A lift cab control system and control method

Abstract

The application discloses a lifting cab control system and a control method, and the system comprises a lifting cab mechanism, a first inclination sensor and a second inclination sensor and a controller. The lifting cab mechanism comprises a cab lifting mechanism mounting seat, a connecting rod one, a connecting rod two, a transition mounting seat, a secondary oil cylinder, a connecting rod three, a connecting rod four, a cab, a primary oil cylinder and a cab mounting seat. The cab lifting mechanism mounting seat, the connecting rod one, the transition mounting seat and the connecting rod two form a primary four-connecting-rod mechanism. The connecting rod three, the transition mounting seat, the connecting rod four and the cab mounting seat form a secondary four-connecting-rod mechanism. The first inclination sensor is used for detecting the horizontal angle of the connecting line between hinge point two and hinge point five. The second inclination sensor is used for detecting the horizontal angle of the connecting line between hinge point five and hinge point eleven. The controller is used for acquiring the measurement angle of the first inclination sensor and the measurement angle of the second inclination sensor, combining the target position coordinates, and controlling the secondary oil cylinder and the primary oil cylinder to extend or retract to reach the target position. The primary four-connecting-rod mechanism and the secondary four-connecting-rod mechanism are controlled in stages, and the system has low energy consumption and high efficiency.

Description

Technical Field

[0001] This application belongs to the field of cab lifting control technology, specifically relating to a lifting cab control system and control method. Background Technology

[0002] In recent years, with the rapid development of industry, the market has placed increasingly higher demands on the intelligence of engineering machinery and equipment and the range of construction visibility. As a result, the applications of lifting cabs have become more and more widespread. Therefore, research on intelligent lifting cab control systems and methods is necessary.

[0003] Currently, there are the following technologies for lifting cabs: 1. Single-stage linkage lifting cab; 2. Double-stage four-bar linkage lifting cab, where the first and second stage four-bar linkages are adjusted by two hydraulic cylinders, and each of the two hydraulic cylinders is equipped with a telescopic control control component.

[0004] The relevant technologies have the following defects: 1. The single-stage linkage mechanism for lifting the cab has a small adjustment range for the cab position and a small field of vision, which is not effective for lifting large equipment and improving the field of vision; 2. Setting up two control components and manually controlling the extension and retraction of the first and second stage hydraulic cylinders of the double-stage four-link mechanism to lift the cab to the target position is complicated and cannot control the first and second stage hydraulic cylinders in stages, resulting in poor energy efficiency. Summary of the Invention

[0005] Objective: In view of at least one of the above technical problems, this application provides a lifting cab control system and control method.

[0006] Technical solution: To solve the above-mentioned technical problems, the technical solution adopted in this application is as follows:

[0007] Firstly, a lifting cab control system is provided, comprising:

[0008] The cab lifting mechanism includes a cab lifting mechanism mounting base, connecting rod 1, connecting rod 2, a transition mounting base, a secondary cylinder, connecting rod 3, connecting rod 4, the cab, the primary cylinder, and the cab mounting base. The cab lifting mechanism mounting base, connecting rod 1, the transition mounting base, and connecting rod 2 form a primary four-bar linkage mechanism; connecting rod 3, the transition mounting base, connecting rod 4, and the cab mounting base form a secondary four-bar linkage mechanism; one end of connecting rod 1 is connected to the upper part of the cab lifting mechanism mounting base via hinge point 3, and the other end is connected to the upper left part of the transition mounting base via hinge point 6; one end of connecting rod 2 is connected to the middle part of the cab lifting mechanism mounting base via hinge point 2, and the other end is connected via hinge point 5. Connected to the lower part of the transition mounting seat; one end of connecting rod three is connected to the upper right part of the transition mounting seat via hinge point eight, and the other end is connected to the upper part of the cab mounting seat via hinge point ten; one end of connecting rod four is connected to the lower part of the transition mounting seat via hinge point five, and the other end is connected to the cab mounting seat via hinge point eleven; one end of the first-stage cylinder is connected to the lower part of the cab lifting mechanism mounting seat via hinge point one, and the other end is connected to the inner side of connecting rod two via hinge point four; one end of the second-stage cylinder is connected to the lower part of connecting rod four via hinge point nine, and the other end is connected to the upper right part of the transition mounting seat via hinge point eight; the cab is mounted on the cab mounting seat, with the cab lifting reference point representing the position of the cab;

[0009] Tilt sensor one is used to detect the horizontal angle of the line connecting hinge point two and hinge point five.

[0010] Tilt sensor 2 is used to detect the horizontal angle of the line connecting hinge point 5 and hinge point 11.

[0011] The controller is used to: acquire the angle measured by tilt sensor 1 and tilt sensor 2, and combine them with the target position coordinates to control the extension and retraction of the secondary and primary hydraulic cylinders to reach the target position.

[0012] In some embodiments, the lifting cab control system further includes a first-stage cylinder extension proportional valve, a first-stage cylinder retraction proportional valve, a second-stage cylinder extension proportional valve, and a second-stage cylinder retraction proportional valve, which are respectively connected to the controller signal.

[0013] The first-stage cylinder extension proportional valve and the first-stage cylinder retraction proportional valve are used to control the extension and retraction actions of the first-stage cylinder, respectively.

[0014] The secondary cylinder extension proportional valve and the secondary cylinder retraction proportional valve are used to control the extension and retraction actions of the secondary cylinder, respectively.

[0015] In some embodiments, the lifting cab control system further includes a touch control display screen, a position finder switch, a positioning knob, and a cab lifting unlock switch, all of which are respectively connected to the controller via signals.

[0016] The touch control display screen is used for selecting the target position of the lifting cab, displaying the target position, and providing relevant reminders.

[0017] The position-finding switch is a self-resetting switch, used to operate the lifting cab to adjust to the target position;

[0018] The positioning knob is used to select, set, and cancel the target position.

[0019] The cab lifting unlock switch is used to enable and lock cab lifting-related functions.

[0020] In some embodiments, the lifting cab control system further includes a camera monitoring system, which is signal-connected to a touch control display screen and is used to monitor the area above, below, and behind the cab in real time and display the monitoring images on the touch control display screen.

[0021] In some embodiments, in the lifting cab control system, the tilt sensor is mounted on the inner vertical surface of the connecting rod 2, with its axis parallel to the line connecting hinge point 2 and hinge point 5.

[0022] In some embodiments, in the lifting cab control system, the axis of the tilt sensor two is parallel to the line connecting hinge point five and hinge point eleven, and is installed on the inner side of the connecting rod four.

[0023] Secondly, a control method for a lifting cab control system is provided, the method comprising:

[0024] S1: Obtain the length of the line connecting hinge point 2 and hinge point 5, the length of the line connecting hinge point 5 and hinge point 11, the horizontal distance between hinge point 11 and the cab lifting reference point, the vertical distance between hinge point 11 and the cab lifting reference point, the horizontal and vertical coordinates of hinge point 2, and the target angle of tilt sensor 1. The target value is the angle measured by tilt sensor 2 minus the angle measured by tilt sensor 1. The maximum and minimum values ​​are used to determine the effective range of the target location;

[0025] S2: Obtain the target position coordinates of the cab lifting reference point; if the target position coordinates are not within the valid range of the target position, a message will be displayed: "Target invalid, please select again";

[0026] S3: If the target location coordinates are within the valid range of the target location, calculate based on the target location coordinates. and ;

[0027] S4: In response to positioning requirements, the current tilt sensor measurement angle is acquired in real time. The angle measured by tilt sensor 2 minus the angle measured by tilt sensor 1 ,calculate and ;

[0028] S5: According to and Size relationship and and The size relationship controls the extension and retraction of the secondary and primary hydraulic cylinders.

[0029] Furthermore, according to and Size relationship and and The size relationship controls the extension and retraction of the secondary and primary hydraulic cylinders, including:

[0030] like Greater than and Greater than The first-stage hydraulic cylinder extends;

[0031] like Greater than and Less than The first-stage hydraulic cylinder retracts;

[0032] like Greater than and equal Secondary hydraulic cylinder extension;

[0033] like Less than The secondary hydraulic cylinder retracts;

[0034] like equal and Less than The first-stage hydraulic cylinder retracts;

[0035] like equal and Greater than The first-stage hydraulic cylinder extends.

[0036] Thirdly, a lifting cab control system is provided, wherein the controller includes a processor and a storage medium;

[0037] The storage medium is used to store instructions;

[0038] The processor is configured to operate according to the instructions to execute the method.

[0039] Fourthly, an engineering machine is provided, equipped with the aforementioned lifting cab control system.

[0040] Compared with the prior art, the beneficial effects achieved by this application are as follows:

[0041] 1) During the process of reaching the corresponding target position, the automatic first-level four-bar linkage and the second-level four-bar linkage are controlled in stages to reduce unnecessary load during the lifting and lowering of the cab, resulting in low energy consumption and high efficiency.

[0042] 2) The target for raising or lowering the cab can be set at any effective position on the touch screen, and the adjustment of raising or lowering the cab can be completed with one click. The operation is convenient, and the control of the two-stage four-link raising and lowering cab is more flexible, efficient and energy-saving.

[0043] 3) The positioning knob supports learning, canceling and selecting target positions for each gear, enabling quick positioning of commonly used target positions and one-button adjustment of the lifting cab. It has good human-machine interaction and is easy to operate.

[0044] 4) The target position of the lifting cab is controlled in a hierarchical manner, with the positioning knob having a higher priority than the touch screen, which helps prevent misoperation.

[0045] 5) Add relevant reminder functions for the lifting cab, which can guide the driver in case of misoperation and ensure the reliable operation and good human-machine interaction of the lifting cab system. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the lifting cab control system according to an embodiment of this application;

[0048] Figure 2 This is a schematic diagram of the lifting cab mechanism in an embodiment of this application;

[0049] Figure 3 This is a schematic diagram of the positioning knob in an embodiment of this application;

[0050] Figure 4 This is a schematic diagram of the motion trajectory envelope of the cab lifting reference point in an embodiment of this application;

[0051] Figure 5 This is a schematic diagram of the coordinate system modeling of the cab lifting mechanism in an embodiment of this application;

[0052] Figure 6 This is a schematic diagram of the main interface of the touch control display screen according to an embodiment of this application;

[0053] Figure 7This is a schematic flowchart of the control method for the lifting cab system according to an embodiment of this application;

[0054] The reference numerals in the attached diagram are explained as follows: 101-Camera monitoring system, 102-Touch control display screen, 103-Tilt sensor one, 104-Tilt sensor two, 105-Positioning switch, 106-Positioning knob, 107-Cabion lifting and unlocking switch, 108-Controller, 109-First-stage cylinder extension proportional valve, 110-First-stage cylinder retraction proportional valve, 111-Second-stage cylinder extension proportional valve, 112-Second-stage cylinder retraction proportional valve;

[0055] 201-Hinge Point 1, 202-Cockpit Lifting Mechanism Mounting Seat, 203-Hinge Point 2, 204-Hinge Point 3, 205-Link 1, 206-Link 2, 207-Hinge Point 4, 208-Hinge Point 5, 209-Hinge Point 6, 210-Transition Mounting Seat, 211-Hinge Point 7, 212-Hinge Point 8, 213-Secondary Cylinder, 214-Link 3, 215-Link 4, 216-Line connecting Hinge Point 5 and Hinge Point 11, 217-Hinge Point 9, 218-Hinge Point 10, 219-Cockpit, 220-Line connecting Hinge Point 11 and the Cockpit Lifting Reference Point, 221-Cockpit Lifting Reference Point, 222-Line connecting Hinge Point 2 and Hinge Point 5, 223-Hinge Point 11, 224-First Stage Cylinder, 225-Cockpit Mounting Seat;

[0056] 301-Hinge Point 11 223 Motion Trajectory Envelope Diagram; 302-Cab Lifting Reference Point 221 Motion Trajectory Envelope Diagram. Detailed Implementation

[0057] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use.

[0058] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to explain the relative positional relationship and movement between components in a specific orientation. If the specific orientation changes, the directional indication will also change accordingly. These terms are used only for the convenience of describing this application and for simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0059] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0060] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0061] Example 1: This application provides a lifting cab control system, including a controller 108, which includes a processor and a storage medium; the storage medium is used to store instructions; the processor is used to operate according to the instructions to execute the following lifting cab control system control method;

[0062] like Figure 1 As shown, the lifting cab control system also includes a camera monitoring system 101, a touch control display screen 102, a tilt sensor 103, a tilt sensor 2 104, a position finding switch 105, a positioning knob 106, a cab lifting unlocking switch 107, a first-stage cylinder extension proportional valve 109, a first-stage cylinder retraction proportional valve 110, a second-stage cylinder extension proportional valve 111, and a second-stage cylinder retraction proportional valve 112.

[0063] like Figure 2 As shown, the lifting cab mechanism includes hinge point 1 201, cab lifting mechanism mounting seat 202, hinge point 2 203, hinge point 3 204, connecting rod 1 205, connecting rod 2 206, hinge point 4 207, hinge point 5 208, hinge point 6 209, transition mounting seat 210, hinge point 7 211, hinge point 8 212, secondary cylinder 213, connecting rod 3 214, connecting rod 4 215, hinge point 9 217, hinge point 10 218, cab 219, hinge point 11 223, primary cylinder 224, and cab mounting seat 225. It also includes cab lifting reference point 221, line connecting hinge point 2 and hinge point 5 222, line connecting hinge point 5 and hinge point 11 216, and line connecting hinge point 11 and cab lifting reference point 220.

[0064] The cab lifting mechanism mounting base 202, connecting rod one 205, transition mounting base 210 and connecting rod two 206 form a first-level four-bar linkage mechanism.

[0065] The connecting rod 3 214, the transition mounting seat 210, the connecting rod 4 215 and the cab mounting seat 225 form a two-stage four-bar linkage mechanism;

[0066] One end of the connecting rod 205 is connected to the upper part of the cab lifting mechanism mounting seat 202 via hinge point 3 204, and the other end is connected to the upper left part of the transition mounting seat 210 via hinge point 6 209.

[0067] One end of the second connecting rod 206 is connected to the middle part of the cab lifting mechanism mounting seat 202 via hinge point 203, and the other end is connected to the lower part of the transition mounting seat 210 via hinge point 5 208.

[0068] One end of the connecting rod 214 is connected to the upper right part of the transition mounting seat 210 via hinge point 212, and the other end is connected to the top of the cab mounting seat 225 via hinge point 218.

[0069] One end of the connecting rod 215 is connected to the lower part of the transition mounting base 210 via hinge point 208, and the other end is connected to the cab mounting base 225 via hinge point 11 223; wherein, the line connecting hinge point 209, hinge point 212 and hinge point 208 forms an inverted triangle.

[0070] One end of the first-stage hydraulic cylinder 224 is connected to the lower part of the cab lifting mechanism mounting seat 202 via hinge point 1 201, and the other end is connected to the inner side of the connecting rod 206 via hinge point 4 207.

[0071] One end of the secondary hydraulic cylinder 213 is connected to the lower part of the connecting rod 215 via hinge point nine 217, and the other end of the secondary hydraulic cylinder 213 is connected to the upper right part of the transition mounting seat 210 via hinge point eight 212.

[0072] The cab 219 is mounted on the cab mounting base 225. In this application, the cab lifting reference point 221 represents the position of the cab 219.

[0073] The video monitoring system 101 can monitor the area above, below, and behind the cab in real time. When the cab is raised or lowered, it provides the driver with a blind spot view to ensure operational safety.

[0074] The touch control display screen 102 is used for selecting the target position of the lifting cab, displaying the target position, and providing related reminders. Its main interface is as follows: Figure 6 As shown;

[0075] The tilt sensor 103 is used to detect the horizontal angle of the line 222 connecting hinge point 2 and hinge point 5, such as Figure 2As shown, the axis of the tilt sensor 103 is parallel to the line 222 connecting hinge point 2 and hinge point 5, and is installed on the inner vertical surface of the connecting rod 206;

[0076] The tilt sensor 2 104 is used to detect the horizontal angle of the line 216 connecting hinge point 5 and hinge point 11, such as... Figure 2 As shown, the axis of the tilt sensor 2 104 is parallel to the line 216 connecting hinge point 5 and hinge point 11, and is installed on the inner side elevation of the connecting rod 4 215.

[0077] The position-finding switch 105 is a self-resetting switch, used to operate the lifting cab to adjust to the target position;

[0078] The positioning knob 106 is used for target position selection, target position setting, and target position cancellation, etc. Figure 3 As shown, the positioning knob 106 can be rotated to select multiple positions, and the center is a self-reset button;

[0079] The cab lifting unlocking switch 107 is used for enabling and locking control of cab lifting-related functions.

[0080] The controller 108 is used for signal processing of sensors and switches, logic operations, implementation of control methods, proportional valve control, and interaction with the touch control display screen 102; it is also used to: obtain the angle measured by tilt sensor 103 and tilt sensor 104, and combine them with the target position coordinates to control the extension and retraction of the secondary cylinder 213 and the primary cylinder 224 to reach the target position.

[0081] The first-stage cylinder extension proportional valve 109 and the first-stage cylinder retraction proportional valve 110 are used to control the extension and retraction of the first-stage cylinder 224.

[0082] The secondary cylinder extension proportional valve 111 and the secondary cylinder retraction proportional valve 112 are used to control the extension and retraction of the secondary cylinder 213.

[0083] according to Figure 2 The spatial relationship of the lifting cab mechanism shown is established as follows: Figure 4 The motion trajectory envelope diagram 302 of the cab lifting reference point shown is the effective range of the target position of the cab lifting reference point 221;

[0084] according to Figure 4 The envelope diagram of the motion trajectory of the cab lifting reference point shown below and Figure 2 The cab lifting mechanism shown is as follows: Figure 5 As shown, when the lifting cab returns to its initial posture, a coordinate system is modeled with the cab lifting reference point 221 as the origin, where:

[0085]

[0086]

[0087]

[0088]

[0089] in, -Length of the line connecting hinge point 2 and hinge point 5;

[0090] - The length of the line connecting hinge point 5 and hinge point 11 is 216;

[0091] - Tilt sensor - measures angle;

[0092] - The angle measured by tilt sensor 2 minus the angle measured by tilt sensor 1;

[0093] - Horizontal distance between hinge point 11223 and cab lifting reference point 221;

[0094] - Vertical distance between hinge point 11223 and cab lifting reference point 221;

[0095] - The x and y coordinates of hinge point 203;

[0096] - Coordinates of the target position of the cab lifting reference point 221;

[0097] - Tilt sensor - Target angle;

[0098] - The angle measured by tilt sensor 2 minus the target value of the angle measured by tilt sensor 1;

[0099] - Tilt sensor - Target angle The minimum value;

[0100] - Tilt sensor - Target angle The maximum value;

[0101] - The target value of the angle measured by tilt sensor 2 minus the angle measured by tilt sensor 1. The minimum value;

[0102] - The target value of the angle measured by tilt sensor 2 minus the angle measured by tilt sensor 1. The maximum value.

[0103] According to the properties of trigonometric functions:

[0104] ;

[0105] .

[0106] Example 2: This application also provides a control method for a lifting cab control system, based on the lifting cab control system described in Example 1, the method comprising:

[0107] S1: Obtain the length of the line connecting hinge point 2 and hinge point 5. Length of the line connecting hinge point 5 and hinge point 11 Horizontal distance between hinge point eleven and the cab lifting reference point Vertical distance between hinge point eleven and the cab lifting reference point The x and y coordinates of hinge point two And tilt sensor - target angle The target value is the angle measured by tilt sensor 2 minus the angle measured by tilt sensor 1. The maximum and minimum values ​​are used to determine the effective range of the target location;

[0108] S2: Obtain the target position coordinates of the cab lifting reference point 221. If the target location coordinates are not within the valid range of the target location, the touch control display screen 102 will prompt "Target invalid, please select again";

[0109] S3: If the target location coordinates are within the valid range of the target location, calculate based on the target location coordinates. and ;

[0110] S4: In response to positioning requirements, the current tilt sensor measurement angle is acquired in real time. The angle measured by tilt sensor 2 minus the angle measured by tilt sensor 1 ,calculate and ;

[0111] S5: According to and Size relationship and and The size relationship controls the extension and retraction of the secondary hydraulic cylinder 213 and the primary hydraulic cylinder 224;

[0112] Specifically, if Greater than and Greater than 224 extension cylinders for the first stage;

[0113] like Greater than and Less than The first-stage hydraulic cylinder is 224 retractable;

[0114] like Greater than and equal Secondary hydraulic cylinder 213 extension;

[0115] like Less than The secondary hydraulic cylinder 213 is retracted;

[0116] like equal and Less than The first-stage hydraulic cylinder is 224 retractable;

[0117] like equal and Greater than , 224 extension cylinders for the first stage.

[0118] like Figure 7 As shown, this embodiment provides a control method based on the lifting cab control system, specifically including:

[0119] System parameter calibration: Enter the parameter calibration interface on the touch control display screen 102, and input the length of the line connecting hinge point two and hinge point five. Length of the line connecting hinge point 5 and hinge point 11 Horizontal distance between hinge point eleven and the cab lifting reference point Vertical distance between hinge point eleven and the cab lifting reference point After completing the system parameter calibration, exit the calibration interface of the touch control display screen 102 and exit the calibration interface.

[0120] Cab lifting function enabled and locked: When the cab lifting unlock switch 107 is turned on, the camera monitoring system operates, providing the driver with monitoring images above, below, and behind the cab. The controller 108 updates the tilt sensor's measured angle in real time. The angle measured by tilt sensor 2 minus the angle measured by tilt sensor 1 Enter the cab lifting control operation; turn off the cab lifting unlock switch 107, the camera monitoring system stops working to avoid unnecessary energy consumption, all relevant operation reminders on the touch control display screen 102 are cleared, and the cab lifting function is exited;

[0121] Touchscreen operation control: After the cab lifting unlock switch 107 is turned on and the positioning knob 106 is in the 0 position, the target position coordinates of the cab lifting reference point 221 can be displayed on the main interface of the touch control display screen 102. When the target position is set within the trajectory envelope, the controller 108 updates the target position coordinates. And calculate and When the target location is set outside the trajectory envelope, the touch control display screen 102 prompts "Target invalid, please select again";

[0122] Positioning knob operation control: When the cab lifting unlock switch 107 is turned on and the positioning knob 106 is rotated to a non-zero position, the "Target invalid, please select again" reminder on the touch control display screen 102 is cleared. At this time, if the main interface of the touch control display screen 102 is accidentally operated to select the target position coordinates of the cab lifting reference point 221, the error will be eliminated. The touchscreen display 102 is configured to display a message: "Please restore the positioning knob to position 0." If there is no misoperation, the operation control program of the positioning knob 106 will be entered normally within seconds. The positioning knob 106 can be learned by clicking, setting the current position of the cab lifting reference point 221 as the target position coordinate of the cab lifting reference point 221 for the current gear. The positioning knob 106 learns and memorizes the current tilt angle measured by the tilt sensor. The angle measured by tilt sensor 2 minus the angle measured by tilt sensor 1 For the current gear target and Alternatively, the current gear selection can be cancelled by long-pressing the touch control display screen 102. and If the self-reset button operation of the positioning knob 106 is not performed, and the selected gear is not the target gear, the current gear will not be selected. and During the learning process, the touch control display screen 102 prompts "Please learn the target position of this gear". If the selected gear has already learned the target position of the current gear, the prompt will be displayed. and The touch control display screen 102 displays the target position of the cab lifting reference point 221, and the "Please learn the target position of this gear" reminder is cleared. The controller 108 updates the current gear target. and And calculate and ;

[0123] Cab target position finding: When the target position of the cab lifting reference point 221 is effectively set on the main interface of the touch control display screen 102 or the positioning knob 106 is rotated to an effective position, the controller 108 completes the calculation. and When the position-finding switch 105 is pressed and held, according to and Size relationship and and Regarding the size relationship, when the secondary cylinder 213 needs to extend, the extension and retraction adjustment of the primary cylinder 224 is completed first, and then the extension adjustment of the secondary cylinder 213 is completed. When the secondary cylinder 213 needs to retract, the retraction adjustment of the secondary cylinder 213 is completed first, and then the extension and retraction adjustment of the primary cylinder 224 is completed. Under the condition of ensuring low energy consumption adjustment scheme, the cab lifting reference point 221 is completed to reach the target position.

[0124] Example 3: Based on Examples 1 and 2, this application provides a lifting cab control system, wherein the controller includes a processor and a storage medium;

[0125] The storage medium is used to store instructions;

[0126] The processor is configured to operate according to the instructions to execute the method.

[0127] Example 4: This application provides an engineering machine equipped with the aforementioned lifting cab control system.

[0128] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0129] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0130] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0131] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0132] The above description is only a preferred embodiment of this application. It should be noted that those skilled in the art should understand that various changes and improvements may be made to this application without departing from the principles and spirit. These improvements should also be considered within the scope of protection of this application and are not limited to the above embodiments.

Claims

1. A lifting cab control system, characterized in that, include: The cab lifting mechanism includes a cab lifting mechanism mounting base, connecting rod 1, connecting rod 2, a transition mounting base, a secondary cylinder, connecting rod 3, connecting rod 4, the cab, the primary cylinder, and the cab mounting base. The cab lifting mechanism mounting base, connecting rod 1, the transition mounting base, and connecting rod 2 form a primary four-bar linkage mechanism; connecting rod 3, the transition mounting base, connecting rod 4, and the cab mounting base form a secondary four-bar linkage mechanism; one end of connecting rod 1 is connected to the upper part of the cab lifting mechanism mounting base via hinge point 3, and the other end is connected to the upper left part of the transition mounting base via hinge point 6; one end of connecting rod 2 is connected to the middle part of the cab lifting mechanism mounting base via hinge point 2, and the other end is connected via hinge point 5. Connected to the lower part of the transition mounting seat; one end of connecting rod three is connected to the upper right part of the transition mounting seat via hinge point eight, and the other end is connected to the upper part of the cab mounting seat via hinge point ten; one end of connecting rod four is connected to the lower part of the transition mounting seat via hinge point five, and the other end is connected to the cab mounting seat via hinge point eleven; one end of the first-stage cylinder is connected to the lower part of the cab lifting mechanism mounting seat via hinge point one, and the other end is connected to the inner side of connecting rod two via hinge point four; one end of the second-stage cylinder is connected to the lower part of connecting rod four via hinge point nine, and the other end is connected to the upper right part of the transition mounting seat via hinge point eight; the cab is mounted on the cab mounting seat, with the cab lifting reference point representing the position of the cab; Tilt sensor one is used to detect the horizontal angle of the line connecting hinge point two and hinge point five. Tilt sensor 2 is used to detect the horizontal angle of the line connecting hinge point 5 and hinge point 11. The controller is used to: acquire the angles measured by tilt sensor 1 and tilt sensor 2, and, in conjunction with the target position coordinates, control the extension and retraction of the secondary and primary hydraulic cylinders to reach the target position, including: S1: Obtain the length of the line connecting hinge point 2 and hinge point 5, the length of the line connecting hinge point 5 and hinge point 11, the horizontal distance between hinge point 11 and the cab lifting reference point, the vertical distance between hinge point 11 and the cab lifting reference point, the horizontal and vertical coordinates of hinge point 2, and the target angle of tilt sensor 1. The target value is the angle measured by tilt sensor 2 minus the angle measured by tilt sensor 1. The maximum and minimum values ​​are used to determine the effective range of the target location; S2: Obtain the target position coordinates of the cab lifting reference point; if the target position coordinates are not within the valid range of the target position, a message will be displayed: "Target invalid, please select again"; S3: If the target location coordinates are within the valid range of the target location, calculate based on the target location coordinates. and ; S4: In response to positioning requirements, the current tilt sensor measurement angle is acquired in real time. The angle measured by tilt sensor 2 minus the angle measured by tilt sensor 1 ,calculate and ; S5: According to and Size relationship and and The size relationship controls the extension and retraction of the secondary and primary hydraulic cylinders, including: like Greater than and Greater than The first-stage hydraulic cylinder extends; like Greater than and Less than The first-stage hydraulic cylinder retracts; like Greater than and equal Secondary hydraulic cylinder extension; like Less than The secondary hydraulic cylinder retracts; like equal and Less than The first-stage hydraulic cylinder retracts; like equal and Greater than The first-stage hydraulic cylinder extends.

2. The lifting cab control system according to claim 1, characterized in that, It also includes a first-stage cylinder extension proportional valve, a first-stage cylinder retraction proportional valve, a second-stage cylinder extension proportional valve, and a second-stage cylinder retraction proportional valve, which are respectively connected to the controller signal. The first-stage cylinder extension proportional valve and the first-stage cylinder retraction proportional valve are used to control the extension and retraction actions of the first-stage cylinder, respectively. The secondary cylinder extension proportional valve and the secondary cylinder retraction proportional valve are used to control the extension and retraction actions of the secondary cylinder, respectively.

3. The lifting cab control system according to claim 1, characterized in that, It also includes a touch control display screen, a position switch, a positioning knob, and a cab lift unlock switch, all of which are connected to the controller signals. The touch control display screen is used for selecting the target position of the lifting cab, displaying the target position, and providing relevant reminders. The position-finding switch is a self-resetting switch, used to operate the lifting cab to adjust to the target position; The positioning knob is used to select, set, and cancel the target position. The cab lifting unlock switch is used to enable and lock cab lifting-related functions.

4. The lifting cab control system according to claim 1, characterized in that, It also includes a camera monitoring system, which is connected to a touch control display screen to monitor the area above, below, and behind the driver's cab in real time and display the monitoring images on the touch control display screen.

5. The lifting cab control system according to claim 1, characterized in that, The tilt sensor is parallel to the line connecting hinge point two and hinge point five, and is installed on the inner vertical surface of the connecting rod two. And / or, the axis of the tilt sensor is parallel to the line connecting hinge point five and hinge point eleven, and is installed on the inner side elevation of the connecting rod four.

6. A control method for a lifting cab control system, characterized in that, Based on the lifting cab control system according to any one of claims 1 to 5, the method includes: S1: Obtain the length of the line connecting hinge point 2 and hinge point 5, the length of the line connecting hinge point 5 and hinge point 11, the horizontal distance between hinge point 11 and the cab lifting reference point, the vertical distance between hinge point 11 and the cab lifting reference point, the horizontal and vertical coordinates of hinge point 2, and the target angle of tilt sensor 1. The target value is the angle measured by tilt sensor 2 minus the angle measured by tilt sensor 1. The maximum and minimum values ​​are used to determine the effective range of the target location; S2: Obtain the target position coordinates of the cab lifting reference point; if the target position coordinates are not within the valid range of the target position, a message will be displayed: "Target invalid, please select again"; S3: If the target location coordinates are within the valid range of the target location, calculate based on the target location coordinates. and ; S4: In response to positioning requirements, the current tilt sensor measurement angle is acquired in real time. The angle measured by tilt sensor 2 minus the angle measured by tilt sensor 1 ,calculate and ; S5: According to and Size relationship and and The size relationship controls the extension and retraction of the secondary and primary hydraulic cylinders.

7. The control method for the lifting cab control system according to claim 6, characterized in that, S5: According to and Size relationship and and The size relationship controls the extension and retraction of the secondary and primary hydraulic cylinders, including: like Greater than and Greater than The first-stage hydraulic cylinder extends; like Greater than and Less than The first-stage hydraulic cylinder retracts; like Greater than and equal Secondary hydraulic cylinder extension; like Less than The secondary hydraulic cylinder retracts; like equal and Less than The first-stage hydraulic cylinder retracts; like equal and Greater than The first-stage hydraulic cylinder extends.

8. The control method for the lifting cab control system according to claim 6, characterized in that, Determine the effective range of the target location, including: ； ； ； ； in, , These are the x and y coordinates of hinge point two, respectively; , These are the horizontal and vertical coordinates of the target position of the cab lifting reference point, respectively; The horizontal distance between hinge point eleven and the cab lifting reference point; The vertical distance between hinge point eleven and the cab lifting reference point; The length of the line connecting hinge point two and hinge point five; The length of the line connecting hinge point five and hinge point eleven; For the tilt sensor, the target angle is... The target value of the angle measured by tilt sensor 1 is subtracted from the angle measured by tilt sensor 2. For tilt sensor target angle The minimum value; For tilt sensor target angle The maximum value; The target value of the angle measured by tilt sensor 1 is the angle measured by tilt sensor 2. The minimum value; The target value of the angle measured by tilt sensor 1 is the angle measured by tilt sensor 2. The maximum value.

9. The control method for the lifting cab control system according to claim 6, characterized in that, Calculated based on target location coordinates and ,include: ； 。 10. An engineering machinery, characterized in that, It is equipped with the lifting cab control system as described in any one of claims 1 to 5.

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