Telescopic control method, telescopic arm assembly and vehicle

Abstract

The invention belongs to the technical field of vehicles, and discloses a telescopic control method, a telescopic boom assembly and a vehicle, the telescopic control method comprises an extension control method and a retraction control method, in the extension control method, if a boom is located between a limit retraction position and a first position, the boom is controlled to extend out at a first speed; if the boom is located between the first position and the second position, the boom is controlled to stretch out at a second speed; if the arm support is located between the second position and the limit stretching position, the arm support is controlled to stretch out at a third speed, and the speed adjusting flexibility of the arm support in the stretching process can be improved; according to the retraction control method, if the boom is located between the ultimate extension position and the second position, the boom is controlled to retract at a fourth speed; if the arm support is located between the second position and the first position, the arm support is controlled to retract at a fifth speed; and if the boom is located between the first position and the limit retraction position, the boom is controlled to retract at the sixth speed, and the flexibility of speed adjustment of the boom in the retraction process can be improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more particularly to a telescopic control method, a telescopic boom assembly, and a vehicle. Background Technology

[0002] In telescopic boom forklifts, the boom can reciprocate relative to the vehicle body, and can be used for earthmoving, grain transfer, or material hoisting. Because telescopic boom forklifts operate in complex environments, have large load capacities, operate at high heights, and have a high risk factor, it is essential to ensure that the boom can move smoothly.

[0003] To address this, existing technology provides a telescopic boom control system that uses a hydraulic cylinder to extend and retract the boom. During retraction, when the distance between the first end and the second end of the hydraulic cylinder in the length direction decreases to a preset value, the retraction speed of the piston rod is reduced. Similarly, during extension, when the distance between the first end and the second end of the hydraulic cylinder in the length direction increases to another preset value, the extension speed of the piston rod is reduced. Thus, during retraction and extension, when the piston rod reaches the end of its stroke, it is controlled to decelerate, allowing for smooth movement. However, this telescopic boom control system only controls the piston rod to decelerate when it reaches the end of its stroke; it cannot adjust the piston rod's speed in the early stages of its movement, resulting in poor flexibility. Summary of the Invention

[0004] According to one aspect of the invention, the invention provides a telescopic control method to improve the flexibility of boom speed adjustment.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The telescopic control method is implemented through a telescopic boom assembly, which includes a boom that can reciprocate and extend relative to the vehicle body and has a limit retracted position, a limit extended position, and a first position and a second position located between the limit retracted position and the limit extended position, wherein the first position is closer to the limit retracted position relative to the second position.

[0007] The telescopic control method includes an extension control method and a retraction control method;

[0008] The extension control method includes:

[0009] Determine the position range of the boom;

[0010] If the boom is located between the extreme retracted position and the first position, then the boom is controlled to extend at a first speed;

[0011] If the boom is located between the first position and the second position, then the boom is controlled to extend at a second speed;

[0012] If the boom is located between the second position and the maximum extension position, then the boom is controlled to extend at a third speed;

[0013] The retraction control method includes:

[0014] Determine the position range of the boom;

[0015] If the boom is located between the maximum extension position and the second position, then control the boom to retract at a fourth speed;

[0016] If the boom is located between the second position and the first position, then control the boom to retract at a fifth speed;

[0017] If the boom is located between the first position and the ultimate retracted position, then the boom is controlled to retract at a sixth speed.

[0018] As a preferred embodiment of the telescopic control method, the first speed is equal to the second speed, and the first speed is greater than the third speed; the fourth speed is equal to the fifth speed, and the fourth speed is greater than the sixth speed.

[0019] As a preferred embodiment of the telescopic control method, the first speed and the third speed are both less than the second speed; the fourth speed and the sixth speed are both less than the fifth speed.

[0020] As a preferred embodiment of the telescopic control method, the second speed is equal to the value of the fifth speed.

[0021] According to another aspect of the present invention, a telescopic boom assembly is provided for implementing the above-described telescopic control method. The telescopic boom assembly includes a boom that is reciprocatingly telescopic relative to a vehicle body and has a retracted position, a extended position, a first position, and a second position located between the retracted position and the extended position. The first position is closer to the retracted position than the second position.

[0022] The telescopic boom assembly also includes a detection element disposed on the vehicle body, a first detection component disposed at one end of the boom, and a second detection component disposed at the other end of the boom. The detection element is used to communicate with the controller.

[0023] When the boom is located between the extreme retracted position and the first position, the detection element is directly opposite the first detection piece and is used to output a first detection signal to the controller;

[0024] When the boom is located between the first position and the second position, the detection element is used to output a second detection signal to the controller;

[0025] When the boom is located between the second position and the limit extension position, the detection element is directly opposite the second detection piece and is used to output a third detection signal to the controller;

[0026] The controller is used to receive the signal output by the detection element, and the controller is used to control the extension and retraction of the boom relative to the vehicle body, and to control the extension and retraction speed of the boom.

[0027] As a preferred embodiment of the telescopic boom assembly, both the first detection element and the second detection element are detection marking lines extending along the telescopic direction of the boom; the two ends of the first detection element are the first end and the second end, respectively, and the two ends of the second detection element are the third end and the fourth end, respectively.

[0028] When the boom is in the extreme retracted position, the detection element is facing the first end;

[0029] When the boom is in the first position, the detection element is facing the second end;

[0030] When the boom is in the second position, the detection element is facing the third end;

[0031] When the boom is in the maximum extension position, the detection element is facing the fourth end.

[0032] As a preferred embodiment of the telescopic boom assembly, the length of the first detection element is L1, the length of the second detection element is L2, and the maximum reciprocating stroke of the boom relative to the vehicle body is L; L1≤L / 5, and L2≤L / 5.

[0033] As a preferred embodiment of the telescopic boom assembly, both the first detection signal and the third detection signal are high-level signals, while the second detection signal is a low-level signal.

[0034] As a preferred embodiment of the telescopic boom assembly, it also includes an action execution unit disposed in the cab, the action execution unit being used to issue extension execution signals and retraction execution signals.

[0035] According to another aspect of the invention, a vehicle is provided, including the telescopic boom assembly described above, and a vehicle body, wherein the boom is disposed on the vehicle body and is reciprocating relative to the vehicle body, and the detection element is disposed on the vehicle body.

[0036] The beneficial effects of this invention are:

[0037] This invention provides a telescopic control method implemented through a telescopic boom assembly. The telescopic boom assembly includes a boom capable of reciprocating relative to the vehicle body and having a maximum retracted position, a maximum extended position, and a first position and a second position located between the maximum retracted and maximum extended positions. The first position is closer to the maximum retracted position than the second position. The telescopic control method includes an extension control method and a retraction control method. In the extension control method, the position range of the boom is determined; if the boom is between the maximum retracted position and the first position, the boom is controlled to extend at a first speed; if the boom is between the first and second positions, the boom is controlled to extend at a second speed; if the boom is between the second position and the maximum extended position, the boom is controlled to extend at a third speed. This configuration allows the boom speed to be adjusted according to its position during extension, improving the flexibility of boom speed adjustment during extension. In the retraction control method, the position range of the boom is determined; if the boom is between the extreme extension position and the second position, the boom is controlled to retract at the fourth speed; if the boom is between the second position and the first position, the boom is controlled to retract at the fifth speed; if the boom is between the first position and the extreme retraction position, the boom is controlled to retract at the sixth speed. This setting allows the boom speed to be adjusted according to the boom's position during the retraction process, improving the flexibility of boom speed adjustment during retraction.

[0038] The present invention also provides a telescopic boom assembly for implementing the above-described telescopic control method. The telescopic boom assembly includes a boom, which is capable of reciprocating telescopically extending and retracting relative to the vehicle body and has a retracted limit position, a extended limit position, and a first position and a second position located between the retracted limit position and the extended limit position. The first position is closer to the retracted limit position than the second position. The telescopic boom assembly also includes a detection element disposed on the vehicle body, a first detection element disposed at one end of the boom, and a second detection element disposed at the other end of the boom. The detection element is communicatively connected to a controller. When the boom is located between the retracted limit position and the first position, the detection element and the first detection element face each other and are used to output a first detection signal to the controller. When the boom is located at the first position... When the boom is between the second and third positions, the detection element outputs a second detection signal to the controller. When the boom is between the second and third positions, the detection element faces the second detection element and outputs a third detection signal to the controller. The controller receives the signal output by the detection element and controls the boom's extension and retraction relative to the vehicle body, as well as the extension and retraction speed. Thus, when the boom moves to different position ranges, the detection element outputs different detection signals to the controller, which can control the boom to move at different speeds based on these signals. This allows the controller to adjust the boom's movement speed according to changes in its position during extension and retraction, adapting to different usage requirements and offering high flexibility. Furthermore, the detection of the boom position is achieved through the cooperation of the detection element with the first and second detection elements, resulting in lower costs.

[0039] The present invention also provides a vehicle, including the aforementioned telescopic boom assembly, and a vehicle body. The boom is mounted on the vehicle body and is capable of reciprocating telescopically relative to the vehicle body. A detection element is mounted on the vehicle body. In this telescopic boom assembly, when the boom moves to different position ranges, the detection element outputs different detection signals to the controller. The controller can control the boom to move at different speeds according to the different detection signals. Thus, during the telescopic boom's extension and retraction, the boom's movement speed is adjusted according to the change in boom position to adapt to different usage requirements, providing high flexibility. Furthermore, the detection of the boom position is achieved through the cooperation between the detection element and the first and second detection components, resulting in lower costs. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the telescopic arm assembly in an embodiment of the present invention;

[0041] Figure 2 This is a partial structural schematic diagram of the telescopic arm assembly in an embodiment of the present invention;

[0042] Figure 3 This is a flowchart of the extension control method in an embodiment of the present invention;

[0043] Figure 4This is a flowchart of the retraction control method in an embodiment of the present invention.

[0044] In the picture:

[0045] 1. Vehicle body; 2. Boom; 3. Detection element; 4. First detection component; 5. Second detection component; 6. Controller; 7. Motion execution unit. Detailed Implementation

[0046] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0047] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0048] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0049] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not 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 the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0050] Example 1

[0051] To ensure the smooth extension and retraction of the boom of a telescopic forklift relative to the vehicle body, existing technology provides a telescopic boom control system. This system uses a hydraulic cylinder to achieve boom extension and retraction. During retraction, the piston rod's retraction speed is reduced when the distance between the first end and the second end of the hydraulic cylinder in the length direction decreases to a preset value. Conversely, during extension, the piston rod's extension speed is reduced when the distance between the first end and the second end of the hydraulic cylinder in the length direction increases to another preset value. Thus, during both retraction and extension, the piston rod is decelerated at the end of its stroke, ensuring smooth movement. However, this control system only decelerates the piston rod at the end of its stroke; it cannot adjust the piston rod's speed during the initial phase of its movement, resulting in poor flexibility.

[0052] In response, this embodiment provides a telescopic control method to improve the flexibility of boom speed adjustment, which can be used in the field of vehicle technology, and specifically applied to telescopic boom forklifts.

[0053] The telescopic control method is implemented through the telescopic boom assembly, as shown in the reference. Figures 1-2 The telescopic boom assembly includes a boom 2, which is capable of reciprocating and extending relative to the vehicle body 1 and has a retracted position, a extended position, a first position and a second position located between the retracted position and the extended position, wherein the first position is closer to the retracted position than the second position.

[0054] This telescopic control method includes an extension control method and a retraction control method. (Refer to...) Figure 3 The extension control method includes the following steps.

[0055] S100: Determine the position range of boom 2.

[0056] Since the boom 2 can extend relative to the vehicle body 1 and has a maximum retracted position, a first position, a second position and a maximum extended position in sequence, it has three position ranges, namely between the maximum retracted position and the first position, between the first position and the second position and between the second position and the maximum extended position.

[0057] If boom 2 is located between the maximum retracted position and the first position, then execute step S110; if boom 2 is located between the first position and the second position, then execute step S120; if boom 2 is located between the second position and the maximum extended position, then execute step S130.

[0058] S110: Control boom 2 to extend at the first speed.

[0059] S120: Control boom 2 to extend at the second speed.

[0060] S130: Control boom 2 to extend at the third speed.

[0061] This configuration allows the speed of boom 2 to be adjusted according to its position during the extension process, thus improving the flexibility of boom 2 speed adjustment during extension.

[0062] Reference Figure 4 The retraction control method includes the following steps.

[0063] S200: Determine the position range of boom 2.

[0064] Since the boom 2 can retract relative to the vehicle body 1 and sequentially have a maximum extended position, a second position, a first position, and a maximum retracted position, it has three position ranges: between the maximum extended position and the second position, between the second position and the first position, and between the first position and the maximum retracted position. If the boom 2 is located between the maximum extended position and the second position, step S210 is executed; if the boom 2 is located between the second position and the first position, step S220 is executed; if the boom 2 is located between the first position and the maximum retracted position, step S230 is executed.

[0065] S210: Control boom 2 to retract at the fourth speed.

[0066] S220: Control boom 2 to retract at the fifth speed.

[0067] S230: Control boom 2 to retract at the sixth speed.

[0068] This configuration allows the speed of boom 2 to be adjusted according to its position during the retraction process, thus improving the flexibility of boom 2 speed adjustment during retraction.

[0069] In some embodiments, the first speed is equal to the second speed, and the first speed is greater than the third speed; the fourth speed is equal to the fifth speed, and the fourth speed is greater than the sixth speed. This configuration enables the boom 2 to move rapidly after receiving an extension or retraction signal and decelerate at the end of its stroke, thereby increasing the average speed of the boom 2 during the extension and retraction process and making the movement of the boom 2 at the end of its stroke smoother.

[0070] In other embodiments, the first and third speeds are both less than the second speed; the fourth and sixth speeds are both less than the fifth speed. This configuration ensures that both the extension and retraction movements of the boom 2 involve a low-speed-high-speed-low-speed motion, resulting in smoother overall movement of the boom 2.

[0071] Optionally, the second speed and the fifth speed are equal in value, and both are the maximum movement speed of the boom 2, thereby increasing the movement speed of the boom 2 during the extension and retraction process.

[0072] Optionally, when the boom 2 is extended and located between the second position and the maximum extension position, the extension speed of the boom 2 is controlled to decrease linearly and gradually, so that the movement speed of the boom 2 can decrease smoothly when it is extended relative to the vehicle body 1 and at the end of its stroke. When the boom 2 is retracted and located between the first position and the maximum retracted position, the retraction speed of the boom 2 is controlled to decrease linearly and gradually, so that the movement speed of the boom 2 can decrease smoothly when it is retracted relative to the vehicle body 1 and at the end of its stroke.

[0073] Example 2

[0074] This embodiment provides a telescopic arm assembly for implementing the above-described telescopic control method.

[0075] Reference Figures 1-2The telescopic boom assembly includes a boom 2, which is capable of reciprocating and extending relative to the vehicle body 1 and has a retracted position, a extended position, a first position and a second position located between the retracted position and the extended position, wherein the first position is closer to the retracted position than the second position. The telescopic boom assembly also includes a detection element 3 disposed on the vehicle body 1, a first detection element 4 disposed at one end of the boom 2, and a second detection element 5 disposed at the other end of the boom 2. The detection element 3 is communicatively connected to the controller 6. When the boom 2 is between its maximum retracted position and a first position, the detection element 3 and the first detection element 4 face each other and the detection element 3 outputs a first detection signal to the controller 6. When the boom 2 is between the first position and a second position, the detection element 3 outputs a second detection signal to the controller 6. When the boom 2 is between the second position and its maximum extended position, the detection element 3 and the second detection element 5 face each other and the detection element 3 outputs a third detection signal to the controller 6. The controller 6 receives the signal output by the detection element 3 and controls the extension and retraction of the boom 2 relative to the vehicle body 1, and controls the extension and retraction speed of the boom 2. Thus, when the boom 2 moves to different position ranges, the detection element 3 outputs different detection signals to the controller 6, and the controller 6 can control the boom 2 to move at different speeds according to the different detection signals, thereby controlling the extension and retraction of the boom 2. The movement speed of boom 2 is adjusted according to changes in its position to adapt to different usage requirements, offering high flexibility. For example, when controller 6 receives the first and third detection signals, it controls boom 2 to move at a low speed; when controller 6 receives the second detection signal, it controls boom 2 to move at a high speed. Thus, whether boom 2 is extending or retracting, it experiences a low-speed-high-speed-low-speed movement process, ensuring smooth overall movement. Alternatively, when boom 2 is extending, when controller 6 receives the first and second detection signals, it controls boom 2 to move at a high speed; when controller 6 receives the third detection signal, it controls boom 2 to move at a low speed, allowing boom 2 to extend quickly and decelerate at the end of its stroke. Or, when boom 2 is retracting, when controller 6 receives the third and second detection signals, it controls boom 2 to move at a high speed; when controller 6 receives the first detection signal, it controls boom 2 to move at a low speed, allowing boom 2 to retract quickly and decelerate at the end of its stroke. Furthermore, the detection of the boom 2 position is achieved through the cooperation between the detection element 3, the first detection element 4, and the second detection element 5, which is relatively low in cost.

[0076] Continue to refer to Figures 1-2Both the first detection element 4 and the second detection element 5 are detection marking lines extending along the telescopic direction of the boom 2. The two ends of the first detection element 4 are the first end and the second end, respectively, and the two ends of the second detection element 5 are the third end and the fourth end, respectively. When the boom 2 is in the retracted position, the detection element 3 is directly opposite the first end. When the boom 2 is in the first position, the detection element 3 is directly opposite the second end. Thus, it can be determined whether the boom 2 is between the retracted position and the first position based on whether the detection element 3 is directly opposite the first detection element 4. When the boom 2 is in the second position, the detection element 3 is directly opposite the third end. When the boom 2 is in the extended position, the detection element 3 is directly opposite the fourth end. Thus, it can be determined whether the boom 2 is between the extended position and the second position based on whether the detection element 3 is directly opposite the second detection element 5.

[0077] Continue to refer to Figures 1-2 The length of the first detection element 4 is L1, the length of the second detection element 5 is L2, and the maximum reciprocating stroke of the boom 2 relative to the vehicle body 1 is L; L1≤L / 5 and L2≤L / 5, thereby ensuring that the distance between the extreme retracted position and the first position, and the distance between the extreme extended position and the second position are relatively close. In this embodiment, the value of L1 is specifically L / 10, and the value of L2 is also L / 10.

[0078] Continue to refer to Figures 1-2The first and third detection signals are both high-level signals, while the second detection signal is a low-level signal. Specifically, when the boom 2 has been retracted to its maximum retracted position and the telescopic boom is in the extended state, when the detection element 3 first emits a high-level signal, the boom 2 is located between the maximum retracted position and the first position. The controller 6 controls the boom 2 to extend at a first speed. Subsequently, the detection element 3 emits a low-level signal, at which point the boom 2 is located between the first position and the second position. The controller 6 continues to control the boom 2 to extend at the first speed. As the boom 2 continues to extend, it moves to between the second position and the maximum extended position. At this point, the detection element 3 emits a high-level signal again, and the extension speed of the boom 2 is reduced. In other words, the extension speed of the boom 2 will only be reduced when a high-level signal is received after a low-level signal is received. When boom 2 has been extended to its maximum extension position and the telescopic boom is in the retracted state, when detection element 3 first sends a high-level signal, boom 2 is located between the maximum extension position and the second position. Controller 6 controls boom 2 to extend at a second speed. Subsequently, detection element 3 sends a low-level signal, at which point boom 2 is located between the second position and the first position. Controller 6 continues to control boom 2 to retract at the second speed. As boom 2 continues to retract, it moves to between the first position and the maximum retracted position. At this point, detection element 3 sends a high-level signal again, reducing the retraction speed of boom 2. In other words, the retraction speed of boom 2 will only decrease when a high-level signal is received after a low-level signal. This configuration allows detection element 3 to complete signal transmission by sending only two signals, further saving costs.

[0079] Continue to refer to Figures 1-2 The telescopic boom assembly also includes an action execution unit 7 located in the operator's cab. The action execution unit 7 is used to issue extension and retraction execution signals. Specifically, the extension and retraction of the boom 2 are controlled by a controller 6, which receives signals from the action execution unit 7. In this embodiment, when the operator controls the action execution unit 7 to move in a first direction, the action execution unit 7 sends an extension execution signal to the controller 6, at which point the controller 6 executes the extension control method to extend the boom 2. When the operator controls the action execution unit 7 to move in the opposite direction of the first direction, the action execution unit 7 sends a retraction execution signal to the controller 6, at which point the controller 6 executes the retraction control method to retract the boom 2. Optionally, the extension execution signal is a high-level signal, and the retraction execution signal is a low-level signal. When the controller 6 receives a high-level signal from the action execution unit 7, it executes the extension control method; when the controller 6 receives a low-level signal from the action execution unit 7, it executes the retraction control method. This configuration allows the action execution unit 7 to complete signal transmission by issuing only two types of signals, further saving costs.

[0080] Example 3

[0081] This embodiment provides a vehicle, specifically a telescopic boom forklift truck. The vehicle includes the telescopic boom assembly described in Embodiment 1 above, as well as a vehicle body 1. The boom 2 is mounted on the vehicle body 1 and can reciprocate relative to the vehicle body 1. A detection element 3 is mounted on the vehicle body 1. In this telescopic boom assembly, when the boom 2 moves to different position ranges, the detection element 3 outputs different detection signals to the controller 6. The controller 6 can control the boom 2 to move at different speeds according to the different detection signals. Thus, during the telescopic process of the boom 2, the movement speed of the boom 2 is adjusted as the position of the boom 2 changes to adapt to the usage requirements under different conditions, resulting in high flexibility. In addition, the detection of the boom 2 position is achieved through the cooperation between the detection element 3, the first detection element 4, and the second detection element 5, resulting in low cost.

[0082] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A telescopic control method, characterized in that, Implemented by a telescopic boom assembly, the telescopic boom assembly including a boom (2) which is reciprocating relative to the vehicle body (1) and has a retracted position, a extended position, and a first position and a second position located between the retracted position and the extended position, the first position being closer to the retracted position relative to the second position. The telescopic control method includes an extension control method and a retraction control method; The extension control method includes: Determine the position range of the boom (2); If the boom (2) is located between the extreme retracted position and the first position, then the boom (2) is controlled to extend at a first speed; If the boom (2) is located between the first position and the second position, then the boom (2) is controlled to extend at a second speed; If the boom (2) is located between the second position and the limit extension position, then the boom (2) is controlled to extend at a third speed; The retraction control method includes: Determine the position range of the boom (2); If the boom (2) is located between the extreme extension position and the second position, then control the boom (2) to retract at a fourth speed; If the boom (2) is located between the second position and the first position, then control the boom (2) to retract at a fifth speed; If the boom (2) is located between the first position and the ultimate retracted position, then control the boom (2) to retract at a sixth speed.

2. The telescopic control method according to claim 1, characterized in that, The first speed is equal to the second speed, and the first speed is greater than the third speed; the fourth speed is equal to the fifth speed, and the fourth speed is greater than the sixth speed.

3. The telescopic control method according to claim 1, characterized in that, The first speed and the third speed are both less than the second speed; the fourth speed and the sixth speed are both less than the fifth speed.

4. The telescopic control method according to any one of claims 1-3, characterized in that, The second speed is equal in value to the fifth speed.

5. A telescopic arm assembly, characterized in that, For implementing the telescopic control method as described in any one of claims 1-4, the telescopic boom assembly includes a boom (2), the boom (2) being reciprocating and extending relative to the vehicle body (1) and having a maximum retracted position, a maximum extended position, and a first position and a second position located between the maximum retracted position and the maximum extended position, the first position being closer to the maximum retracted position relative to the second position; The telescopic boom assembly also includes a detection element (3) disposed on the vehicle body (1), a first detection element (4) disposed at one end of the boom (2) and a second detection element (5) disposed at the other end of the boom (2), wherein the detection element (3) is used to communicate with the controller (6); When the boom (2) is located between the extreme retracted position and the first position, the detection element (3) is directly opposite the first detection element (4) and is used to output a first detection signal to the controller (6); When the boom (2) is located between the first position and the second position, the detection element (3) is used to output a second detection signal to the controller (6); When the boom (2) is between the second position and the limit extension position, the detection element (3) is facing the second detection element (5) and is used to output a third detection signal to the controller (6); The controller (6) is used to receive the signal output by the detection element (3), and the controller (6) is used to control the extension and retraction of the boom (2) relative to the vehicle body (1) and control the extension and retraction speed of the boom (2).

6. The telescopic arm assembly according to claim 5, characterized in that, The first detection element (4) and the second detection element (5) are both detection marking lines extending along the telescopic direction of the boom (2); the two ends of the first detection element (4) are the first end and the second end, respectively, and the two ends of the second detection element (5) are the third end and the fourth end, respectively; When the boom (2) is in the extreme retracted position, the detection element (3) is facing the first end; When the boom (2) is in the first position, the detection element (3) is facing the second end; When the boom (2) is in the second position, the detection element (3) is facing the third end; When the boom (2) is in the extreme extension position, the detection element (3) is facing the fourth end.

7. The telescopic arm assembly according to claim 6, characterized in that, The length of the first detection component (4) is L1, the length of the second detection component (5) is L2, and the maximum reciprocating stroke of the boom (2) relative to the vehicle body (1) is L; L1≤L / 5, and L2≤L / 5.

8. The telescopic arm assembly according to claim 5, characterized in that, Both the first detection signal and the third detection signal are high-level signals, while the second detection signal is a low-level signal.

9. The telescopic arm assembly according to claim 5, characterized in that, It also includes an action execution unit (7) installed in the driver's cab, which is used to issue an extension execution signal and a retraction execution signal.

10. A vehicle, characterized in that, The telescopic boom assembly as described in any one of claims 5-9 further includes a vehicle body (1), the boom (2) being disposed on the vehicle body (1) and capable of reciprocating telescopically relative to the vehicle body (1), and the detection element (3) being disposed on the vehicle body (1).

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