Motion control method and device of overhead working truck, controller and overhead working truck
By detecting and calculating the difference in the length of the main arm to control the movement of the aerial working platform, the problems of low motion efficiency and large deviation in the plane in the prior art are solved, and precise movement is achieved without increasing costs.
Patent Information
- Application Number
- CN202411728873.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-28
- Publication Date
- 2025-01-14
AI Technical Summary
The existing high-altitude working platform has problems such as cumbersome operation, low efficiency and large adjustment deviation when moving in the plane, and it is not economical to increase equipment costs to improve flexibility or accuracy.
By detecting one-key motion start signal, obtain the initial and actual main arm angles and lengths, calculate the theoretical main arm length, determine the target difference, control the expansion and contraction of the main arm according to the difference value, and achieve accurate movement without changing the mechanical structure or adding sensor.
It realizes accurate movement of the aerial working platform in the plane without increasing equipment costs, improves control accuracy, reduces deviation, and is suitable for long-distance vertical or horizontal movements.
Smart Images
Figure CN119306165A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of aerial work technology, and in particular to a motion control method, device, controller and aerial work vehicle for an aerial work vehicle. Background Art
[0002] Aerial work platforms are widely used in the fields of construction, bridges, glass curtain wall installation, exterior wall maintenance, etc. These operations usually need to be performed on vertical facades or horizontal surfaces, such as building facade construction, glass curtain wall installation, factory exterior wall painting, etc.
[0003] Aerial work platforms usually have a manual adjustment mode, and the operator needs to manually perform multiple action adjustments (such as lifting, telescoping, horizontal movement, etc.). However, manual multi-action adjustment has the problems of cumbersome operation, low efficiency, and large adjustment deviation. At present, existing aerial work platform solutions attempt to improve the flexibility of the platform by changing the structural design, such as adopting a more complex boom structure or an additional electric system, or adding multiple ranging sensors to keep the work platform moving on a plane, which will increase the manufacturing cost of the equipment.
[0004] Therefore, how to control the aerial work platform to achieve precise movement within a plane without increasing equipment costs is an urgent problem to be solved. Summary of the invention
[0005] The present application provides a motion control method, device, controller and aerial work vehicle for an aerial work vehicle, so as to achieve the effect of realizing precise motion in a plane.
[0006] In a first aspect, the present application provides a motion control method for an aerial work vehicle, comprising:
[0007] When a start signal of a one-key motion is detected, an initial main arm angle and an initial main arm length are obtained;
[0008] During the movement, the actual main arm length and actual main arm angle are obtained;
[0009] Calculate the theoretical main boom length according to the initial main boom angle, the initial main boom length, and the actual main boom angle;
[0010] Determining a target difference between the theoretical main boom length and the actual main boom length;
[0011] The extension and retraction of the main arm is controlled according to the target difference.
[0012] Optionally, controlling the extension and retraction of the main arm according to the target difference includes:
[0013] Determining a target current corresponding to the target difference according to a preset mapping relationship between the deviation and the current and a type of one-key movement, wherein the type of one-key movement includes vertical movement or horizontal movement;
[0014] The extension and retraction of the main arm is controlled according to the target current.
[0015] Optionally, if the one-key motion start signal is a vertical motion start signal, the calculating the theoretical main arm length according to the initial main arm angle, the initial main arm length, and the actual main arm angle includes:
[0016] Determining an initial horizontal projection length according to the initial main arm angle and the initial main arm length;
[0017] The theoretical main boom length is determined according to the initial horizontal projection length and the actual main boom angle.
[0018] Optionally, determining the theoretical main arm length according to the initial horizontal projection length and the actual main arm angle includes:
[0019] The initial horizontal projection length is divided by the cosine value of the actual main arm angle to obtain the theoretical main arm length.
[0020] Optionally, if the one-key motion start signal is a horizontal motion start signal, the initial main arm angle includes an initial main arm rotation angle and an initial main arm lifting angle, and the calculating of the theoretical main arm length according to the initial main arm angle, the initial main arm length, and the actual main arm angle includes:
[0021] Determine a target projection length of the initial main arm length on a target line segment according to the initial main arm rotation angle, the initial main arm lifting angle and the initial main arm length, wherein the target plane is a line segment passing through the main arm hinge point and perpendicular to the horizontal motion plane;
[0022] The theoretical main arm length is determined according to the target projection length, the initial main arm lifting angle, the initial main arm rotation angle, and the actual main arm angle.
[0023] Optionally, determining a target projection length of the initial main arm length on a target line segment according to the initial main arm rotation angle, the initial main arm lifting angle, and the initial main arm length includes:
[0024] The target projection length is obtained by multiplying the initial main arm length by the cosine value of the initial main arm lifting angle and then by the cosine value of the initial main arm rotation angle.
[0025] Optionally, if the actual main arm length is greater than the initial main arm length, the mapping relationship between the deviation and the current includes:
[0026] The target difference is smaller than the first difference, the target current corresponds to the first current, the first difference is smaller than 0, wherein the first current is used to control the extension of the main arm;
[0027] The target difference is greater than the first difference and less than 0, the target current corresponds to a second current, the second current is less than the first current, wherein the second current is used to control the extension of the main arm;
[0028] The target difference is greater than 0 and less than a third difference, and the target current corresponds to the third current, wherein the third current is used to control the extension of the main arm;
[0029] The target difference is greater than the third difference, and the target current corresponds to a fourth current, wherein the fourth current is used to control the retraction of the main arm.
[0030] In a second aspect, the present application also provides a motion control device for an aerial work vehicle, comprising:
[0031] A first acquisition module is used to acquire an initial main arm angle and an initial main arm length when a start signal of a one-key motion is detected;
[0032] The second acquisition module is used to acquire the actual main arm length and the actual main arm angle during the movement;
[0033] A first calculation module, used for calculating a theoretical main boom length according to the initial main boom angle, the initial main boom length, and the actual main boom angle;
[0034] A second calculation module is used to determine a target difference between the theoretical main boom length and the actual main boom length;
[0035] A control module is used to control the extension and retraction of the main arm according to the target difference.
[0036] In a third aspect, the present application further provides a controller, including: a memory, a processor;
[0037] The memory stores computer-executable instructions;
[0038] The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method as described in any one of the first aspects.
[0039] In a fourth aspect, the present application further provides an aerial work vehicle, comprising a controller, wherein the controller is used to execute the method as described in any one of the first aspects.
[0040] In a fifth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above first aspect and / or various possible implementations of the first aspect.
[0041] In a sixth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementations of the first aspect.
[0042] The present application provides a motion control method, device, controller and aerial work vehicle for an aerial work vehicle, the method comprising: obtaining an initial main arm angle and an initial main arm length when a one-key motion start signal is detected; obtaining an actual main arm length and an actual main arm angle during motion; calculating a theoretical main arm length according to the initial main arm angle, the initial main arm length and the actual main arm angle; determining a target difference between the theoretical main arm length and the actual main arm length; and controlling the extension and retraction of the main arm according to the target difference. By controlling the main arm length with one key according to the theoretical main arm length, the control accuracy is improved, the deviation is smaller, and the effect of long-distance vertical motion or horizontal motion can be achieved, and no mechanical structure change or additional sensors need to be added. BRIEF DESCRIPTION OF THE DRAWINGS
[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.
[0044] Figure 1 Schematic diagram of application scenarios provided for this application;
[0045] Figure 2 Schematic diagram of the motion control method for the aerial work vehicle provided in this application Figure 1 ;
[0046] Figure 3 Schematic diagram of the motion control method for the aerial work vehicle provided in this application Figure 2 ;
[0047] Figure 4 Schematic diagram of the mathematical model of vertical motion provided for this application;
[0048] Figure 5 Schematic diagram of the mapping relationship between deviation and current provided in this application Figure 1 ;
[0049] Figure 6 Schematic diagram of the mapping relationship between deviation and current provided in this application Figure 2 ;
[0050] Figure 7Schematic diagram of the motion control method for the aerial work vehicle provided in this application Figure 3 ;
[0051] Figure 8 Schematic diagram of the mathematical model of horizontal motion established based on the top view of the device at the beginning provided in this application Figure 1 ;
[0052] Fig. 9 Schematic diagram of the mathematical model of horizontal motion established based on the top view of the device at the beginning provided in this application Figure 2 ;
[0053] Fig.10 A schematic diagram of the structure of the motion control device for the aerial work vehicle provided in this application;
[0054] Fig.11 A schematic diagram of the structure of the electronic device provided in this application.
[0055] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION
[0056] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.
[0057] Figure 1 The application scenario diagram provided for this application is as follows: Figure 1 As shown, the present application can be applied to the vertical and horizontal movements of aerial work vehicles. Figure 1 In Figure a, the aerial work vehicle moves vertically in a vertical plane. Figure 1 In Figure b, the aerial work vehicle moves horizontally in a horizontal plane.
[0058] Aerial work vehicles need to manually control the boom rotation to adjust the platform position, which is a cumbersome process and difficult to accurately control. The boom rotation angle cannot be accurately controlled automatically, which can easily lead to a large deviation in the horizontal position of the platform, affecting the operation accuracy, especially in scenarios where movement within a plane is required.
[0059] In view of the above problems, the present application provides a control method, where the user only needs to click a one-touch movement button to achieve horizontal movement or vertical movement, and automatically control the length of the main arm of the aerial work vehicle during the movement process, so that the movement of the work platform is on a plane. During the movement process, the actual length of the main arm is controlled by calculating the deviation between the theoretical length and the actual length of the main arm in real time.
[0060] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.
[0061] Figure 2 Schematic diagram of the motion control method for the aerial work vehicle provided in this application Figure 1 ,like Figure 2 As shown, the method includes:
[0062] S101. When a one-key motion start signal is detected, an initial main arm angle and an initial main arm length are obtained.
[0063] In this step, there is a one-touch start button at the position where the user can operate, and the user can choose to start a one-touch vertical movement or a one-touch horizontal movement. The vertical movement is divided into ascending movement and descending movement, corresponding to different operation buttons. The horizontal movement is also divided into leftward movement or rightward movement, corresponding to different operation buttons.
[0064] When one-key motion start is detected, the initial main arm angle and initial main arm length are obtained. The initial main arm angle includes the initial main arm rotation angle and the initial main arm lifting angle. Among them, the initial main arm lifting angle is used to indicate the angle of the main arm relative to the horizontal plane; the initial main arm rotation angle indicates the angle between the main arm line and the vertical arm line in the initial state in the top view.
[0065] During horizontal movement, both the initial main arm rotation angle and the initial main arm lifting angle can be used, while during vertical movement, the main arm rotation angle remains unchanged and only the initial main arm lifting angle is used.
[0066] S102. During the movement, obtain the actual main arm length and the actual main arm angle.
[0067] The machine moves in the one-key movement direction selected by the user, and the actual main arm length and actual main arm angle are obtained in real time during the movement.
[0068] S103, calculating a theoretical main boom length according to an initial main boom angle, an initial main boom length, and an actual main boom angle.
[0069] A mathematical model is constructed in advance according to horizontal movement or vertical movement, and the mathematical model represents the relationship between the initial main boom angle, the initial main boom length, the actual main boom angle and the theoretical main boom length. Therefore, according to the constructed mathematical model and the actual main boom angle, the theoretical main boom length at the angle can be determined.
[0070] S104: Determine a target difference between a theoretical main boom length and an actual main boom length.
[0071] With the theoretical main boom length as the target, the main boom can be controlled to be extended and retracted. In a specific implementation, a target difference between the current actual main boom length and the theoretical main boom length is determined, and the main boom is controlled according to the target difference.
[0072] S105. Control the extension and retraction of the main arm according to the target difference.
[0073] In one implementation, the target difference is controlled within a preset range, such as an interval of -10 cm to 10 cm.
[0074] In another implementation, the mapping relationship between the deviation and the current is preset, and different deviations correspond to different currents. For example, when the actual main arm length is less than the theoretical main arm length and the deviation is large, it is necessary to increase the current to speed up the extension of the main arm. The mapping relationship between the deviation and the current corresponding to different one-key motion types is also different, that is, the mapping relationship between the deviation and the current for horizontal motion and vertical motion is different.
[0075] In vertical movement, the mapping relationship between the deviation and the current corresponding to the upward movement and the downward movement is also different.
[0076] In horizontal motion, the mapping relationship between the deviation and the current corresponding to the leftward motion and the rightward motion is also different.
[0077] According to the target difference, the corresponding target current is searched, and the target current is loaded into the corresponding telescopic mechanism to control the extension and retraction of the main arm, wherein the corresponding mechanisms for extension and retraction of the main arm are different. In a specific vertical movement mode, if the actual main arm length is greater than the initial main arm length, it means that the main arm is rising. When the target difference is less than the first difference, the target current corresponds to the first current, controls the extension of the main arm, and the first difference is less than 0; when the target difference is greater than the first difference and less than 0, it means that the main arm is within the threshold range, and the target current corresponds to the second current, controls the extension of the main arm, but the second current is reduced compared to the first current, and the extension speed can be reduced; when the target difference is greater than 0 and less than the third difference, the extension amount of the main arm is already within the threshold range, and the target current corresponds to the third current, and a smaller current extension speed can be maintained; when the target difference is greater than the third difference, it is necessary to control the retraction of the main arm, and the target current corresponds to the fourth current. The magnitude of the fourth current is used to control the retraction speed of the main arm, and there is no restriction here.
[0078] The present embodiment provides a motion control method for an aerial work vehicle, the method comprising: obtaining an initial main arm angle and an initial main arm length when a one-key motion start signal is detected; obtaining an actual main arm length and an actual main arm angle during motion; calculating a theoretical main arm length according to the initial main arm angle, the initial main arm length, and the actual main arm angle; determining a target difference between the theoretical main arm length and the actual main arm length; and controlling the extension and retraction of the main arm according to the target difference. By controlling the main arm length with one key according to the theoretical main arm length, the control accuracy is improved, the deviation is smaller, and the effect of long-distance vertical motion or horizontal motion can be achieved, and no mechanical structure change or additional sensors need to be added.
[0079] Based on the above method embodiment 1, if the one-key movement is a vertical movement, the following embodiment introduces a specific method for calculating the theoretical main arm length.
[0080] Figure 3 Schematic diagram of the motion control method for the aerial work vehicle provided in this application Figure 2 ,like Figure 3 As shown, the method includes:
[0081] S1031. Determine an initial horizontal projection length according to an initial main arm angle and an initial main arm length.
[0082] The initial horizontal projection length is determined by multiplying the initial main arm length by the cosine value of the initial main arm angle. Figure 4 As shown, Figure 4 A schematic diagram of a mathematical model of vertical motion provided in this application, wherein the initial main arm length is L, the initial main arm angle is α, and X is the initial horizontal projection length, then X=Lcosα.
[0083] S1032. Determine the theoretical main boom length according to the initial horizontal projection length and the actual main boom angle.
[0084] In one implementation, the initial horizontal projection length is divided by the cosine value of the actual main arm angle to determine the theoretical main arm length. The actual main arm angle is α+△α. Figure 2 It can be seen that the theoretical main arm length L+△L=Xcos(α+△α).
[0085] The mathematical model constructed in this embodiment can determine the theoretical length of the main arm during vertical movement.
[0086] The following example introduces the specific control process of the main arm moving from point A to point B during vertical movement.
[0087] The mathematical model established is as follows Figure 2 As shown. Among them, origin: the hinge point of the main arm and the turntable, target point: the hinge point of the main arm and the flying arm, A: starting position, B: stop position, α: the starting angle of the main arm relative to the ground, △α: the rising angle of the main arm, L: the starting amount of the arm length, △L: the change in arm length, Y: the starting vertical height, △Y: the rising vertical height, X: the initial horizontal projection length.
[0088] At the beginning of each one-key vertical movement, the initial horizontal projection length is determined based on the main arm angle and main arm length of the device. Figure 2 At point A, X=Lcosα.
[0089] During one-button vertical motion operation, Figure 2 Point B is used to calculate the theoretical main arm length L+△L=X / cos(α+△α). Compare L+△L with the actual main arm length L' and control the telescopic action of the main arm to maintain vertical motion.
[0090] Controlling the telescopic movement of the main arm to maintain vertical motion mainly includes the following steps:
[0091] 1. Determine the current parameters
[0092] Figure 5 Schematic diagram of the mapping relationship between deviation and current provided in this application Figure 1 ,like Figure 5 As shown, the main arm extends the maximum current I exmax 、Minimum current I of main arm extension exmin 、The main arm extends out of bounds current coefficient λ ex , Maximum current I when the main arm is retracted remax , Minimum current I for main arm retraction remin 、The main arm retracts the cross-border current coefficient λ re , the above parameters need to be pre-set according to actual conditions.
[0093] 2. Calculate the target difference L diff
[0094] L diff =L'-(L+△L).
[0095] 3. Adjust the main arm extension current
[0096] During the rising process of the main boom, if the telescopic action is not controlled, the actual main boom length gradually becomes shorter than the theoretical main boom length, and the automatic telescopic action requires more main boom extension actions; during the descending process of the main boom, if the telescopic action is not controlled, the actual main boom length gradually becomes longer than the theoretical main boom length, and the automatic telescopic action requires more main boom retraction actions.
[0097] When the main arm is luffing upward, in order to ensure dynamic verticality during movement, the corresponding automatic telescopic control method is as follows:
[0098] exist Figure 5 In, L t : One-key vertical main arm length deviation threshold, point e: I exmax , point f: λ re (I remax -I remin )+I remin , g-point: I exmin .
[0099] That is, in L diff <-L t When the current is automatically expanded to I exmax The main arm is extended, and the main arm is retracted and does not move;
[0100] In-L t <L diff When <0, the automatic extension and retraction is to adjust the main arm extension current according to the main arm length deviation, and the main arm will not move when it is retracted;
[0101] At 0 <L diff <L t When the current is automatically expanded to I exmin The main arm is extended, and the main arm is retracted and does not move;
[0102] In L diff >L t When the current is automatically expanded to λ re (I remax -I remin )+I remin The main arm is retracted and the main arm is extended and does not move.
[0103] In the above manner, during the main arm rising process, when the current is less than the deviation threshold, a larger current is applied to extend the main arm; when the deviation threshold is within the range of 0, a small current is used to adjust the extension amount of the main arm; when the current is greater than the deviation threshold, the extension is no longer performed and the main arm is retracted instead, so that the main arm is within the deviation threshold, so that the main arm can maintain vertical rising movement.
[0104] When the main arm is luffing downward, in order to ensure dynamic verticality during movement, the corresponding automatic telescopic control method is as follows.
[0105] Figure 6 Schematic diagram of the mapping relationship between deviation and current provided in this application Figure 2 ,exist Figure 6 In, L t : One-key vertical main arm length deviation threshold, point e: I remax , point f: λ ex (I exmax -I exmin )+I exmin , g-point: I remin .
[0106] That is, in L diff <-L t When the current is automatically expanded to λ re (I remax -I remin )+I remin The main arm is extended, and the main arm is retracted and does not move;
[0107] In-L t <L diff <0, automatically expands and contracts the current according to I remin The main arm is retracted, and the main arm is extended and does not move;
[0108] At 0 <L diff <L t When the main arm is extended, the main arm will automatically retract and adjust the main arm retraction current according to the main arm length deviation, and the main arm will not move when extended;
[0109] In L diff >L t When the current is automatically expanded to I remax The main arm is retracted and the main arm is extended and does not move.
[0110] The main arm can be controlled to move vertically downward in the above manner.
[0111] It should be noted that the above vertical motion control method has the following conditions:
[0112] (1) When the main arm exceeds a certain height angle, the function becomes invalid.
[0113] Since the higher the main arm lifting angle is, the greater the theoretical extension of the main arm length is, there may be a situation where the main arm length is insufficient and the speed of the main arm extension and retraction action cannot keep up. Therefore, if the preset angle is exceeded, the vertical control method cannot be performed.
[0114] (2) When the main arm moves at a negative angle, the function is invalid.
[0115] A negative angle means that the main boom is below the horizontal line. When the main boom is luffing at a negative angle, the actual main boom length gradually becomes longer than the theoretical main boom length. When the main boom moves at a fully retracted position, the boom length deviation will gradually increase but cannot be adjusted.
[0116] If the one-key motion is a horizontal motion, the following embodiment introduces a specific method for calculating the theoretical main arm length.
[0117] Figure 7 Schematic diagram of the motion control method for the aerial work vehicle provided in this application Figure 3 ,like Figure 7 As shown, the method includes:
[0118] S1033. Determine a target projection length of the initial main arm length on a target line segment according to the initial main arm rotation angle, the initial main arm lifting angle, and the initial main arm length, wherein the target line segment is a line segment passing through the main arm hinge point and perpendicular to the horizontal motion plane.
[0119] During horizontal movement, it is necessary to consider the height to which the main arm is lifted and the angle to which the main arm is rotated, both of which can affect the extension length of the main arm.
[0120] The target projection length is obtained by multiplying the initial main arm length by the cosine value of the initial main arm lifting angle and then by the cosine value of the initial main arm rotation angle.
[0121] It should be noted that the target line segment is a line segment passing through the main arm hinge point and perpendicular to the horizontal motion plane. When the main arm is at different starting positions, the length of the projection of the main arm on the target line segment is different.
[0122] S1034. Determine a theoretical main arm length according to the target projection length, the initial main arm lifting angle, the initial main arm rotation angle, and the actual main arm angle.
[0123] The distance of the current position point relative to the initial point is determined according to the initial main arm lifting angle, the initial main arm rotation angle and the actual main arm angle. The initial point refers to the intersection of the main arm projection line on the target line segment and the horizontal motion plane.
[0124] In the method of this embodiment, during horizontal movement, the target projection length is first determined, and then the theoretical main arm length is determined based on the target projection length, and the main arm is controlled within the theoretical main arm length range to achieve precise horizontal control.
[0125] The following is a specific introduction using an example.
[0126] Figure 8 Schematic diagram of the mathematical model of horizontal motion established based on the top view of the device at the beginning provided in this application Figure 1 ,like Figure 8 As shown, the present application takes clockwise as the positive angle direction. Wherein, O: the hinge point between the main arm and the turntable, C: the hinge point between the main arm and the platform, -β0 ′ : The absolute angle of platform swing, Figure 8 The platform is perpendicular to the boom as the absolute angle zero point of the platform swing; β0 ′ : The rotation angle of the turntable. The current direction of the platform frame is used as the moving path, and the perpendicular line between point O and the moving path is the zero point of the turntable rotation angle.
[0127] Fig. 9 Schematic diagram of the mathematical model of horizontal motion established based on the top view of the device at the beginning provided in this application Figure 2 , a mathematical model is established based on the three-dimensional state of the equipment during operation. Fig. 9 As shown. To prevent the aerial work vehicle from tipping over, the turntable and platform railing will generally alarm when the tilt angle exceeds 5°, and the impact of this angle on subsequent calculations can be ignored. Therefore, this solution assumes that the turntable and platform railing are both in a horizontal state.
[0128] Wherein: plane OAB: boom moving plane; plane OA'B': horizontal plane; AB: platform frame moving path; L: current boom length; L0: perpendicular line of point O relative to the moving path, i.e., the shortest boom length in the moving path; L ′ : The projection of L on the horizontal plane; L ′ 0: Projection of L0 on the horizontal plane; α: Angle of the main arm; β0: Rotation angle of the turntable β0 ′ The angle of the face OAB.
[0129] At the beginning of a one-button horizontal movement, basic parameters are determined.
[0130] According to the absolute angle of platform swing -β0 ′ Determine the turntable rotation angle β0 of the current moving path ′ .
[0131] In △OC'C, ∠OC'C=90°, then, L ′ =Lcosα;
[0132] In △OA'C', ∠OA'C'=90°, then, L ′ 0=L ′ cosβ0 ′ =Lcosαcosβ0 ′ ;
[0133] In △OC'C, ∠OC'C=90°, then H=Lsinα;
[0134] In △OA'A, ∠OA'A=90°, then:
[0135]
[0136] During one-button horizontal motion operation, the theoretical values of the main arm length, main arm angle, and platform swing angle are determined according to basic parameters, and the theoretical values are compared with the actual values for automatic adjustment and control.
[0137] like Fig. 9 , when one-key horizontal action is performed, such as moving to point B, at this time, X: the distance between platform frame B and point A; the turntable rotation angle is updated to β0 ′ +Δβ ′ ; β0+Δβ: turntable rotation angle β0 ′ +Δβ ′ Angle on surface OAB; L+ΔL: theoretical arm length when moving to point B; α+Δα: theoretical main arm angle when moving to point B.
[0138] During the one-key horizontal movement, B is used as the point on the extension line of AC, and B' is used as the point on the extension line of A'C'.
[0139] In △OA'B', ∠OA'B'=90°, so X=L ′ 0tan(β0 ′ +Δβ ′ )=Lcosαcosβ0 ′ tan(β0 ′ +Δβ ′ );
[0140] In △OAB, ∠OAB=90°, then
[0141] In △OB'B, ∠OB'B=90°, then
[0142] Therefore, according to the calculated L0 value and X value, the theoretical main boom length can be determined. L0 represents the target projection length of the initial main boom length on the target line segment. Compare the theoretical boom length L+△L with the actual main boom length L S , control the extension and retraction of the main arm to maintain horizontal movement. The control method is as follows:
[0143] First calculate the target difference L of the main arm length diff :L diff =L S -(L+△L).
[0144] In β0′ >0, the mapping relationship between deviation and current is as follows Figure 5 As shown. In β0 ′ <0, the mapping relationship between deviation and current is as follows Figure 6 shown.
[0145] Since when the turntable rotates clockwise, if β0 ′ >0, indicating that at this time, it is far away from the vertical line L0 of the relative moving path of point O. If the telescopic action is not controlled, the actual main arm length gradually becomes shorter than the theoretical main arm length, and the automatic telescopic action requires more main arm extension action; if β0 ′ <0, indicating that at this time, the vertical line L0 of the relative moving path is close to point O. If the telescopic action is not controlled, the actual main arm length gradually becomes longer than the theoretical main arm length, and automatic telescopic action requires more main arm retraction action.
[0146] When the turntable rotates counterclockwise, if β0 ′ >0, indicating that at this time, the vertical line L0 of the relative moving path close to point O is approached. If the telescopic action is not controlled, the actual main arm length gradually becomes longer than the theoretical main arm length, and the automatic telescopic action requires more main arm retraction action; if β0 ′ <0, indicating that at this time, it is far away from the vertical line L0 of the relative moving path of point O. If the telescopic action is not controlled, the actual main arm length gradually becomes shorter than the theoretical main arm length, and automatic telescopic action requires more main arm extension action.
[0147] Taking the clockwise rotation of the turntable as an example, when β0 ′ >0, in order to ensure the dynamic level during exercise.
[0148] Figure 5 In, L t : One-key horizontal main arm length deviation threshold, point e: I exmax , point f: λ re (I remax -I remin )+I remin , g-point: I exmin .
[0149] That is, in L diff <-L t When the current is automatically expanded to I exmax The main arm is extended, and the main arm is retracted and does not move;
[0150] In-L t <L diff <0, automatically expands and contracts to the current according to (|L diff | / L t )(I exmax -I exmin )+I exminThe main arm is extended, and the main arm is retracted and does not move;
[0151] At 0 <L diff <L t When the current is automatically expanded to I exmin The main arm is extended, and the main arm is retracted and does not move;
[0152] In L diff >L t When the current is automatically expanded to λ re (I remax -I remin )+I remin The main arm is retracted and the main arm is extended and does not move.
[0153] When β0 ′ <0, in order to ensure the dynamic level during the movement, the corresponding automatic telescopic control method is as follows Figure 6 shown.
[0154] Figure 6 In, L t : One-key horizontal main arm length deviation threshold, point e: I remax , point f: λ ex (I exmax -I exmin )+I exmin , g-point: I remin .
[0155] That is, in L diff <-L t When the current is automatically expanded to λ re (I remax -I remin )+I remin The main arm is extended, and the main arm is retracted and does not move;
[0156] In-L t <L diff <0, automatically expands and contracts the current according to I remin The main arm is retracted, and the main arm is extended and does not move;
[0157] At 0 <L diff <L t When the current is automatically expanded and contracted (|L diff | / L t )(I remax -I remin )+I remin The main arm is retracted, and the main arm is extended and does not move;
[0158] In L diff >L t When the current is automatically expanded to I remax The main arm is retracted and the main arm is extended and does not move.
[0159] It should be noted that the above-mentioned horizontal motion control method has the following usage conditions:
[0160] 1) When the theoretical arm length is less than the fully retracted arm length or greater than the fully extended arm length, the function is invalid.
[0161] 2) When the absolute value of the platform swing angle exceeds a certain angle, the greater the extension and retraction of the theoretical main arm length, the greater the speed of the main arm extension and retraction action. If the speed cannot keep up or the arm length is insufficient, the function will be invalid.
[0162] The automatic adjustment method of the main arm angle and platform swing angle is similar to the automatic adjustment of the arm length function. The automatic adjustment of the main arm angle function compares the theoretical main arm angle α+Δα with the actual main arm angle α S , control the luffing action of the main arm to maintain horizontal movement.
[0163] Automatically adjust the platform swing angle function. When the one-key level function is enabled, the platform swing absolute angle -β0 ′ Set it as the relative zero point, and control the swinging motion of the platform frame to maintain horizontal motion by comparing the theoretical platform swing relative angle with the actual platform swing relative angle.
[0164] This application can start the one-key horizontal action without any preparation work, and the starting direction of the platform frame is used as the one-key horizontal movement path direction. The one-key horizontal automatic adjustment function of this solution can keep the deviation from the vertical surface within ±100mm measured on the machine.
[0165] Fig.10 The schematic diagram of the structure of the motion control device for the aerial work vehicle provided in this application is as follows: Fig.10 As shown, the motion control device 90 for the aerial work vehicle provided in this embodiment:
[0166] The first acquisition module 901 is used to acquire the initial main arm angle and the initial main arm length when a start signal of a one-key motion is detected;
[0167] The second acquisition module 902 is used to acquire the actual main arm length and the actual main arm angle during the movement;
[0168] A first calculation module 903, used to calculate a theoretical main boom length according to the initial main boom angle, the initial main boom length, and the actual main boom angle;
[0169] A second calculation module 904 is used to determine a target difference between the theoretical main boom length and the actual main boom length;
[0170] The control module 905 is used to control the extension and retraction of the main arm according to the target difference.
[0171] Optionally, the control module 905 is specifically used for:
[0172] Determining a target current corresponding to the target difference according to a preset mapping relationship between the deviation and the current and a type of one-key movement, wherein the type of one-key movement includes vertical movement or horizontal movement;
[0173] The extension and retraction of the main arm is controlled according to the target current.
[0174] Optionally, if the one-key motion start signal is a vertical motion start signal, the first calculation module 903 is specifically configured to:
[0175] Determining an initial horizontal projection length according to the initial main arm angle and the initial main arm length;
[0176] The theoretical main boom length is determined according to the initial horizontal projection length and the actual main boom angle.
[0177] Optionally, the first calculation module 903 is further used for:
[0178] The initial horizontal projection length is divided by the cosine value of the actual main arm angle to obtain the theoretical main arm length.
[0179] Optionally, if the one-key motion start signal is a horizontal motion start signal, the first calculation module 903 is specifically configured to:
[0180] Determine a target projection length of the initial main arm length on a target line segment according to the initial main arm rotation angle, the initial main arm lifting angle and the initial main arm length, wherein the target line segment is a line segment passing through the main arm hinge point and perpendicular to the horizontal motion plane;
[0181] The theoretical main arm length is determined according to the target projection length, the initial main arm lifting angle, the initial main arm rotation angle, and the actual main arm angle.
[0182] Optionally, the first calculation module 903 is further used for:
[0183] The target projection length is obtained by multiplying the initial main arm length by the cosine value of the initial main arm lifting angle and then by the cosine value of the initial main arm rotation angle.
[0184] Optionally, if the actual main arm length is greater than the initial main arm length, the mapping relationship between the deviation and the current includes:
[0185] The target difference is smaller than the first difference, the target current corresponds to the first current, the first difference is smaller than 0, wherein the first current is used to control the extension of the main arm;
[0186] The target difference is greater than the first difference and less than 0, the target current corresponds to a second current, the second current is less than the first current, wherein the second current is used to control the extension of the main arm;
[0187] The target difference is greater than 0 and less than a third difference, and the target current corresponds to the third current, wherein the third current is used to control the extension of the main arm;
[0188] The target difference is greater than the third difference, the target current corresponds to a fourth current, the fourth current is greater than the third current, and the fourth current is used to control the retraction of the main arm.
[0189] The motion control device for the aerial work vehicle provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.
[0190] Fig.11 This is a schematic diagram of the structure of the electronic device provided in this application, which may be a controller of an aerial work vehicle. Fig.11 As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.
[0191] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.
[0192] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.
[0193] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.
[0194] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.
[0195] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.
[0196] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.
[0197] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.
[0198] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.
[0199] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.
[0200] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.
[0201] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0202] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
[0203] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.
[0204] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.
[0205] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.
Claims
1. A motion control method for an aerial work vehicle, characterized in that: include: When a start signal of a one-key motion is detected, an initial main arm angle and an initial main arm length are obtained; During the movement, the actual main arm length and actual main arm angle are obtained; Calculate the theoretical main boom length according to the initial main boom angle, the initial main boom length, and the actual main boom angle; Determining a target difference between the theoretical main boom length and the actual main boom length; The extension and retraction of the main arm is controlled according to the target difference.
2. The method according to claim 1, characterized in that The step of controlling the extension and retraction of the main arm according to the target difference comprises: Determining a target current corresponding to the target difference according to a preset mapping relationship between the deviation and the current and a type of one-key movement, wherein the type of one-key movement includes vertical movement or horizontal movement; The extension and retraction of the main arm is controlled according to the target current.
3. The method according to claim 1 or 2, characterized in that: If the one-key motion start signal is a vertical motion start signal, the calculating of the theoretical main arm length according to the initial main arm angle, the initial main arm length, and the actual main arm angle includes: Determining an initial horizontal projection length according to the initial main arm angle and the initial main arm length; The theoretical main boom length is determined according to the initial horizontal projection length and the actual main boom angle.
4. The method according to claim 3, characterized in that Determining the theoretical main boom length according to the initial horizontal projection length and the actual main boom angle includes: The initial horizontal projection length is divided by the cosine value of the actual main arm angle to obtain the theoretical main arm length.
5. The method according to claim 1 or 2, characterized in that: If the one-key motion start signal is a horizontal motion start signal, the initial main arm angle includes an initial main arm rotation angle and an initial main arm lifting angle, and the calculating of the theoretical main arm length according to the initial main arm angle, the initial main arm length, and the actual main arm angle includes: Determine a target projection length of the initial main arm length on a target line segment according to the initial main arm rotation angle, the initial main arm lifting angle and the initial main arm length, wherein the target line segment is a line segment passing through the main arm hinge point and perpendicular to the horizontal motion plane; The theoretical main arm length is determined according to the target projection length, the initial main arm lifting angle, the initial main arm rotation angle, and the actual main arm angle.
6. The method according to claim 5, characterized in that The step of determining a target projection length of the initial main arm length on a target line segment according to the initial main arm rotation angle, the initial main arm lifting angle, and the initial main arm length comprises: The target projection length is obtained by multiplying the initial main arm length by the cosine value of the initial main arm lifting angle and then by the cosine value of the initial main arm rotation angle.
7. The method according to claim 3, characterized in that If the actual main arm length is greater than the initial main arm length, the mapping relationship between the deviation and the current includes: The target difference is smaller than the first difference, the target current corresponds to the first current, the first difference is smaller than 0, wherein the first current is used to control the extension of the main arm; The target difference is greater than the first difference and less than 0, the target current corresponds to a second current, the second current is less than the first current, wherein the second current is used to control the extension of the main arm; The target difference is greater than 0 and less than a third difference, and the target current corresponds to the third current, wherein the third current is used to control the extension of the main arm; The target difference is greater than the third difference, and the target current corresponds to a fourth current, wherein the fourth current is used to control the retraction of the main arm.
8. A motion control device for an aerial work vehicle, characterized in that: include: A first acquisition module is used to acquire an initial main arm angle and an initial main arm length when a start signal of a one-key motion is detected; The second acquisition module is used to acquire the actual main arm length and the actual main arm angle during the movement; A first calculation module, used for calculating a theoretical main boom length according to the initial main boom angle, the initial main boom length, and the actual main boom angle; A second calculation module is used to determine a target difference between the theoretical main boom length and the actual main boom length; A control module is used to control the extension and retraction of the main arm according to the target difference.
9. A controller, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.
10. An aerial work vehicle, characterized in that: The method comprises a controller, wherein the controller is used to execute the method according to any one of claims 1 to 7.