accordance with each set of target state parameters in turn, so as to drive the working platform to rise or fall.

[0028] The present application also provides a control system for an arm-type working device, the arm-type working device comprising a turntable, a secondary boom, a connecting seat, a main boom, a flying boom and a working platform, the secondary boom is connected to the turntable via a first hinge, the connecting seat is connected to the secondary boom via a second hinge, the main boom is connected to the connecting seat via a third hinge, the flying boom is connected to the main boom via a fourth hinge, the working platform is connected to the flying boom, and the control system of the arm-type working device comprises:

[0029] A parameter determination module, used to determine the size parameters of the arm-type working device; wherein the size parameters include the length of the auxiliary boom, the fully retracted length of the main boom, and the distance between the third hinge point and the fourth hinge point;

[0030] An initial angle determination module is used to determine the initial cylinder extension, initial main boom luffing angle and initial auxiliary boom luffing angle of the arm working device at the current moment if the vertical lifting mode of the arm working device is started; wherein the cylinder extension is used to describe the extension of the telescopic cylinder of the main boom;

[0031] an extension distance calculation module, used to calculate the extension distance according to the size parameter, the initial cylinder extension, the initial main boom luffing angle and the initial auxiliary boom luffing angle; wherein the extension distance is the horizontal distance between the fourth hinge point and the turntable;

[0032] A vertical lifting module is used to generate target state parameters that meet the constraints upon receiving a lifting instruction, and drive the working platform to rise or fall according to the target state parameters; wherein the target state parameters include the target main boom luffing angle, the target auxiliary boom luffing angle and the target cylinder extension of the main boom; the constraint condition is that the rising or falling of the working platform does not change the value of the extension distance.

[0033] Furthermore, the arm-type working device also includes a ground inclination angle sensor, a secondary boom luffing angle sensor, a main boom luffing angle sensor and a main boom length sensor.

[0034] The present application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps of the control method of the above-mentioned arm-type working device are implemented.

[0035] The present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the control method of the above-mentioned arm working device are implemented.

[0036] The arm-type working device used in the present application includes a turntable, a secondary arm, a connecting seat, a main arm, a flying arm and a working platform, and the above structure is connected by a first hinge point, a second hinge point, a third hinge point and a fourth hinge point. The present application determines the size parameters of the arm-type working device, and determines the initial cylinder extension, the initial main arm luffing angle and the initial secondary arm luffing angle when the vertical lifting mode of the arm-type working device is started. According to the size parameters, the initial cylinder extension, the initial main arm luffing angle and the initial secondary arm luffing angle, the extension distance, that is, the horizontal distance between the fourth hinge point and the turntable can be calculated, and the extension distance is used to control the vertical lifting of the working platform without changing its horizontal position. After receiving the lifting command, the target state parameters that meet the constraint conditions can be generated, and the working platform can be driven to rise or fall according to these parameters. The above constraint condition is that the rise or fall of the working platform does not change the size of the extension distance, which ensures that the working platform maintains a constant horizontal position during the vertical lifting process. Therefore, this scheme can enable the working platform of the arm-type working device to automatically lift vertically, improve the working efficiency of the arm-type working device, and also ensure the stability and safety of the working platform. The present application also provides a control system for an arm-type working device, a storage medium and an electronic device, which have the above-mentioned beneficial effects and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 A flow chart of a control method of an arm-type working device provided in an embodiment of the present application;

[0039] Figure 2 A schematic diagram of the overall structure and hinge points of an arm-type working device provided in an embodiment of the present application;

[0040] Figure 3 A schematic diagram of a main boom in a fully retracted state provided in an embodiment of the present application;

[0041] Figure 4 A schematic diagram of a main boom partially extended state provided in an embodiment of the present application;

[0042] Figure 5 A flow chart of a method for controlling the vertical lifting of a working platform provided in an embodiment of the present application;

[0043] Figure 6 A schematic diagram of a first tilting working condition of the arm-type working device provided in an embodiment of the present application;

[0044] Figure 7 A schematic diagram of a second tilting working condition of the arm-type working device provided in an embodiment of the present application;

[0045] Figure 8 A schematic diagram of a sensor structure of an arm-type working device provided in an embodiment of the present application;

[0046] Fig. 9 A schematic diagram of vertical lifting on a horizontal ground provided by an embodiment of the present application;

[0047] Fig.10 A schematic diagram of vertical lifting on a positive slope ground provided by an embodiment of the present application;

[0048] Fig.11 A schematic diagram of vertical lifting on a negative slope ground provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] See below Figure 1 , Figure 1 A flow chart of a control method of an arm-type working device provided in an embodiment of the present application.

[0051] Specific steps may include:

[0052] S101: Determine the size parameters of the arm-type working device;

[0053] See also Figure 2 , Figure 2 A schematic diagram of the overall structure and hinge points of an arm-type working device provided in an embodiment of the present application. The arm-type working device includes a chassis, a turntable, a secondary boom, a connecting seat, a main boom, a flying boom and a working platform. The secondary boom is connected to the turntable via a first hinge point A, the connecting seat is connected to the secondary boom via a second hinge point B, the main boom is connected to the connecting seat via a third hinge point C, the flying boom is connected to the main boom via a fourth hinge point D, and the working platform is connected to the flying boom. α represents the amplitude change angle of the secondary boom, β represents the amplitude change angle of the main boom, L0 represents the horizontal distance between the fourth hinge point and the rotation center of the turntable, and L1 represents the length of the secondary boom (i.e., the length of the secondary boom).

[0054] The size parameters include the length of the auxiliary boom, the fully retracted length of the main boom, and the distance between the third hinge point and the fourth hinge point (such as the distance between the third hinge point and the fourth hinge point in the height direction of the main boom). The main boom has a telescopic cylinder, and when the extension length of the telescopic cylinder changes, the length of the main boom also changes accordingly; the fully retracted length of the main boom refers to: the length when the extension length of the telescopic cylinder is 0, that is, the shortest length of the main boom.

[0055] See also Figure 3 , Figure 3 A schematic diagram of a main boom in a fully retracted state provided in an embodiment of the present application, L2 represents the fully retracted length of the main boom, and L3 represents the distance between the third hinge point C and the fourth hinge point D in the height direction of the main boom. The distance between the third hinge point and the fourth hinge point in the above-mentioned size parameters is L3.

[0056] S102: If the vertical lifting mode of the arm working device is started, determining the initial cylinder extension, initial main boom luffing angle and initial auxiliary boom luffing angle of the arm working device at the current moment;

[0057] If it is detected that the vertical lifting mode of the arm working device is started, the initial cylinder extension, initial main boom amplitude variation angle and initial auxiliary boom amplitude variation angle of the arm working device at the current moment are determined. The above-mentioned current moment is the start-up moment of the vertical lifting mode, that is, when the vertical lifting mode is started, this embodiment uses the current cylinder extension as the initial cylinder extension, the current main boom amplitude variation angle as the initial main boom amplitude variation angle, and the current auxiliary boom amplitude variation angle as the initial auxiliary boom amplitude variation angle. A telescopic cylinder is provided in the main boom, and the cylinder extension is used to describe the extension of the telescopic cylinder of the main boom.

[0058] See also Figure 4 , Figure 4 A schematic diagram of a partially extended state of a main boom provided in an embodiment of the present application, in which C represents the third hinge point, D represents the fourth hinge point, and L4 represents the extension of the telescopic cylinder of the main boom.

[0059] S103: calculating the extension distance according to the size parameter, the initial cylinder extension, the initial main boom luffing angle and the initial auxiliary boom luffing angle;

[0060] Among them, this embodiment can calculate the size parameters, the initial cylinder extension, the initial main boom luffing angle and the initial auxiliary boom luffing angle according to the structure of the arm-type working device to obtain the extension distance. The extension distance is the horizontal distance between the fourth hinge point and the turntable; as a feasible implementation, the extension distance is the horizontal distance between the fourth hinge point and the rotation center of the turntable; as another feasible implementation, the extension distance is the shortest horizontal distance between the fourth hinge point and the turntable.

[0061] S104: if a lifting instruction is received, generating target state parameters that meet the constraint conditions, and driving the working platform to rise or fall according to the target state parameters;

[0062] Among them, in the vertical lifting mode, if a lifting command is received, a target state parameter that meets the constraint conditions can be generated, and the working platform can be driven to rise or fall according to the target state parameters. The above-mentioned target state parameters include the target main boom luffing angle, the target auxiliary boom luffing angle and the target cylinder extension of the main boom. The above-mentioned constraint condition is: the value of the extension distance is not changed when the working platform is raised or lowered according to the target state parameters (that is, the extension distance maintains the value when the vertical lifting mode is started). The target main boom luffing angle refers to the luffing angle that the main boom is to reach during the rising or falling of the working platform, the target auxiliary boom luffing angle refers to the luffing angle that the auxiliary boom is to reach during the rising or falling of the working platform, and the target cylinder extension refers to the extension of the telescopic cylinder of the main boom (that is, the stroke).

[0063] By means of the above method, the main boom luffing angle, the auxiliary boom luffing angle and the extension of the telescopic cylinder can be automatically adjusted, so that the extension distance of the working platform does not change during the rising or falling process, that is, the automatic vertical lifting of the working platform is realized.

[0064] The arm-type working device used in this embodiment includes a turntable, a secondary boom, a connecting seat, a main boom, a flying boom and a working platform, and the above structures are connected by a first hinge point, a second hinge point, a third hinge point and a fourth hinge point. This embodiment determines the size parameters of the arm-type working device, and determines the initial cylinder extension, the initial main boom amplitude change angle and the initial secondary boom amplitude change angle when the vertical lifting mode of the arm-type working device is started. According to the size parameters, the initial cylinder extension, the initial main boom amplitude change angle and the initial secondary boom amplitude change angle, the extension distance, that is, the horizontal distance between the fourth hinge point and the turntable can be calculated, and the extension distance is used to control the vertical lifting of the working platform without changing its horizontal position. After receiving the lifting command, the target state parameters that meet the constraint conditions can be generated, and the working platform can be driven to rise or fall according to these parameters. The above constraint condition is that the rise or fall of the working platform does not change the size of the extension distance, which ensures that the working platform maintains a horizontal position unchanged during the vertical lifting process. Therefore, this scheme can enable the working platform of the arm-type working device to automatically lift vertically, improve the working efficiency of the arm-type working device, and also ensure the stability and safety of the working platform.

[0065] As for Figure 1 Further introduction to the corresponding embodiment, after generating the target state parameters that meet the constraint conditions, it can also be determined whether the target state parameters are all within the corresponding value range; if so, enter the step of driving the working platform to rise or descend according to the target state parameters; if not, generate an error message or recalculate the target state parameters that meet the constraint conditions.

[0066] The target state parameters include the target main boom luffing angle, the target auxiliary boom luffing angle and the target cylinder extension of the main boom. Since the main boom luffing angle, the auxiliary boom luffing angle and the extension of the telescopic cylinder all have corresponding value ranges, the target state parameters are compared with the above value ranges. If the target state parameters exceed the corresponding value range, it means that the arm operating device cannot move according to the target state parameters. At this time, an error may be reported or recalculated.

[0067] As a feasible implementation method, this embodiment can generate multiple groups of target state parameters that meet the constraint conditions; control the movement of the arm working device in accordance with each group of target state parameters in turn, so as to drive the working platform to rise or fall.

[0068] Furthermore, in this embodiment, a constraint function may be constructed according to the constraint condition, and the target state parameter may be generated using the constraint function;

[0069] The above constraint function is:

[0070] ; represents the target cylinder extension of the main boom, L1 represents the length of the auxiliary boom, L2 represents the fully retracted length of the main boom, L3 represents the distance between the third hinge point and the fourth hinge point, and L4 represents the initial cylinder extension of the main boom. Indicates the initial jib luffing angle, Indicates the target jib luffing angle, Indicates the initial main boom luffing angle, Indicates the target main boom luffing angle, Indicates the ground inclination angle.

[0071] As for Figure 1 Further introduction to the corresponding embodiment, after obtaining the target state parameter, the working platform can be driven to rise or fall in the following manner: synchronously executing the first operation, the second operation and the third operation according to the target state parameter, so as to drive the working platform to rise or fall;

[0072] Among them, the first operation is: controlling the main boom to move to a position corresponding to the target main boom amplitude variation angle; the second operation is: controlling the auxiliary boom to move to a position corresponding to the target auxiliary boom amplitude variation angle; the third operation is: controlling the telescopic cylinder of the main boom to move to a position corresponding to the target cylinder extension amount.

[0073] As for Figure 1Further introduction to the corresponding embodiment: due to the limitations of the arm-type working device's own structure, the working platform has limit values ​​for vertical movement: a first height and a second height. Therefore, during the control process of the arm-type working device, the current height of the working platform can be calculated based on the size parameters; if the current height of the working platform is equal to the first height, the received ascending instruction is shielded; if the current height of the working platform is equal to the second height, the received descending instruction is shielded; wherein, the first height is higher than the second height.

[0074] The process described in the above embodiment is explained below through an embodiment in actual application.

[0075] At present, the arm-type operating devices in the industry cannot intelligently identify the position of the wall during paint spraying, glass installation and cleaning. When the operator is using the equipment, when working in the vertical up and down directions, it is necessary to operate the two actions of the boom amplitude change and the boom extension and retraction at the same time to achieve vertical up and down operations. It often happens that the working platform of the equipment touches the outer wall due to improper operation, which poses a great safety hazard. In response to the above-mentioned safety hazard problems, this embodiment provides a control method for realizing the vertical lifting of the working platform of an arm-type operating device, and uses a functional relationship combined with sensor data to achieve the purpose of vertical lifting. This method can achieve the purpose of vertical lifting of the working platform by the operator only by pressing a button. This method can reduce the dependence of the equipment on the operator during the construction process, realize intelligent control, greatly improve the safety performance of the equipment, expand the use conditions of the equipment, and enhance the competitiveness of the equipment.

[0076] See also Figure 5 , Figure 5 A flow chart of a method for controlling the vertical lifting of a working platform provided in an embodiment of the present application includes the following steps:

[0077] S501: The actual structure of the whole arm-type working device is simplified;

[0078] The overall structure of the arm-type working device is as follows: Figure 2 As shown, the whole machine structure includes chassis, turntable, auxiliary boom, connecting seat, main boom, flying boom, working platform, etc., and its mechanism can be simplified and decomposed.

[0079] S502: Obtaining the corresponding relationship between the hinge points of each mechanism;

[0080] The motion structure of the arm-type working device mainly includes the turntable side hinge point A, the connection seat hinge points B and C, and the main boom hinge points C and D. Through the above four main hinge points and other stable posture hinge points, the whole machine performs lifting and lowering movements. Hinge point A is the first hinge point, hinge point B is the second hinge point, hinge point C is the third hinge point, and hinge point D is the fourth hinge point. In order to ensure that the working platform can perform linear lifting and lowering movements in the vertical direction, the following hinge point dimensions need to be obtained: auxiliary boom length L1, main boom full retracted length L2, distance between main boom C and D hinge points L3, main boom telescopic cylinder extension L4, auxiliary boom amplitude angle α, main boom amplitude angle β.

[0081] S503: Establishing a functional relationship between the platform vertical lifting target and the size of each hinge point;

[0082] To achieve vertical lifting of the working platform, it is necessary to ensure that the distance L0 from the main boom hinge point D to the rotation center remains unchanged at any main boom amplitude change angle β. Based on the goal of keeping L0 unchanged, the following functional relationship is constructed. Based on the following function, the goal of vertical lifting of the working platform can be achieved:

[0083] ;

[0084] Wherein: α' represents different auxiliary boom luffing angles; β' represents different main boom luffing angles; L4' represents the stroke of the telescopic cylinder under different auxiliary boom luffing angles α' and different main boom luffing angles B' (ie, the target cylinder extension).

[0085] According to the initial boom posture, the initial extension of the telescopic cylinder of the main boom L4 (i.e., the initial cylinder extension), the boom amplitude change angle α, and the main boom amplitude change angle β can be obtained through the sensor. The length of the auxiliary boom L1, the full retracted length of the main boom L2, and the distance between the hinge points C and D of the main boom L3 are directly determined by the structure of the whole machine and are fixed values. Based on the above information, when the initial state of the whole machine is confirmed, the specific values ​​of α, β, L1, L2, L3, and L4 can be obtained. Using the above function formula, when the whole machine is amplitude-changed to any angle α' and β', L0' at this time can be obtained, thereby ensuring that the distance L0' at different amplitude change angles α' is consistent with L0.

[0086] The above content is determined based on the situation of horizontal ground, but the actual ground is often uneven, so it is necessary to consider the impact of the ground inclination angle on the target. Figure 6 and Figure 7 , Figure 6 This is a schematic diagram of a first tilting working condition of the arm-type working device provided in an embodiment of the present application. Figure 7Schematic diagram of the second tilting working condition of the arm-type working device provided in the embodiment of the present application. θ1 and θ2 represent the ground tilt angle, A represents the first hinge point, B represents the second hinge point, C represents the third hinge point, D represents the fourth hinge point, α represents the initial auxiliary boom luffing angle (auxiliary boom luffing angle before vertical lifting), β represents the initial main boom luffing angle (main boom luffing angle before vertical lifting), L1 represents the auxiliary boom length, and L0 represents the horizontal distance between the fourth hinge point and the rotation center of the turntable.

[0087] When the ground is uneven, the whole machine has positive and negative slopes relative to the ground, and the angles are positive and negative. According to the influence of the slope angle on the whole machine, the function relationship is corrected to:

[0088]

[0089] Among them, θ is the ground inclination angle, which can be positive or negative.

[0090] S504: Acquire data from each sensor in real time, calculate the target of the whole machine according to the functional relationship, and realize vertical lifting.

[0091] See also Figure 8 , Figure 8 A schematic diagram of the sensor structure of an arm-type working device provided in an embodiment of the present application, wherein a ground inclination angle sensor 801, a main boom luffing angle sensor 802, a secondary boom luffing angle sensor 803 and a main boom length sensor 804 are respectively connected to a controller 805, and the controller can drive the mechanism to achieve vertical lifting.

[0092] The ground tilt angle θ is obtained by the ground tilt angle sensor 801, which is installed on the turntable; the auxiliary boom luffing angle α is obtained by the auxiliary boom luffing angle sensor 803, which is installed on the auxiliary boom; the main boom luffing angle β is obtained by the main boom luffing angle sensor 802, which is installed on the main boom; the extension L4 of the telescopic cylinder of the main boom is obtained by the main boom length sensor 804, which is installed on the main boom; the data obtained by the above sensors are all summarized in the whole machine controller 805, which calculates according to the functional relationship and outputs the specific parameter value to achieve the goal. According to the above data and functional relationship, the initial state of the whole machine is randomly selected, and the above functional relationship is applied to judge the vertical lifting target.

[0093] See also Fig. 9 , Fig.10 and Fig.11 , Fig. 9 A schematic diagram of vertical lifting on a horizontal ground provided by an embodiment of the present application, Fig.10A schematic diagram of vertical lifting on a positive slope provided by an embodiment of the present application, Fig.11 A schematic diagram of vertical lifting on a negative slope provided by an embodiment of the present application shows the initial state of the whole machine and the state after lifting. Applying the above functional relationship and control method, the vertical lifting target at different ramp angles can be achieved.

[0094] This embodiment uses a functional relationship combined with sensor data to achieve the purpose of vertical lifting. This method can achieve the purpose of vertical lifting of the working platform by the operator only needing to press a button. This method can reduce the dependence of the equipment on the operator during the construction process, realize intelligent control, greatly improve the safety performance of the equipment, broaden the use conditions of the equipment, and improve the competitiveness of the equipment.

[0095] The embodiment of the present application provides a control system for an arm-type working device, the arm-type working device comprises a turntable, a secondary boom, a connecting seat, a main boom, a flying boom and a working platform, the secondary boom is connected to the turntable via a first hinge point, the connecting seat is connected to the secondary boom via a second hinge point, the main boom is connected to the connecting seat via a third hinge point, the flying boom is connected to the main boom via a fourth hinge point, the working platform is connected to the flying boom, and the control system of the arm-type working device comprises:

[0096] A parameter determination module, used to determine the size parameters of the arm-type working device; wherein the size parameters include the length of the auxiliary boom, the fully retracted length of the main boom, and the distance between the third hinge point and the fourth hinge point;

[0097] An initial angle determination module is used to determine the initial cylinder extension, initial main boom luffing angle and initial auxiliary boom luffing angle of the arm working device at the current moment if the vertical lifting mode of the arm working device is started; wherein the cylinder extension is used to describe the extension of the telescopic cylinder of the main boom;

[0098] an extension distance calculation module, used to calculate the extension distance according to the size parameter, the initial cylinder extension, the initial main boom luffing angle and the initial auxiliary boom luffing angle; wherein the extension distance is the horizontal distance between the fourth hinge point and the turntable;

[0099] A vertical lifting module is used to generate target state parameters that meet the constraints upon receiving a lifting instruction, and drive the working platform to rise or fall according to the target state parameters; wherein the target state parameters include the target main boom luffing angle, the target auxiliary boom luffing angle and the target cylinder extension of the main boom; the constraint condition is that the rising or falling of the working platform does not change the value of the extension distance.

[0100] The arm-type working device used in this embodiment includes a turntable, a secondary boom, a connecting seat, a main boom, a flying boom and a working platform, and the above structures are connected by a first hinge point, a second hinge point, a third hinge point and a fourth hinge point. This embodiment determines the size parameters of the arm-type working device, and determines the initial cylinder extension, the initial main boom amplitude change angle and the initial secondary boom amplitude change angle when the vertical lifting mode of the arm-type working device is started. According to the size parameters, the initial cylinder extension, the initial main boom amplitude change angle and the initial secondary boom amplitude change angle, the extension distance, that is, the horizontal distance between the fourth hinge point and the turntable can be calculated, and the extension distance is used to control the vertical lifting of the working platform without changing its horizontal position. After receiving the lifting command, the target state parameters that meet the constraint conditions can be generated, and the working platform can be driven to rise or fall according to these parameters. The above constraint condition is that the rise or fall of the working platform does not change the size of the extension distance, which ensures that the working platform maintains a horizontal position unchanged during the vertical lifting process. Therefore, this scheme can enable the working platform of the arm-type working device to automatically lift vertically, improve the working efficiency of the arm-type working device, and also ensure the stability and safety of the working platform.

[0101] Furthermore, the process of the vertical lifting module generating target state parameters that meet the constraint conditions includes: constructing a constraint function according to the constraint conditions, and generating the target state parameters using the constraint function;

[0102] Wherein, the constraint function is:

[0103] ; represents the target cylinder extension of the main boom, L1 represents the length of the auxiliary boom, L2 represents the fully retracted length of the main boom, L3 represents the distance between the third hinge point and the fourth hinge point, and L4 represents the initial cylinder extension of the main boom. Indicates the initial jib luffing angle, Indicates the target jib luffing angle, Indicates the initial main boom luffing angle, Indicates the target main boom luffing angle, Indicates the ground inclination angle.

[0104] Furthermore, it also includes:

[0105] The range judgment module is used to determine whether the target state parameters that meet the constraint conditions are all within the corresponding value range after generating the target state parameters; if so, enter the step of driving the working platform to rise or descend according to the target state parameters; if not, generate an error message or recalculate the target state parameters that meet the constraint conditions.

[0106] Furthermore, the process of the vertical lifting module driving the working platform to rise or fall according to the target state parameters includes: synchronously executing the first operation, the second operation and the third operation according to the target state parameters to drive the working platform to rise or fall; wherein, the first operation is: controlling the main boom to move to a position corresponding to the target main boom amplitude variation angle; the second operation is: controlling the auxiliary boom to move to a position corresponding to the target auxiliary boom amplitude variation angle; the third operation is: controlling the telescopic cylinder of the main boom to move to a position corresponding to the target cylinder extension amount.

[0107] Furthermore, it also includes:

[0108] An instruction shielding module is used to calculate the current height of the working platform according to the size parameters; if the current height of the working platform is equal to a first height, shield the received ascending instruction; if the current height of the working platform is equal to a second height, shield the received descending instruction; wherein the first height is higher than the second height.

[0109] Furthermore, the vertical lifting module generates target state parameters that meet the constraint conditions, and the process of driving the working platform to rise or fall according to the target state parameters includes: generating multiple groups of target state parameters that meet the constraint conditions; controlling the movement of the arm working device according to each group of target state parameters in turn, so as to drive the working platform to rise or fall.

[0110] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, which will not be repeated here.

[0111] The present application also provides a storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0112] The present application also provides an electronic device, which may include a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps provided in the above embodiment may be implemented. Of course, the electronic device may also include various network interfaces, power supplies and other components.

[0113] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of this application.

[0114] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A control method for an arm-type working device, characterized in that: The arm-type working device comprises a turntable, a secondary boom, a connecting seat, a main boom, a flying boom and a working platform, wherein the secondary boom is connected to the turntable via a first hinge point, the connecting seat is connected to the secondary boom via a second hinge point, the main boom is connected to the connecting seat via a third hinge point, the flying boom is connected to the main boom via a fourth hinge point, and the working platform is connected to the flying boom. The control method of the arm-type working device comprises: Determine the size parameters of the arm-type working device; wherein the size parameters include the length of the auxiliary boom, the fully retracted length of the main boom, and the distance between the third hinge point and the fourth hinge point; If the vertical lifting mode of the arm working device is started, the initial cylinder extension, initial main boom luffing angle and initial auxiliary boom luffing angle of the arm working device at the current moment are determined; wherein the cylinder extension is used to describe the extension of the telescopic cylinder of the main boom; The extension distance is calculated according to the size parameter, the initial cylinder extension, the initial main boom luffing angle and the initial auxiliary boom luffing angle; wherein the extension distance is the horizontal distance between the fourth hinge point and the turntable; If a lifting or lowering instruction is received, target state parameters that meet the constraint conditions are generated, and the working platform is driven to rise or fall according to the target state parameters; wherein the target state parameters include the target main boom luffing angle, the target auxiliary boom luffing angle and the target cylinder extension of the main boom; the constraint condition is that the rising or falling of the working platform does not change the value of the extension distance.

2. The control method of the arm working device according to claim 1, characterized in that: The generating of target state parameters that meet the constraint conditions includes: Constructing a constraint function according to the constraint condition, and generating the target state parameter using the constraint function; Wherein, the constraint function is: ; represents the target cylinder extension of the main boom, L1 represents the length of the auxiliary boom, L2 represents the fully retracted length of the main boom, L3 represents the distance between the third hinge point and the fourth hinge point, and L4 represents the initial cylinder extension of the main boom. Indicates the initial jib luffing angle, Indicates the target jib luffing angle, Indicates the initial main boom luffing angle, Indicates the target main boom luffing angle, Indicates the ground inclination angle.

3. The control method of the arm working device according to claim 1, characterized in that: After generating the target state parameters that meet the constraints, it also includes: Determine whether the target state parameters are all within the corresponding value range; If yes, then enter the step of driving the working platform to rise or fall according to the target state parameter; If not, an error message is generated or the target state parameters that meet the constraint conditions are recalculated.

4. The control method of the arm working device according to claim 1, characterized in that: Driving the working platform to rise or fall according to the target state parameter includes: Synchronously executing the first operation, the second operation and the third operation according to the target state parameter so as to drive the working platform to rise or fall; Among them, the first operation is: controlling the main boom to move to a position corresponding to the target main boom amplitude variation angle; the second operation is: controlling the auxiliary boom to move to a position corresponding to the target auxiliary boom amplitude variation angle; the third operation is: controlling the telescopic cylinder of the main boom to move to a position corresponding to the target cylinder extension amount.

5. The control method of the arm working device according to claim 1, characterized in that: Also includes: Calculating the current height of the working platform according to the size parameters; If the current height of the working platform is equal to the first height, shielding the received ascending instruction; If the current height of the working platform is equal to the second height, the received descending instruction is shielded; wherein the first height is higher than the second height.

6. The control method of the arm working device according to claim 1, characterized in that: Generating target state parameters that meet the constraint conditions, and driving the working platform to rise or fall according to the target state parameters, including: generating a plurality of sets of target state parameters that meet the constraint conditions; The arm-type working device is controlled to move in accordance with each set of target state parameters in turn, so as to drive the working platform to rise or fall.

7. A control system for an arm-type working device, characterized in that: The arm-type working device comprises a turntable, a secondary boom, a connecting seat, a main boom, a flying boom and a working platform, wherein the secondary boom is connected to the turntable via a first hinge point, the connecting seat is connected to the secondary boom via a second hinge point, the main boom is connected to the connecting seat via a third hinge point, the flying boom is connected to the main boom via a fourth hinge point, and the working platform is connected to the flying boom. The control system of the arm-type working device comprises: A parameter determination module, used to determine the size parameters of the arm-type working device; wherein the size parameters include the length of the auxiliary boom, the fully retracted length of the main boom, and the distance between the third hinge point and the fourth hinge point; An initial angle determination module is used to determine the initial cylinder extension, initial main boom luffing angle and initial auxiliary boom luffing angle of the arm working device at the current moment if the vertical lifting mode of the arm working device is started; wherein the cylinder extension is used to describe the extension of the telescopic cylinder of the main boom; an extension distance calculation module, used to calculate the extension distance according to the size parameter, the initial cylinder extension, the initial main boom luffing angle and the initial auxiliary boom luffing angle; wherein the extension distance is the horizontal distance between the fourth hinge point and the turntable; A vertical lifting module is used to generate target state parameters that meet the constraints upon receiving a lifting instruction, and drive the working platform to rise or fall according to the target state parameters; wherein the target state parameters include the target main boom luffing angle, the target auxiliary boom luffing angle and the target cylinder extension of the main boom; the constraint condition is that the rising or falling of the working platform does not change the value of the extension distance.

8. The control system of the arm-type working device according to claim 7, characterized in that: The arm-type working device also includes a ground inclination angle sensor, a secondary boom luffing angle sensor, a main boom luffing angle sensor and a main boom length sensor.

9. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the control method of the arm working device according to any one of claims 1 to 6 are implemented.

10. A storage medium, characterized in that: The storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the control method of the arm working device according to any one of claims 1 to 6 are implemented.

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