Insulator cleaning overhead working truck control system and control method

Abstract

The invention relates to a control system and a control method for an insulator cleaning overhead working truck. The control system and the control method are mainly applied to dirt cleaning operation of post insulators in high-voltage and ultrahigh-voltage transformer substations. The system comprises an arm support controller used for controlling an arm support to act, a cleaning controller used for controlling a cleaning mechanism to act, a cleaning mechanism angle sensor, a control panel, a straight extending arm length sensor, a straight extending arm elevation angle sensor, a rotary table rotation angle sensor, a wireless remote control transmitter and a wireless remote control receiver. The rotary table rotation angle sensor, the arm support controller, the cleaning controller and the wireless remote control receiver are all connected with the CAN1 channel, the cleaning mechanism angle sensor and the cleaning controller are both connected with the CAN2 channel, and the wireless remote control receiver is in wireless connection with the wireless remote control transmitter. The straight extending arm length sensor and the straight extending arm elevation angle sensor are both in circuit connection with the arm support controller, and the arm support controller is in circuit connection with the control panel.

Description

Technical Field

[0001] The invention relates to a control system and a control method for an insulator cleaning aerial work vehicle, which is mainly used for the dirty cleaning operation of support insulators in high-voltage and ultra-high-voltage substations. Background Art

[0002] Insulator contamination has always been one of the important factors affecting the safe operation of power transmission and distribution lines. Severely contaminated insulators may cause surface discharge flashover accidents, leading to line failures and affecting the safety and stability of electricity use. Post insulators in high-voltage and ultra-high-voltage substations need to be decontaminated regularly. At present, local manual climbing operations are usually used for cleaning and decontamination. Manual climbing operations are characterized by high danger, high labor intensity, long operation time, and unclean cleaning. For this reason, our company has developed an insulator cleaning aerial work vehicle as disclosed in the patent document with application number 202410348658.5.

[0003] In view of this, and the insulator string cleaning robot disclosed in the patent document with application number 201811521232.6, the operation of the cleaning robot in the above-mentioned prior art requires the cleaning robot to be raised to the appropriate position of the insulator string to be cleaned by an aerial work vehicle or special tools, and the insulator string cannot be cleaned independently by the cleaning robot. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art and to provide a control system and a control method for an insulator cleaning aerial work vehicle with a reasonable structural design.

[0005] The technical solution adopted by the present invention to solve the above-mentioned problem is: the control system of the insulator cleaning aerial work vehicle has the following structural characteristics: it includes an arm controller for controlling the action of the arm, a cleaning controller for controlling the action of the cleaning mechanism, a cleaning mechanism angle sensor, a control panel, a straight arm length sensor, a straight arm elevation angle sensor, a turntable rotation angle sensor, a wireless remote control transmitter and a wireless remote control receiver.

[0006] The turntable rotation angle sensor, boom controller, cleaning controller and wireless remote control receiver are all connected to the CAN1 channel, the cleaning mechanism angle sensor and cleaning controller are all connected to the CAN2 channel, the wireless remote control receiver is wirelessly connected to the wireless remote control transmitter, the straight arm length sensor and the straight arm elevation angle sensor are all connected to the boom controller circuit, and the boom controller is connected to the control panel circuit.

[0007] The wireless remote control receiver receives the operation information sent by the wireless remote control transmitter through the wireless communication frequency band, and sends the received information to the CAN1 channel. The boom controller is used to receive the straight arm length sensor signal, the straight arm elevation angle sensor signal and read the information on the CAN1 channel, and control the boom movement and give feedback information according to the information. The cleaning controller is used to receive the cleaning mechanism angle sensor and the control panel signal, control the cleaning mechanism to work according to the signal, and control the angle between the cleaning mechanism and the horizontal plane to be the cleaning angle value θ.

[0008] Furthermore, the insulator cleaning aerial work vehicle includes a vehicle chassis, a subframe, a leg, a boom, a cleaning mechanism, a cleaning control box and a boom control box, the boom includes a turntable, a folding arm and a straight arm, the subframe is arranged on the vehicle chassis, the leg and the turntable are both arranged on the subframe, the folding arm is arranged on the turntable, the straight arm is arranged on the folding arm, the cleaning mechanism and the cleaning control box are both arranged on the straight arm through a bracket, and the boom control box is arranged on the turntable.

[0009] Furthermore, the arm controller and the wireless remote control receiver are arranged in an arm control box, and the cleaning controller is arranged in a cleaning control box.

[0010] Furthermore, the cleaning mechanism angle sensor is arranged on a bracket for installing the cleaning mechanism and the cleaning control box, the control panel is arranged at the tail of the sub-frame, the straight arm length sensor and the straight arm elevation angle sensor are both arranged on the straight arm, and the turntable rotation angle sensor is arranged on the turntable.

[0011] Furthermore, the cleaning angle θ has a value range of -60° to 60°.

[0012] Furthermore, the control panel and the wireless remote control transmitter are both provided with emergency stop buttons, and when the emergency stop button is pressed, all operations of the insulator cleaning aerial work vehicle can be stopped.

[0013] Furthermore, another technical purpose of the present invention is to provide a control method for an insulator cleaning aerial work vehicle.

[0014] The above technical objectives of the present invention are achieved through the following technical solutions.

[0015] A control method for an insulator cleaning aerial work vehicle is implemented by using the above-mentioned insulator cleaning aerial work vehicle control system, and its characteristics are: the control method for the insulator cleaning aerial work vehicle includes a boom control program and a cleaning control program, and the boom control program is as follows: After the arm controller is powered on, the CAN1 channel is initialized first, the baud rate is set to 125K, the ID of the received CAN frame is 16#001, 16#183, 16#188, 16#388, the format is standard frame, the length is 8 bytes, the data is saved in the address, and the receiving mode is non-queue receiving. Among them, 16#001 is the data frame of the cleaning controller, 16#183 is the data frame of the turntable rotation angle sensor, 16#188 and 16#388 are the data frames of the wireless remote control receiver, the input and output channels are initialized, the switch input channel is set to high / low effective control, and the output frequency, dither frequency, internal resistance, maximum output current and minimum output current of the PWM output channel are set.

[0016] Receive the CAN1 channel information of the wireless remote control receiver, whose ID is 16#188, 16#388, and parse the CAN1 channel into the operation signal on the wireless remote control transmitter.

[0017] Detect the vertical arm elevation sensor signal, vertical arm length sensor signal, and turntable rotation angle sensor signal. The turntable rotation angle sensor is a CAN bus type. The angle value of the turntable rotation angle sensor can be directly read from the 2 bytes on the CAN frame with ID 16#183 on the CAN1 channel. The vertical arm elevation angle value α and the vertical arm length value L need to be converted from the 0-5 volt voltage signal to the current vertical arm elevation angle value α and the vertical arm length value L by calculation. The calculation method is as follows: The vertical arm elevation angle value α = (the maximum vertical arm elevation angle - the minimum vertical arm elevation angle) × (the digital value of the vertical arm elevation angle - the minimum digital value of the vertical arm elevation angle) / (the maximum digital value of the vertical arm elevation angle - the minimum digital value of the vertical arm elevation angle) + the minimum vertical arm elevation angle.

[0018] The straight arm length value L = (the maximum value of the straight arm length - the minimum value of the straight arm length) × (the digital value of the straight arm length - the minimum digital value of the straight arm length) / (the maximum digital value of the straight arm length - the minimum digital value of the straight arm length) + the minimum value of the straight arm length.

[0019] If the signal value of the straight arm elevation angle sensor exceeds the set value, the signal value of the straight arm length sensor exceeds the set value, and the message of the turntable rotation angle sensor is not detected on the CAN1 channel, a sensor error is reported, the arm movement is restricted, and the alarm indicator light is on; If the status of the CAN1 channel is detected to be abnormal, a CAN communication error is reported, the arm movement is restricted, and the alarm indicator light is on; If a short circuit or open circuit is detected in the output channel, and the input channel is not initialized correctly, an input and output channel fault is reported, the arm movement is restricted, and the alarm indicator light is on; If it is detected that the emergency stop switch on the control panel or wireless remote control transmitter is pressed, the arm movement is restricted and the alarm indicator light is on.

[0020] According to the actual value calculated by the sensor, the posture of the boom at this time is calculated, and the operating range R=straight arm length value L×COS (straight arm elevation angle value α)+deviation value R1.

[0021] Read the information of switch button operation on the control panel and the information sent by the wireless remote control receiver on the CAN1 channel. The wireless remote control receiver sends the operation information to the CAN1 channel connected to the boom controller according to the signal of the button switch on the wireless remote control transmitter. The boom control program controls the opening and closing of the solenoid valve in the hydraulic system according to the above operation information, and controls the rotation of the turntable, the lifting and lowering of the folding arm, and the lifting and retraction of the straight arm.

[0022] Furthermore, when all four legs are grounded, the boom is allowed to move, otherwise any boom movement is restricted; according to the operating range R calculated by the posture, the boom is controlled within a safe range, and beyond the range, any action that would increase the operating range is restricted; According to the operating range R, the speed of the boom movement is controlled. The larger the range, the slower the movement speed.

[0023] Further, the cleaning control procedure is as follows: After the cleaning controller is powered on, the CAN1 channel and CAN2 channel are initialized first. The baud rate of the CAN1 channel is set to 125K, the ID of the received CAN frame is 16#188 and 16#388, the ID of the sent CAN frame is 16#001, the format is a standard frame, the length is 8 bytes, and the data address to be sent is specified. 16#188 and 16#388 are data frames of the wireless remote control receiver, and 16#001 is a data frame that contains the working status of the cleaning mechanism angle sensor and the output channel status of the cleaning controller; the baud rate of the CAN2 channel is set to 125K, the ID of the received CAN frame is 16#2A6, the format is a standard frame, the length is 8 bytes, the data storage address, and the receiving mode is non-queue reception. 16#2A6 is the data frame of the cleaning mechanism angle sensor, initialize the input and output channels, set the switch input channel to high / low effective control, and set the output frequency, dither frequency, internal resistance, maximum output current and minimum current of the PWM output channel.

[0024] The cleaning angle value θ of the cleaning mechanism angle sensor is read from 2 bytes on the CAN frame with ID 16#2A6 on the CAN2 channel, and the cleaning angle value θ is averaged and filtered using the following formula using the 200 most recent cleaning angle values ​​θ read by the cleaning controller.

[0025]

[0026] If no message from the cleaning mechanism angle sensor is detected on the CAN2 channel, a sensor error will be reported, the boom movement will be restricted and the alarm indicator will be on; if the status of the CAN1 channel and the CAN2 channel are detected to be abnormal, a CAN communication error will be reported, the boom movement will be restricted and the alarm indicator will be on; if a short circuit or open circuit is detected in the output channel and the input channel is not initialized correctly, an input and output channel fault will be reported, the boom movement will be restricted and the alarm indicator will be on; if it is detected that the emergency stop switch on the control panel or wireless remote control transmitter is pressed, the boom movement will be restricted and the alarm indicator will be on.

[0027] When the absolute value of the cleaning angle value θ of the cleaning mechanism angle sensor is greater than 0.7°, the program enters the automatic leveling mode, controls the PWM output according to the inclination angle, drives the corresponding hydraulic valve to open, and drives the leveling cylinder to extend and retract through the hydraulic oil to change the cleaning angle value θ of the cleaning mechanism. The leveling is ended after the absolute value of the inclination angle value θ is less than 0.7°.

[0028] Furthermore, the information sent by the wireless remote control receiver on the CAN1 channel is read, wherein the wireless remote control receiver sends the operation information to the CAN1 channel connected to the boom controller according to the signal of the key switch on the wireless remote control transmitter, and the cleaning control program controls the motor on the cleaning mechanism and the hydraulic cylinder connected to the solenoid valve to perform corresponding swinging, lifting, embracing and spreading, rotation, and brush rotation actions according to the above operation information.

[0029] Compared with the prior art, the present invention has the following advantages: The insulator cleaning aerial work vehicle can be controlled by the control system to send the cleaning mechanism to high altitude according to the needs of cleaning the dirt of the pillar insulators in the high-voltage and ultra-high-voltage substations, so as to clean the high-altitude pillar insulators in the high-voltage and ultra-high-voltage substations.

[0030] The insulator cleaning aerial work vehicle can avoid manual climbing work when cleaning insulators, greatly reduce the manual work load, and improve the work efficiency and cleaning effect; the arm movement can be controlled by the control panel, and the cleaning mechanism movement can be controlled by the wireless remote control. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of an insulator cleaning aerial work vehicle according to an embodiment of the present invention.

[0032] Figure 2 Schematic diagram of the structure of a control panel according to an embodiment of the present invention.

[0033] Figure 3 It is a schematic structural diagram of a wireless remote control transmitter according to an embodiment of the present invention.

[0034] Figure 4It is a flowchart of the boom control program according to an embodiment of the present invention.

[0035] Figure 5 It is a flow chart of the cleaning control program of the embodiment of the present invention.

[0036] Figure 6 It is a labeled schematic diagram of an insulator cleaning aerial work vehicle according to an embodiment of the present invention.

[0037] Figure 7 Schematic diagram of the connection relationship of the control system of the embodiment of the present invention.

[0038] In the figure: automobile chassis 1, subframe 2, outrigger 3, turntable 4, folding arm 5, straight arm 6, cleaning mechanism 7, cleaning control box 8, cleaning mechanism angle sensor 9, arm control box 10, control panel 11, straight arm length sensor 12, straight arm elevation angle sensor 13, turntable rotation angle sensor 14, wireless remote control transmitter 15, wireless remote control receiver 16, arm controller 17, cleaning controller 18. DETAILED DESCRIPTION

[0039] The present invention will be further described in detail below with reference to the accompanying drawings and by way of examples. The following examples are intended to explain the present invention but the present invention is not limited to the following examples.

[0040] Example

[0041] See also Figures 1 to 7 As shown, it should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, if there are references to terms such as "upper", "lower", "left", "right", "middle" and "one" in this specification, they are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0042] The control system of the insulator cleaning aerial work vehicle in this embodiment includes a boom controller 17 for controlling the movement of the boom, a cleaning controller 18 for controlling the movement of the cleaning mechanism 7, a cleaning mechanism angle sensor 9, a control panel 11, a straight arm length sensor 12, a straight arm elevation sensor 13, a turntable rotation angle sensor 14, a wireless remote control transmitter 15 and a wireless remote control receiver 16; the control panel 11 and the wireless remote control transmitter 15 are both provided with an emergency stop button, and when the emergency stop button is pressed, all operations of the insulator cleaning aerial work vehicle can be stopped.

[0043] The turntable rotation angle sensor 14, the boom controller 17, the cleaning controller 18 and the wireless remote control receiver 16 in this embodiment are all connected to the CAN1 channel, the cleaning mechanism angle sensor 9 and the cleaning controller 18 are all connected to the CAN2 channel, the wireless remote control receiver 16 is wirelessly connected to the wireless remote control transmitter 15, the straight arm length sensor 12 and the straight arm elevation angle sensor 13 are all circuit-connected to the boom controller 17, and the boom controller 17 is circuit-connected to the control panel 11; the wireless remote control receiver 16 receives the operation information sent by the wireless remote control transmitter 15 through the wireless communication frequency band, and sends the received information to the CAN1 channel, the boom controller 17 is used to receive the straight arm length sensor 12 signal, the straight arm elevation angle sensor 13 signal and read the information on the CAN1 channel, and control the boom movement according to the information and give feedback information, the cleaning controller 18 is used to receive the cleaning mechanism angle sensor 9 and the control panel 11 signal, control the cleaning mechanism 7 to work according to the signal, and control the angle between the cleaning mechanism 7 and the horizontal plane to be the cleaning angle value θ, and the value range of the cleaning angle value θ is -60° to 60°.

[0044] The insulator cleaning aerial work vehicle in this embodiment includes a vehicle chassis 1, a subframe 2, a leg 3, a boom, a cleaning mechanism 7, a cleaning control box 8 and a boom control box 10. The boom includes a turntable 4, a folding arm 5 and a straight arm 6. The subframe 2 is arranged on the vehicle chassis 1, the leg 3 and the turntable 4 are both arranged on the subframe 2, the folding arm 5 is arranged on the turntable 4, the straight arm 6 is arranged on the folding arm 5, the cleaning mechanism 7 and the cleaning control box 8 are both arranged on the straight arm 6 through a bracket, and the boom control box 10 is arranged on the turntable 4.

[0045] The arm controller 17 and the wireless remote control receiver 16 in this embodiment are arranged in the arm control box 10, and the cleaning controller 18 is arranged in the cleaning control box 8; the cleaning mechanism angle sensor 9 is arranged on the bracket for installing the cleaning mechanism 7 and the cleaning control box 8, the control panel 11 is arranged at the rear of the sub-frame 2, the straight arm length sensor 12 and the straight arm elevation angle sensor 13 are both arranged on the straight arm 6, and the turntable rotation angle sensor 14 is arranged on the turntable 4. The control method of the insulator cleaning aerial work vehicle in this embodiment is implemented by using the above-mentioned insulator cleaning aerial work vehicle control system. The control method of the insulator cleaning aerial work vehicle includes a boom control program and a cleaning control program.

[0046] The boom control program in this embodiment is as follows: After the arm controller 17 is powered on, the CAN1 channel is initialized first, the baud rate is set to 125K, and the ID of the received CAN frame is 16#001, 16#183, 16#188, and 16#388. The format is a standard frame, the length is 8 bytes, the data is saved in the address, and the receiving mode is non-queue receiving. Among them, 16#001 is the data frame of the cleaning controller 18, 16#183 is the data frame of the turntable rotation angle sensor 14, 16#188 and 16#388 are the data frames of the wireless remote control receiver 16, the input and output channels are initialized, the switch input channel is set to high / low effective control, and the output frequency, dither frequency, internal resistance, maximum output current and minimum output current of the PWM output channel are set.

[0047] Receive the CAN1 channel information of the wireless remote control receiver 16 , whose ID is 16#188 and 16#388, and parse the CAN1 channel into the operation signal on the wireless remote control transmitter 15 .

[0048] The signals of the telescopic arm elevation angle sensor 13, the telescopic arm length sensor 12 and the turntable rotation angle sensor 14 are detected. The turntable rotation angle sensor 14 is of CAN bus type and can directly read the angle value of the turntable rotation angle sensor 14 from 2 bytes on the CAN frame with ID 16#183 on the CAN1 channel. The telescopic arm elevation angle value α and the telescopic arm length value L need to be converted into the current telescopic arm elevation angle value α and the telescopic arm length value L by calculating the 0-5 volt voltage signal. The calculation method is as follows.

[0049] The vertical arm elevation angle value α = the vertical arm elevation maximum value - the vertical arm elevation minimum value × the vertical arm elevation digital value - the vertical arm elevation minimum digital value / the vertical arm elevation maximum digital value - the vertical arm elevation minimum digital value + the vertical arm elevation minimum value; The maximum elevation angle of the straight arm is the maximum elevation angle to which the straight arm 6 rises and falls; The minimum value of the vertical arm elevation angle is the minimum elevation angle to which the vertical arm 6 rises and falls; The digital value of the vertical arm elevation angle is the sensor value measured by the boom controller 17 through the vertical arm elevation angle sensor 13; The minimum digital value of the vertical arm elevation angle is the sensor value of the vertical arm 6 at the maximum elevation angle measured by the boom controller 17 through the vertical arm elevation angle sensor 13; The maximum digital value of the vertical arm elevation angle is the sensor value of the vertical arm 6 at the minimum elevation angle measured by the boom controller 17 through the vertical arm elevation angle sensor 13.

[0050] The length of the straight arm L = the maximum value of the straight arm length - the minimum value of the straight arm length × the digital value of the straight arm length - the minimum digital value of the straight arm length / the maximum digital value of the straight arm length - the minimum digital value of the straight arm length + the minimum value of the straight arm length; The maximum length of the straight arm is the maximum length reached when the straight arm 6 is fully extended; The minimum length of the straight arm is the minimum length reached when the straight arm 6 is fully retracted; The digital value of the straight arm length is the sensor value measured by the arm controller 17 through the straight arm length sensor 12; The minimum digital value of the straight arm length is the sensor value of the straight arm 6 when it is fully extended, measured by the arm controller 17 through the straight arm length sensor 12; The maximum digital value of the straight arm length is the sensor value of the straight arm 6 when it is fully retracted, measured by the arm controller 17 through the straight arm length sensor 12.

[0051] If the signal value of the straight arm elevation angle sensor 13 exceeds the set value, the signal value of the straight arm length sensor 12 exceeds the set value, and the message of the turntable rotation angle sensor 14 is not detected on the CAN1 channel, a sensor error is reported, the arm movement is restricted and the alarm indicator light is on; if the status of the CAN1 channel is detected to be abnormal, a CAN communication error is reported, the arm movement is restricted and the alarm indicator light is on; if a short circuit or open circuit is detected in the output channel and the input channel is not initialized correctly, an input and output channel fault is reported, the arm movement is restricted and the alarm indicator light is on; if it is detected that the emergency stop switch on the control panel 11 or the wireless remote control transmitter 15 is pressed, the arm movement is restricted and the alarm indicator light is on.

[0052] According to the actual value calculated by the sensor, the posture of the arm at this time is calculated, and the operating range R = the length value of the straight arm L×COS (the elevation angle value of the straight arm α) + the deviation value R1. The deviation value R1 is the distance from the outermost side of the cleaning mechanism 7 to the arm head of the straight arm 6.

[0053] The information of the switch button operation on the control panel 11 and the information sent by the wireless remote control receiver 16 on the CAN1 channel are read, wherein the wireless remote control receiver 16 sends the operation information to the CAN1 channel connected to the boom controller 17 according to the signal of the button switch on the wireless remote control transmitter 15. The boom control program controls the opening and closing of the solenoid valve in the hydraulic system according to the above operation information, controls the rotation of the turntable 4, the lifting and lowering of the folding arm 5, and the lifting and retraction of the straight arm 6.

[0054] When all four legs 3 are grounded, the boom is allowed to move, otherwise any boom movement is restricted; according to the operating range R calculated by the posture, the boom is controlled within a safe range, and beyond the range, any action that would increase the operating range is restricted.

[0055] According to the operating range R, the speed of the boom movement is controlled. The larger the range, the slower the movement speed.

[0056] The cleaning control procedure in this embodiment is as follows: After the cleaning controller 18 is powered on, the CAN1 channel and the CAN2 channel are initialized first. The baud rate of the CAN1 channel is set to 125K, the ID of the received CAN frame is 16#188 and 16#388, the ID of the sent CAN frame is 16#001, the format is a standard frame, the length is 8 bytes, and the data address to be sent is specified. 16#188 and 16#388 are data frames of the wireless remote control receiver 16, and 16#001 is a data frame for sending including the working status of the cleaning mechanism angle sensor 9 and the output channel status of the cleaning controller 18; the baud rate of the CAN2 channel is set to 125K, the ID of the received CAN frame is 16#2A6, the format is a standard frame, the length is 8 bytes, the data storage address, and the receiving mode is non-queue receiving. 16#2A6 is the data frame of the cleaning mechanism angle sensor 9, and the input and output channels are initialized, the switch input channel is set to high / low effective control, and the output frequency, dither frequency, internal resistance, output maximum current and minimum current of the PWM output channel are set.

[0057] Read the cleaning angle value θ of the cleaning mechanism angle sensor 9 from 2 bytes on the CAN frame with ID 16#2A6 on the CAN2 channel, and perform mean filtering on the cleaning angle value θ by taking the 200 cleaning angle values ​​θ most recently read by the cleaning controller 18 according to the following formula; .

[0058] If no message from the cleaning mechanism angle sensor 9 is detected on the CAN2 channel, a sensor error is reported, the boom movement is restricted and the alarm indicator light is on; if the status of the CAN1 channel and the CAN2 channel is detected to be abnormal, a CAN communication error is reported, the boom movement is restricted and the alarm indicator light is on; if a short circuit or open circuit is detected in the output channel and the input channel is not initialized correctly, an input and output channel fault is reported, the boom movement is restricted and the alarm indicator light is on; if it is detected that the emergency stop switch on the control panel 11 or the wireless remote control transmitter 15 is pressed, the boom movement is restricted and the alarm indicator light is on.

[0059] When the absolute value of the cleaning angle value θ of the cleaning mechanism angle sensor 9 is greater than 0.7°, the program enters the automatic leveling mode, controls the PWM output according to the inclination angle, drives the corresponding hydraulic valve to open, and drives the leveling cylinder to extend and retract through the hydraulic oil to change the washing angle value θ of the cleaning mechanism 7, and ends the leveling after the absolute value of the inclination angle value θ is less than 0.7°.

[0060] The information sent by the wireless remote control receiver 16 on the CAN1 channel is read, wherein the wireless remote control receiver 16 sends the operation information to the CAN1 channel connected to the boom controller 17 according to the signal of the key switch on the wireless remote control transmitter 15. The cleaning control program controls the motor on the cleaning mechanism 7 and the hydraulic cylinder connected to the solenoid valve to perform corresponding swinging, lifting, embracing and spreading, rotation, and brush rotation actions according to the above operation information.

[0061] Specifically, a control panel 11 is installed at the rear of the subframe 2 for operating the arm movement. The subframe 2 is mounted on the automobile chassis 1. The legs 3 installed on the subframe 2 provide operational support for the entire vehicle. The turntable 4 is mounted on the subframe 2 for 360° continuous rotation. The turntable rotation angle sensor 14 is installed inside the turntable 4. The arm control box 10 is installed on the turntable 4. The folding arm 5 is mounted on the turntable 4 for vertical lifting movement. The straight arm 6 is mounted on the folding arm 5 for lifting and telescopic movement. The straight arm length sensor 12 and the straight arm elevation angle sensor 13 are installed on the straight arm 6. The cleaning mechanism 7 is connected to the arm head of the straight arm 6 through a bracket. The cleaning control box 8 is installed behind the cleaning mechanism 7. The cleaning mechanism angle sensor 9 is installed on the bracket of the cleaning mechanism 7. The cleaning mechanism 7 has the degrees of freedom of swinging, lifting, embracing and spreading, rotation, and brush rotation.

[0062] The control panel 11 is provided with a waterproof dial switch, an indicator light, an emergency stop switch, a lighting lamp, and a timer; wherein the waterproof dial switch is used to control the boom movement of the aerial work vehicle, and the emergency stop switch is used to immediately prohibit operation in an emergency stop situation.

[0063] The wireless remote control transmitter 15 is provided with a speed control handle, a waterproof dial switch, an emergency stop switch, and a display; wherein the speed control handle is used to control the movement of the arm, the waterproof dial switch is used to control the operation of the cleaning mechanism 7 and the transmitter power switch, the emergency stop switch is used to immediately prohibit operation in an emergency stop situation, and the display is used to display the power level and working status of the wireless remote control transmitter 15.

[0064] In addition, it should be noted that the shapes and names of the parts and components of the specific embodiments described in this specification may be different, and the above content described in this specification is only an example of the structure of the present invention. All equivalent changes or simple changes made based on the structure, features and principles described in the patent concept of the present invention are included in the protection scope of the patent of the present invention. Technicians in the technical field of the present invention can make various modifications or supplements to the specific embodiments described or replace them in a similar manner, as long as they do not deviate from the structure of the present invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. An insulator cleaning aerial work vehicle control system, characterized in that: It comprises an arm controller (17) for controlling the movement of the arm, a cleaning controller (18) for controlling the movement of the cleaning mechanism (7), a cleaning mechanism angle sensor (9), a control panel (11), a straight arm length sensor (12), a straight arm elevation sensor (13), a turntable rotation angle sensor (14), a wireless remote control transmitter (15) and a wireless remote control receiver (16); The turntable rotation angle sensor (14), the boom controller (17), the cleaning controller (18) and the wireless remote control receiver (16) are all connected to the CAN1 channel, the cleaning mechanism angle sensor (9) and the cleaning controller (18) are all connected to the CAN2 channel, the wireless remote control receiver (16) is wirelessly connected to the wireless remote control transmitter (15), the straight arm length sensor (12) and the straight arm elevation angle sensor (13) are all connected to the boom controller (17) circuit, and the boom controller (17) is connected to the control panel (11) circuit; The wireless remote control receiver (16) receives operation information sent by the wireless remote control transmitter (15) via a wireless communication frequency band, and sends the received information to a CAN1 channel. The arm controller (17) is used to receive a signal from a straight arm length sensor (12), a signal from a straight arm elevation angle sensor (13), and read information on the CAN1 channel, and controls the movement of the arm according to the information and gives feedback information. The cleaning controller (18) is used to receive signals from a cleaning mechanism angle sensor (9) and a control panel (11), and controls the cleaning mechanism (7) to work according to the signals, and controls the angle between the cleaning mechanism (7) and a horizontal plane to be a cleaning angle value θ.

2. The insulator cleaning aerial work vehicle control system according to claim 1 is characterized in that: The insulator cleaning aerial work vehicle comprises a vehicle chassis (1), a subframe (2), a leg (3), an arm, a cleaning mechanism (7), a cleaning control box (8) and an arm control box (10); the arm comprises a turntable (4), a folding arm (5) and a straight arm (6); the subframe (2) is arranged on the vehicle chassis (1); the leg (3) and the turntable (4) are both arranged on the subframe (2); the folding arm (5) is arranged on the turntable (4); the straight arm (6) is arranged on the folding arm (5); the cleaning mechanism (7) and the cleaning control box (8) are both arranged on the straight arm (6) via a bracket; and the arm control box (10) is arranged on the turntable (4).

3. The control system for an insulator cleaning aerial work vehicle according to claim 1, characterized in that: The arm controller (17) and the wireless remote control receiver (16) are arranged in the arm control box (10), and the cleaning controller (18) is arranged in the cleaning control box (8).

4. The insulator cleaning aerial work vehicle control system according to claim 1 is characterized in that: The cleaning mechanism angle sensor (9) is arranged on a bracket for mounting the cleaning mechanism (7) and the cleaning control box (8), the control panel (11) is arranged at the rear of the sub-frame (2), the straight arm length sensor (12) and the straight arm elevation angle sensor (13) are both arranged on the straight arm (6), and the turntable rotation angle sensor (14) is arranged on the turntable (4).

5. The control system for an insulator cleaning aerial work vehicle according to claim 1, characterized in that: The cleaning angle θ has a value range of -60° to 60°.

6. The control system for an insulator cleaning aerial work vehicle according to claim 1, characterized in that: The control panel (11) and the wireless remote control transmitter (15) are both provided with an emergency stop button, and when the emergency stop button is pressed, all operations of the insulator cleaning aerial work vehicle can be stopped.

7. A control method for an insulator cleaning aerial work vehicle, the control method being implemented by using the insulator cleaning aerial work vehicle control system according to any one of claims 1 to 6, characterized in that: The control method of the insulator cleaning aerial work vehicle includes a boom control program and a cleaning control program, and the boom control program is as follows: After the arm controller (17) is powered on, the CAN1 channel is initialized first, the baud rate is set to 125K, the ID of the received CAN frame is 16#001, 16#183, 16#188, 16#388, the format is a standard frame, the length is 8 bytes, the data storage address, and the receiving mode is non-queue receiving, among which 16#001 is the data frame of the cleaning controller (18), 16#183 is the data frame of the turntable rotation angle sensor (14), 16#188 and 16#388 are the data frames of the wireless remote control receiver (16), the input and output channels are initialized, the switch input channel is set to high / low effective control, and the output frequency, dither frequency, internal resistance, output maximum current and minimum current of the PWM output channel are set; Receive CAN1 channel information of the wireless remote control receiver (16), whose ID is 16#188, 16#388, and parse the CAN1 channel into an operation signal on the wireless remote control transmitter (15); The signals of the telescopic arm elevation angle sensor (13), the telescopic arm length sensor (12), and the turntable rotation angle sensor (14) are detected. The turntable rotation angle sensor (14) is a CAN bus type. The angle value of the turntable rotation angle sensor (14) can be directly read from 2 bytes on the CAN frame with ID 16#183 on the CAN1 channel. The telescopic arm elevation angle value α and the telescopic arm length value L need to be converted into the current telescopic arm elevation angle value α and the telescopic arm length value L by calculating the voltage signal of 0 to 5 volts. The calculation method is as follows: The vertical arm elevation angle value α = (the vertical arm elevation maximum value - the vertical arm elevation minimum value) × (the vertical arm elevation digital value - the vertical arm elevation minimum digital value) / (the vertical arm elevation maximum digital value - the vertical arm elevation minimum digital value) + the vertical arm elevation minimum value; The length of the straight arm L = (the maximum value of the straight arm length - the minimum value of the straight arm length) × (the digital value of the straight arm length - the minimum digital value of the straight arm length) / (the maximum digital value of the straight arm length - the minimum digital value of the straight arm length) + the minimum value of the straight arm length; If the signal value of the vertical arm elevation sensor (13) exceeds the set value, the signal value of the vertical arm length sensor (12) exceeds the set value, and the message of the turntable rotation angle sensor (14) is not detected on the CAN1 channel, a sensor error is reported, the boom movement is restricted, and the alarm indicator light is on; If the state of the CAN1 channel is detected to be abnormal, a CAN communication error is reported, the boom movement is restricted, and the alarm indicator light is on; If a short circuit or open circuit is detected in the output channel, and the input channel is not initialized correctly, an input and output channel fault is reported, the boom movement is restricted, and the alarm indicator light is on; If it is detected that the emergency stop switch on the control panel (11) or the wireless remote control transmitter (15) is pressed, the boom movement is restricted, and the alarm indicator light is on; According to the actual value calculated by the sensor, the posture of the boom at this time is calculated, and the operating range R = the length value of the straight arm L × COS (the elevation angle value of the straight arm α) + the deviation value R1; The information of the switch button operation on the control panel (11) and the information sent by the wireless remote control receiver (16) on the CAN1 channel are read, wherein the wireless remote control receiver (16) sends the operation information to the CAN1 channel connected to the boom controller (17) according to the signal of the key switch on the wireless remote control transmitter (15). The boom control program controls the opening and closing of the solenoid valve in the hydraulic system according to the above operation information, controls the rotation of the turntable (4), the lifting and lowering of the folding arm (5), and the lifting and retracting of the straight arm (6).

8. The control method of the insulator cleaning aerial work vehicle according to claim 7, characterized in that: When all four legs (3) are grounded, the boom is allowed to move, otherwise any boom movement is restricted; based on the operating range R calculated by the posture, the boom is controlled within a safe range, and if it exceeds the range, any movement that would increase the operating range is restricted; According to the operating range R, the speed of the boom movement is controlled. The larger the range, the slower the movement speed.

9. The control method of the insulator cleaning aerial work vehicle according to claim 7, characterized in that: The cleaning control procedure is as follows: After the cleaning controller (18) is powered on, the CAN1 channel and the CAN2 channel are initialized first. The baud rate of the CAN1 channel is set to 125K, the ID of the received CAN frame is 16#188 and 16#388, the ID of the sent CAN frame is 16#001, the format is a standard frame, the length is 8 bytes, and the data address to be sent is specified. 16#188 and 16#388 are data frames of the wireless remote control receiver (16), and 16#001 is a data frame containing the working status of the cleaning mechanism angle sensor (9) and the output channel status of the cleaning controller (18); the baud rate of the CAN2 channel is set to 125K, the ID of the received CAN frame is 16#2A6, the format is a standard frame, the length is 8 bytes, the data storage address, and the receiving mode is non-queue receiving. 16#2A6 is a data frame of the cleaning mechanism angle sensor (9), and the input and output channels are initialized. The switch input channel is set to high / low effective control, and the output frequency, dither frequency, internal resistance, output maximum current and minimum current of the PWM output channel are set; The cleaning angle value θ of the cleaning mechanism angle sensor (9) is read from 2 bytes on the CAN frame with ID 16#2A6 on the CAN2 channel, and the cleaning angle value θ is averaged and filtered by taking the 200 most recently read cleaning angle values ​​θ of the cleaning controller (18) according to the following formula; If the message of the cleaning mechanism angle sensor (9) cannot be detected on the CAN2 channel, a sensor error is reported, the boom movement is restricted and the alarm indicator light is on; if the status of the CAN1 channel and the CAN2 channel is detected to be abnormal, a CAN communication error is reported, the boom movement is restricted and the alarm indicator light is on; if a short circuit or open circuit is detected in the output channel and the input channel is not initialized correctly, an input and output channel fault is reported, the boom movement is restricted and the alarm indicator light is on; if the emergency stop switch on the control panel (11) or the wireless remote control transmitter (15) is detected to be pressed, the boom movement is restricted and the alarm indicator light is on; When the absolute value of the cleaning angle value θ of the cleaning mechanism angle sensor (9) is greater than 0.7°, the program enters the automatic leveling mode, controls the PWM output according to the tilt angle, drives the corresponding hydraulic valve to open, drives the leveling cylinder to extend and retract through the hydraulic oil, changes the cleaning angle value θ of the cleaning mechanism (7), and ends the leveling after the absolute value of the tilting washing angle value θ is less than 0.7°.

10. The control method for an insulator cleaning aerial work vehicle according to claim 9, characterized in that: The information sent by the wireless remote control receiver (16) on the CAN1 channel is read, wherein the wireless remote control receiver (16) sends the operation information to the CAN1 channel connected to the arm controller (17) according to the signal of the key switch on the wireless remote control transmitter (15). The cleaning control program controls the motor on the cleaning mechanism (7) and the hydraulic cylinder connected to the solenoid valve to perform corresponding swinging, lifting, closing and opening, rotation, and brush rotation actions according to the above operation information.

Images